A loading and unloading robot for a production line

Abstract

This invention relates to the field of loading and unloading robot technology, and discloses a loading and unloading robot for a production line, including a mounting base. The mounting base has a shock-absorbing seat inside, and the shock-absorbing end of the shock-absorbing seat is connected to an electric turntable. The rotating end of the electric turntable is connected to a robot arm assembly and a connecting seat two. A pressure sensor is installed at the connection point between the robot arm assembly and the electric turntable. A counterweight component is fixedly installed on the outer wall of the connecting seat two. The counterweight component includes a pneumatic slide rail and a follower frame. The center of gravity is adjusted through the counterweight component, thereby ensuring that the center of gravity of the structure above the electric turntable does not shift excessively relative to the central axis of the shock-absorbing seat. This avoids the problem of loosening or disconnection at the connection points of the shock-absorbing seat, the electric turntable, and the robot arm assembly. Utilizing the fast response of pneumatic technology, the torque can be changed in a short time simply by controlling the amount and pressure of the input compressed gas.

Description

Technical Field

[0001] This invention relates to the field of loading and unloading robot technology, specifically to a loading and unloading robot for production lines. Background Technology

[0002] Material handling robots are core equipment in automated production lines, widely used in various industrial scenarios such as automotive parts processing, electronic component assembly, and mechanical parts sorting. They are mainly used to complete material gripping, transfer, and unloading operations, and their operational stability directly determines the efficiency and product qualification rate of the production line. During actual robot operation, the manipulator arm needs to flexibly extend, retract, and rotate according to the material position, while simultaneously completing the gripping and releasing operations. The changes in the manipulator arm's posture and the gripping and releasing of materials cause a rapid and irregular shift in the machine's center of gravity, which in turn causes the connection between the robot base and the shock absorber to bear a large radial force.

[0003] This radial force will disrupt the force balance of the shock absorber, significantly reducing its shock absorption and buffering efficiency, resulting in significant vibration during robot operation. This not only affects the gripping accuracy of the manipulator but also causes continuous fatigue impact on bolts, flanges, and other components at the connection points. Long-term use can easily lead to loosening and wear at the connection points, and in severe cases, it can cause the connection to break, causing equipment downtime and increasing the maintenance costs and downtime losses of the production line.

[0004] To mitigate the problems caused by the aforementioned center of gravity shift, some existing loading and unloading robots are equipped with a center of gravity adjustment structure. The core principle is to adjust the distance between the counterweight and the manipulator arm, thereby changing the counterweight torque and dynamically adjusting the overall center of gravity position to counteract the shift caused by the manipulator arm's movements. Currently, most common center of gravity adjustment structures on the market use a sliding rail to move the counterweight, specifically divided into pneumatic and electric sliding rails. Pneumatic sliding rails rely on an air source for power, and are affected by factors such as air pressure fluctuations and airflow buffering, resulting in start-stop delays and insufficient positioning accuracy. Electric sliding rails rely on a motor drive, which is limited by motor speed and reducer transmission clearance, leading to slow start-stop response and excessively long times to reach the designated position.

[0005] When loading and unloading robots grab and put down materials, the movement of the operating arm is large and fast, and the change in the center of gravity of the whole machine is extremely fast. It usually needs to complete the balance adjustment within tens of milliseconds. The existing sliding rail adjustment structure cannot keep up with the speed of the center of gravity change in time due to its own response lag characteristics. It is difficult to achieve instantaneous dynamic balance of the center of gravity and cannot fundamentally solve the problem of radial force impact at the connection between the base and the shock absorber. There are still hidden dangers of loose connection and shock absorption failure. Summary of the Invention

[0006] The purpose of this invention is to provide a loading and unloading robot for a production line to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a loading and unloading robot for a production line, comprising a mounting base, wherein a shock-absorbing seat is provided inside the mounting base, an electric turntable is connected to the shock-absorbing end of the shock-absorbing seat, a robot arm assembly and a connecting seat two are connected to the rotating end of the electric turntable, a pressure sensor is provided at the connection between the robot arm assembly and the electric turntable, and a counterweight component is fixedly installed on the outer wall of the connecting seat two. The counterweight component includes a pneumatic slide rail and a follower frame. The follower frame is rotatably mounted on the mounting base. The pneumatic slide rail is fixedly connected to a connecting base. A movable base is fixedly connected to the sliding end of the pneumatic slide rail. A hollow air cylinder is slidably connected to the inner side of the follower frame via a sliding connector. An air exchange assembly is provided on the outer side of the follower frame. The air exchange end of the air exchange assembly is connected to the air exchange end of the hollow air cylinder. A piston is slidably mounted inside the hollow air cylinder. A push rod is fixedly connected to the bottom end of the piston. A sliding disc is fixedly connected to the bottom end of the push rod. An elastic telescopic rod is fixedly connected to the bottom of the sliding disc. A lower pressure plate is fixedly connected to the bottom end of the elastic telescopic rod. The lower pressure plate is fixedly connected to the top of the movable base.

