Four-row-channel emptying barrel manipulator

Abstract

The utility model discloses a four-row-channel emptying barrel manipulator which comprises a ground rail base, sliding rails are fixedly connected to the two sides of the top of the ground rail base, a toothed rail is fixedly connected to the side, close to each other, of the ground rail base, the top of the ground rail base is movably connected with a movable base, and the movable base is in sliding connection with the sliding rails. And a first servo motor is mounted on one side of the top of the moving seat, and the output end of the first servo motor is connected with the toothed rail in a meshed mode. The utility model relates to the technical field of non-woven fabric processing equipment, and solves the problems that the labor intensity and the safety risk of operators are increased and the production efficiency and the product quality are possibly influenced due to human factors because the replacement and the recovery of a raw material barrel or a color master batch barrel in the non-woven fabric processing in the prior art are often dependent on manual work.

Description

Technical Field

[0001] This utility model relates to the technical field of nonwoven fabric processing equipment, specifically a four-row emptying barrel robot. Background Technology

[0002] Nonwoven fabric is a type of fabric formed without spinning or weaving; it is made by directly bonding fibers together using physical or chemical methods. It is breathable, soft, waterproof, and environmentally friendly. Generally made from polypropylene or polyethylene as the main raw material, it is produced using processes such as meltblowing or hydroentangling. It is widely used in medical, hygiene, agricultural, home furnishing, and packaging fields. With continuous technological advancements, nonwoven fabric processing equipment is constantly being innovated and improved to meet market demand for high-quality, multi-functional nonwoven fabric products. To ensure continuous production, the raw materials and masterbatch need to be continuously transported. In existing technologies, the replacement and recycling of raw material or masterbatch containers in nonwoven fabric processing often rely on manual labor, increasing the labor intensity and safety risks for operators, and potentially affecting production efficiency and product quality due to human factors. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this utility model provides a four-row emptying barrel robot, which solves the problem that in the existing technology, the replacement and recycling of raw material barrels or masterbatch barrels in non-woven fabric processing often relies on manual labor, which increases the labor intensity and safety risks of operators, and may also affect production efficiency and product quality due to human factors.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a four-row emptying barrel robot, comprising a ground rail base, with slide rails fixedly connected to both sides of the top of the ground rail base, a toothed rail fixedly connected to the ground rail base on the side of the two slide rails that are close to each other, a movable seat movably connected to the top of the ground rail base, the movable seat slidingly connected to the slide rails, a first servo motor mounted on one side of the top of the movable seat, the output end of the first servo motor meshing with the toothed rail, a robot arm fixedly connected to the top of the movable seat, a double-piston double-rod cylinder mounted on the output end of the robot arm, a clamping arm fixedly connected to the output end of the double-piston double-rod cylinder, an arc-shaped clamping plate fixedly connected to the end of the clamping arm on the side of the two ends that are close to each other, an arc-shaped limiting plate fixedly connected to the outer wall of the clamping arm above the arc-shaped clamping plate, and a barrel conveyor belt equidistantly arranged on one side of the ground rail base.

[0005] Preferably, a vision sensor is installed on one side of the dual-piston dual-rod cylinder, a laser radar sensor is installed on one side of the top of the movable seat, a proximity switch is installed on the top of the movable seat, a first trigger plate is fixedly connected at equal intervals on the side of the ground rail seat away from the material conveyor belt, the first trigger plate is correspondingly arranged with the material conveyor belt, a second trigger plate is fixedly connected on the outer wall of the ground rail seat away from the first trigger plate, both the first trigger plate and the second trigger plate are connected in cooperation with the proximity switch, and laser ranging sensors are installed at equal intervals at both ends of the ground rail seat, the laser ranging sensors are connected in cooperation with the movable seat.

[0006] Preferably, a second servo motor is provided at the bottom of one end of the material bucket conveyor belt, photoelectric sensors are provided at equal intervals on both sides of the material bucket conveyor belt, and a stop bar is provided above both ends of the material bucket conveyor belt.

[0007] Preferably, the ground rail base is fixedly connected to fixed seats at equal intervals on both sides, and the fixed seats are provided with anchor bolt fixing holes on both sides inside.

[0008] Preferably, the inner walls of both the arc-shaped clamping plate and the arc-shaped limiting plate are fixedly connected with anti-slip pads.

