Automatic sorting and conveying manipulator for pickled workpieces

Abstract

The utility model relates to the technical field of industrial automation equipment, in particular to an automatic sorting and conveying manipulator for pickled workpieces, which comprises a base, a mechanical arm fixedly mounted at the top of the base, a clamping mechanism arranged at the tail end of the mechanical arm, a sorting and conveying device and a control system. The sorting and conveying device comprises a main conveying belt and a plurality of branch conveying belts. The pickling device overcomes the defects in the prior art, the control system is used for controlling the motion trail of the mechanical arm, the clamping mechanism is used for grabbing workpieces at an outlet of the pickling tank, the second electric push rod can drive the claw clamp to clamp the pickling workpieces, the clamping block can grab the pickling workpieces with different specifications according to the shapes and sizes of the pickling workpieces, and the pickling efficiency is improved. The clamped workpieces are placed on the main conveying belt and conveyed to the sorting area through the main conveying belt, full automation of sorting of the pickled workpieces is achieved, manual intervention is reduced, the service life of equipment is prolonged through the corrosion-resistant design, the sorting precision is improved, and the efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation equipment technology, specifically to an automatic sorting and conveying robot for pickled workpieces. Background Technology

[0002] In the metal processing industry, pickling is a common surface treatment process used to remove impurities such as oxide scale and rust from the surface of metal workpieces in order to improve the quality of the workpieces and their subsequent processing performance. Workpieces that have undergone pickling treatment usually need to be taken out of the pickling tank and sorted and transported according to different specifications, quality or subsequent processing requirements.

[0003] Currently, on many pickling production lines, the sorting and conveying of workpieces mainly rely on manual labor. However, this manual operation method has many drawbacks. On the one hand, the pickling environment is usually corrosive, which poses a serious threat to the health of operators. On the other hand, manual sorting and conveying is inefficient, prone to sorting errors, and labor-intensive, making it difficult to meet the needs of large-scale production.

[0004] Although there are some general-purpose industrial robots on the market, these robots often cannot adapt well to the special working environment and sorting and conveying requirements of pickled workpieces. For example, the surface of pickled workpieces may have residual acid, which places high demands on the material and protective performance of the robot. At the same time, pickled workpieces of different specifications have large differences in shape, size and weight, requiring the robot to have flexible sorting and gripping capabilities.

[0005] To address the problems existing in the above-mentioned technologies, an automatic sorting and conveying robot for pickled workpieces is proposed. Utility Model Content

[0006] In view of the shortcomings of the prior art, this utility model provides an automatic sorting and conveying robot for pickled workpieces, which overcomes the shortcomings of the prior art and solves the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: an automatic sorting and conveying robot for pickled workpieces, comprising a base, a robotic arm fixedly installed on the top of the base, a clamping mechanism disposed at the end of the robotic arm, a sorting and conveying device, and a control system;

[0008] The clamping mechanism includes a mounting frame, a second electric push rod, and a claw clamp;

[0009] The sorting and conveying device includes a main conveyor belt and multiple branch conveyor belts. The main conveyor belt is equipped with a workpiece identification sensor and a first electric push rod.

[0010] The control system is electrically connected to the robotic arm, gripping mechanism, and sorting and conveying device to realize automated sorting logic.

[0011] The control system controls the movement trajectory of the robotic arm, and the clamping mechanism grabs the workpieces from the pickling tank outlet. The second electric push rod can drive the claw to clamp the pickling workpieces. The clamping blocks can grab the pickling workpieces according to their different shapes and sizes. The clamped workpieces are placed on the main conveyor belt and transported to the sorting area. After the workpiece identification sensor identifies its type, the first electric push rod pushes the workpiece to the branch conveyor belts marked A, B, and C, thereby completing the automatic sorting and transportation of the pickling workpieces.

[0012] As a preferred technical solution of this utility model, the surface of the clamping mechanism is covered with a polytetrafluoroethylene coating, and a drainage groove is provided on the inner side wall of the bottom end of the claw.

[0013] The polytetrafluoroethylene coating has good resistance to a variety of chemicals, is resistant to acid corrosion, protects the clamping mechanism, and the drainage groove can guide the acid carried by the clamped workpiece to avoid acid accumulation.

[0014] As a preferred technical solution of this utility model, the top end of the claw clamp is rotatably connected to a transmission frame and a support frame, the end of the transmission frame away from the claw clamp is fixedly connected to the end of the second electric push rod, and the end of the support frame away from the claw clamp is fixedly connected to the mounting frame.

[0015] The transmission frame can be driven to move up and down by the second electric push rod. As the transmission frame moves, it can drive the jaw clamp to rotate around the support frame connection point, thereby clamping the workpiece.

[0016] As a preferred technical solution of this utility model, the claw clamp has a sliding groove inside, and a number of clamping blocks are slidably connected inside the sliding groove. A limiting block adapted to the clamping blocks is formed on the inner wall of the sliding groove, and a spring is connected between the clamping blocks and the inner wall of the sliding groove.