[0008] Furthermore, the follower frame includes an L-shaped guide frame and an annular groove. The annular groove is formed on the top of the mounting base. The bottom of the L-shaped guide frame is fixedly connected to a base plate and a rolling head is fixedly installed on the bottom. The rolling head is slidably disposed in the annular groove. The L-shaped guide frame is slidably connected to the hollow air cylinder through a sliding connector.

[0009] Furthermore, the sliding connector includes a guide groove and a second mounting plate. The guide groove is opened on the horizontal section of the L-shaped guide frame. A third connecting seat is fixedly installed on one outer wall of the second mounting plate, and a rolling wheel is rotatably connected to the other outer wall through a bearing. The rolling wheel is slidably disposed in the guide groove, and the third connecting seat is fixedly connected to the outer wall of the hollow air cylinder.

[0010] Furthermore, the ventilation assembly includes an inlet pipe, an outlet pipe, and an electric control valve. The electric control valve is rotatably connected to the central shaft of a rolling wheel via a bearing. The inlet pipe and outlet pipe are connected to two ports above the electric control valve. Both the inlet pipe and outlet pipe are connected to the ventilation end of the hollow air cylinder. The two ports below the electric control valve are respectively connected to a high-pressure steel wire braided rubber tube one and a high-pressure steel wire braided rubber tube two. The bottom end of the high-pressure steel wire braided rubber tube one is connected to a pressure regulating valve, and the bottom end of the high-pressure steel wire braided rubber tube two is connected to a miniature air pump. The pressure regulating valve and the miniature air pump are both fixedly mounted on the outer wall of the L-shaped guide frame. The bottom ports of the pressure regulating valve and the miniature air pump are connected to a ventilation pipe, which is connected to the workshop compressed air circulation pipeline.

[0011] Furthermore, a pipe spiral seat is fixedly sleeved on the outer wall of the mounting base, and the ventilation pipe is spiraled in the groove inside the pipe spiral seat.

[0012] Furthermore, the robotic arm assembly includes a connecting seat 1, which is fixedly connected to the rotating end of the electric turntable. Multiple operating arm sections are connected to the top of the connecting seat 1, and an electric gripping head is connected to the top of the multiple operating arm sections.

[0013] Furthermore, support plates are fixedly installed on the front and rear outer walls of the pneumatic slide rail, support wheels are fixedly installed on the bottom of the movable seat, the support wheels rest on the top of the support plates, and an inclined support frame is fixedly installed on the side of the connecting seat two, the inclined support frame supporting the pneumatic slide rail and the support plates.

[0014] Furthermore, an elastic shield is fixedly connected to the bottom of the hollow air cylinder. The bottom end of the elastic shield is fixedly connected to the bottom of the lower pressure plate. The elastic shield covers the bottom end of the elastic telescopic rod. Two sets of hollow air cylinder, follower frame, air exchange component, sliding connector, and lower pressure plate are provided. The two sets of hollow air cylinder, follower frame, air exchange component, sliding connector, and lower pressure plate are symmetrically arranged with respect to the pneumatic slide rail. A gap is left between the two sets of structures to avoid the robot arm component.

[0015] Furthermore, the shock absorber includes a base, which is fixedly disposed at the center of the mounting base. An elastic damping element is disposed inside the base, and a mounting plate is fixedly connected to the top of the elastic damping element. The mounting plate is fixedly connected to the bottom of the electric turntable. A rubber limiting ring is fixedly installed inside the base, with the top of the rubber limiting ring extending outside the base. A gap is left between the top of the rubber limiting ring and the bottom of the mounting plate. Ventilation holes are provided on the outer walls of both the base and the rubber limiting ring. An elastic shielding cover is disposed between the bottom of the mounting plate and the top of the base.

[0016] Furthermore, multiple elastic damping elements are provided, and the multiple elastic damping elements are distributed in a circumferential array within the base. Each elastic damping element includes a spring and a damper. The spring is slidably sleeved on the damper. The top and bottom ends of the spring and the damper are connected to connecting plates. The upper connecting plate is fixedly connected to the bottom of the mounting plate, and the lower connecting plate is fixedly connected to the inner wall of the base.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. By adjusting the center of gravity through counterweight components, it is ensured that the center of gravity of the structure above the electric turntable will not deviate too much from the central axis of the shock absorber, thereby avoiding the problem of loosening or disconnection at the connection between the shock absorber and the electric turntable, as well as at the connection between the electric turntable and the robot arm assembly. Taking advantage of the fast pneumatic response, the torque can be changed in a short time simply by controlling the amount and pressure of the input compressed gas. 2. During the process of transferring materials after grabbing them, the change in torque can be achieved by adjusting the position of the moving seat through the pneumatic slide rail. Before the gas in the hollow air cylinder needs to be discharged, the position of the moving seat is adjusted first, and then the compressed gas is slowly discharged. This can also avoid the problem that the exhaust efficiency is lower than the ventilation efficiency. 3. Connect the electric control valve to the roller so that the electric control valve moves synchronously when the hollow air cylinder moves. The electric control valve controls the connection and closure of the air inlet and outlet pipes, thereby controlling the air supply and exhaust into the hollow air cylinder. The compressed gas pressure is adjusted by the air pressure regulating valve. After adjustment, the compressed gas is introduced into the first high-pressure steel wire braided rubber tube, and then into the electric control valve. The compressed gas is then introduced into the air inlet pipe through the electric control valve, and then into the hollow air cylinder. The compressed gas in the second high-pressure steel wire braided rubber tube is extracted by the micro air pump, and then the compressed gas in the hollow air cylinder is extracted through the electric control valve and the air outlet pipe, thus realizing the air supply and exhaust operation. 4. Mounting plate one is set up to connect the elastic damping component and the electric turntable. The elastic damping component is used for shock absorption. A rubber limit ring is set up to limit the maximum downward pressure distance of mounting plate one, thereby preventing mounting plate one from colliding with the top of the base. An elastic shield two is set up to shield the inside of the base, making the overall appearance more aesthetically pleasing. A ventilation hole is set up to allow air to circulate between the inside of the base and the outside, preventing the air pressure inside the base from being too high or too low. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 For the present invention Figure 1 A structural diagram of the right side view; Figure 3 For the present invention Figure 1 A structural diagram of the left side view; Figure 4 This is a schematic diagram of the counterweight component of the present invention; Figure 5 For the present invention Figure 4 Structural diagram of the rear view; Figure 6 This is a schematic diagram of the exploded view of the counterweight component of the present invention; Figure 7 This is a structural schematic diagram of the front sectional view of the hollow air cylinder of the present invention; Figure 8 This is a schematic diagram of the structure of the connecting seat 2, the pneumatic slide rail and the movable seat of the present invention; Figure 9 This is a schematic diagram of the structure of the electric turntable and robotic arm assembly of the present invention; Figure 10 This is a schematic diagram of the structure of the shock absorber seat of the present invention, shown in an exploded view.