[0009] This utility model provides a four-row emptying barrel robot. It has the following beneficial effects: This four-row emptying barrel robot, through the cooperation of a ground rail base, slide rail, gear rail, moving base, first servo motor, robotic arm, double-piston double-rod cylinder, clamping arm, arc-shaped clamping plate, arc-shaped limiting plate, and material barrel conveyor belt, and by setting a horizontally movable robotic arm on one side of the non-woven fabric processing equipment, can automatically replace and recycle raw material barrels or masterbatch barrels according to the needs of the production line by controlling the movement of the robotic arm, double-piston double-rod cylinder, and moving base. This improves the automation level of the production line, thereby reducing the labor intensity and safety risks of workers, and avoiding the decline in production efficiency and product quality problems caused by human factors. This helps to improve overall production efficiency and product quality.

[0010] By coordinating the ground rail base, moving base, robotic arm, vision sensor, lidar sensor, proximity switch, first trigger plate, second trigger plate, and laser rangefinder, and by installing a vision sensor at the end of the robotic arm and establishing three-dimensional spatial coordinates through the lidar sensor, the control system can accurately plan and adjust the gripping and movement trajectory of the robotic arm. Furthermore, the proximity switch and laser rangefinder sensor measure the position of the moving base in real time, allowing the control system to precisely control its position. This ensures that the robotic arm accurately reaches the designated position, guaranteeing precise gripping and release of the material bucket and preventing misalignment or detachment. This contributes to improving the automation level and operational accuracy of the robotic arm. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of this utility model;

[0012] Figure 2 This is a schematic diagram of the appearance of the ground rail base, the movable base and the robotic arm in this utility model;

[0013] Figure 3 This is a schematic diagram showing the external appearance of the double-piston double-rod cylinder, clamping arm, and vision sensor in this utility model.

[0014] Figure 4 for Figure 1 A magnified view of a portion of region A in the middle;

[0015] Figure 5 for Figure 1 A magnified view of a portion of region B in the middle.

[0016] In the diagram: 1. Ground rail base; 2. Slide rail; 3. Gear rail; 4. Moving base; 5. First servo motor; 6. Robotic arm; 7. Double piston double rod cylinder; 8. Grip arm; 9. Arc-shaped clamping plate; 10. Arc-shaped limiting plate; 11. Material bucket conveyor belt; 12. Vision sensor; 13. LiDAR sensor; 14. Proximity switch; 15. First trigger plate; 16. Second trigger plate; 17. Laser rangefinder sensor; 18. Second servo motor; 19. Photoelectric sensor; 20. Stop bar; 21. Fixed base; 22. Anchor bolt fixing hole; 23. Anti-slip pad. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] In existing technologies, the replacement and recycling of raw material barrels or masterbatch barrels in nonwoven fabric processing often rely on manual labor, which increases the labor intensity and safety risks for operators, and may also affect production efficiency and product quality due to human factors.

[0019] In view of this, the present invention provides a four-row empty barrel robot. Through the cooperation of a ground rail base, slide rail, gear rail, moving base, first servo motor, robotic arm, double piston double rod cylinder, clamping arm, arc-shaped clamping plate, arc-shaped limiting plate, and barrel conveyor belt, a horizontally movable robotic arm is set on one side of the nonwoven fabric processing equipment. According to the needs of the production line, the robotic arm and double piston double rod cylinder, as well as the moving base, are controlled to move, precisely clamping the raw material barrel or masterbatch barrel from the top of the corresponding barrel conveyor belt and moving it to the feeding end of the processing equipment for release, or taking out the empty barrel from the feeding end of the processing equipment and placing it on the top of the corresponding barrel conveyor belt. This realizes the automatic replacement and recycling of raw material barrels or masterbatch barrels, improves the automation level of the production line, reduces the labor intensity and safety risks of workers, and avoids the decline in production efficiency and product quality problems caused by human factors.

[0020] Those skilled in the art should connect all electrical components and their compatible power supplies in this case via wires. Appropriate controllers and encoders should be selected according to the actual situation to meet control requirements. The specific connection and control sequence should refer to the working principle described below, where the electrical components are connected in sequence. The detailed connection methods are well-known in the art. The following mainly introduces the working principle and process, and will not describe the electrical control further.

