CN116923813B - High-speed special-shaped hose loading and unloading robot - Google Patents
High-speed special-shaped hose loading and unloading robotInfo
- Publication number
- CN116923813B CN116923813B CN202310901659.3A CN202310901659A CN116923813B CN 116923813 B CN116923813 B CN 116923813B CN 202310901659 A CN202310901659 A CN 202310901659A CN 116923813 B CN116923813 B CN 116923813B
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- CN
- China
- Prior art keywords
- frame
- plate
- mounting plate
- pushing
- rod
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes
- B65B59/001—Arrangements to enable adjustments related to the product to be packaged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/40—Arranging and feeding articles in groups by reciprocating or oscillatory pushers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/106—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by pushers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/20—Applications of counting devices for controlling the feed of articles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
Abstract
本发明公开了一种高速异型软管上下料机器人，其包括机架、软管预摆放机构、软管传输机构、空箱上料机构和满箱下料机构，软管预摆放机构位于机架内一侧，其具有能左右上下移动的U形的预放框，软管传输机构位于软管预摆放机构一侧的机架上，其具有平推组件，对应平推组件的传输架内设有伸缩插板组件，正对平推组件的机架上设置有辅助限位组件，空箱上料机构具有相对设置的翻转组件和推料组件，翻转组件翻转空箱，推料组件推送预放框内软管进空箱，满箱下料机构设置在空箱上料机构外侧，具有将装满的料箱推送出去的推送组件。本发明通用性强，可搭配不同的供料流水线，进行不同规格软管、软管不同处理阶段的全自动装箱作业。
The present invention discloses a high-speed special-shaped hose loading and unloading robot, which includes a frame, a hose pre-placement mechanism, a hose transmission mechanism, an empty box loading mechanism and a full box unloading mechanism. The hose pre-placement mechanism is located on one side of the frame, and has a U-shaped pre-placement frame that can move left and right and up and down. The hose transmission mechanism is located on the frame on one side of the hose pre-placement mechanism, and has a horizontal push component. A telescopic plug-in plate component is provided in the transmission frame corresponding to the horizontal push component, and an auxiliary limit component is provided on the frame facing the horizontal push component. The empty box loading mechanism has a relatively arranged flip component and a pushing component. The flip component flips the empty box, and the pushing component pushes the hose in the pre-placement frame into the empty box. The full box unloading mechanism is arranged on the outside of the empty box loading mechanism, and has a pushing component for pushing the filled material box out. The present invention has strong versatility and can be matched with different feeding lines to perform fully automatic boxing operations for hoses of different specifications and hoses at different processing stages.
Description
Technical Field
The invention relates to the technical field of hose production, in particular to a high-speed special-shaped hose loading and unloading robot.
Background
The hose is a cosmetic packaging material widely used in cosmetic packaging, wherein products such as facial cleanser and facial cleanser are most used, and other skin care products such as BB cream and gel are also used. The main forms of the hose package are all-aluminum hose, single-extrusion plastic hose and aluminum-plastic composite hose. All aluminum hoses are formed by stamping and welding, plastic hoses are formed by single-layer PE extrusion, and the aluminum-plastic composite hose is formed by PE film blowing and then coextrusion and compounding of PE films and aluminum foils. After the hose is manufactured, the hose is required to be stored and boxed, then the hose is required to be cleaned and the like, and the hose is boxed again for standby, and the hose is required to be boxed after the finished product of the hose package is manufactured.
At present, different types of hoses (all-aluminum hoses, single-extrusion plastic hoses and aluminum-plastic composite hoses) adopt hose boxing equipment with different structures, and for the same type of hoses, different hose boxing operations after treatment such as manufacturing, cleaning and the like and after finished products are also adopted, so that the cost is very high, and in addition, the sizes of storage boxes are different due to different specifications of the hoses, so that the conventional hose boxing equipment cannot perform switching operation in the aspect.
Disclosure of Invention
The invention provides a high-speed special-shaped hose loading and unloading robot which has the advantages that soft grids and feed boxes with different specifications can be used, and the automation efficiency is improved.