[0019] In the diagram: 1. Mounting base; 2. Vibration damping base; 201. Base; 202. Elastic damping component; 203. Mounting plate one; 2021. Connecting plate; 2022. Spring; 2023. Damper; 3. Electric turntable; 4. Robot arm assembly; 401. Connecting base one; 402. Multi-section operating arm; 403. Electric gripping head; 5. Connecting base two; 6. Counterweight component; 601. Pneumatic slide rail; 602. Moving base; 603. Hollow air cylinder; 604. Follower frame; 605. Ventilation assembly; 606. Sliding connector; 607. Lower pressure plate; 608. Piston; 609. Push rod; 6010. Sliding plate; 6011. Elastic telescopic rod; 6041. L-shaped guide frame 6042, Base plate; 6043, Rolling head; 6044, Annular groove; 6051, Air inlet pipe; 6052, Air outlet pipe; 6053, Electric control valve; 6054, High-pressure steel wire braided rubber hose one; 6055, High-pressure steel wire braided rubber hose two; 6056, Air pressure regulating valve; 6057, Miniature air pump; 6058, Ventilation pipe; 6061, Guide groove; 6062, Mounting plate two; 6063, Connecting seat three; 6064, Rolling wheel; 7, Pipeline guide ring; 8, Elastic shield one; 9, Inclined support frame; 10, Support plate; 11, Support wheel; 12, Pipeline rotating seat; 13, Rubber limit ring; 14, Elastic shield two; 15, Ventilation hole. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] Example 1: Please refer to Figures 1-9This invention provides a technical solution: a loading and unloading robot for a production line, including a mounting base 1, a shock-absorbing seat 2 inside the mounting base 1, an electric turntable 3 connected to the shock-absorbing end of the shock-absorbing seat 2, a robot arm assembly 4 and a connecting seat 2 5 connected to the rotating end of the electric turntable 3, a pressure sensor at the connection between the robot arm assembly 4 and the electric turntable 3, the pressure sensor being arranged around a circumference, and a counterweight component 6 fixedly installed on the outer wall of the connecting seat 2 5. The mounting base 1 is used to mount the shock-absorbing seat 2, and the shock-absorbing seat 2 is used to dampen the electric turntable 3 and the top of the electric turntable 3. The robotic arm assembly 4 and connecting seat 2 5 provide shock absorption. The robotic arm assembly 4 grabs, transfers and puts down materials. During this process, the pressure sensor detects the pressure change at the connection between the robotic arm assembly 4 and the electric turntable 3, thereby obtaining the change in the center of gravity of the structure above the electric turntable 3. The counterweight component 6 then adjusts the center of gravity to ensure that the center of gravity of the structure above the electric turntable 3 does not shift too much relative to the central axis of the shock absorption seat 2, thus avoiding the problem of loosening or disconnection at the connection between the shock absorption seat 2 and the electric turntable 3, and at the connection between the electric turntable 3 and the robotic arm assembly 4. The counterweight component 6 includes a pneumatic slide rail 601 and a follower frame 604. The follower frame 604 is rotatably mounted on the mounting base 1. The pneumatic slide rail 601 is fixedly connected to the connecting base 5. A movable base 602 is fixedly connected to the sliding end of the pneumatic slide rail 601. A hollow air cylinder 603 is slidably connected to the inner side of the follower frame 604 through a sliding connector 606. An air exchange component 605 is provided on the outer side of the follower frame 604. The air exchange end of the air exchange component 605 is connected to the air exchange end of the hollow air cylinder 603. A piston 608 is slidably arranged inside the hollow air cylinder 603. A push rod 609 is fixedly connected to the bottom end of the piston 608. A sliding disc 6010 is fixedly connected to the bottom end of the push rod 609. An elastic telescopic rod 6011 is fixedly connected to the bottom of the sliding disc 6010. A lower pressure plate 607 is fixedly connected to the bottom end of the elastic telescopic rod 6011. The lower pressure plate 607 is fixedly connected to the top of the movable seat 602. When gripping materials, the center of gravity of the robotic arm assembly 4 shifts significantly relative to the electric turntable 3. Compressed gas is introduced into the hollow air cylinder 603 through the ventilation assembly 605. The compressed gas entering the hollow air cylinder 603 pushes the piston 608 downward, which in turn causes the push rod 609 to move downward, pushing the sliding plate 6010 downward. This causes the sliding plate 6010 to compress and deform the elastic telescopic rod 6011, increasing the elastic force of the elastic telescopic rod 6011 on the lower pressure plate 607. This causes the lower pressure plate 607 to press down on the movable seat 602, and the movable seat 602 to press down on the pneumatic slide rail 601. The pneumatic mechanism then... Due to its rapid response, torque can be changed quickly by controlling the amount and pressure of the input compressed gas. Similarly, when lowering materials, the compressed gas in the hollow air cylinder 603 is extracted by the air exchange component 605. Under the action of the air pressure difference, the piston 608 moves upward rapidly, which in turn drives the push rod 609 to move upward. This causes the sliding plate 6010 to move upward and no longer squeeze the elastic telescopic rod 6011. As a result, the elastic force on the lower pressure plate 607 under the action of the elastic telescopic rod 6011 decreases, thereby reducing the torque. Furthermore, during the transfer of materials after gripping them, the change in torque can be achieved by adjusting the position of the moving seat 602 through the pneumatic slide rail 601 (i.e., adjusting the length of the lever arm to adjust the torque). Before the gas in the hollow air cylinder 603 needs to be discharged, the position of the moving seat 602 (the length of the lever arm) is adjusted while the compressed gas is slowly discharged (reducing the counterweight). This can also avoid the problem that the exhaust efficiency is lower than the ventilation efficiency. A follower frame 604 is set to connect the sliding connector 606 and the ventilation component 605. When the rotating end of the electric turntable 3 drives the connecting seat 5 to rotate, and then drives the counterweight component 6 to rotate, the follower frame 604 can rotate together and transmit the force acting on the hollow air cylinder 603 when the elastic telescopic rod 6011 extends and retracts to the mounting seat 1. The ventilation component 605 is set to introduce the compressed gas into the hollow air cylinder 603 after adjusting the pressure, and to remove the compressed gas in the hollow air cylinder 603. The follower frame 604 includes an L-shaped guide frame 6041 and an annular groove 6044. The annular groove 6044 is formed on the top of the mounting base 1. The bottom of the L-shaped guide frame 6041 is fixedly connected to the bottom of the base plate 6042, and a rolling head 6043 is fixedly provided on the bottom of the base plate 6042. The rolling head 6043 is slidably disposed in the annular groove 6044. The L-shaped guide frame 6041 is slidably connected to the hollow air cylinder 603 through a sliding connector 606. The base plate 6042 and the rolling head 6043 are provided to connect the L-shaped guide frame 6041 and the annular groove 6044, so that the L-shaped guide frame 6041 can rotate along the trajectory of the annular groove 6044. The L-shaped guide frame 6041 is provided to connect and guide the hollow air cylinder 603. The sliding connector 606 includes a guide groove 6061 and a mounting plate 6062. The guide groove 6061 is formed on the horizontal section of the L-shaped guide frame 6041. A connecting seat 6063 is fixedly installed on one outer wall of the mounting plate 6062, and a rolling wheel 6064 is rotatably connected to the other outer wall via a bearing. The rolling wheel 6064 is slidably disposed in the guide groove 6061. The connecting seat 6063 is fixedly connected to the outer wall of the hollow air cylinder 603. The guide groove 6061 is provided to guide and limit the rolling wheel 6064, so that the rolling wheel 6064 can only move within the guide groove 6061. This allows the mounting plate 6062 to drive the connecting seat 6063 to slide along the guide groove 6061, thereby allowing the hollow air cylinder 603 to slide along the direction of the guide groove 6061. In this way, the hollow air cylinder 603 can move synchronously when the moving seat 602 moves. The ventilation assembly 605 includes an inlet pipe 6051, an outlet pipe 6052, and an electric control valve 6053. The electric control valve 6053 is rotatably connected to the central shaft of the rolling wheel 6064 via a bearing. The inlet pipe 6051 and the outlet pipe 6052 are connected to the two upper ports of the electric control valve 6053. Both the inlet pipe 6051 and the outlet pipe 6052 are connected to the ventilation end of the hollow air cylinder 603. The two lower ports of the electric control valve 6053 are respectively connected to a high-pressure steel wire braided rubber hose 6054 and a high-pressure steel wire braided rubber hose. Pipe 2 (6055) and the bottom end of high-pressure steel wire braided rubber hose 1 (6054) are connected to a pressure regulating valve (6056). The bottom end of high-pressure steel wire braided rubber hose 2 (6055) is connected to a miniature air pump (6057). Both the pressure regulating valve (6056) and the miniature air pump (6057) are fixedly mounted on the outer wall of the L-shaped guide frame (6041). The bottom ports of both the pressure regulating valve (6056) and the miniature air pump (6057) are connected to an air exchange pipe (6058), which is connected to the workshop's compressed air circulation pipeline. The outer wall of the L-shaped guide frame (6041)... A pipe guide ring 7 is fixedly installed. High-pressure steel wire braided rubber hose one 6054 and high-pressure steel wire braided rubber hose two 6055 pass through the pipe guide ring 7, connecting the electric control valve 6053 to the rolling wheel 6064. This allows the electric control valve 6053 to move synchronously when the hollow air cylinder 603 moves. The electric control valve 6053 controls the connection and closing of the air inlet pipe 6051 and the air outlet pipe 6052, thereby controlling the airflow and exhaust into the hollow air cylinder 603. The pressure regulating valve 6056 then... The compressed gas pressure is adjusted, and after adjustment, it is introduced into the high-pressure steel wire braided rubber hose 6054, and then into the electric control valve 6053. Through the electric control valve 6053, it is introduced into the air inlet pipe 6051, and then into the hollow air cylinder 603. The compressed gas in the high-pressure steel wire braided rubber hose 6055 is drawn away by the micro air pump 6057, and then the compressed gas in the hollow air cylinder 603 is drawn away by the electric control valve 6053 and the air outlet pipe 6052, thus realizing the ventilation and exhaust operations. The outer wall of the mounting base 1 is fixedly fitted with a pipe coiling seat 12, and the ventilation pipe 6058 is coiled in the groove of the pipe coiling seat 12. The pipe coiling seat 12 is set to guide and restrict the ventilation pipe 6058 to prevent the ventilation pipe 6058 from becoming scattered. The robotic arm assembly 4 includes a connecting base 401, which is fixedly connected to the rotating end of the electric turntable 3. The top of the connecting base 401 is connected to a multi-section operating arm 402, and the top of the multi-section operating arm 402 is connected to an electric gripping head 403. The position of the electric gripping head 403 can be adjusted in multiple directions by the multi-section operating arm 402, and the electric gripping head 403 can be used to grip and put down materials. Support plates 10 are fixedly installed on the front and rear outer walls of the pneumatic slide rail 601. Support wheels 11 are fixedly installed on the bottom of the movable seat 602. The support wheels 11 rest on the top of the support plates 10. An inclined support frame 9 is fixedly installed on the side of the connecting seat 2 5. The inclined support frame 9 supports the pneumatic slide rail 601 and the support plates 10. The support plates 10 and support wheels 11 are set to support the movable seat 602. The inclined support frame 9 is set to support the pneumatic slide rail 601 and the support plates 10. The bottom of the hollow air cylinder 603 is fixedly connected to an elastic shield 8. The bottom end of the elastic shield 8 is fixedly connected to the bottom of the lower pressure plate 607. The elastic shield 8 covers the bottom end of the elastic telescopic rod 6011. The outer wall of the elastic shield 8 has air holes. There are two sets of hollow air cylinder 603, follower frame 604, ventilation component 605, sliding connector 606, and lower pressure plate 607. The two sets of hollow air cylinder 603, follower frame 604, ventilation component 605, sliding connector 606, and lower pressure plate 607 are symmetrically arranged with respect to the pneumatic slide rail 601. A gap is left between the two sets of structures to avoid the robot arm component 4. The elastic shield 8 is set to cover the bottom end of the elastic telescopic rod 6011, making the overall appearance more aesthetically pleasing.