[0021] Depend on Figure 1-5 It can be seen that the four-row emptying barrel robot includes a ground rail base 1, with slide rails 2 fixedly connected to both sides of the top of the ground rail base 1. A gear rail 3 is fixedly connected to the side of the ground rail base 1 where the two slide rails 2 are close to each other. A movable seat 4 is movably connected to the top of the ground rail base 1. The movable seat 4 is slidably connected to the slide rails 2. A first servo motor 5 is installed on one side of the top of the movable seat 4. The output end of the first servo motor 5 is meshed with the gear rail 3. A robotic arm 6 is fixedly connected to the top of the movable seat 4. The output end of the robotic arm 6 is installed with... There is a double piston double rod cylinder 7. The output end of the double piston double rod cylinder 7 is fixedly connected to a clamping arm 8. The ends of the clamping arms 8 are fixedly connected to an arc-shaped clamping plate 9 on the side that are close to each other. An arc-shaped limiting plate 10 is fixedly connected to the outer wall of the clamping arm 8 above the arc-shaped clamping plate 9. A material bucket conveyor belt 11 is equidistantly arranged on one side of the ground rail seat 1. There are four material bucket conveyor belts 11, all of which are perpendicular to the ground rail seat 1, and are used to place and transport raw material buckets, masterbatch buckets, empty material buckets and empty material buckets that need to be cleaned, respectively.

[0022] In the specific implementation process, it is worth noting that through the cooperation between the ground rail 1, slide rail 2, gear rail 3, moving seat 4, and the first servo motor 5, a helical gear is installed at the output end of the first servo motor 5. The helical gear meshes with the gear rail 3. By controlling the first servo motor 5, the helical gear is driven to rotate, thereby driving the moving seat 4 to move linearly on the slide rail 2. Through the cooperation between the ground rail 1, moving seat 4, robotic arm 6, double-piston double-rod cylinder 7, clamping arm 8, arc-shaped clamping plate 9, and arc-shaped limiting plate 10, the robotic arm 6 is installed on the top of the moving seat 4, and the double-piston double-rod cylinder 7, clamping arm 8, arc-shaped clamping plate 9, and arc-shaped limiting plate 10, the robotic arm 6 is installed on the top of the moving seat 4. A double-piston, double-rod cylinder 7 is installed at the end of the robotic arm 6. By controlling the double-piston, double-rod cylinder 7, the clamping arm 8 is driven to open and close, causing the arc-shaped clamping plate 9 and the arc-shaped limiting plate 10 to clamp or release the raw material barrel or masterbatch barrel. The arc-shaped clamping plate 9 clamps the middle of the barrel, and the arc-shaped limiting plate 10 clamps the top of the barrel and limits its position against the barrel edge after clamping, preventing the raw material barrel or masterbatch barrel from falling off during clamping. This achieves stable clamping and release of the raw material barrel or masterbatch barrel. Four barrel conveyor belts 11 are provided, all perpendicular to the ground rail base 1. Vertically positioned, the equipment places and transports raw material buckets, masterbatch buckets, empty buckets, and empty buckets requiring cleaning. This is achieved through the coordination of a ground rail base 1, slide rail 2, geared rail 3, moving base 4, first servo motor 5, robotic arm 6, double-piston double-rod cylinder 7, clamping arm 8, arc-shaped clamping plate 9, arc-shaped limiting plate 10, and bucket conveyor belt 11. A horizontally movable robotic arm 6 is located on one side of the nonwoven fabric processing equipment. Based on production line requirements, the robotic arm 6, double-piston double-rod cylinder 7, and moving base 4 are controlled to move the raw material buckets or masterbatch buckets. The material bucket is precisely clamped from the top of the corresponding material bucket conveyor belt 11 and moved to the feeding end of the processing equipment for release, or the empty material bucket is taken out from the feeding end of the processing equipment and placed on the top of the corresponding material bucket conveyor belt 11, realizing the automatic replacement and recycling of raw material buckets or masterbatch buckets, improving the automation level of the production line, reducing the labor intensity and safety risks of workers, and avoiding the decline in production efficiency and product quality problems caused by human factors. The specific models of the first servo motor 5, the robotic arm 6 and the double piston double rod cylinder 7 are not limited, as long as they meet the usage requirements.

[0023] Furthermore, a vision sensor 12 is installed on one side of the dual-piston dual-rod cylinder 7, a laser radar sensor 13 is installed on one side of the top of the movable seat 4, a proximity switch 14 is installed on the top of the movable seat 4, a first trigger plate 15 is fixedly connected at equal intervals on the side of the ground rail seat 1 away from the material bucket conveyor belt 11, the first trigger plate 15 is set corresponding to the material bucket conveyor belt 11, a second trigger plate 16 is fixedly connected on the outer wall of the ground rail seat 1 away from the first trigger plate 15, both the first trigger plate 15 and the second trigger plate 16 are connected to the proximity switch 14, and laser rangefinders 17 are installed at equal intervals at both ends of the ground rail seat 1, the laser rangefinders 17 are connected to the movable seat 4.

