A taking and placing manipulator for a weight production line

Abstract

The utility model relates to a kind of taking and placing manipulator for counterweight block production line, including the roller line for conveying counterweight block, the roller line end is equipped with baffle, the side at the roller line end is provided with taking and placing mechanism, the taking and placing mechanism includes six-axis mechanical arm of vertical setting, the execution end of the six-axis mechanical arm is vertically provided with suspension plate, and parallel gripper is respectively longitudinally symmetrical fixedly connected in the both ends of suspension plate, two parallel grippers can be grabbed to the corresponding end of counterweight block conveyed to baffle.The taking and placing manipulator of the utility model can replace manual operation, avoid the strength and security risk of artificial handling, reduce the risk of injury.

Description

Technical Field

[0001] This utility model belongs to the field of elevator parts processing technology, and specifically relates to a picking and placing robot for a counterweight production line. Background Technology

[0002] The main function of elevator counterweights is to balance the weight of the car, reduce the motor load, improve operating efficiency and safety, and at the same time reduce energy consumption and noise.

[0003] Existing steel plate counterweights are typically cut into shape and then transported to the workshop's stacking and packaging area via roller conveyor. The counterweights are then manually removed from the conveyor for stacking. However, each counterweight is quite heavy, making manual handling not only extremely strenuous but also prone to hand injuries. Utility Model Content

[0004] This utility model addresses the shortcomings of existing technologies by providing a robotic arm for picking and placing counterweights in a production line. The specific technical solution is as follows:

[0005] This utility model provides a pick-and-place robot for a counterweight production line, including a roller conveyor for conveying counterweights. The roller conveyor has a baffle at its end and a pick-and-place mechanism on one side of the end of the roller conveyor. The pick-and-place mechanism includes a vertically mounted six-axis robotic arm. The execution end of the six-axis robotic arm is vertically provided with a suspension plate. Parallel grippers are longitudinally symmetrically fixed at both ends of the suspension plate. The two parallel grippers can grasp the corresponding ends of the counterweights conveyed to the baffle.

[0006] As a preferred technical solution of this utility model, the counterweight is centered and positioned by a centering mechanism located below the end of the roller line;

[0007] The centering mechanism includes two support plates erected perpendicular to the conveying direction of the roller conveyor. Each support plate has a linear slide rail module on its top surface along its long side. A slide plate is slidably mounted between the ends of the two linear slide rail modules. A circular stop bar is vertically and symmetrically fixed to the top surface of the ends of the two slide plates. The stop bar on the same end side is located in the interval area between the two rollers on the roller conveyor, and the top of the stop bar extends above the roller conveyor. Support plates are horizontally and vertically fixed to the bottom surfaces of the two support plates. A bidirectional cylinder is horizontally mounted between the adjacent ends of the two support plates. The two telescopic ends of the bidirectional cylinder are fixedly connected to the ends of the corresponding slide plates.

[0008] As a preferred technical solution of this utility model, a side support assembly is provided on one side of the suspension plate; the side support assembly includes a drive cylinder that is fixedly installed laterally along the short axis direction of the top surface of the suspension plate, and the extension end of the drive cylinder is vertically connected to a strip plate, and at least two L-shaped support claws are vertically spaced on the bottom surface of the strip plate.

[0009] After the parallel gripper grabs the end of the counterweight, the claw inserts into the area between the two rollers on the roller line; the drive cylinder retracts, causing the claw to extend under the counterweight, and the top surface of the horizontal part of the claw is in close contact with the bottom surface of the counterweight.

[0010] As a preferred embodiment of this utility model, the ends of the strip are respectively vertically and symmetrically connected with guide rods, and the two guide rods are respectively inserted into guide holes opened on the corresponding sides of the suspension plate.

[0011] As a preferred embodiment of this utility model, a portal frame is vertically fixed to the top surface of the suspension plate, and the execution end of the six-axis robotic arm is vertically connected to the top surface of the portal frame; the drive cylinder is located inside the portal frame.