[0022] Working principle: During use, based on the preset weight of the material, first adjust the position of the moving seat 602. When the multi-section operating arm 402 extends and retracts to align the electric clamping head 403 with the material, the electric clamping head 403 clamps the material. Then, the multi-section operating arm 402 lifts the electric clamping head 403, thereby lifting the material. At this time, the pressure sensor detects a sudden change in pressure, and the air pressure regulating valve 6056 adjusts the compressed gas pressure. Then, the electric control valve 6053 introduces compressed gas into the air inlet pipe 6051, and then into the hollow air cylinder 603. The compressed gas entering the hollow air cylinder 603 pushes the piston 608 downward, which in turn causes the push rod 609 to move downward, pushing the sliding plate 6010 downward. This causes the sliding plate 6010 to compress and deform the elastic telescopic rod 6011, increasing the force of the elastic telescopic rod 6011 on the lower pressure plate. The elastic force on 607 causes the lower pressure plate 607 to press down on the movable seat 602, which in turn presses down on the pneumatic slide rail 601. Utilizing the fast response of pneumatics, the torque can be changed in a short time simply by controlling the amount and pressure of the compressed gas input. Similarly, when releasing materials, the compressed gas in the hollow air cylinder 603 is extracted by the air exchange component 605. Under the action of the air pressure difference, the piston 608 moves upward quickly, which in turn drives the push rod 609 to move upward, causing the sliding plate 6010 to move upward and no longer squeeze the elastic telescopic rod 6011. This reduces the elastic force on the lower pressure plate 607 under the action of the elastic telescopic rod 6011, thereby reducing the torque. Furthermore, during the process of transferring materials after gripping them, the change in torque can be achieved by adjusting the position of the movable seat 602 through the pneumatic slide rail 601.