[0024] In the specific implementation process, it is worth noting that through the cooperation between the dual-piston dual-rod cylinder 7 and the vision sensor 12, the vision sensor 12 is connected to the control system. When the material bucket is clamped, the vision sensor 12 accurately positions the clamped raw material bucket or masterbatch bucket to ensure the accuracy of clamping and release, and avoids clamping misalignment or detachment. At the same time, it identifies the residue in the empty material bucket so that the empty material bucket with residue can be placed into the corresponding material bucket conveyor belt 11. Through the cooperation between the moving seat 4 and the lidar sensor 13, during the movement of the moving seat 4, the lidar sensor 13 scans and identifies the corresponding area of ​​the moving seat 4 and transmits the identification data to the control system. The control system plans and adjusts the trajectory of the robotic arm 6 based on the recognition data to ensure that the robotic arm accurately grips and releases the empty material bucket at the feeding end of the processing equipment. Through the cooperation between the ground rail base 1, the moving base 4, the proximity switch 14, the first trigger plate 15, the second trigger plate 16, and the laser range sensor 17, the installation position of the first trigger plate 15 corresponds to the material bucket conveyor belt 11, and the second trigger plate 16 corresponds to the position of the feeding end of the non-woven fabric processing equipment. After the moving base 4 moves to the designated position, the first trigger plate 15 or the second trigger plate 16 triggers the proximity switch 14. The proximity switch 14 transmits a signal to the control system, which stops the movement of the moving base 4 and controls the robotic arm to perform gripping or releasing actions on the material bucket. Simultaneously, the distance between the laser rangefinder 17 and the moving seat 4 is measured in real time, and the measurement data is transmitted to the control system. This facilitates the control system's precise control and real-time monitoring of the moving seat 4's position, ensuring that the robotic arm 6 can accurately reach the designated position when gripping and releasing the material bucket, thus improving the robotic arm's operational accuracy and stability. Through the cooperation between the ground rail 1, the moving seat 4, the robotic arm 6, the vision sensor 12, the laser radar sensor 13, the proximity switch 14, the first trigger plate 15, the second trigger plate 16, and the laser rangefinder 17, and by installing the vision sensor 12 at the end of the robotic arm 6 and establishing three-dimensional spatial coordinates through the laser radar sensor 13, the vision sensor 12... The data collected by the laser radar sensor 13 is transmitted to the control system to precisely plan and adjust the gripping and movement trajectory of the robotic arm 6, accurately position the raw material barrel or masterbatch barrel, and measure the position of the moving seat 4 in real time through the proximity switch 14 and the laser rangefinder 17. This allows the control system to accurately control the position of the moving seat 4, ensuring that the robotic arm 6 can accurately reach the designated position, guaranteeing accurate gripping and release of the barrel, avoiding misalignment or detachment, and improving the automation level and operational accuracy of the robotic arm. The specific models of the vision sensor 12, laser radar sensor 13, proximity switch 14, and laser rangefinder 17 are not limited, as long as they meet the usage requirements.

[0025] Furthermore, a second servo motor 18 is provided at the bottom of one end of the material bucket conveyor belt 11, photoelectric sensors 19 are provided at equal intervals on both sides of the material bucket conveyor belt 11, and baffles 20 are provided above both ends of the material bucket conveyor belt 11. The baffles 20 are used to limit the material bucket at both ends of the material bucket conveyor belt 11 to ensure that the material bucket will not fall during the conveying process, thereby improving the stability and accuracy of the material bucket conveying.

[0026] In the specific implementation process, it is worth noting that through the cooperation between the material bucket conveyor belt 11, the second servo motor 18, and the photoelectric sensor 19, the second servo motor 18 is installed at the bottom of the frame of the material bucket conveyor belt 11 and is connected to the drive shaft of the material bucket conveyor belt 11 through a synchronous pulley and a synchronous belt. By controlling the second servo motor 18, the material bucket conveyor belt 11 is driven, thereby conveying the raw material bucket, masterbatch bucket, or empty bucket. After the raw material bucket, masterbatch bucket, or empty bucket moves to the designated position, the photoelectric sensor 19 senses the raw material bucket, masterbatch bucket, or empty bucket and transmits the sensing signal to the control system. The control system controls the second servo motor 18 to stop rotating according to the sensing signal, thereby achieving precise positioning of the raw material bucket, masterbatch bucket, or empty bucket, which facilitates the precise clamping or releasing action of the robotic arm 6. The stop bar 20 is used to limit the material bucket at both ends of the material bucket conveyor belt 11 to ensure that the material bucket will not fall during the conveying process, thereby improving the stability and accuracy of the material bucket conveying. The specific model of the photoelectric sensor 19 is not limited, as long as it meets the usage requirements.