[0017] When the clamping block contacts the workpiece surface, it compresses the spring, allowing the clamping block to conform to the shape of the workpiece for stable clamping. The limiting block restricts the extension distance of the clamping block to prevent it from sliding out of the groove.

[0018] As a preferred technical solution of this utility model, the workpiece identification sensor is a vision camera or a photoelectric sensor, used to detect the size, shape or surface features of the workpiece.

[0019] The workpiece identification sensor collects images and transmits them to the control system. Based on the preset category, the first electric push rod is triggered to sort the workpieces to the corresponding branch conveyor belt.

[0020] As a preferred technical solution of this utility model, the number of branch conveyor belts is 3, each corresponding to a different sorting category, and the sorting and conveying device pushes the workpiece into the designated branch conveyor belt through the first electric push rod.

[0021] As a preferred technical solution of this utility model, the robotic arm is a six-axis articulated robotic arm, and the bottom of the base is provided with a guide rail, so that the robotic arm can move laterally along the pickling tank.

[0022] The base moves synchronously with the production line via guide rails, expanding the working range of the robotic arm.

[0023] Compared with the prior art, the beneficial effects of this utility model are:

[0024] The control system controls the movement trajectory of the robotic arm, and the clamping mechanism grabs the workpieces from the pickling tank outlet. The second electric push rod can drive the claw to clamp the pickling workpieces. The clamping blocks can grab the pickling workpieces according to their different shapes and sizes. The clamped workpieces are placed on the main conveyor belt and transported to the sorting area. After the workpiece identification sensor identifies its type, the first electric push rod pushes the workpiece to the branch conveyor belts marked A, B, and C, thereby completing the automatic sorting and transportation of the pickling workpieces. Attached Figure Description

[0025] Figure 1 This is a three-dimensional schematic diagram of the present invention;

[0026] Figure 2 This is a schematic diagram of the robotic arm of this utility model;

[0027] Figure 3 This is a front view schematic diagram of the robotic arm of this utility model;

[0028] Figure 4 For the present utility model Figure 3 Schematic diagram of the cross section at point AA;

[0029] Figure 5 For the present utility model Figure 2 Enlarged view of a portion of point B in the middle;

[0030] Figure 6 For the present utility model Figure 4 A magnified view of a portion of point C in the middle.

[0031] In the diagram: 1. Base; 2. Guide rail; 3. Main conveyor belt; 4. Branch conveyor belt; 5. Workpiece identification sensor; 6. First electric push rod; 7. Support frame; 8. Claw gripper; 9. Slide groove; 10. Clamping block; 11. Spring; 12. Transmission frame; 13. Second electric push rod; 14. Drainage channel; 15. Mounting frame; 16. Robotic arm. Detailed Implementation

[0032] 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.

[0033] Please see Figure 1-6 An automated sorting and conveying robot for pickled workpieces includes a base 1, a robotic arm 16 fixedly mounted on the top of the base 1, a clamping mechanism located at the end of the robotic arm 16, a sorting and conveying device, and a control system. The clamping mechanism includes a mounting frame 15, a second electric push rod 13, and a gripper 8. The sorting and conveying device includes a main conveyor belt 3 and multiple branch conveyor belts 4. A workpiece identification sensor 5 and a first electric push rod 6 are mounted on the main conveyor belt 3. The control system is electrically connected to the robotic arm 16, the clamping mechanism, and the sorting and conveying device to achieve automated sorting logic. The system controls the movement trajectory of the robotic arm 16 through the control system, and the gripping mechanism grabs the workpieces at the outlet of the pickling tank. The second electric push rod 13 can drive the claw 8 to grip the pickling workpieces. The gripping block 10 can grip the pickling workpieces of different specifications, shapes and sizes. The gripped workpieces are placed on the main conveyor belt 3, and the workpieces are transported to the sorting area via the main conveyor belt 3. After the workpiece identification sensor 5 identifies its type, the first electric push rod 6 pushes the workpiece to the branch conveyor belts 4 marked A, B and C, thereby completing the automatic sorting and transportation of the pickling workpieces.

[0034] Specifically, the surface of the clamping mechanism is covered with a polytetrafluoroethylene coating, and the inner sidewall of the bottom end of the jaw 8 is provided with a drainage groove 14. The polytetrafluoroethylene coating has good resistance to a variety of chemicals, can resist acid corrosion, and protect the clamping mechanism. At the same time, the drainage groove 14 can guide the acid carried by the clamped workpiece to avoid acid accumulation.

[0035] Specifically, the top of the jaw 8 is rotatably connected to a transmission frame 12 and a support frame 7. The end of the transmission frame 12 away from the jaw 8 is fixedly connected to the end of the second electric push rod 13, and the end of the support frame 7 away from the jaw 8 is fixedly connected to the mounting frame 15. The transmission frame 12 can be driven to move up and down by means of the second electric push rod 13. While the transmission frame 12 moves, it can drive the jaw 8 to rotate around the connection point of the support frame 7 as the axis, so as to clamp the workpiece.