[0023] Example 2: Please refer to Figures 1-10 This invention provides a technical solution: a loading and unloading robot for a production line, including a mounting base 1, a shock-absorbing seat 2 inside the mounting base 1, an electric turntable 3 connected to the shock-absorbing end of the shock-absorbing seat 2, a robot arm assembly 4 and a connecting seat 2 5 connected to the rotating end of the electric turntable 3, a pressure sensor at the connection between the robot arm assembly 4 and the electric turntable 3, the pressure sensor being arranged around a circumference, and a counterweight component 6 fixedly installed on the outer wall of the connecting seat 2 5. The mounting base 1 is used to mount the shock-absorbing seat 2, and the shock-absorbing seat 2 is used to dampen the electric turntable 3 and the top of the electric turntable 3. The robotic arm assembly 4 and connecting seat 2 5 provide shock absorption. The robotic arm assembly 4 grabs, transfers and puts down materials. During this process, the pressure sensor detects the pressure change at the connection between the robotic arm assembly 4 and the electric turntable 3, thereby obtaining the change in the center of gravity of the structure above the electric turntable 3. The counterweight component 6 then adjusts the center of gravity to ensure that the center of gravity of the structure above the electric turntable 3 does not shift too much relative to the central axis of the shock absorption seat 2, thus avoiding the problem of loosening or disconnection at the connection between the shock absorption seat 2 and the electric turntable 3, and at the connection between the electric turntable 3 and the robotic arm assembly 4. The counterweight component 6 includes a pneumatic slide rail 601 and a follower frame 604. The follower frame 604 is rotatably mounted on the mounting base 1. The pneumatic slide rail 601 is fixedly connected to the connecting base 5. A movable base 602 is fixedly connected to the sliding end of the pneumatic slide rail 601. A hollow air cylinder 603 is slidably connected to the inner side of the follower frame 604 through a sliding connector 606. An air exchange component 605 is provided on the outer side of the follower frame 604. The air exchange end of the air exchange component 605 is connected to the air exchange end of the hollow air cylinder 603. A piston 608 is slidably arranged inside the hollow air cylinder 603. A push rod 609 is fixedly connected to the bottom end of the piston 608. A sliding disc 6010 is fixedly connected to the bottom end of the push rod 609. An elastic telescopic rod 6011 is fixedly connected to the bottom of the sliding disc 6010. A lower pressure plate 607 is fixedly connected to the bottom end of the elastic telescopic rod 6011. The lower pressure plate 607 is fixedly connected to the top of the movable seat 602. When gripping materials, the center of gravity of the robotic arm assembly 4 shifts significantly relative to the electric turntable 3. Compressed gas is introduced into the hollow air cylinder 603 through the ventilation assembly 605. The compressed gas entering the hollow air cylinder 603 pushes the piston 608 downward, which in turn causes the push rod 609 to move downward, pushing the sliding plate 6010 downward. This causes the sliding plate 6010 to compress and deform the elastic telescopic rod 6011, increasing the elastic force of the elastic telescopic rod 6011 on the lower pressure plate 607. This causes the lower pressure plate 607 to press down on the movable seat 602, and the movable seat 602 to press down on the pneumatic slide rail 601. The pneumatic mechanism then... Due to its rapid response, torque can be changed quickly by controlling the amount and pressure of the input compressed gas. Similarly, when lowering materials, the compressed gas in the hollow air cylinder 603 is extracted by the air exchange component 605. Under the action of the air pressure difference, the piston 608 moves upward rapidly, which in turn drives the push rod 609 to move upward. This causes the sliding plate 6010 to move upward and no longer squeeze the elastic telescopic rod 6011. As a result, the elastic force on the lower pressure plate 607 under the action of the elastic telescopic rod 6011 decreases, thereby reducing the torque. Furthermore, during the transfer of materials after gripping them, the change in torque can be achieved by adjusting the position of the moving seat 602 through the pneumatic slide rail 601 (i.e., adjusting the length of the lever arm to adjust the torque). Before the gas in the hollow air cylinder 603 needs to be discharged, the position of the moving seat 602 (the length of the lever arm) is adjusted while the compressed gas is slowly discharged (reducing the counterweight). This can also avoid the problem that the exhaust efficiency is lower than the ventilation efficiency. A follower frame 604 is set to connect the sliding connector 606 and the ventilation component 605. When the rotating end of the electric turntable 3 drives the connecting seat 5 to rotate, and then drives the counterweight component 6 to rotate, the follower frame 604 can rotate together and transmit the force acting on the hollow air cylinder 603 when the elastic telescopic rod 6011 extends and retracts to the mounting seat 1. The ventilation component 605 is set to introduce the compressed gas into the hollow air cylinder 603 after adjusting the pressure, and to remove the compressed gas in the hollow air cylinder 603. The shock absorber 2 includes a base 201, which is fixedly disposed at the center of the mounting base 1. An elastic damping element 202 is disposed inside the base 201. A mounting plate 203 is fixedly connected to the top of the elastic damping element 202. The mounting plate 203 is fixedly connected to the bottom of the electric turntable 3. A rubber limiting ring 13 is fixedly installed inside the base 201, with its top extending outside the base 201. A gap is left between the top of the rubber limiting ring 13 and the bottom of the mounting plate 203. Ventilation holes 15 are provided on the outer walls of both the base 201 and the rubber limiting ring 13. The bottom of the mounting plate 203 is connected to the base 201. An elastic shield 14 is provided between the top and bottom. A base 201 is provided for mounting the elastic damping component 202. A mounting plate 203 is provided for connecting the elastic damping component 202 and the electric turntable 3. The elastic damping component 202 is used for shock absorption. A rubber limit ring 13 is provided to limit the maximum downward pressure distance of the mounting plate 203, thereby preventing the mounting plate 203 from colliding with the top of the base 201. The elastic shield 14 is provided to cover the inside of the base 201, making the overall appearance more aesthetically pleasing. A ventilation hole 15 is provided to allow air to circulate between the inside of the base 201 and the outside, preventing the air pressure inside the base 201 from being too high or too low. Multiple elastic damping elements 202 are provided, and the multiple elastic damping elements 202 are distributed in a circumferential array within the base 201 to form multiple supports and play a role in radial restriction. The elastic damping element 202 includes a spring 2022 and a damper 2023. The spring 2022 is slidably sleeved on the damper 2023. The top and bottom ends of the spring 2022 and the damper 2023 are connected to connecting plates 2021. The upper connecting plate 2021 is fixedly connected to the bottom of the mounting plate 203, and the lower connecting plate 2021 is fixedly connected to the inner wall of the base 201.

