Reversible blank-taking tooling based on robot

Abstract

A turnover blank taking tooling based on a robot comprises a rack, a height adjusting mechanism, a guide mechanism, an upper pressing mechanism and a lower pressing mechanism, and the rack is connected with the executing end of the robot through a connecting piece; the height adjusting mechanism is arranged on the upper portion of the rack, the output end of the height adjusting mechanism is connected with the upper pressing mechanism, and the guiding mechanism is arranged between the height adjusting mechanism and the upper pressing mechanism. The lower pressing mechanism is arranged on the lower portion of the machine frame and is flush with the bottom of the machine frame. According to the turnover blank taking tooling, the blank body turnover action is achieved based on robot operation, a turnover machine does not need to be independently arranged, cost is reduced, the structure is simple, stability and reliability are achieved, the whole turnover process is controlled by a robot through a program, the automation degree is high, and the later maintenance cost is low.

Description

Technical Field

[0001] This utility model relates to the field of robotic automated handling and palletizing, specifically a robot-based flip-up blank picker. Background Technology

[0002] The production process of toilet blanks involves a blank forming step. Due to the complexity of the process, the toilet blank is initially in an upside-down state. After this step, the blank needs to be flipped 180°, trimmed, and then stored.

[0003] Currently, in this part of the process, the billet flipping operation is mostly completed independently by a flipping machine. However, the flipping machine is a separate flipping device, requiring the addition of a billet transport track to connect the flipping operation with the preceding and following processes. The flipping machine is a separate piece of equipment, and this traditional flipping method not only takes up space and requires a large investment, but also requires maintenance later on; adding a process not only affects work efficiency, but also the repeated handling over a long period of time will affect the forming quality of the billet. Utility Model Content

[0004] This utility model addresses the technical deficiencies mentioned in the background art by providing a robot-based flip-over billet picker.

[0005] The technical solution adopted by this utility model is: a robot-based flip-up blank picker, including a frame, a height adjustment mechanism, a guide mechanism, an upper clamping mechanism, and a lower clamping mechanism. The frame is connected to the robot execution end through a connector. The height adjustment mechanism is located on the upper part of the frame, and the output end of the height adjustment mechanism is connected to the upper clamping mechanism. The guide mechanism is located between the height adjustment mechanism and the upper clamping mechanism. The lower clamping mechanism is located on the lower part of the frame and is flush with the bottom of the frame.

[0006] Compared with the prior art, the tumbler end picker disclosed in this utility model is based on robot operation to realize the billet flipping action. It does not require a separate flipping machine, which reduces costs. It has a simple structure, is stable and reliable. The flipping process is controlled by the robot through a program, which has a high degree of automation and low maintenance costs.

[0007] As a preferred technical solution: the frame is a frame structure with one side open, and a connector for connecting to the robot execution end is installed on the back frame; the height adjustment mechanism, the upper clamping mechanism, and the lower clamping mechanism constitute a set of clamping components, which are installed correspondingly on the top and bottom; the two sets of clamping components are symmetrically arranged on the two side frames.

[0008] As a preferred technical solution, the connecting component is one of a connecting flange, a quick-change tool disc, or a clamping component.

[0009] As a preferred technical solution: the height adjustment mechanism includes an adjustment cylinder, a cylinder mounting bracket, and a cylinder floating joint; the adjustment cylinder is mounted on the upper part of the frame through the cylinder mounting bracket, and the extended end of the adjustment cylinder is connected to the cylinder floating joint mounted on the upper clamping mechanism.

[0010] As a preferred technical solution: the upper pressing mechanism includes an upper pressing bag, an upper air bag seal, an upper air bag pressure roller, an upper limit baffle, and an upper air bag mounting frame; the upper pressing bag is installed under the upper air bag mounting frame through the upper air bag seal, one end of the upper pressing bag is wound around the upper air bag pressure roller, and the port is connected to the air source supply device; the upper limit baffle is installed on the upper air bag mounting frame through a connector.

[0011] As a preferred technical solution: the upper limit baffle has a Z-shaped structure, its lower horizontal surface is installed on the upper air bag mounting frame through a connector, its vertical surface is the support surface, and its upper horizontal surface is placed above the upper compression bag.

[0012] As a preferred technical solution, the lower pressing mechanism and the upper pressing mechanism have the same structure and are arranged symmetrically. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0014] Figure 2 This is the lower pressing mechanism in this utility model.

[0015] Figure 3 This is the upper pressing mechanism in this utility model.

[0016] Figure 4 This is the height adjustment mechanism in this utility model.

[0017] Figure 5 This is the guiding mechanism in this utility model.