[0012] The beneficial effects of this utility model are:

[0013] 1. The picking and placing robot of this utility model can replace manual operation, avoid the intensity and safety hazards of manual handling, and reduce the risk of work-related injuries.

[0014] 2. The six-axis robotic arm of this utility model provides multi-degree-of-freedom positioning capability. With the vertically set suspension plate, the gripping angle can be flexibly adjusted to adapt to the possible posture deflection when the counterweight is transported to the end of the roller line.

[0015] 3. The parallel grippers symmetrically arranged at both ends of the suspension plate in the picking and placing robot of this utility model can simultaneously grasp both ends of the counterweight, so that the force is evenly distributed, avoiding the risk of tilting or slippage caused by grasping on one side, and improving the grasping stability.

[0016] 4. The hand baffle of the picking and placing robot ensures that the counterweight is transported to a fixed position, and the robot arm does not need to dynamically track it, simplifying the control logic; the parallel gripper directly positions and grabs the counterweight at the baffle, reducing adjustment time and improving cycle efficiency. Attached Figure Description

[0017] Figure 1 A three-dimensional structural schematic diagram of the assembly of the roller line and the centering mechanism in this utility model is shown;

[0018] Figure 2 A three-dimensional structural schematic diagram of the centering mechanism in this utility model is shown;

[0019] Figure 3 This invention shows a top view of the assembly of the roller line and the centering mechanism.

[0020] Figure 4 A three-dimensional structural schematic diagram of the counterweight block for stopping the roller conveyor in this utility model is shown;

[0021] Figure 5A three-dimensional structural schematic diagram of the picking and placing mechanism in this utility model is shown;

[0022] Figure 6 This invention demonstrates the operation of the pick-and-place mechanism for holding the counterweight (Figure 1).

[0023] Figure 7 This invention demonstrates the operation of the pick-and-place mechanism for holding the counterweight (Figure 2).

[0024] Figure 8 The diagram shows a demonstration of the operation of the pick-and-place mechanism for placing counterweights in this invention.

[0025] The diagram shows: 1. Roller conveyor; 11. Baffle; 2. Centering mechanism; 21. Support plate one; 22. Slide plate; 23. Linear slide rail module; 24. Stop bar; 25. Two-way cylinder; 26. Support plate two; 3. Counterweight; 4. Picking and placing mechanism; 41. Six-axis robotic arm; 411. Gantry frame; 42. Suspension plate; 43. Parallel gripper; 44. Side support assembly; 441. Drive cylinder; 442. Strip plate; 443. Support claw; 444. Guide rod. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this utility model.

[0027] Example 1

[0028] To address the technical problems in the background section, the following is provided: a robotic arm for handling counterweights in a production line.

[0029] Combination Figures 5-8 As shown, a pick-and-place robot for a counterweight production line includes a roller conveyor 1 for conveying counterweights 3. The roller conveyor 1 has a baffle 11 at its end. A pick-and-place mechanism 4 is provided on one side of the end of the roller conveyor 1. The pick-and-place mechanism 4 includes a vertically mounted six-axis robotic arm 41. The execution end of the six-axis robotic arm 41 is vertically provided with a suspension plate 42. Parallel grippers 43 are longitudinally symmetrically fixed at both ends of the suspension plate 42. The two parallel grippers 43 can grasp the corresponding ends of the counterweights 3 conveyed to the baffle 11.

[0030] By adopting the above technical solution, the picking and placing robot can replace manual operation, avoid the intensity and safety hazards of manual handling, and reduce the risk of work-related injuries.

[0031] Among them, the six-axis robotic arm 41 provides multi-degree-of-freedom positioning capability. With the vertically set suspension plate, the gripping angle can be flexibly adjusted to adapt to the possible posture deflection when the counterweight 3 is transported to the end of the roller line 1.

[0032] The parallel grippers 43, which are symmetrically arranged at both ends of the suspension plate 42, can simultaneously grip both ends of the counterweight 3, ensuring uniform force distribution and avoiding the risk of tilting or slippage caused by gripping on one side, thus improving gripping stability.

