Automatic vulcanized part taking device based on robot

Abstract

The utility model discloses an automatic vulcanized part taking device based on a robot, which relates to the technical field of automatic part taking devices, comprises a device frame, and is characterized in that the top end of the device frame is fixedly connected with a movable component, the bottom end of one side of the movable component is fixedly connected with a part taking component, and one side of the inner wall of the device frame is tightly attached to a processing table; and the other side of the inner wall of the device frame is fixedly connected with a placement frame. Flexible sliding and lifting of the X-axis, the Y-axis and the Z-axis are achieved, the pair of clamping blocks move towards the center to clamp an annular vulcanized part finished product machined on the machining table, when the centers of the pair of clamping blocks make contact with the edge of the annular vulcanized part finished product, the sleeving telescopic rod descends by a certain distance, and the clamping blocks are clamped by the sleeving telescopic rod while descending. The bottoms of the pair of clamping blocks penetrate through an annular vulcanized part finished product to be fixed from the bottom end of the annular vulcanized part finished product, then the annular vulcanized part finished product is lifted through the sleeving telescopic rod and then moved to the position above the storage box, the telescopic air cylinder is unloaded and put into the storage box, and therefore automatic part taking operation based on the robot vulcanized part is formed.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic picking devices, in particular to an automatic picking device for vulcanized parts based on a robot. Background Technique

[0002] An automatic picking device is an automated equipment used in the industrial production process. It can automatically complete operations such as picking, transferring, and placing workpieces according to preset programs and requirements. This kind of device can greatly improve production efficiency and reduce errors and risks in manual operations.

[0003] When the existing automatic picking device for vulcanized parts is in use, it is usually fixedly connected to the processing table or the assembly line, making it inconvenient to be flexibly moved to multiple processing tables for use. Moreover, during the automatic picking process of the finished annular vulcanized parts, it is relatively easy to damage the finished annular vulcanized parts. Therefore, we provide an automatic picking device for vulcanized parts based on a robot. Summary of the Utility Model

[0004] Technical Problems to be Solved

[0005] The purpose of the utility model is to make up for the deficiencies of the existing technology and provide an automatic picking device for vulcanized parts based on a robot.

[0006] Technical Solution

[0007] To achieve the above object, the utility model provides the following technical solution: An automatic picking device for vulcanized parts based on a robot includes a device frame. A movable component is fixedly connected to the top end of the device frame, and a picking component is fixedly connected to the bottom end on one side of the movable component. One side inner wall of the device frame is closely attached to a processing table, and a placing frame is fixedly connected to the other side inner wall of the device frame. A storage box is movably connected to the top end of the placing frame.

[0008] As described above, a handrail frame is fixedly connected to the outer wall of the device frame near the top edge, and a control panel is fixedly connected to the front surface of the device frame. The overall frame of the device frame is in a "U" shape, and universal wheels are fixedly connected to the bottom end of the device frame near the corners. The universal wheels are provided with a brake positioning setting.

[0009] As described above, the movable component includes a longitudinal motor, a longitudinal sliding rod, a longitudinal adjusting rod, a transverse motor, a transverse sliding rod, and a transverse adjusting rod. A group of fixed seats are fixedly connected to both sides of the top end of the device frame, and a longitudinal sliding rod is rotatably connected to the center of each fixed seat through a movable shaft. A longitudinal adjusting rod is slidably connected between the longitudinal sliding rods on the outer walls of the longitudinal sliding rods, and arc-shaped grooves are provided at the centers of the middle parts of the longitudinal adjusting rod and the transverse adjusting rod.

[0010] As mentioned above, one end of the longitudinal adjustment rod is directly slidably connected to the outer wall of one of the longitudinal sliding rods, and the other end of the longitudinal adjustment rod is rotationally connected to the outer wall of the other longitudinal sliding rod through a thread, one end of the longitudinal sliding rod with a thread is fixedly connected to the output end of the longitudinal motor, and the bottom end of the longitudinal motor is fixedly connected to the top of the device frame near the corner.

[0011] As mentioned above, the bottom end of the horizontal motor is fixedly connected to the top of the device frame near the corner on the other side, and the output end of the horizontal motor is fixedly connected to one end of the horizontal sliding rod, the outer wall of the horizontal sliding rod is provided with a threaded structure, and both ends of the horizontal sliding rod are fixedly connected to the top of the device frame near the edge of the front surface through a fixed seat, and the outer wall of the horizontal sliding rod is connected to a horizontal adjustment rod through a threaded rotation.

