Pipe feeding mechanism of collaborative robot

Abstract

The invention discloses a pipe feeding mechanism of a collaborative robot, and relates to the technical field of filling machines, the pipe feeding mechanism of the collaborative robot comprises a rack, a material taking mechanism, a pipe box conveying mechanism and a pipe conveying mechanism, the material taking mechanism, the pipe box conveying mechanism and the pipe conveying mechanism are arranged at the upper end of the rack, the pipe box conveying mechanism is located between the material taking mechanism and the pipe conveying mechanism, the pipe box conveying mechanism is used for conveying pipe boxes, and the material taking mechanism is used for taking out aluminum pipes in the pipe boxes and moving the aluminum pipes to the pipe conveying mechanism. According to the full-automatic pipe feeding machine, through the arrangement of the material taking mechanism, the pipe box conveying mechanism and the pipe feeding mechanism, seamless butt joint of the processes of pipe box conveying, material taking, pipe feeding and the like is achieved, the pipe feeding time is greatly shortened, and the productivity of a production line is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of filling machine technology, and more particularly to an upper tube mechanism for a collaborative robot. Background Technology

[0002] In the field of automated production, especially in the process of feeding pipe fittings, traditional pipe feeding methods have many drawbacks. Taking the feeding of aluminum tubes in pharmaceutical ointment packaging as an example, in the past, manual feeding or simple automated equipment was mostly used.

[0003] Manual pipe loading is inefficient and labor-intensive. Workers need to repeatedly take pipes from the pipe box and place them on the conveyor belt. Working for long periods of time can easily lead to fatigue, which in turn affects the accuracy and efficiency of pipe loading. Summary of the Invention

[0004] The purpose of this invention is to provide an upper tube mechanism for a collaborative robot to solve the above-mentioned technical problems.

[0005] The technical solution adopted in this invention is as follows: A tube-loading mechanism for a collaborative robot includes a frame, a material-picking mechanism, a tube box conveying mechanism, and a tube-feeding mechanism. The material-picking mechanism, the tube box conveying mechanism, and the tube-feeding mechanism are arranged at the upper end of the frame. The tube box conveying mechanism is located between the material-picking mechanism and the tube-feeding mechanism. The tube box conveying mechanism is used to convey tube boxes. The material-picking mechanism is used to take out aluminum tubes from the tube boxes and move them onto the tube-feeding mechanism.

[0006] Preferably, the material handling mechanism includes a robot, a fixture, and a clamping mechanism. The robot is mounted on the upper end of the frame, and the end of the robot is connected to the fixture via a flange. The clamping mechanism is located inside the fixture.

[0007] As a further preferred embodiment, the clamp includes a clamp body, a plurality of first clamping grooves are provided on one side of the clamp body, and first mounting grooves are provided on the inner walls of both sides of the first clamping grooves, and the clamping mechanism is disposed in the first mounting groove.

[0008] As a further preferred embodiment, the clamping mechanism includes a first airbag, and each of the first mounting slots is respectively provided with a first airbag; It also includes a first air inlet pipe, and the first air pipe is provided on one side of the first airbag, with one end of the first air pipe communicating with the interior of the first airbag. The fixture body has a first chamber inside, and the other end of the first air inlet pipe is connected to the first chamber.

[0009] As a further preferred embodiment, a first air pump is provided at the upper end of the frame, and a first air pipe connector is provided on the other side of the fixture body. One end of the first air pipe connector is connected to the first air pump, and the other end of the first air pipe connector is connected to the interior of the first chamber.

[0010] As a further preferred embodiment, the system also includes a control device disposed on the side wall of the frame. The control device includes a housing, a controller, and a touch screen. The housing is connected to the frame, the controller is disposed inside the housing, and the touch screen is disposed on the outer wall of the housing. The touch screen and the robot are respectively connected to the controller.

[0011] Preferably, the tube box conveying mechanism includes a first mounting frame, a first conveyor belt, a first roller, a baffle, a pusher plate, and elastic elements. Two first rollers are provided at both ends of the first mounting frame, and the first conveyor belt is sleeved on the two first rollers. Two baffles are provided on both sides inside the first mounting frame, and the pusher plate is provided on the side of the two baffles that are close to each other. The pusher plate is connected to the baffles through a plurality of elastic elements. A sliding groove is provided on one side of the two baffles that are close to each other, and the push plate can be operated to enter or leave the sliding groove; The elastic element includes a telescopic rod and a spring sleeved on the outer wall of the telescopic rod. The telescopic rod is disposed in the slide groove, and one end of the telescopic rod is connected to the push plate. It also includes a pressure sensor, which is disposed on the inner wall of the slide groove, and the other end of the telescopic rod is connected to the pressure sensor; It also includes a first cylinder, which is provided on both sides of the first mounting bracket, and the output end of the first cylinder is connected to the baffle.