[0018] In the diagram: 1. Frame; 2. Lower clamping mechanism; 3. Upper clamping mechanism; 4. Height adjustment mechanism; 5. Guide mechanism. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] See appendix Figure 1-5 The blank-picking end-collector disclosed in this utility model is connected to the execution end of a robot via a connector, and is flipped through robot program operation to replace the flipping machine.

[0021] This robot-based flip-up billet end-collector includes a frame 1, a height adjustment mechanism 4, a guide mechanism 5, an upper clamping mechanism 3, and a lower clamping mechanism 2. The frame 1 is connected to the robot's actuator via a connector, and the robot controls the entire end-collector to flip, achieving a 180° rotation of the billet. The height adjustment mechanism 4 is located on the upper part of the frame 1, and its output end is connected to the upper clamping mechanism 3. The guide mechanism 5 is positioned between the height adjustment mechanism 4 and the upper clamping mechanism 3. The lower clamping mechanism 2 is located at the lower part of the frame 1, with its bottom flush with the bottom of the frame 1.

[0022] In a preferred embodiment, the frame 1 is a frame structure open on one side, with connectors for connecting to the robot's execution end mounted on its rear frame. The height adjustment mechanism 4, the upper clamping mechanism 3, and the lower clamping mechanism 2 constitute a set of clamping components, which are installed correspondingly at the top and bottom; the two sets of clamping components are symmetrically arranged on its two side frames.

[0023] As a preferred technical solution: the connector used to connect the back frame of the machine frame and the robot actuator is one of the following: a connecting flange, a quick-change tool tray, and a clamping component. (This embodiment includes...) Figure 1 Not shown in the document, technicians can select connecting parts according to the actual site conditions, preferably connecting flanges. The specific operation steps are as follows: the back frame of the machine frame 1 is installed on the sixth axis flange of the robot execution end by bolts, so that the robot can drive the entire billet picking end to rotate.

[0024] As another preferred embodiment: the height adjustment mechanism 4 includes an adjusting cylinder 4-1, a cylinder mounting plate 4-2, a cylinder mounting bracket 4-2, and a cylinder floating joint 4-3. The adjusting cylinder 4-1 is mounted on the upper part of the frame 1 via the cylinder mounting bracket 4-2. The adjusting cylinder 4-1 is installed vertically, and its extended end is connected to the cylinder floating joint 4-3 mounted on the upper clamping mechanism 3.

[0025] Preferably, the height adjustment mechanism 4 is equipped with a guide mechanism 5, including a slidingly fitted guide rod 5-1 and a guide sleeve 5-2. The guide sleeve 5-2 is an extended linear bearing, and is fixedly mounted on the cylinder mounting bracket 4-2. The lower end of the guide rod is connected to the top of the upper air bag mounting bracket 3-5 in the upper pressing mechanism. The guide rod 5-1 slides up and down within the guide sleeve 5-2 as the extended end of the adjusting cylinder 4-1 extends and retracts.

[0026] In another preferred embodiment, the upper clamping mechanism 3 includes an upper clamping bag 3-1, an upper air bag seal 3-2, an upper air bag pressure roller 3-3, an upper limit baffle 3-4, and an upper air bag mounting frame 3-5. The upper clamping bag 3-1 is positioned below the upper air bag mounting frame 3-5, with both ends sealed by the upper air bag seal 3-2. One end of the upper clamping bag is wound around the upper air bag pressure roller, and its port is connected to the air supply device. The end of the air bag is folded towards the center, and the air bag pressure roller is placed between the two folded-back air bags, clamping the air bag and the air bag pressure roller together through the air bag seal. The upper limit baffle 3-4 is mounted on the upper air bag mounting frame 3-5 using bolts or other connecting components.

[0027] Preferably, the upper limit baffle 3-4 has a Z-shaped structure, with its lower horizontal surface extending outward and bolted to the upper air bag mounting bracket 3-5. Its vertical surface serves as the support surface, and its upper horizontal surface extends upward to the upper pressure bag side 3-1, positioned above the upper pressure bag. The gap between the upper horizontal surface of the upper limit baffle and the upper pressure bag provides space for the drying tray. After the upper pressure bag 3-1 is inflated, the drying tray is pressed between the upper pressure bag and the upper horizontal surface of the upper limit baffle 3-4.

[0028] The lower pressing mechanism 2 includes a lower pressing bag 2-1, a lower air bag seal 2-2, a lower air bag pressure roller 2-3, and a lower limit baffle 2-4. The lower pressing mechanism 2 has the same structure as the upper pressing mechanism 3, and the two are arranged symmetrically. The gap between the upper horizontal surface of the lower limit baffle 2-4 and the upper pressing bag 2-1 is the space for placing the conforming support plate. After the lower pressing bag 2-1 is inflated, it presses the conforming support plate between the lower pressing bag 2-1 and the upper horizontal surface of the lower limit baffle 2-4.