[0012] As mentioned above, a sliding block is slidably connected in the arc groove in the center of the longitudinal adjustment rod and the transverse adjustment rod, and the sliding block is in the shape of an "I" as a whole. The sliding block is narrow at the top and wide at the bottom, and the top of the sliding block slides and is limited at the top of the transverse adjustment rod, and the middle part of the sliding block slides and is limited in the arc groove of the longitudinal adjustment rod.

[0013] As mentioned above, a picking assembly is fixedly connected to the center of the bottom end of the sliding block, and the picking assembly includes a sleeve telescopic rod, a T-shaped block, a telescopic cylinder and a clamping block. The top end of the sleeve telescopic rod is fixedly connected to the bottom end of the sliding block, and a pair of T-shaped blocks are fixedly connected to the bottom end of the telescopic end of the sleeve telescopic rod near the edge.

[0014] As mentioned above, the bottom of the pair of T-shaped blocks is rotatably connected to a pair of clamping blocks through a movable shaft near the two ends, and the tops of the clamping blocks are rotatably connected to connecting blocks, the opposing surfaces of the connecting blocks are both planes, and a telescopic cylinder is fixedly connected between the planes of the connecting blocks and the connecting blocks, the bottoms of the opposing surfaces of the clamping blocks are set as inclined surfaces, and the clamping surfaces of the clamping blocks are all smoothly set.

[0015] Beneficial effects:

[0016] Compared with the prior art, the robot-based automatic vulcanized parts removal device has the following beneficial effects:

[0017] 1. The utility model utilizes the "U" - shaped structure of the device frame and the universal rollers to facilitate movement and locking of the placement position, enabling the device to be moved and applied to various processing tables. By fixedly connecting a movable component to the top of the device frame, when using the device for automatic picking of robot vulcanized parts, operate the control panel and write the data required for movement in the "XYZ axes" at this time. For longitudinal movement, one longitudinal sliding rod is driven to rotate by a longitudinal motor. This longitudinal sliding rod drives one end of the longitudinal adjusting rod and the sliding block to move longitudinally through threads, while the other end of the longitudinal adjusting rod slides on the outer wall of the other longitudinal sliding rod, thereby improving the stability of sliding and suspending the horizontal adjusting rod and the picking component in the air. Similarly, for lateral movement, a transverse motor drives a transverse sliding rod to rotate, and the transverse sliding rod drives one end of the horizontal adjusting rod and the sliding block to move laterally through threads.

[0018] 2. When the utility model performs automatic picking, a pair of T - shaped blocks fix and limit the rotation of a pair of clamping blocks. By controlling the expansion and contraction of the telescopic cylinder, the bottoms of the pair of clamping blocks move towards the center simultaneously. Then, through the horizontal and vertical movement and the cooperation of the sleeved telescopic rod in the movable component, flexible sliding and lifting in the "XYZ axes" are achieved. The pair of clamping blocks move towards the center to clamp the processed annular vulcanized part finished product on the processing table. When the centers of the pair of clamping blocks just touch the edge of the annular vulcanized part finished product, the sleeved telescopic rod descends a certain distance. While descending, the bottoms of the pair of clamping blocks pass through the annular vulcanized part finished product and fix it from its bottom. By using the inclined surface and smooth setting of the clamping surface of the clamping block, the contact area between the picking component and the annular vulcanized part finished product is reduced, thereby reducing the probability of damage to the annular vulcanized part finished product during picking. Then, it is lifted by the sleeved telescopic rod, moved above the storage box, the telescopic cylinder is unloaded and placed into the storage box, thus forming a set of automatic picking operations based on robot vulcanized parts.

[0019] Other advantages, objectives, and features of the utility model will be described to some extent in the subsequent description, and to some extent, will be obvious to those skilled in the art based on the study of the following text, or can be taught from the practice of the utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a three - dimensional structural schematic diagram of the utility model;

[0021] Figure 2 is a top - view structural schematic diagram of the utility model;

[0022] Figure 3 is a partial structural schematic diagram of the movable component of the utility model;

[0023] Figure 4 is a structural schematic diagram of the picking component of the utility model.