[0033] The baffle 11 ensures that the counterweight 3 is delivered to a fixed position, eliminating the need for dynamic tracking by the robotic arm and simplifying the control logic; the parallel gripper 43 directly positions and grabs the counterweight 3 at the baffle 11, reducing adjustment time and improving cycle efficiency.

[0034] Example 2

[0035] Combination Figures 1-8 As shown, based on the above embodiments, this embodiment further provides the following:

[0036] In this embodiment, as Figures 1-4 As shown, the counterweight 3 is centered and positioned by the centering mechanism 2 located below the end of the roller line 1;

[0037] The centering mechanism 2 includes two support plates 21 erected perpendicular to the conveying direction of the roller line 1. Each support plate 21 has a linear slide rail module 23 arranged along its long side on its top surface. A slide plate 22 is arranged parallel to each other between the ends of the two linear slide rail modules 23. A circular stop bar 24 is vertically and symmetrically fixed to the top surface of the ends of the two slide plates 22. The stop bar 24 on the same end side is located in the interval area between the two rollers of the roller line 1, and the top of the stop bar 24 extends above the roller line 1. A support plate 26 is horizontally and vertically fixed to the bottom surface of the two support plates 21. A bidirectional cylinder 25 is horizontally erected between the adjacent ends of the two support plates 26. The two telescopic ends of the bidirectional cylinder 25 are fixedly connected to the ends of the corresponding slide plates 22.

[0038] By adopting the above technical solution, the bidirectional cylinder 25 in the centering mechanism 2 synchronously pushes the two side slide plates 22 to move in opposite directions along the linear slide rail module 23, driving the circular stop bar 24 to move laterally, thereby achieving the centering clamping or release of the counterweight 3, which is beneficial to the gripping action of the pick-and-place mechanism 4. The stop bar 24 extends from the interval area of ​​the roller conveyor 1, which does not affect the normal conveying of the roller conveyor 1, and can contact the side of the counterweight 3; the circular design reduces frictional resistance, avoids scratching the surface of the workpiece, and ensures smooth sliding contact.

[0039] like Figures 5-8 As shown, a side support assembly 44 is provided on one side of the suspension plate 42; the side support assembly 44 includes a drive cylinder 441 that is horizontally fixed along the short axis direction of the top surface of the suspension plate 42, and the telescopic end of the drive cylinder 441 is vertically connected to a strip plate 442, and at least two L-shaped claws 443 are vertically spaced on the bottom surface of the strip plate 442.

[0040] When the parallel gripper 43 grips the end of the counterweight 3, the claw 443 is inserted into the two roller interval areas of the roller line 1; the drive cylinder 441 retracts and drives the claw 443 to extend under the counterweight 3, and the top surface of the horizontal part of the claw 443 is in close contact with the bottom surface of the counterweight 3.

[0041] By adopting the above technical solution, the side support component 44 can prevent the counterweight 3 from accidentally falling due to insufficient clamping force of the parallel gripper 43 during the grabbing and transfer process.

[0042] The drive cylinder 441 in the side support assembly 44 drives the L-shaped claw 443 to insert into the counterweight 3 from the gap between the rollers, forming an "upper clamp and lower support" structure that works in conjunction with the parallel gripper 43. When the clamping force of the parallel gripper is insufficient or there is a sudden power failure, the horizontal part of the claw 443 can immediately support the bottom surface of the counterweight 3, effectively preventing the risk of falling.

[0043] The horizontal part of the L-shaped claw 443 is in close contact with the bottom surface of the counterweight 3 with a gap, which ensures the reliability of the support and avoids interference caused by hard contact.

[0044] The gripper 443 cleverly utilizes the space between rollers 1 to vertically intersect, eliminating the need for additional obstacle avoidance mechanisms. The extension and retraction of the drive cylinder 441 coordinates with the movement trajectory of the robotic arm to achieve seamless integration of gripping, lifting, and transferring.