[0012] Preferably, the tube feeding mechanism includes a second mounting frame, a second conveyor belt, a roller, an angle adjustment mechanism, and a tube retraction mechanism. One end of the second mounting frame is provided with the roller, and the other end of the second mounting frame is provided with the angle adjustment mechanism. The second conveyor belt is sleeved on the roller and the angle adjustment mechanism, and the tube retraction mechanism is provided on one side of the second mounting frame. As a further preferred embodiment, the tube retraction mechanism includes a tube retraction fork, a mounting plate, a second cylinder, a second air pump, a second air bladder, a second air pipe connector, a second air inlet pipe, a hose, and a contact sensor. A slot is provided on one side of the second mounting bracket, and the tube retraction fork is disposed in the slot. The mounting plate is disposed on one side of the second mounting frame, and the upper end of the mounting plate is provided with the second cylinder, the output end of the second cylinder being connected to the retracting fork; The upper end of the tube retraction fork is provided with several tube retraction grooves. Each tube retraction groove has a second mounting groove on its inner walls on both sides. The second mounting groove is provided with a second airbag. The upper end of the mounting plate is provided with a second air pump. The tube retraction fork has a second chamber inside. The second airbag is connected to the second chamber through the second air inlet pipe. The tube retraction fork has a second air pipe connector on one side. One end of the second air pipe connector is connected to the interior of the second chamber. The other end of the second air pipe connector is connected to the second air pump through the hose. Each of the aforementioned tube retraction grooves has a contact sensor installed on the inner wall of its lower end.

[0013] As a further preferred embodiment, the angle adjustment mechanism includes a rotating plate, a fixed shaft, and a sleeve. Two rotating plates are provided on both sides of the other end of the second mounting bracket. The fixed shaft is located between the two rotating plates and is fixedly connected to the two rotating plates. The sleeve is rotatably mounted on the fixed shaft. There is an movable gap between the two ends of the sleeve and the two rotating plates. The conveyor belt is sleeved on the outside of the roller and the sleeve.

[0014] It also includes a first motor, a driving gear, and a driven gear. The first motor is provided on one side of the other end of the second mounting bracket, the driving gear is provided at the output end of the first motor, and the driven gear is provided on one side of the rotating plate. The driving gear meshes with the driven gear.

[0015] The above technical solution has the following advantages or beneficial effects: (1) In this invention, by setting up a material picking mechanism, a tube box conveying mechanism and a tube delivery mechanism, seamless connection of tube box conveying, material picking and tube delivery processes is achieved, which greatly shortens the tube loading time and effectively improves the production capacity of the production line.

[0016] (2) In this invention, the robot and airbag clamping mechanism of the material picking mechanism ensure the accurate picking and placement of aluminum tubes, the tube box conveying mechanism ensures stable conveying and precise positioning of tube boxes, and the tube delivery mechanism can precisely adjust the conveying angle and deliver tubes accurately.

[0017] (3) In this invention, the processes of pipe box conveying, material picking and pipe delivery can be automated, greatly reducing manual intervention. Workers do not need to repeatedly perform heavy pipe picking and delivery operations, significantly reducing labor intensity and improving the working environment. At the same time, it reduces operational errors caused by human fatigue. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the upper tube mechanism of the collaborative robot in this invention; Figure 2 This is a schematic diagram of the material handling mechanism in this invention. Figure 1 ; Figure 3 This is a schematic diagram of the material handling mechanism in this invention. Figure 2 ; Figure 4 yes Figure 3 Enlarged view of point A in the middle; Figure 5 This is a schematic diagram of the pipe box conveying mechanism in this invention. Figure 1 ; Figure 6 This is a schematic diagram of the pipe box conveying mechanism in this invention. Figure 2 ; Figure 7 yes Figure 6 Enlarged view of point B in the middle; Figure 8 This is a schematic diagram of the pipe feeding mechanism in this invention; Figure 9 yes Figure 8 Enlarged view of point C in the middle; Figure 10 yes Figure 8 Enlarged view of point D in the middle.