[0024] In the figure: 1. device frame; 101. armrest frame; 102. control panel; 103. universal roller; 2. movable assembly; 201. longitudinal motor; 202. longitudinal sliding rod; 203. longitudinal adjustment rod; 204. transverse motor; 205. transverse sliding rod; 206. transverse adjustment rod; 207. fixed seat; 208. sliding block; 3. pick-up assembly; 301. telescopic rod; 302. T-block; 303. telescopic cylinder; 304. clamping block; 305. connecting block; 4. processing table; 5. placement rack; 6. storage box. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] like Figure 1-4 As shown, the utility model provides a technical solution: a robot-based automatic vulcanized part picking device includes a device frame 1, a movable component 2 is fixedly connected to the top of the device frame 1, and a picking component 3 is fixedly connected to the bottom end of one side of the movable component 2, a processing table 4 is tightly attached to one side of the inner wall of the device frame 1, and a placement rack 5 is fixedly connected to the other side of the inner wall of the device frame 1, and a storage box 6 is movably connected to the top of the placement rack 5.

[0027] like Figure 1-3As shown in the figure, a handrail frame 101 is fixedly connected to the outer wall of the device frame 1 near the top edge, and a control panel 102 is fixedly connected to the front surface of the device frame 1. The overall frame of the device frame 1 is in a "U" shape, and universal rollers 103 are fixedly connected to the bottom of the device frame 1 near the corners. The universal rollers 103 are provided with a braking and positioning function. The movable assembly 2 includes a longitudinal motor 201, a longitudinal sliding rod 202, a longitudinal adjusting rod 203, a transverse motor 204, a transverse sliding rod 205, and a transverse adjusting rod 206. A set of fixed seats 207 are fixedly connected to both sides of the top of the device frame 1, and the center of each fixed seat 207 is rotatably connected to a longitudinal sliding rod 202 through a movable shaft. A longitudinal adjusting rod 203 is slidably connected between the outer walls of the longitudinal sliding rods 202. Arcuate grooves are provided at the centers of the middle parts of the longitudinal adjusting rod 203 and the transverse adjusting rod 206. One end of the longitudinal adjusting rod 203 is directly slidably connected to the outer wall of one of the longitudinal sliding rods 202, and the other end of the longitudinal adjusting rod 203 is rotatably connected to the outer wall of the other longitudinal sliding rod 202 through a thread. One end of the longitudinal sliding rod 202 provided with a thread is fixedly connected to the output end of the longitudinal motor 201, and the bottom of the longitudinal motor 201 is fixedly connected to the top of the device frame 1 near the corner. The bottom of the transverse motor 204 is fixedly connected to the top of the device frame 1 near the other corner, and the output end of the transverse motor 204 is fixedly connected to one end of the transverse sliding rod 205. The outer wall of the transverse sliding rod 205 is provided with a threaded structure, and both ends of the transverse sliding rod 205 are fixedly connected to the top of the device frame 1 near the edge of the front surface through the fixed seats 207. A transverse adjusting rod 206 is rotatably connected to the outer wall of the transverse sliding rod 205 through a thread. A sliding block 208 is slidably connected in the arcuate grooves at the centers of the longitudinal adjusting rod 203 and the transverse adjusting rod 206. The sliding block 208 is integrally in an "I" shape, with a narrow top and a wide bottom. The top of the sliding block 208 slides and is limited to the top of the transverse adjusting rod 206, and the middle of the sliding block 208 slides and is limited to the arcuate groove of the longitudinal adjusting rod 203.

[0028] Utilize the "U"-shaped structure of the device rack 1 and the universal rollers 103 to facilitate movement and locking of the placement position, enabling the device to be moved and applied to various processing tables 4. By fixedly connecting a movable component 2 to the top of the device rack 1, when using the device for automatic picking of robot vulcanized parts, operate the control panel 102 and write the data required for picking at this time for movement in the "XYZ axes". For vertical movement, drive one of the vertical sliding rods 202 to rotate through the vertical motor 201. This vertical sliding rod 202 drives one end of the vertical adjusting rod 203 and the sliding block 208 to move longitudinally through threads, while the other end of the vertical adjusting rod 203 slides on the outer wall of the other vertical sliding rod 202, thereby improving the stability of the sliding and suspending the horizontal adjusting rod 206 and the picking component 3 under stress. Similarly, for horizontal movement, drive the horizontal sliding rod 205 to rotate through the horizontal motor 204. The horizontal sliding rod 205 drives one end of the horizontal adjusting rod 206 and the sliding block 208 to move horizontally through threads.

