Front feeding robot feeding and discharging system

Abstract

The utility model relates to the field of robot feeding and discharging, and discloses a front feeding robot feeding and discharging system which is characterized in that an installation hanging plate is installed at the bottom end of a push rod of a lifting air cylinder, vertical frames are fixed below the installation hanging plate through stand columns, an installation frame is welded between the two vertical frames, and the installation hanging plate is connected with the installation frame. Four triangular blocks are welded between the vertical frame and the mounting frame, pressing air cylinders are mounted above the four triangular blocks, pressing plates are mounted at the bottom ends of push rods of the pressing air cylinders, and two clamping assemblies are slidably mounted at the left end and the right end of the mounting frame. And the pressing plate is connected with push rods of the four pressing air cylinders, after the clamping assembly clamps and fixes the pipeline, the pressing plate can press the upper surface of the pipeline, a support is provided for the pipeline, the pipeline is not prone to shaking, and stability is improved.

Description

Technical Field

[0001] The utility model relates to the field of robot loading and unloading, in particular to a front feeding robot loading and unloading system. Background Art

[0002] In industrial product production lines, it is usually necessary to grab and place the target workpiece to achieve material loading and unloading operations. In the Chinese utility model patent with the announcement number CN219030958U, a robot loading and unloading device is disclosed. When clamping, the second electric telescopic rod is retracted, the second electric telescopic rod is completely separated from the clamping claw, and the clamping claw moves downward at a suitable clamping angle. After the clamping claw contacts the pipe, the two clamping claws gradually open and return to their positions to finally clamp the pipe. Then the second electric telescopic rod is extended, and the second electric telescopic rod is inserted into the jack of the clamping claw, so that the clamping claw cannot rotate. At this time, the clamping claw completely clamps the pipe.

[0003] Regarding the above-mentioned related technologies, the inventor believes that there are the following defects: in the above structure, the size of the clamp is fixed, and the size of the space inside the two clamps is also fixed when the two clamps overlap. This makes it difficult to grasp the pipe due to the small outer diameter of the pipe. When the two clamps overlap, there will be a certain amount of space between the outer top of the pipe and the two clamps, which makes the grasping stability of the pipe poor. In addition, the length of the entire clamp is also fixed. When grasping a longer pipe, the grasping position is guaranteed to be at the center, and it is easy to fall off when it is slightly tilted or shaken. For this reason, we designed a front feeding robot loading and unloading system. Utility Model Content

[0004] In order to solve the technical problem that the grasping stability of the pipeline is poor and it is easy to fall off when it is slightly tilted or shaken, the utility model provides a front feeding robot loading and unloading system.

[0005] The utility model is implemented by the following technical scheme: a front-feeding robot loading and unloading system, comprising two symmetrically arranged lateral moving modules, a longitudinal moving module is installed between the sliding blocks below the two lateral moving modules, two symmetrically arranged lifting cylinders are installed on the sliding blocks of the longitudinal moving modules, a mounting hanger plate is installed at the bottom end of the push rod of the lifting cylinder, a vertical frame is fixed below the mounting hanger plate through a column, a mounting frame is welded between the two vertical frames, and four triangular blocks are welded between the vertical frame and the mounting frame, a clamping cylinder is installed above each of the four triangular blocks, a clamping plate is installed at the bottom end of the push rod of the clamping cylinder, and two clamping assemblies are slidably installed at the left and right ends of the mounting frame.

[0006] As a further improvement of the above scheme, the bottom end surface of the clamping plate is designed to be horizontal, and the clamping plate can be set to an arc structure as needed. The bottom end surface of the clamping plate is provided with anti-slip grooves. The clamping plate can be pressed on the upper surface of the pipe, thereby limiting the position above the pipes in the two clamping assemblies so that they cannot shake, thereby improving stability and facilitating the grabbing of the pipe.