[0029] The working process of this utility model is as follows.

[0030] 1. After rotating the billet-picking end picker 180° clockwise, the lower clamping mechanism is at the top and the height adjustment mechanism is at the bottom. The robot drives the billet-picking end picker to the drying pallet picking position to pick up and clamp the drying pallet. The upper clamping mechanism moves horizontally, and the two sides of the drying pallet are inserted between the upper limit baffle and the upper clamping bag. The upper clamping air bag is inflated, and the upper surface of the drying pallet is attached to the upper limit baffle to complete the clamping of the drying pallet. At this time, the front of the drying pallet is facing up.

[0031] 2. After rotating the billet-picking end picker 180° counterclockwise, the lower clamping mechanism is at the bottom and the height adjustment mechanism is at the top. The robot drives the billet-picking end picker to the copying pallet picking position to pick up and clamp the copying pallet. By inflating the upper clamping bag of the lower clamping mechanism, the top surface of the copying pallet is brought into contact with the lower limit baffle, completing the clamping of the copying pallet. At this time, the drying pallet is facing down.

[0032] 3. At this point, the adjusting cylinder in the height adjustment mechanism is inflated, causing the piston rod of the adjusting cylinder to extend and lower the drying tray on the upper clamping mechanism until it contacts the billet. The robot then begins to rotate 180° clockwise. During this rotation, the guiding mechanism stabilizes the drying tray and the height adjustment mechanism. After the billet-picking end picker rotates 180°, the billet lands on the drying tray. At this point, the height adjustment mechanism is at the bottom, the piston rod of the adjusting cylinder retracts, and the drying tray lowers the billet until the cylinder is fully retracted. The upper pressure bag is de-inflated, and due to the weight of the billet pressing down on the drying tray, the upper pressure bag automatically retracts to its initial state. The robot then uses the billet-picking end picker to place the drying tray with the product onto the conveyor line, which then transfers it to the next workstation.

[0033] 4. Since there is a template pallet on the blank-picking end picker, and the template pallet is inverted 180° at this time, the robot needs to rotate the blank-picking end picker counterclockwise 180° and then press down the pressure bag to cut off the air. Due to the weight of the template pallet, the pressure bag will automatically retract to the initial state. At this time, the robot will place the template pallet in the blank-picking position and change to a blank-picking end picker suitable for the next process through the quick-change tool tray to start the next cycle.

Claims

1. A robot-based flip-up blank picker, comprising a frame, a height adjustment mechanism, a guiding mechanism, an upper clamping mechanism, and a lower clamping mechanism, characterized in that: The frame is connected to the robot's execution end via a connector; The height adjustment mechanism is located on the upper part of the frame, and the output end of the height adjustment mechanism is connected to the upper pressing mechanism. The guide mechanism is located between the height adjustment mechanism and the upper pressing mechanism. The lower clamping mechanism is located at the bottom of the frame and is flush with the bottom of the frame.

2. The robot-based flip-over billet picker according to claim 1, characterized in that: The frame is an open frame structure on one side, with connectors for connecting to the robot's execution end installed on its rear frame; a height adjustment mechanism, an upper clamping mechanism, and a lower clamping mechanism constitute a set of clamping components, which are installed correspondingly on the upper and lower sides; the two sets of clamping components are symmetrically arranged on its two side frames.

3. The robot-based flip-over billet picker according to claim 2, characterized in that: The connecting component is one of the following: a connecting flange, a quick-change tool disc, or a clamping component.

4. The robot-based flip-over billet picker according to claim 1, characterized in that: The height adjustment mechanism includes an adjustment cylinder, a cylinder mounting bracket, and a cylinder floating joint; the adjustment cylinder is mounted on the upper part of the frame via the cylinder mounting bracket, and the extended end of the adjustment cylinder is connected to the cylinder floating joint mounted on the upper clamping mechanism.

5. The robot-based flip-over billet picker according to claim 1, characterized in that: The upper pressing mechanism includes an upper pressing bag, an upper air bag seal, an upper air bag pressure roller, an upper limit baffle, and an upper air bag mounting frame. The upper pressing bag is installed under the upper air bag mounting frame through the upper air bag seal. One end of the upper pressing bag is wound around the upper air bag pressure roller, and the port is connected to the air source supply device. The upper limit baffle is installed on the upper air bag mounting frame through a connector.

6. The robot-based flip-over billet picker according to claim 5, characterized in that: The upper limit baffle has a Z-shaped structure. Its lower horizontal surface is installed on the upper air bag mounting frame through a connector, its vertical surface is the support surface, and its upper horizontal surface is placed above the upper compression bag.

7. The robot-based flip-over billet picker according to claim 6, characterized in that: The lower clamping mechanism has the same structure as the upper clamping mechanism, and the two are arranged symmetrically.

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