[0029] As Figure 3-4 shown, a picking component 3 is fixedly connected to the center of the bottom end of the sliding block 208, and the picking component 3 includes a sleeved telescopic rod 301, a T-shaped block 302, a telescopic cylinder 303, and a clamping block 304. The top end of the sleeved telescopic rod 301 is fixedly connected to the bottom end of the sliding block 208, and a pair of T-shaped blocks 302 are fixedly connected to the bottom end of the telescopic end of the sleeved telescopic rod 301 near the edge. A pair of clamping blocks 304 are rotatably connected to the bottom of the pair of T-shaped blocks 302 near both ends through a movable shaft, and connecting blocks 305 are rotatably connected to the tops of the clamping blocks 304. The opposite surfaces of the connecting blocks 305 are both flat, and a telescopic cylinder 303 is fixedly connected between the flat surfaces of the connecting blocks 305. The bottom of the opposite surfaces of the clamping blocks 304 is set as an inclined surface, and the clamping surfaces of the clamping blocks 304 are both smoothly arranged.

[0030] When the device automatically picks up parts, a pair of T-shaped blocks 302 fix and limit the rotation of a pair of clamping blocks 304. By controlling the expansion and contraction of the telescopic cylinder 303, the bottom ends of the pair of clamping blocks 304 move towards the center simultaneously. Then, through the horizontal and vertical movement in the movable component 2 and the cooperation of the socketed telescopic rod 301, the flexible sliding and lifting of the "XYZ axes" are achieved. The pair of clamping blocks 304 move towards the center to clamp the processed annular vulcanized part finished product on the processing table 4. When the centers of the pair of clamping blocks 304 just touch the edge of the annular vulcanized part finished product, the socketed telescopic rod 301 descends a certain distance. While descending, the bottoms of the pair of clamping blocks 304 pass through the annular vulcanized part finished product and fix it from its bottom end. By using the inclined surface and smooth setting of the clamping surface of the clamping blocks 304, the contact area between the picking component 3 and the annular vulcanized part finished product is reduced, thereby reducing the probability of damaging the annular vulcanized part finished product during picking. Then, it is lifted by the socketed telescopic rod 301 and moved above the storage box 6. The telescopic cylinder 303 is unloaded and placed into the storage box 6, thus forming an automatic picking operation based on a robotic vulcanized part.

[0031] Working principle: By utilizing the "U"-shaped structure of the device frame 1 and the universal rollers 103 that facilitate movement and locking of the placement position, the device can be moved to be applicable to various processing tables 4. By fixedly connecting a movable component 2 to the top end of the device frame 1, when using the device for automatic picking of robotic vulcanized parts, operate the control panel 102 and write the data required for movement in the "XYZ axes" for picking at this time. The longitudinal movement is driven by a longitudinal motor 201 to rotate one of the longitudinal sliding rods 202. This longitudinal sliding rod 202 drives one end of the longitudinal adjusting rod 203 and the sliding block 208 to move longitudinally through threads, while the other end of the longitudinal adjusting rod 203 slides on the outer wall of the other longitudinal sliding rod 202. Similarly, the transverse movement is driven by a transverse motor 204 to rotate the transverse sliding rod 205. The transverse sliding rod 205 drives one end of the transverse adjusting rod 206 and the sliding block 208 to move transversely through threads. When the device automatically picks up parts, a pair of T-shaped blocks 302 fix and limit the rotation of a pair of clamping blocks 304. By controlling the expansion and contraction of the telescopic cylinder 303, the bottom ends of the pair of clamping blocks 304 move towards the center simultaneously. Then, through the horizontal and vertical movement in the movable component 2 and the cooperation of the socketed telescopic rod 301, the flexible sliding and lifting of the "XYZ axes" are achieved. The pair of clamping blocks 304 move towards the center to clamp the processed annular vulcanized part finished product on the processing table 4. When the centers of the pair of clamping blocks 304 just touch the edge of the annular vulcanized part finished product, the socketed telescopic rod 301 descends a certain distance. While descending, the bottoms of the pair of clamping blocks 304 pass through the annular vulcanized part finished product and fix it from its bottom end. Then, it is lifted by the socketed telescopic rod 301 and moved above the storage box 6. The telescopic cylinder 303 is unloaded and placed into the storage box 6, thus forming an automatic picking operation based on a robotic vulcanized part.