The technical scheme adopted by the invention for solving the technical problems is that the high-speed special-shaped hose loading and unloading robot comprises a rack and further comprises:
The hose pre-placing mechanism is positioned at one side in the frame and is provided with a sliding component, the sliding component is provided with a lifting component, the lifting component is connected with a U-shaped pre-placing frame,
The hose transmission mechanism is positioned on a frame at one side of the hose pre-placing mechanism and is provided with a transmission frame, a flat pushing assembly for pushing a row of hoses into the pre-placing frame is arranged on the outer side wall at the rear part of the transmission frame, a telescopic plugboard assembly is arranged in the transmission frame corresponding to the flat pushing assembly and is provided with plugboards which extend into the pre-placing frame to realize layering, an auxiliary limiting assembly is arranged at the position, opposite to the flat pushing assembly, of the frame,
The empty box feeding mechanism is provided with a turnover assembly and a pushing assembly which are oppositely arranged, the pushing assembly is arranged on a rack at the tail end of the transmission frame, the turnover assembly turns over the empty box so that the opening of the empty box faces the pushing assembly, all hoses in the pre-placement frame which slide to the empty box are pushed into the empty box by the pushing assembly,
The full box blanking mechanism is arranged at the outer side of the empty box feeding mechanism and is provided with a pushing component for pushing out the box which is filled with the hose and overturned.
Further, the sliding assembly comprises a first sliding rail, a first sliding rail mounting part, a sliding plate and a driving part, wherein the first sliding rail is fixed on the first sliding rail mounting part, the sliding plate is arranged on the first sliding rail, the driving part comprises a motor, a gear and a rack, the rack is fixed on the inner side wall of the first sliding rail mounting part, the gear is mounted on an output shaft of the motor, and the motor is mounted on the back of the sliding plate.
Still further, lifting unit includes U-shaped mounting bracket and two sharp modules, the U-shaped mounting bracket is fixed on the slide, and two sharp modules are vertical to be installed on the both columns of U-shaped mounting bracket, the slider of sharp module is connected and is put the frame in advance.
Still further, the bottom of putting the frame in advance is equipped with the bracing piece of smooth connection with sharp module, the lower extreme of sharp module has drive division, and driving motor is installed to the drive division of a sharp module, driving motor's output passes through the transfer line and is connected with the drive division of another sharp module.
Furthermore, a plurality of mounting holes are uniformly formed in the support rod, the pre-placement frame is formed by splicing two L-shaped plates with the same structure, and the bottoms of the L-shaped plates are fixed to the support rod through bolts penetrating through the mounting holes.
Further, the front portion of transmission frame is equipped with the centering subassembly of hose, centering subassembly includes centering frame, holding down plate, left push pedal and right push pedal, centering frame connects on a lateral wall of transmission frame, and it mainly comprises pole setting and horizontal pole, the holding down plate is connected through the installation pole in the middle part of horizontal pole, left push pedal and right push pedal pass through the installation pole and connect respectively on the horizontal pole, and are located the left and right sides of holding down plate.
Still further, be fixed with the clamp of connecting the pole setting on the lateral wall of transmission frame, be provided with the clamp of connecting the installation pole on the horizontal pole.
Further, the flat pushing assembly comprises a lifting frame, a belt linear module and a first pushing plate, wherein the first pushing plate is fixed at one end of the belt linear module, the belt linear module is arranged on the lifting frame, and the lifting frame is provided with a lifting plate connected with a sliding seat of the belt linear module.
Still further, the crane still includes mounting panel, guide arm one, guide pin bushing one, cylinder one and lower mounting panel, the lower mounting panel is fixed in the frame in the transmission frame outside, guide arm one sets up between mounting panel and lower mounting panel, guide pin bushing one overlaps on guide arm one, the lifter plate cover is on guide pin bushing one, and both fixed connection, cylinder one is installed on the mounting panel, and the push rod of cylinder one passes the mounting panel and is connected with the lifter plate.
Still further, belt sharp module includes gear motor, drive wheelset one, belt one, guide rail one and slide, the slide is fixed at the lifter plate back, and sets up on guide rail one, be provided with belt one along guide rail length direction on another lateral wall of guide rail one, belt one winds and establishes on drive wheelset one, drive wheelset one has a first and a plurality of drive wheels of movable mounting on the sliding plate of pivoted action wheel by gear motor drive, the sliding plate passes the pillar and fixes at the back of lifter plate, gear motor passes the lifter plate and installs in the sliding plate.
Further, the auxiliary limiting assembly comprises a first rectangular mounting frame, a first cylinder mounting plate is fixed on the first rectangular mounting frame, a second cylinder is mounted on the first cylinder mounting plate, a push rod of the second cylinder penetrates through the first cylinder mounting plate to be connected with a second push plate, the second cylinder mounting plate is sleeved on a second guide rod through a second guide sleeve, one end of the second guide rod is connected with the second push plate, and the other end of the second guide rod is connected with a second connecting plate.
Further, the telescopic plugboard assembly further comprises a first motor, a screw rod and a second guide rail, the second guide rail is fixed on a first mounting plate in the transmission frame, the first motor is arranged outside the transmission frame and mounted on a connecting plate, the connecting plate is fixed at one end of the second guide rail, the output end of the first motor is connected with the screw rod, and a screw rod nut on the screw rod is connected with the plugboard.