[0024] Working Principle: During use, the weight of the structure above the mounting plate 203 changes significantly when gripping and placing materials. This causes the mounting plate 203 to vibrate vertically. The elastic damping component 202 reduces this vibration, minimizing its impact on material handling. When gripping materials, the center of gravity of the robotic arm assembly 4 shifts significantly relative to the electric turntable 3. Compressed gas is introduced into the hollow air cylinder 603 via the ventilation assembly 605. This compressed gas pushes the piston 608 downwards, causing the push rod 609 to move downwards, which in turn pushes the sliding plate 6010 downwards. This causes the sliding plate 6010 to deform the elastic telescopic rod 6011, increasing the elastic force exerted by the elastic telescopic rod 6011 on the lower pressure plate 607. This, in turn, causes the lower pressure plate 6010 to... 7. The moving seat 602 is pressed down, and the moving seat 602 then presses down the pneumatic slide rail 601. Utilizing the fast response of pneumatics, the torque can be changed in a short time simply by controlling the amount and pressure of the input compressed gas. Similarly, when putting down materials, the compressed gas in the hollow air cylinder 603 is extracted by the air exchange component 605. Under the action of the air pressure difference, the piston 608 moves up quickly, which in turn drives the push rod 609 to move up. This causes the sliding plate 6010 to move up and no longer squeeze the elastic telescopic rod 6011. This reduces the elastic force on the lower pressure plate 607 under the action of the elastic telescopic rod 6011, thereby reducing the torque. Furthermore, during the process of transferring materials after grabbing them, the change in torque can be achieved by adjusting the position of the moving seat 602 through the pneumatic slide rail 601.