[0007] As a further improvement of the above scheme, the clamping assembly includes a mounting frame, and clamping jaws are rotatably installed on the front and rear ends of the left and right sides of the mounting frame respectively through axle pins, and linkage rods are rotatably installed between the two front clamping jaws and the two rear clamping jaws through axle pins, and the tops of the four linkage rods are rotatably connected to the lifting plate through axle pins, and the bottom end of the lifting plate is connected to the push rod of the clamping cylinder. The clamping cylinder is installed above the mounting frame, and the lifting and lowering of the clamping cylinder can make the clamping jaws move inward or expand outward, so as to grab or put down the pipe below, which is convenient for loading or unloading the pipe.

[0008] As a further improvement of the above scheme, the interior of the mounting frame is hollowly designed to form a movable cavity, and sliding holes are opened at the upper and lower ends of the mounting frame, the sliding holes are connected to the movable cavity, and a movable screw rod is rotatably installed in the movable cavity through a bearing, and movable screw seats are installed at the front and rear ends of the movable screw rod for left and right movement, and the top of the movable screw seat is connected to the mounting frame through the sliding hole.

[0009] As a further improvement of the above scheme, the movable screw rod is composed of two screw rods welded together, and the spiral directions of the threads on the two screw rods are opposite. When the movable screw rod rotates, the two movable screw seats on the left and right of the movable screw rod can move inward or outward at the same time, thereby enabling the two groups of clamping components to move closer to or away from each other.

[0010] As a further improvement of the above scheme, the vertical frame on the front side is hollow inside and has an installation cavity, and the installation cavity is connected to the movable cavity, a sprocket is rotatably installed in the installation cavity through bearings and a shaft, the right end of the shaft is fixed to the rotating wheel, a sprocket is installed on the movable screw rod, and the two sprockets are connected by a chain, and the movable screw rod can be rotated by rotating the rotating wheel, so that the two groups of clamping components can be moved closer to or away from each other.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] 1. The utility model installs a pressing plate under the mounting frame, and the pressing plate is connected to the push rods of four pressing cylinders. After the clamping assembly clamps and fixes the pipeline, the pressing plate can press the upper surface of the pipeline, providing a support for it so that it is not easy to shake, thereby improving stability;

[0013] 2. A clamping assembly is respectively arranged on the left and right sides of the mounting frame for sliding, and the two clamping assemblies can move inward or outward at the same time under the action of the moving screw rod and the moving screw seat. The distance between the two clamping assemblies can be changed according to the actual length of the pipeline, thereby improving stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the overall structure of a loading and unloading system of a front feeding robot provided by the utility model;

[0015] Figure 2 for Figure 1 Structural schematic diagram of the middle clamping assembly, mounting frame and clamping plate;

[0016] Figure 3 for Figure 2 Bottom schematic diagram of ;

[0017] Figure 4 for Figure 2 Front view diagram of .

[0018] Description of main symbols:

[0019] 1. Horizontal moving module; 2. Longitudinal moving module; 3. Lifting cylinder; 4. Installing hanging plate; 5. Installing frame; 51. Moving screw rod; 52. Moving screw seat; 6. Vertical frame; 61. Sprocket; 62. Rotating wheel; 7. Clamping assembly; 71. Installing frame; 72. Linkage rod; 73. Lifting plate; 74. Clamping cylinder; 75. Clamping claw; 8. Pressing cylinder; 9. Pressing plate. DETAILED DESCRIPTION

[0020] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0021] Example:

[0022] Please combine Figure 1-Figure 4 A front feeding robot loading and unloading system of the present embodiment includes two symmetrically arranged lateral moving modules 1, a longitudinal moving module 2 is installed between the sliding blocks below the two lateral moving modules 1, two symmetrically arranged lifting cylinders 3 are installed on the sliding block of the longitudinal moving module 2, a mounting hanger plate 4 is installed at the bottom end of the push rod of the lifting cylinder 3, a vertical frame 6 is fixed below the mounting hanger plate 4 through a column, a mounting frame 5 is welded between the two vertical frames 6, and four triangular blocks are welded between the vertical frame 6 and the mounting frame 5, a clamping cylinder 8 is installed above each of the four triangular blocks, a clamping plate 9 is installed at the bottom end of the push rod of the clamping cylinder 8, and two clamping components 7 are slidably installed on the left and right ends of the mounting frame 5.