[0019] In the diagram: 1. Frame; 2. Material handling mechanism; 201. Robot; 202. Fixture; 203. Fixture body; 204. First clamping groove; 205. First mounting groove; 206. First airbag; 207. First air pump; 208. First air pipe connector; 3. Pipe box conveying mechanism; 301. First mounting frame; 302. First conveyor belt; 303. Baffle; 304. Push plate; 305. Elastic element; 306. Slide groove; 307. Telescopic rod; 308. Spring; 309. Pressure sensor; 310. First cylinder; 311. Second motor; 312. Position sensor; 4. Pipe feeding mechanism; 401. 402. Second mounting bracket; 403. Second conveyor belt; 404. Angle adjustment mechanism; 405. Tube retraction mechanism; 406. Tube retraction fork; 407. Mounting plate; 408. Second cylinder; 409. Second air pump; 410. Second airbag; 411. Second air pipe connector; 412. Contact sensor; 413. Groove; 414. Tube retraction groove; 415. Second mounting groove; 416. Rotating plate; 417. Fixed shaft; 418. Sleeve; 419. First motor; 420. Driven gear; 421. Driven gear; 422. Position detection sensor; 5. Control device; 501. Housing; 502. Touch screen. Detailed Implementation

[0020] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be noted that terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, terms such as "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] Please see Figures 1 to 10 The diagram illustrates a preferred embodiment of a collaborative robot's tube-loading mechanism, comprising a frame 1, a material-picking mechanism 2, a tube box conveying mechanism 3, and a tube-feeding mechanism 4. The material-picking mechanism 2, tube box conveying mechanism 3, and tube-feeding mechanism 4 are located at the upper end of the frame 1. The tube box conveying mechanism 3 is situated between the material-picking mechanism 2 and the tube-feeding mechanism 4. The tube box conveying mechanism 3 transports tube boxes, while the material-picking mechanism 2 removes aluminum tubes from the tube boxes and moves them to the tube-feeding mechanism 4. In this embodiment, the tube box conveying mechanism 3 transports the tube boxes to a designated location, and the material-picking mechanism 2 removes aluminum tubes from the tube boxes and places them onto the tube-feeding mechanism 4, thus automating the transfer of aluminum tubes from the tube boxes to the tube-feeding mechanism 4. The material-picking mechanism 2, tube box conveying mechanism 3, and tube-feeding mechanism 4 are each connected to a control device 5, integrating all functional modules onto a single frame 1. This allows for close coordination and seamless integration of the tube box conveying, material picking, and tube feeding processes. Furthermore, the unified control of all mechanisms by the control device 5 significantly improves the efficiency and accuracy of tube loading. In this embodiment, the tube loading speed of the tube loading mechanism can reach 300 tubes / minute.

[0024] Furthermore, as a preferred embodiment, the material handling mechanism 2 includes a robot 201, a fixture 202, and a clamping mechanism. The robot 201 is mounted on the upper end of the frame 1, and its end is connected to the fixture 202 via a flange. The fixture 202 contains the clamping mechanism. In this embodiment, the robot 201 is a six-axis robot, mounted on the upper end of the frame 1, and its movement trajectory is controlled by a controller in the control device 5. The robot 201 is connected to the fixture 202 via the flange, enabling the fixture 202 to move flexibly. The clamping mechanism works in conjunction with the fixture 202 to clamp the aluminum tube. When the robot 201 receives a material handling command, it moves the fixture 202 to the tube box position according to a preset path. When the aluminum tube enters the fixture 202, the clamping mechanism of the fixture 202 clamps the aluminum tube. Then, the robot 201 transports the aluminum tube to the tube feeding mechanism 4, releases the clamping mechanism, and places the aluminum tube onto the tube feeding mechanism 4. The design of this material handling mechanism 2 enables automated material handling of aluminum tubes, solving the problem of low efficiency in manual material handling. It can quickly and accurately complete the material handling and unloading actions, greatly improving material handling efficiency and meeting the needs of large-scale production. At the same time, the robot 201 operates according to a preset program, avoiding the randomness of manual operation, improving the accuracy and stability of material handling, and reducing the defect rate.