[0025] 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.

Claims

1. A loading and unloading robot for a production line, comprising a mounting base (1), wherein a shock-absorbing seat (2) is provided inside the mounting base (1), an electric turntable (3) is connected to the shock-absorbing end of the shock-absorbing seat (2), a robot arm assembly (4) and a connecting seat (5) are connected to the rotating end of the electric turntable (3), and a pressure sensor is provided at the connection between the robot arm assembly (4) and the electric turntable (3), characterized in that: A counterweight component (6) is fixedly installed on the outer wall of the connecting seat 2 (5); The counterweight component (6) includes a pneumatic slide rail (601) and a follower frame (604). The follower frame (604) is rotatably mounted on the mounting base (1). The pneumatic slide rail (601) is fixedly connected to the connecting base (5). A movable base (602) is fixedly connected to the sliding end of the pneumatic slide rail (601). A hollow air cylinder (603) is slidably connected to the inner side of the follower frame (604) through a sliding connector (606). An air exchange component (605) is provided on the outer side of the follower frame (604). The air exchange end is connected to the air exchange end of the hollow air cylinder (603). A piston (608) is slidably arranged inside the hollow air cylinder (603). A push rod (609) is fixedly connected to the bottom end of the piston (608). A sliding plate (6010) is fixedly connected to the bottom end of the push rod (609). An elastic telescopic rod (6011) is fixedly connected to the bottom of the sliding plate (6010). A lower pressure plate (607) is fixedly connected to the bottom end of the elastic telescopic rod (6011). The lower pressure plate (607) is fixedly connected to the top of the movable seat (602).

2. The loading and unloading robot for a production line according to claim 1, characterized in that: The follower frame (604) includes an L-shaped guide frame (6041) and an annular groove (6044). The annular groove (6044) is opened on the top of the mounting base (1). The bottom of the L-shaped guide frame (6041) is fixedly connected to the bottom of the base plate (6042) and a rolling head (6043) is fixedly provided on the bottom. The rolling head (6043) is slidably disposed in the annular groove (6044). The L-shaped guide frame (6041) is slidably connected to the hollow air cylinder (603) through a sliding connector (606).