[0023] The bottom surface of the clamping plate 9 is designed to be horizontal, and the clamping plate 9 can also be set to an arc structure as needed. The arc-shaped clamping plate 9 can better clamp and fix the pipe below. The bottom surface of the clamping plate 9 is provided with anti-slip grooves. The clamping plate 9 can be pressed on the upper surface of the pipe, thereby limiting the position above the pipes in the two clamping assemblies 7 so that they cannot shake, thereby improving stability and facilitating the grabbing of the pipe.

[0024] The clamping assembly 7 includes a mounting frame 71, and clamping claws 75 are rotatably installed at the front and rear ends of the left and right sides of the mounting frame 71 through axle pins. Linkage rods 72 are rotatably installed between the two front clamping claws 75 and the two rear clamping claws 75 through axle pins. The tops of the four linkage rods 72 are rotatably connected to the lifting plate 73 through axle pins. The bottom end of the lifting plate 73 is connected to the push rod of the clamping cylinder 74. The clamping cylinder 74 is installed above the mounting frame 71. The lifting and lowering of the clamping cylinder 74 can make the clamping claws 75 move inward or expand outward, so that the pipe below can be grabbed or put down, which is convenient for loading or unloading the pipe.

[0025] The mounting frame 5 is hollow inside and has a movable cavity, and sliding holes are provided at both upper and lower ends of the mounting frame 5. The sliding holes are connected to the movable cavity. A movable screw rod 51 is rotatably installed in the movable cavity through a bearing. A movable screw seat 52 is installed at both front and rear ends of the movable screw rod 51 for left and right movement. The top end of the movable screw seat 52 passes through the sliding hole and is connected to the mounting frame 71.

[0026] The movable screw rod 51 is composed of two screw rods welded together, and the screw threads on the two screw rods have opposite spiral directions. When the movable screw rod 51 rotates, the two movable screw seats 52 on the left and right of the movable screw rod 51 can move inward or outward at the same time, thereby enabling the two groups of clamping components 7 to move closer to or farther away from each other.

[0027] The front vertical frame 6 is hollow inside and has an installation cavity, which is connected to the movable cavity. A sprocket 61 is rotatably installed in the installation cavity through bearings and shafts. The right end of the shaft is fixed to a rotating wheel 62. A sprocket 61 is installed on the movable screw rod 51. The two sprockets 61 are connected by a chain. The movable screw rod 51 can be rotated by rotating the rotating wheel 62, so that the two groups of clamping components 7 can be moved closer to or farther away from each other.

[0028] The implementation principle of a front feeding robot loading and unloading system in the embodiment of the present application is as follows: in actual use, the spacing between the two groups of clamping assemblies 7 is adjusted according to the actual length of the pipeline. Specifically, the rotating wheel 62 is rotated. Since the rotating wheel 62 is connected to the moving screw rod 51 through the sprocket 61, the moving screw rod 51 can be synchronously rotated. The rotating moving screw rod 51 can make the two moving screw seats 52 above it move inward or outward at the same time, thereby changing the spacing between the two clamping assemblies 7, so that the two clamping assemblies 7 are at both ends of the pipeline. When clamping, the clamping assembly 7 moves downward under the action of the lifting cylinder 3, and then the clamping cylinder 74 moves up to merge the clamping claws 75, so that the pipeline is placed in the clamping claws 75, and then the push rod of the clamping cylinder 8 moves downward and the clamping plate 9 moves downward, and the clamping plate 9 will be pressed on the upper surface of the pipeline, so that the pipeline is pressed between the clamping claws 75 and the clamping plate 9, which can be firmly fixed to prevent it from falling off.