[0045] When stacking counterweights 3, the six-axis robotic arm 41 moves the held counterweight 3 directly above the designated stacking position. Then, the drive cylinder 441 extends, and the gripper 443 moves to the outside of the counterweight 3. The six-axis robotic arm 41 then lowers the counterweight 3 to the stacking position, and the parallel gripper 43 releases the counterweight 3, completing the stacking process. This process ensures that the gripper 443 does not interfere with the stacking operation while maintaining full fall protection.

[0046] like Figure 5 and Figure 8 As shown, guide rods 444 are vertically and symmetrically connected to the ends of the strip 442, and the two guide rods 444 are respectively inserted into guide holes (not shown in the figure) opened on the corresponding side of the suspension plate 42 with a gap.

[0047] By adopting the above technical solution, the guide rod 444 and the guide hole on the suspension plate 42 form a sliding pair, which constrains the lateral displacement path of the drive cylinder 441 when pushing the strip 442, avoids the L-shaped claw 443 from swaying during the extension and retraction process, and ensures that it always inserts in the roller gap along a straight line.

[0048] The symmetrically distributed guide rods 444 form a double-point support structure, which counteracts the torque generated when the drive cylinder 441 applies force on one side, prevents the strip 442 from tilting due to uneven force, and maintains the parallel contact state between the horizontal part of the claw 443 and the bottom surface of the counterweight 3.

[0049] The guide rod 444 bears the radial load of the strip 442 and the claw 443, reduces the lateral force on the piston rod of the drive cylinder 441, extends the service life of the drive cylinder 441, and reduces the impact of vibration on the positioning accuracy of the claw 443.

[0050] like Figure 5 As shown, a gantry frame 411 is vertically fixed to the top surface of the suspension plate 42, and the execution end of the six-axis robotic arm 41 is vertically connected to the top surface of the gantry frame 411; the drive cylinder 441 is located inside the gantry frame 411.

[0051] By adopting the above technical solution, the gantry frame 411 is set as a transition structure between the six-axis robotic arm 41 and the suspension plate 42, forming a stable frame-type force transmission path, which evenly distributes the load of the robotic arm to both sides of the suspension plate 42, avoids the stress concentration problem caused by the cantilever beam structure, and significantly improves the overall structural rigidity.

[0052] The hollow structure of the gantry 411 provides built-in installation space for the drive cylinder 441, allowing the side support assembly 44 and the robotic arm execution end to form a compact vertical stacking layout. This protects the cylinder from external impacts and avoids additional lateral space occupation, maintaining the lightweight characteristics of the robotic arm end effector.

[0053] Working principle and usage process of this utility model:

[0054] When this utility model is used, it is divided into the following stages:

[0055] Firstly, the counterweight conveying and positioning stage.

[0056] When the counterweight 3 is conveyed to the end baffle 11 via the roller conveyor 1, the centering mechanism 2 is activated: the bidirectional cylinder 25 pushes the slide plate 22 to move towards each other along the linear slide rail module 23, which drives the circular stop bar 24 to move towards the middle position along the roller gap, so as to clamp the two sides of the counterweight 3 to achieve forced centering and eliminate position deviation during the conveying process.

[0057] Second, the grabbing and fall prevention preparation phase.

[0058] The six-axis robotic arm 41 drives the suspension plate 42 to move above the counterweight, and the parallel grippers 43 at both ends simultaneously clamp the two ends of the counterweight. At the same time, the drive cylinder 441 of the side support assembly 44 pushes the strip 442, so that the L-shaped support claw 443 passes through the gap of the rollers and inserts into the bottom of the counterweight 3. The guide rod 444 ensures that the horizontal part of the support claw 443 is in close contact with the bottom surface of the counterweight 3, forming a double protection of upper clamping and lower support.

[0059] Third, the transfer stage

[0060] The six-axis robotic arm 41 lifts the counterweight 3 off the roller conveyor 1, and the rigid structure of the gantry frame 411 ensures the stability of the suspension plate 42 during movement. The six-axis robotic arm 41 allows the counterweight 3 to be adjusted in posture as needed to adapt to different stacking angle requirements. The claw 443 supports the bottom of the counterweight 3 throughout the process to prevent slippage due to insufficient clamping force caused by sudden power failure or vibration.