[0032] It should be noted that, in this article, the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model; the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "fixed", "installed", "connected", and "connected" should be understood in a broad sense. For example, "installed" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a mechanical connection or an electrical connection; "connected" can be a direct connection, an indirect connection through an intermediate medium, or a connection between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the utility model can be understood according to specific circumstances.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot-based automatic vulcanized part removal device, comprising a device frame (1), characterized in that: A movable component (2) is fixedly connected to the top end of the device frame (1), and a picking component (3) is fixedly connected to the bottom end of one side of the movable component (2). One side inner wall of the device frame (1) is closely attached to a processing table (4), and a placing rack (5) is fixedly connected to the other side inner wall of the device frame (1). A storage box (6) is movably connected to the top end of the placing rack (5).

2. The automatic pick-up device for vulcanized parts based on a robot according to claim 1 is characterized in that: A handrail frame (101) is fixedly connected to the outer wall of the device frame (1) near the top edge, and a control panel (102) is fixedly connected to the front surface of the device frame (1). The overall frame of the device frame (1) is in a "U" shape, and universal rollers (103) are fixedly connected to the bottom end of the device frame (1) near the corners. The universal rollers (103) are provided with a braking and positioning setting.

3. The robot-based automatic vulcanized part removal device according to claim 1 is characterized in that: The movable component (2) includes a longitudinal motor (201), a longitudinal sliding rod (202), a longitudinal adjusting rod (203), a transverse motor (204), a transverse sliding rod (205), and a transverse adjusting rod (206). A group of fixed seats (207) are fixedly connected to both sides of the top end of the device frame (1), and a longitudinal sliding rod (202) is rotatably connected to the center of the fixed seat (207) through a movable shaft. A longitudinal adjusting rod (203) is slidably connected between the outer walls of the longitudinal sliding rods (202), and arc-shaped grooves are provided at the centers of the middle parts of the longitudinal adjusting rod (203) and the transverse adjusting rod (206).

4. The automatic pick-up device for vulcanized parts based on a robot according to claim 3 is characterized in that: One end of the longitudinal adjusting rod (203) is directly slidably connected to the outer wall of one of the longitudinal sliding rods (202), and the other end of the longitudinal adjusting rod (203) is rotatably connected to the outer wall of the other longitudinal sliding rod (202) through a thread. One end of the longitudinal sliding rod (202) provided with a thread is fixedly connected to the output end of the longitudinal motor (201), and the longitudinal motor (201) is fixedly connected to the top end of the device frame (1) near the corner.

5. The robot-based automatic vulcanized part removal device according to claim 3 is characterized in that: The transverse motor (204) is fixedly connected to the top end of the device frame (1) near the corner on the other side, and the output end of the transverse motor (204) is fixedly connected to one end of the transverse sliding rod (205). The outer wall of the transverse sliding rod (205) is provided with a thread structure, and both ends of the transverse sliding rod (205) are fixedly connected to the top end of the device frame (1) near the edge of the front surface through the fixed seats (207). The transverse adjusting rod (206) is rotatably connected to the outer wall of the transverse sliding rod (205) through a thread.

6. The robot-based automatic vulcanized part removal device according to claim 3 is characterized in that: A sliding block (208) is slidably connected in the arc-shaped grooves at the centers of the longitudinal adjusting rod (203) and the transverse adjusting rod (206). The sliding block (208) is in an "I" shape as a whole, with a narrow top and a wide bottom. The top of the sliding block (208) slides and is limited at the top end of the transverse adjusting rod (206), and the middle part of the sliding block (208) slides and is limited in the arc-shaped groove of the longitudinal adjusting rod (203).

7. The robot-based automatic vulcanized part removal device according to claim 6 is characterized in that: The center of the bottom end of the sliding block (208) is fixedly connected to a pickup assembly (3), and the pickup assembly (3) comprises a sleeve telescopic rod (301), a T-shaped block (302), a telescopic cylinder (303) and a clamping block (304). The top end of the sleeve telescopic rod (301) is fixedly connected to the bottom end of the sliding block (208), and a pair of T-shaped blocks (302) are fixedly connected to the bottom end of the telescopic end of the sleeve telescopic rod (301) near the edge.

8. The robot-based automatic vulcanized part removal device according to claim 7 is characterized in that: The bottom of the pair of T-shaped blocks (302) is rotatably connected to a pair of clamping blocks (304) via movable shafts near both ends, and the tops of the clamping blocks (304) are rotatably connected to connecting blocks (305), the opposing surfaces of the connecting blocks (305) and the connecting blocks (305) are both planes, and a telescopic cylinder (303) is fixedly connected between the planes of the connecting blocks (305) and the connecting blocks (305), the bottoms of the opposing surfaces of the clamping blocks (304) and the clamping surfaces of the clamping blocks (304) are all arranged to be smooth.

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