[0029] By installing a pressing plate 9 under the mounting frame 5, and connecting the pressing plate 9 with the push rods of the four pressing cylinders 8, after the clamping assembly 7 clamps and fixes the pipeline, the pressing plate 9 can press the upper surface of the pipeline, providing a support for it so that it is not easy to shake, thereby improving stability;

[0030] By slidingly arranging a clamping assembly 7 on the left and right sides of the mounting frame 5, and the two clamping assemblies 7 can move inward or outward at the same time under the action of the moving screw rod 51 and the moving screw seat 52, the distance between the two clamping assemblies 7 can be changed according to the actual length of the pipeline, thereby improving stability.

[0031] The above-mentioned implementation modes are only preferred implementation modes of the present invention, and cannot be used to limit the protection scope of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A front feeding robot loading and unloading system, comprising two symmetrically arranged transverse moving modules (1), characterized in that: A longitudinal moving module (2) is installed between the sliding blocks below the two transverse moving modules (1), and two symmetrically arranged lifting cylinders (3) are installed on the sliding block of the longitudinal moving module (2). A mounting hanger plate (4) is installed at the bottom end of the push rod of the lifting cylinder (3), and a vertical frame (6) is fixed below the mounting hanger plate (4) through a column. A mounting frame (5) is welded between the two vertical frames (6), and four triangular blocks are welded between the vertical frame (6) and the mounting frame (5). A clamping cylinder (8) is installed above each of the four triangular blocks, and a clamping plate (9) is installed at the bottom end of the push rod of the clamping cylinder (8), and two clamping assemblies (7) are slidably installed at the left and right ends of the mounting frame (5).

2. A front feeding robot loading and unloading system as claimed in claim 1, characterized in that: The bottom surface of the pressing plate (9) is designed to be horizontal, and the bottom surface of the pressing plate (9) is provided with anti-slip grooves.

3. A front feeding robot loading and unloading system as claimed in claim 1, characterized in that: The clamping assembly (7) comprises a mounting frame (71), wherein clamping jaws (75) are rotatably mounted at the left and right sides and the front and rear ends of the mounting frame (71) respectively via shaft pins, and linkage rods (72) are rotatably mounted between the two front clamping jaws (75) and the two rear clamping jaws (75) via shaft pins, and the tops of the four linkage rods (72) are rotatably connected to a lifting plate (73) via shaft pins, and the bottom end of the lifting plate (73) is connected to a push rod of a clamping cylinder (74), and the clamping cylinder (74) is mounted above the mounting frame (71).

4. A front feeding robot loading and unloading system as claimed in claim 3, characterized in that: The interior of the mounting frame (5) is hollow and has a movable cavity, and sliding holes are provided at both upper and lower ends of the mounting frame (5), the sliding holes being connected to the movable cavity, a movable screw rod (51) being rotatably installed in the movable cavity via a bearing, and movable screw seats (52) being movably installed at both front and rear ends of the movable screw rod (51) so as to move left and right, and the top end of the movable screw seat (52) passes through the sliding hole and is connected to the mounting frame (71).

5. A front feeding robot loading and unloading system as claimed in claim 4, characterized in that: The movable screw rod (51) is composed of two screw rods welded together, and the screw threads on the two screw rods have opposite spiral directions.

6. A front feeding robot loading and unloading system as claimed in claim 4, characterized in that: The front vertical frame (6) is hollow inside and has an installation cavity, and the installation cavity is connected to the moving cavity. A sprocket (61) is rotatably installed in the installation cavity via a bearing and a shaft, and the right end of the shaft is fixed to a rotating wheel (62); A sprocket (61) is mounted on the movable screw rod (51), and the two sprockets (61) are connected via a chain.

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