[0027] Furthermore, the two sides of the ground rail base 1 are fixedly connected with fixed seats 21 at equal intervals, and the fixed seats 21 are provided with anchor bolt fixing holes 22 on both sides inside.

[0028] In the specific implementation process, it is worth noting that by cooperating with the ground rail seat 1, the fixed seat 21 and the anchor bolt fixing hole 22, the anchor bolt is inserted into the anchor bolt fixing hole 22 of the fixed seat 21 and fixed to the ground, thereby improving the stability of the ground rail seat 1 and preventing shaking or displacement during operation, which would affect the operating accuracy and safety of the robot.

[0029] Furthermore, anti-slip pads 23 are fixedly connected to the inner walls of both the arc-shaped clamping plate 9 and the arc-shaped limiting plate 10. The anti-slip pads 23 are used to improve the stability of the arc-shaped clamping plate 9 and the arc-shaped limiting plate 10 in clamping the material bucket.

[0030] In the specific implementation process, it is worth noting that the anti-slip pad 23 is used to improve the stability of the arc-shaped clamping plate 9 and the arc-shaped limiting plate 10 in clamping the material bucket.

[0031] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A four-row emptying barrel robot, including a ground rail base (1), characterized in that: The top two sides of the ground rail base (1) are fixedly connected to slide rails (2). A gear rail (3) is fixedly connected to the ground rail base (1) on the side where the two slide rails (2) are close to each other. A movable seat (4) is movably connected to the top of the ground rail base (1). The movable seat (4) is slidably connected to the slide rails (2). A first servo motor (5) is installed on one side of the top of the movable seat (4). The output end of the first servo motor (5) is meshed with the gear rail (3). A mechanical arm (6) is fixedly connected to the top of the machine. A double-piston double-rod cylinder (7) is installed at the output end of the mechanical arm (6). A clamping arm (8) is fixedly connected to the output end of the double-piston double-rod cylinder (7). An arc-shaped clamping plate (9) is fixedly connected to the side of the ends of the clamping arms (8) that are close to each other. An arc-shaped limiting plate (10) is fixedly connected to the outer wall of the clamping arm (8) above the arc-shaped clamping plate (9). A material bucket conveyor belt (11) is equidistantly arranged on one side of the ground rail seat (1).

2. The four-row emptying barrel robot according to claim 1, characterized in that: A vision sensor (12) is installed on one side of the double-piston double-rod cylinder (7), a laser radar sensor (13) is installed on one side of the top of the moving seat (4), a proximity switch (14) is installed on the top of the moving seat (4), a first trigger plate (15) is fixedly connected at equal intervals on the side of the ground rail seat (1) away from the material bucket conveyor belt (11), the first trigger plate (15) is correspondingly set with the material bucket conveyor belt (11), a second trigger plate (16) is fixedly connected on the outer wall of the ground rail seat (1) away from the first trigger plate (15), the first trigger plate (15) and the second trigger plate (16) are both connected to the proximity switch (14), and laser ranging sensors (17) are installed at equal intervals at both ends of the ground rail seat (1), the laser ranging sensors (17) are connected to the moving seat (4).

3. The four-row emptying barrel robot according to claim 1, characterized in that: A second servo motor (18) is provided at the bottom of one end of the material bucket conveyor belt (11), photoelectric sensors (19) are provided at equal intervals on both sides of the material bucket conveyor belt (11), and baffles (20) are provided above both ends of the material bucket conveyor belt (11).

4. The four-row emptying barrel robot according to claim 1, characterized in that: The ground rail base (1) is fixedly connected to the two sides of the fixed base (21) at equal intervals, and the fixed base (21) has anchor bolt fixing holes (22) on both sides of its interior.

5. The four-row emptying barrel robot according to claim 1, characterized in that: The inner walls of the arc-shaped clamping plate (9) and the arc-shaped limiting plate (10) are both fixedly connected with anti-slip pads (23).

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