[0025] Furthermore, in a preferred embodiment, the clamp 202 includes a clamp body 203. A plurality of first clamping grooves 204 are formed on one side of the clamp body 203. First mounting grooves 205 are formed on the inner walls of both sides of the first clamping grooves 204. A clamping mechanism is disposed within the first mounting grooves 205. The clamping mechanism includes a first airbag 206, with one first airbag 206 disposed in each first mounting groove 205. It also includes a first air inlet pipe, with a first air pipe on one side of the first airbag 206, one end of which communicates with the interior of the first airbag 206. A first chamber is formed inside the clamp body 203, and the other end of the first air inlet pipe communicates with the first chamber. A first air pump 207 is provided at the upper end of the frame 1, and a first air pipe connector 208 is provided on the other side of the clamp body 203. One end of the first air pipe connector 208 is connected to the first air pump 207, and the other end of the first air pipe connector 208 communicates with the interior of the first chamber. The first air pump 207 and the first air pipe connector 208 are connected by a pipeline. In this embodiment, the first airbag 206 automatically adjusts the clamping force according to the shape and size of the aluminum tube, ensuring a firm clamping of aluminum tubes of different specifications. Furthermore, the clamping method of the first airbag 206 is gentler, preventing damage to the surface of the aluminum tube and ensuring its appearance quality. Simultaneously, by controlling the pressure of the first air pump 207, the clamping force can be precisely controlled, improving the accuracy and stability of material handling.

[0026] Furthermore, as a preferred embodiment, a control device 5 is also included. The control device 5 is mounted on the side wall of the frame 1. The control device 5 includes a housing 501, a controller, and a touch screen 502. The housing 501 is connected to the frame 1. The controller is located inside the housing 501, and the touch screen 502 is located on the outer wall of the housing 501. The touch screen 502 and the robot 201 are respectively connected to the controller. The controller is a PLC controller, used to connect with the touch screen 502, the first air pump 207, and the robot 201. This improves the ease of operation and intelligence of the material handling mechanism 2. Operators do not need professional programming knowledge and can easily complete various parameter settings and operations through the touch screen 502, reducing the difficulty of operation. A CCD camera is also installed on the flange at the end of the robot 201, and the CCD camera is connected to the controller to detect the position, quantity, and size of the aluminum tubes, so that the clamp 202 and the clamping mechanism can clamp the aluminum tubes.

[0027] Furthermore, as a preferred embodiment, the tube box conveying mechanism 3 includes a first mounting frame 301, a first conveyor belt 302, first rollers, baffles 303, push plates 304, and elastic elements 305. Two first rollers are provided at both ends of the first mounting frame 301, and the first conveyor belt 302 is sleeved on the two first rollers. Two baffles 303 are provided on both sides inside the first mounting frame 301, and a push plate 304 is provided on the side of the two baffles 303 that are close to each other. The push plate 304 is connected to the baffles 303 through several elastic elements 305. In this embodiment, the baffles 303 provide lateral limiting for the tube box. The push plates 304, located between the baffles 303, are connected to the baffles 303 through elastic elements 305. When the tube box moves on the conveyor belt, the push plates 304, under the action of the elastic elements 305, can automatically adjust the pushing force on the tube box according to its position and size, ensuring that the tube box is always kept in a suitable conveying position. Meanwhile, the elastic element 305 allows the push plate 304 to move inwards towards the baffle 303, preventing hard contact between the push plate 304 and the tube box and avoiding deformation caused by squeezing the tube box. This structure of baffle 303, push plate 304, and elastic element 305 solves the problems of unstable tube box conveying and easy deviation in traditional conveying mechanisms. The cooperation between baffle 303 and push plate 304 effectively limits the lateral movement of the tube box during conveying, ensuring stable conveying along the predetermined track. The elastic element 305 allows the push plate 304 to adapt to changes in the position and size of the tube box, improving its adaptability to tube boxes of different specifications.

[0028] A groove 306 is provided on one side of the two baffles 303 that are close to each other. The push plate 304 can operate to enter or leave the groove 306. The groove 306 is arranged along the length of the baffles 303, and several elastic elements 305 are evenly distributed within the groove 306. The cooperation between the groove 306 and the elastic elements 305 allows the push plate 304 to better adapt to changes in the size of the tube box, providing a stable lateral thrust for tube boxes of different widths, ensuring that the tube box remains in the correct position during transportation. Even if the tube box is slightly offset due to external forces during transportation, the push plate 304 can push it back to the appropriate position under the action of the elastic elements 305, effectively avoiding transportation failures caused by tube box offset and improving the reliability of the transportation mechanism.