3. The loading and unloading robot for a production line according to claim 2, characterized in that: The sliding connector (606) includes a guide groove (6061) and a mounting plate (6062). The guide groove (6061) is opened on the horizontal section of the L-shaped guide frame (6041). A connecting seat (6063) is fixedly installed on one side of the outer wall of the mounting plate (6062), and a rolling wheel (6064) is rotatably connected to the other side of the outer wall through a bearing. The rolling wheel (6064) is slidably disposed in the guide groove (6061). The connecting seat (6063) is fixedly connected to the outer wall of the hollow air cylinder (603).

4. The loading and unloading robot for a production line according to claim 3, characterized in that: The ventilation assembly (605) includes an inlet pipe (6051), an outlet pipe (6052), and an electric control valve (6053). The electric control valve (6053) is rotatably connected to the central shaft of a rolling wheel (6064) via a bearing. The inlet pipe (6051) and the outlet pipe (6052) are connected to the two upper ports of the electric control valve (6053). The inlet pipe (6051) and the outlet pipe (6052) are both connected to the ventilation end of the hollow air cylinder (603). The two lower ports of the electric control valve (6053) are respectively connected to a high-pressure steel wire braided rubber hose (6054). High-pressure steel wire braided rubber hose II (6055) is connected to the bottom end of high-pressure steel wire braided rubber hose I (6054) via a pressure regulating valve (6056). The bottom end of high-pressure steel wire braided rubber hose II (6055) is connected to a miniature air pump (6057). The pressure regulating valve (6056) and the miniature air pump (6057) are both fixedly mounted on the outer wall of the L-shaped guide frame (6041). The bottom ports of the pressure regulating valve (6056) and the miniature air pump (6057) are both connected to an air exchange pipe (6058). The air exchange pipe (6058) is connected to the workshop compressed air circulation pipeline.

5. A loading / unloading robot for a production line according to claim 4, characterized in that: The outer wall of the mounting base (1) is fixedly fitted with a pipe spiral seat (12), and the ventilation pipe (6058) is spiraled in the groove inside the pipe spiral seat (12).

6. The loading and unloading robot for a production line according to claim 1, characterized in that: The robotic arm assembly (4) includes a connecting seat (401), which is fixedly connected to the rotating end of the electric turntable (3). The top of the connecting seat (401) is connected to a multi-section operating arm (402), and the top of the multi-section operating arm (402) is connected to an electric gripping head (403).

7. The loading and unloading robot for a production line according to claim 1, characterized in that: Support plates (10) are fixedly installed on the front and rear outer walls of the pneumatic slide rail (601). Support wheels (11) are fixedly installed at the bottom of the movable seat (602). The support wheels (11) rest on the top of the support plate (10). An inclined support frame (9) is fixedly installed on the side of the connecting seat (5). The inclined support frame (9) supports the pneumatic slide rail (601) and the support plate (10).

8. A loading / unloading robot for a production line according to claim 1, characterized in that: The bottom of the hollow air cylinder (603) is fixedly connected to an elastic shield (8). The bottom end of the elastic shield (8) is fixedly connected to the bottom of the lower pressure plate (607). The elastic shield (8) covers the bottom end of the elastic telescopic rod (6011). The hollow air cylinder (603), follower frame (604), ventilation assembly (605), sliding connector (606), and lower pressure plate (607) are all provided in two sets. The two sets of hollow air cylinder (603), follower frame (604), ventilation assembly (605), sliding connector (606), and lower pressure plate (607) are symmetrically arranged in front and behind relative to the pneumatic slide rail (601). A gap is left between the two sets of structures to avoid the robot arm assembly (4).

9. A loading / unloading robot for a production line according to claim 1, characterized in that: The shock absorber seat (2) includes a base (201), which is fixedly installed at the center of the mounting seat (1). An elastic damping element (202) is provided inside the base (201). A mounting plate (203) is fixedly connected to the top of the elastic damping element (202). The mounting plate (203) is fixedly connected to the bottom of the electric turntable (3). A rubber limiting ring (13) is fixedly installed inside the base (201). The top of the rubber limiting ring (13) extends outside the base (201). There is a gap between the top of the rubber limiting ring (13) and the bottom of the mounting plate (203). Ventilation holes (15) are provided on the outer walls of the base (201) and the rubber limiting ring (13). An elastic shield (14) is provided between the bottom of the mounting plate (203) and the top of the base (201).

10. A loading / unloading robot for a production line according to claim 9, characterized in that: Multiple elastic damping elements (202) are provided, and the multiple elastic damping elements (202) are arranged in a circumferential array within the base (201). Each elastic damping element (202) includes a spring (2022) and a damper (2023). The spring (2022) is slidably sleeved on the damper (2023). The top and bottom ends of the spring (2022) and the damper (2023) are connected to connecting plates (2021). The upper connecting plate (2021) is fixedly connected to the bottom of the mounting plate (203), and the lower connecting plate (2021) is fixedly connected to the inner wall of the base (201).

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