[0036] Specifically, the claw clamp 8 has a sliding groove 9 inside, and several clamping blocks 10 are slidably connected inside the sliding groove 9. The inner wall of the sliding groove 9 has a limiting block adapted to the clamping block 10. A spring 11 is connected between the clamping block 10 and the inner wall of the sliding groove 9. When the clamping block 10 contacts the surface of the workpiece, it can compress the spring 11, so that the clamping block 10 can conform to the shape of the workpiece for stable clamping. The limiting block can limit the extension distance of the clamping block 10 and prevent it from sliding out of the sliding groove 9.

[0037] Specifically, the workpiece identification sensor 5 is a vision camera or photoelectric sensor used to detect the size, shape or surface features of the workpiece. The workpiece identification sensor 5 acquires images and transmits them to the control system, which triggers the first electric push rod 6 to sort the workpieces to the corresponding branch conveyor belt 4 according to the preset category.

[0038] Specifically, there are 3 branch conveyor belts 4, each corresponding to a different sorting category. The sorting conveyor device pushes the workpiece into the designated branch conveyor belt 4 through the first electric push rod 6.

[0039] Specifically, the robotic arm 16 is a six-axis articulated robotic arm. The bottom of the base 1 is equipped with a guide rail 2, which allows the robotic arm 16 to move laterally along the pickling tank. The base 1 moves synchronously with the production line through the guide rail 2, thereby expanding the working range of the robotic arm 16.

[0040] Working principle: The control system controls the movement trajectory of the robotic arm 16 and the gripping mechanism grabs the workpieces from the pickling tank outlet. The second electric push rod 13 drives the claw 8 to grip the pickled workpieces. The gripping block 10 can grip the pickled workpieces according to their different shapes and sizes. The gripped workpieces are placed on the main conveyor belt 3 and transported to the sorting area via the main conveyor belt 3. After the workpiece identification sensor 5 identifies its type, the first electric push rod 6 pushes the workpiece to the branch conveyor belts 4 marked A, B, and C, thereby completing the automatic sorting and transportation of the pickled workpieces.

[0041] Finally, it should be noted that in the description of this utility model, the terms "vertical," "upper," "lower," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0042] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0043] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic sorting and conveying robot for pickled workpieces, characterized in that: Includes a base (1), a robotic arm (16) fixedly installed on the top of the base (1), a clamping mechanism, a sorting and conveying device and a control system located at the end of the robotic arm (16); The clamping mechanism includes a mounting bracket (15), a second electric push rod (13), and a claw clamp (8); The sorting and conveying device includes a main conveyor belt (3) and multiple branch conveyor belts (4). The main conveyor belt (3) is equipped with a workpiece identification sensor (5) and a first electric push rod (6). The control system is electrically connected to the robotic arm (16), the clamping mechanism and the sorting and conveying device to realize automated sorting logic.

2. The automatic sorting and conveying robot for pickled workpieces according to claim 1, characterized in that: The surface of the clamping mechanism is covered with a polytetrafluoroethylene coating, and the inner sidewall of the bottom end of the claw (8) is provided with a drainage groove (14).

3. The automatic sorting and conveying robot for pickled workpieces according to claim 1, characterized in that: The top of the claw (8) is rotatably connected to a transmission frame (12) and a support frame (7). The end of the transmission frame (12) away from the claw (8) is fixedly connected to the end of the second electric push rod (13), and the end of the support frame (7) away from the claw (8) is fixedly connected to the mounting frame (15).

4. The automatic sorting and conveying robot for pickled workpieces according to claim 1, characterized in that: The claw clamp (8) has a sliding groove (9) inside, and several clamping blocks (10) are slidably connected inside the sliding groove (9). The inner wall of the sliding groove (9) has a limiting block adapted to the clamping block (10), and a spring (11) is connected between the clamping block (10) and the inner wall of the sliding groove (9).

5. The automatic sorting and conveying robot for pickled workpieces according to claim 1, characterized in that: The workpiece identification sensor (5) is a vision camera or photoelectric sensor used to detect the size, shape or surface features of the workpiece.

6. The automatic sorting and conveying robot for pickled workpieces according to claim 1, characterized in that: The number of branch conveyor belts (4) is 3, each corresponding to a different sorting category. The sorting conveyor device pushes the workpiece into the designated branch conveyor belt (4) through the first electric push rod (6).

7. The automatic sorting and conveying robot for pickled workpieces according to claim 1, characterized in that: The robotic arm (16) is a six-axis articulated robotic arm. The bottom of the base (1) is provided with a guide rail (2) so that the robotic arm (16) can move laterally along the pickling tank.

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