[0029] The elastic element 305 includes a telescopic rod 307 and a spring 308 sleeved on the outer wall of the telescopic rod 307. The telescopic rod 307 is located within a slide groove 306, and one end of the telescopic rod 307 is connected to a push plate 304. It also includes a pressure sensor 309, which is located on the inner wall of the slide groove 306, and the other end of the telescopic rod 307 is connected to the pressure sensor 309. First cylinders 310 are located on both sides of the first mounting bracket 301, and the output end of the first cylinder 310 is connected to a baffle 303. When the pipe box contacts the push plate 304, the push plate 304 experiences pressure from the pipe box, which is transmitted to the pressure sensor 309 via the telescopic rod 307. The pressure sensor 309 converts the pressure signal into an electrical signal and feeds it back to the controller. Simultaneously, the spring 308 provides elastic force on the telescopic rod 307, enabling the push plate 304 to automatically adjust its position according to the pressure of the pipe box and apply appropriate thrust to the pipe box. The pressure sensor 309 facilitates the detection of the thrust on the pusher plate 304, thereby enabling the control of the first cylinder 310 to provide appropriate thrust. In this embodiment, the pressure sensor 309 allows for real-time sensing of the pressure exerted by the tube box on the pusher plate 304, reflecting the position and stress status of the tube box. Based on the signal fed back by the pressure sensor 309, the controller can promptly adjust the conveying speed or fine-tune the thrust of the pusher plate 304 to ensure the stability of the tube box during conveying. When the pressure on the pusher plate 304 becomes abnormal due to collisions or other reasons during conveying, the pressure sensor 309 can quickly detect and feed back to the controller. The control system can then take corresponding measures, such as reducing the conveying speed or adjusting the thrust of the pusher plate 304, to prevent damage to the tube box and improve the safety and reliability of tube box conveying.

[0030] In this embodiment, a second motor 311 is also included. The second motor 311 is mounted on one side of the first mounting bracket 301, and its output end is connected to one of the first roller shafts. The second motor 311 drives the first roller shaft to rotate, thereby rotating the first conveyor belt 302 and thus moving the tube box. The second motor 311 is connected to a controller. A position sensor 312 can be mounted on the inner wall of the first mounting bracket 301 to detect the position of the tube box. The position sensor 312 is connected to the controller; when the tube box is detected, the position sensor 312 sends a signal to the controller, which then controls the second motor 311 to stop operating.

[0031] Furthermore, in a preferred embodiment, the tube feeding mechanism 4 includes a second mounting frame 401, a second conveyor belt 402, a roller, an angle adjustment mechanism 403, and a tube retraction mechanism 404. One end of the second mounting frame 401 is equipped with a roller, and the other end is equipped with an angle adjustment mechanism 403. The second conveyor belt 402 is sleeved on the roller and the angle adjustment mechanism 403. The tube retraction mechanism 404 is located on one side of the second mounting frame 401. In this embodiment, the second mounting frame 401 is used to mount the roller, the angle adjustment mechanism 403, and the tube retraction mechanism 404, while the second conveyor belt 402 is used to convey the aluminum tube. A position detection sensor 421 is located on the inner wall of the second mounting frame 401, directly opposite the tube retraction mechanism 404, to detect the position of the aluminum tube. The angle adjustment mechanism 403 is used to adjust the angle of the second conveyor belt 402 to change the conveying angle of the aluminum tube to adapt to different working conditions. The tube removal mechanism 404 is used to remove the aluminum tube held by the gripper 202 on the robot 201, and then push the aluminum tube onto the second conveyor belt 402 to realize the transport of the aluminum tube.

[0032] Furthermore, as a preferred embodiment, the tube retraction mechanism 404 includes a tube retraction fork 405, a mounting plate 406, a second cylinder 407, a second air pump 408, a second airbag 409, a second air pipe connector 410, a second air inlet pipe, a hose, and a contact sensor 411. A slot 412 is provided on one side of the second mounting bracket 401, and the tube retraction fork 405 is disposed within the slot 412. The slot 412 serves as a clearance mechanism to facilitate the transverse movement of the tube retraction fork 405 along the conveyor belt. A gap exists between the lower surface of the tube retraction fork 405 and the upper surface of the second conveyor belt 402 to facilitate the normal movement of the tube retraction fork 405.