[0061] Fourth, the stacking and placement stage.

[0062] When the six-axis robotic arm 41 moves the counterweight 3 directly above the stacking position, the drive cylinder 441 extends to make the claw 443 laterally exit the projection area of ​​the counterweight 3. The guide rod 444 constrains the exit trajectory to ensure that there is no interference with the already stacked counterweight 3.

[0063] The six-axis robotic arm 41 lowers the counterweight 3 to the designated position, and the parallel gripper 43 releases the workpiece and resets. The stop bar 24 of the centering mechanism 2 resets simultaneously, and the roller conveyor 1 transports the next counterweight 3, thus completing the cycle.

[0064] The entire process is controlled by the six-axis robotic arm 41, the centering mechanism 2 and the side support assembly 44 to achieve fully automated operation of the counterweight 3 from conveying to stacking, which solves the safety hazards and efficiency bottlenecks of manual handling.

[0065] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements 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. A pick-and-place robot for a counterweight production line, comprising a roller conveyor (1) for conveying counterweights (3), wherein the roller conveyor (1) is provided with a baffle (11) at its end, characterized in that: A pick-and-place mechanism (4) is provided on one side of the end of the roller conveyor (1). The pick-and-place mechanism (4) includes a vertically mounted six-axis robotic arm (41). The execution end of the six-axis robotic arm (41) is vertically provided with a suspension plate (42). Parallel grippers (43) are longitudinally and symmetrically fixed at both ends of the suspension plate (42). The two parallel grippers (43) can grab the corresponding ends of the counterweight (3) that are conveyed to the baffle (11).

2. The picking and placing robot for a counterweight production line according to claim 1, characterized in that: The counterweight (3) is centered and positioned by a centering mechanism (2) located below the end of the roller line (1); The centering mechanism (2) includes two support plates (21) erected perpendicular to the conveying direction of the roller line (1). Each support plate (21) has a linear slide rail module (23) on its top surface along its long side. A slide plate (22) is slidably arranged between the ends of the two linear slide rail modules (23). A circular stop bar (24) is vertically and symmetrically fixed to the top surface of the ends of the two slide plates (22). The stop bar (24) on the same end side is located in the area between the two rollers of the roller line (1), and the top of the stop bar (24) extends above the roller line (1). Support plates (26) are horizontally and vertically fixed to the bottom surfaces of the two support plates (21). A bidirectional cylinder (25) is horizontally erected between the adjacent ends of the two support plates (26). The two telescopic ends of the bidirectional cylinder (25) are fixedly connected to the ends of the corresponding slide plates (22).

3. The picking and placing robot for a counterweight production line according to claim 2, characterized in that: A side support assembly (44) is provided on one side of the suspension plate (42); the side support assembly (44) includes a drive cylinder (441) that is fixedly installed laterally along the short axis of the top surface of the suspension plate (42), and the telescopic end of the drive cylinder (441) is vertically connected to a strip plate (442), and at least two L-shaped claws (443) are vertically spaced on the bottom surface of the strip plate (442); When the parallel gripper (43) grabs the end of the counterweight (3), the claw (443) is inserted into the two roller interval areas of the roller line (1); the drive cylinder (441) retracts and drives the claw (443) to extend under the counterweight (3), and the top surface of the horizontal part of the claw (443) is in close contact with the bottom surface of the counterweight (3).

4. The picking and placing robot for a counterweight production line according to claim 3, characterized in that: The ends of the strip (442) are respectively vertically and symmetrically connected with guide rods (444), and the two guide rods (444) are respectively inserted into the guide holes opened on the corresponding side of the suspension plate (42) with a gap.

5. A pick-and-place robot for a counterweight production line according to claim 3, characterized in that: A gantry frame (411) is vertically fixed to the top surface of the suspension plate (42), and the execution end of the six-axis robotic arm (41) is vertically connected to the top surface of the gantry frame (411); the drive cylinder (441) is located inside the gantry frame (411).

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