[0033] Mounting plate 406 is disposed on one side of second mounting bracket 401. A second cylinder 407 is disposed at the upper end of mounting plate 406, and the output end of the second cylinder 407 is connected to retracting fork 405. The upper end of retracting fork 405 has several retracting grooves 413. Each retracting groove 413 has a second mounting groove 414 on its inner walls on both sides. A second airbag 409 is disposed within the second mounting groove 414. A second air pump 408 is disposed at the upper end of mounting plate 406. A second chamber is formed inside retracting fork 405. The second airbag 409 communicates with the second chamber via a second air inlet pipe. A second air pipe connector 410 is disposed on one side of retracting fork 405. One end of the second air pipe connector 410 communicates with the interior of the second chamber, and the other end of the second air pipe connector 410 is connected to the second air pump 408 via a flexible hose. Furthermore, a contact sensor 411 is disposed on the lower inner wall of each retracting groove 413 to detect whether the aluminum tube is properly positioned. When tube removal is required, the second cylinder 407 pushes the tube removal fork 405 to extend, removing the aluminum tube from the gripper 202 at the end of the robot 201. Simultaneously, the second air pump 408 inflates the second airbag 409, causing it to expand and clamp the tube, preventing it from shaking or falling during removal. In this embodiment, the tube removal mechanism 404 solves the problems of easy damage to the tube and the conveying mechanism caused by traditional tube removal methods. Clamping the aluminum tube with the airbag achieves flexible tube removal, effectively protecting it from damage. The contact sensor 411 makes the tube removal operation more precise; the operation only occurs when the aluminum tube is placed in the tube removal slot 413 and the contact sensor 411 is triggered, avoiding misoperation. Furthermore, the precise control of the cylinder ensures the accurate and reliable movement of the tube removal fork 405, improving the stability and reliability of the tube removal mechanism 404. Once the tube retraction is complete, the second cylinder 407 drives the tube retraction fork 405 to retract into the slot 412, awaiting the next tube retraction operation.

[0034] Furthermore, as a preferred embodiment, the system also includes a third motor, a fixed plate, a first pulley, a second pulley, and a belt. A fixed plate is mounted on the side wall of one end of the second mounting bracket 401. The first and second pulleys are rotatably mounted on one side of the fixed plate, and the belt is fitted onto the first and second pulleys. A third motor is mounted on the other end of the fixed plate, with its output end connected to the first pulley. The second pulley is connected to one end of the roller. The third motor drives the first pulley to rotate, which in turn drives the second pulley to rotate via the belt. The second pulley then drives the roller to rotate, thereby driving the conveyor belt to rotate, facilitating the transport of the aluminum tubes.

[0035] Furthermore, as a preferred embodiment, the angle adjustment mechanism 403 includes a rotating plate 415, a fixed shaft 416, and a sleeve 417. Two rotating plates 415 are provided on both sides of the other end of the second mounting bracket 401. The fixed shaft 416 is located between the two rotating plates 415 and is fixedly connected to the two rotating plates 415. The sleeve 417 is rotatably provided on the fixed shaft 416. There is an movable gap between the two ends of the sleeve 417 and the two rotating plates 415. The second conveyor belt 402 is sleeved on the outside of the roller and the sleeve 417.

[0036] It also includes a first motor 418, a drive gear 419, and a driven gear 420. The first motor 418 is located on one side of the other end of the second mounting bracket 401. The drive gear 419 is located at the output end of the first motor 418, and the driven gear 420 is located on one side of the rotating plate 415. The drive gear 419 meshes with the driven gear 420. The first motor 418 drives the drive gear 419 to rotate, and the drive gear 419 meshes with the driven gear 420 on one side of the rotating plate 415, thereby causing the rotating plate 415 to rotate around the fixed shaft 416, thus adjusting the conveying angle of the sleeve 417 and the conveyor belt. This structure solves the problem of fixed conveying angle in traditional pipe-feeding belt mechanisms, allowing the conveying angle of the pipe-feeding belt to be flexibly adjusted according to production needs. This allows for precise adjustment of the conveying angle of aluminum tubes and other fittings according to the position and process requirements of subsequent processing equipment, without manual intervention, improving production efficiency and automation. Especially in pharmaceutical ointment packaging production lines, the conveying angle of the tube feeding belt can be quickly adjusted according to the position of the filling or labeling equipment to ensure that the aluminum tube is accurately delivered to the target position, reducing conveying errors caused by improper conveying angle and improving the accuracy and continuity of production.

[0037] In this embodiment, the controller is connected to the position sensor 312, the position detection sensor 421, the contact sensor 411, the pressure sensor 309, the first motor 418, the second motor 311, the third motor, the first cylinder 310, the second cylinder 407, the first air pump 207, the second air pump 408, and the robot 201.

[0038] In operation, the tube box containing multiple aluminum tubes is first placed manually on the first conveyor belt 302. Then, the controller controls the second motor 311 to drive the first roller shaft, rotating the first conveyor belt 302 and moving the tube box. During movement, a gap exists between the sidewall of the tube box and the two push plates 304 to allow for normal movement. If the tube box shifts laterally during movement, the pressure sensor 309 sends a signal to the controller, which then controls the first cylinder 310 to adjust the lateral position of the tube box on the first conveyor belt 302. When the position sensor 312 detects the tube box's position, the controller stops the second motor 311. If further lateral adjustment is needed, the controller automatically controls the first cylinder 310 to adjust the tube box's position. Then, the controller controls the robot 201 to extend the gripper 202 into the tube box, and with the assistance of a CCD camera, the aluminum tube smoothly enters the first clamping groove 204. Finally, the controller controls the first air pump 207 to inflate the first airbag 206, clamping the aluminum tube. Then, robot 201 drives gripper 202 to detach from the tube box and move above the second conveyor belt 402. Robot 201 lowers gripper 202, and with the detection and recognition of the CCD camera, the aluminum tube smoothly enters the tube removal groove 413. During the process of the aluminum tube entering the tube removal groove 413, position detection sensor 421 detects the position of the aluminum tube, and then the controller automatically controls the third motor to stop working. When contact sensor 411 detects the position of the aluminum tube, the controller controls the second air pump 408 to work, causing the second airbag 409 to inflate and clamp the aluminum tube. Then, the second cylinder 407 drives the tube removal fork 405 to move, disengaging the aluminum tube from the first clamping groove 204 on gripper 202. After the aluminum tube is disengaged from the first clamping groove 204, robot 201 drives gripper 202 to reset. The second cylinder 407 draws in air, causing the second airbag 409 to contract and release the aluminum tube. Then, the piston rod of the second cylinder 407 drives the tube retraction fork 405 to move into the slot 412. The aluminum tube automatically disengages from the tube retraction slot 413 and enters the second conveyor belt 402, where it is conveyed out under the action of the second conveyor belt 402.

[0039] When it is necessary to adjust the conveying direction of the aluminum tube, the controller will control the first motor 418 to drive the drive gear 419 to rotate, the drive gear 419 to drive the driven gear 420 to rotate, and the driven gear 420 to drive the rotating plate 415 to rotate, thereby adjusting the conveying direction of the second conveyor belt 402.

[0040] The above description is merely a preferred embodiment of the present invention and does not limit the implementation and protection scope of the present invention. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. An upper tube mechanism for a collaborative robot, characterized in that, It includes a frame, a material handling mechanism, a tube box conveying mechanism, and a tube feeding mechanism. The material handling mechanism, the tube box conveying mechanism, and the tube feeding mechanism are arranged at the upper end of the frame. The tube box conveying mechanism is located between the material handling mechanism and the tube feeding mechanism. The tube box conveying mechanism is used to convey tube boxes. The material handling mechanism is used to take out aluminum tubes from the tube boxes and move them to the tube feeding mechanism.

2. The upper tube mechanism of the collaborative robot as described in claim 1, characterized in that, The material handling mechanism includes a robot, a fixture, and a clamping mechanism. The robot is mounted on the upper end of the frame, and the end of the robot is connected to the fixture via a flange. The clamping mechanism is located inside the fixture.

3. The upper tube mechanism of the collaborative robot as described in claim 2, characterized in that, The clamp includes a clamp body, a plurality of first clamping grooves are provided on one side of the clamp body, and first mounting grooves are provided on the inner walls of both sides of the first clamping grooves. The clamping mechanism is disposed in the first mounting groove.

4. The upper tube mechanism of the collaborative robot as described in claim 3, characterized in that, The clamping mechanism includes a first airbag, and each of the first mounting slots is respectively provided with a first airbag; It also includes a first air inlet pipe, and the first air pipe is provided on one side of the first airbag, with one end of the first air pipe communicating with the interior of the first airbag. The fixture body has a first chamber inside, and the other end of the first air inlet pipe is connected to the first chamber.

5. The upper tube mechanism of the collaborative robot as described in claim 4, characterized in that, A first air pump is provided at the upper end of the frame, and a first air pipe connector is provided on the other side of the fixture body. One end of the first air pipe connector is connected to the first air pump, and the other end of the first air pipe connector is connected to the interior of the first chamber.

6. The upper tube mechanism of the collaborative robot as described in claim 5, characterized in that, It also includes a control device, which is disposed on the side wall of the frame. The control device includes a housing, a controller and a touch screen. The housing is connected to the frame. The controller is disposed inside the housing and the touch screen is disposed on the outer wall of the housing. The touch screen and the robot are respectively connected to the controller.

7. The upper tube mechanism of the collaborative robot as described in claim 1, characterized in that, The tube box conveying mechanism includes a first mounting frame, a first conveyor belt, a first roller, a baffle, a pusher plate, and elastic elements. Two first rollers are provided at both ends of the first mounting frame, and the first conveyor belt is sleeved on the two first rollers. Two baffles are provided on both sides inside the first mounting frame, and the pusher plate is provided on the side of the two baffles that are close to each other. The pusher plate is connected to the baffles through a plurality of elastic elements. A sliding groove is provided on one side of the two baffles that are close to each other, and the push plate can be operated to enter or leave the sliding groove; The elastic element includes a telescopic rod and a spring sleeved on the outer wall of the telescopic rod. The telescopic rod is disposed in the slide groove, and one end of the telescopic rod is connected to the push plate. It also includes a pressure sensor, which is disposed on the inner wall of the slide groove, and the other end of the telescopic rod is connected to the pressure sensor; It also includes a first cylinder, which is provided on both sides of the first mounting bracket, and the output end of the first cylinder is connected to the baffle.

8. The upper tube mechanism of the collaborative robot as described in claim 1, characterized in that, The tube feeding mechanism includes a second mounting frame, a second conveyor belt, a roller, an angle adjustment mechanism, and a tube retraction mechanism. One end of the second mounting frame is provided with the roller, and the other end of the second mounting frame is provided with the angle adjustment mechanism. The second conveyor belt is sleeved on the roller and the angle adjustment mechanism, and the tube retraction mechanism is provided on one side of the second mounting frame.

9. The upper tube mechanism of the collaborative robot as described in claim 8, characterized in that, The tube retraction mechanism includes a tube retraction fork, a mounting plate, a second cylinder, a second air pump, a second airbag, a second air pipe connector, a second air inlet pipe, a hose, and a contact sensor. A slot is provided on one side of the second mounting bracket, and the tube retraction fork is disposed in the slot. The mounting plate is disposed on one side of the second mounting frame, and the upper end of the mounting plate is provided with the second cylinder, the output end of the second cylinder being connected to the retracting fork; The upper end of the tube retraction fork is provided with several tube retraction grooves. Each tube retraction groove has a second mounting groove on its inner walls on both sides. The second mounting groove is provided with a second airbag. The upper end of the mounting plate is provided with a second air pump. The tube retraction fork has a second chamber inside. The second airbag is connected to the second chamber through the second air inlet pipe. The tube retraction fork has a second air pipe connector on one side. One end of the second air pipe connector is connected to the interior of the second chamber. The other end of the second air pipe connector is connected to the second air pump through the hose. Each of the aforementioned tube retraction grooves has a contact sensor installed on the inner wall of its lower end.

10. The upper tube mechanism of the collaborative robot as described in claim 8, characterized in that, The angle adjustment mechanism includes a rotating plate, a fixed shaft, and a sleeve. Two rotating plates are arranged on both sides of the other end of the second mounting frame. The fixed shaft is located between the two rotating plates and fixedly connected to them. The sleeve is rotatably mounted on the fixed shaft, and there is a movable gap between the two ends of the sleeve and the two rotating plates. The conveyor belt is sleeved on the outside of the roller and the sleeve. It also includes a first motor, a drive gear, and a driven gear. The first motor is arranged on one side of the other end of the second mounting frame, and the drive gear is located at the output end of the first motor. The driven gear is arranged on one side of the rotating plate, and the drive gear meshes with the driven gear.

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