Further, the pushing component comprises a rectangular mounting frame II, a pushing plate III, a front mounting plate, a guide rod III, a guide sleeve mounting plate and a rear mounting plate, wherein the guide sleeve III is sleeved on the guide rod III and is fixed on the guide sleeve mounting plate, the guide sleeve mounting plate is fixed on a side column of the rectangular mounting frame II, one end of the guide rod III is connected with the front mounting plate, the front mounting plate is connected with the pushing plate III, the other end of the guide rod III is connected with the rear mounting plate, a belt II is connected between the rear mounting plate and the front mounting plate, a driving wheel mounting plate is mounted between the side column of the rectangular mounting frame II, a plurality of driving wheels are movably mounted on the driving wheel mounting plate, a driving motor I is mounted on the back surface of the driving wheel mounting plate, a driving wheel II is mounted at the output end of the driving motor I, and the belt II is wound on the driving wheel II and the driving wheels.
Further, the third pushing plate is smaller than the pre-placing frame in width and is matched with the opening of the empty box.
Further, the overturning assembly is just to pushing the material subassembly setting in the frame, and the overturning assembly includes roll-over stand, rotating electrical machines mounting panel and moving part, the moving part includes slide rail two, slide rail mounting panel, slider, driving motor two, tooth area, connecting block, driving gear and driven gear, slide rail two is fixed on the slide rail mounting panel, the slider sets up on slide rail two, and is connected with the rotating electrical machines mounting panel, driving motor two installs the one end at the slide rail mounting panel, and driving gear is installed to driving motor two's output, and driven gear is installed to the other end of slide rail mounting panel, driven gear and driving gear pass through the tooth area and are connected, be fixed with the connecting block on the tooth area, the connecting block is connected in the rotating electrical machines mounting panel, install the rotating electrical machines on the rotating electrical machines mounting panel, the output and the roll-over stand of rotating electrical machines are connected.
Furthermore, the roll-over stand is of an L-shaped structure and comprises a vertical part and a horizontal part, wherein the horizontal part is of a groined structure formed by connecting a transverse section bar and a longitudinal section bar, and rotary clamping cylinders are arranged at two ends of the longitudinal section bar.
Still further, push subassembly includes sharp module two and push rod, sharp module two and transmission frame parallel arrangement, and the frame is unsettled is kept away from to the one end of sharp module two, and driving motor three is installed to its other end, installs the push rod through L shape connecting plate on the slider of sharp module two, is provided with the transmission roller frame near driving motor three's frame position department.
The beneficial effects of the invention are as follows:
(1) The pre-placing mechanism can adjust the width of the pre-placing frame according to the specification of the hose to be packaged and the size of the material box, and meanwhile, the hose conveying mechanism controls the conveying quantity of the hoses, namely the quantity of the hoses pushed out by the horizontal pushing assembly according to the specification of the hose to be packaged and the size of the material box;
(2) The telescopic plugboard assembly extends into the pre-placing frame to achieve layering effect, namely large workbin layering is more, and small workbin layering is relatively less;
(3) The lifting assembly can drive the pre-placing frame to ascend and descend, and in the ascending process, the position of the inserting plate extending into the pre-placing frame changes along with the ascending process, so that the lamination of the hoses is realized;
(4) The sliding component can drive the pre-placing frame to slide to the empty box feeding mechanism, the overturning component of the empty box feeding mechanism overturns the empty box to enable the opening of the empty box to face the pushing component, and the pushing component can push all hoses in the pre-placing frame into the empty box at the same time, so that the charging of the hoses is realized;
(5) According to the auxiliary limiting assembly, a row of hoses can be placed in the middle part of the pre-placing frame in the width direction according to the length of the hoses and the combined action of the auxiliary limiting assembly and the horizontal pushing assembly, so that the hoses can be conveniently placed in an adaptive material box;
(6) The full-automatic box filling machine is high in universality, can be matched with different feeding pipelines, can perform full-automatic box filling operation of hoses with different specifications and at different treatment stages, and is quick and effective in material filling.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of the hose transfer mechanism of the present invention.
Fig. 3 is a schematic view of the structure of the telescoping insert plate assembly of fig. 2.
Fig. 4 is a schematic view of the centering assembly of fig. 2.
Fig. 5 is a schematic view of the structure of the horizontal pushing assembly in fig. 2.
Fig. 6 is a schematic view of the structure of fig. 5 in another direction.
Fig. 7 is a schematic view of the structure of fig. 6 in another direction.
Fig. 8 is a schematic structural view of an auxiliary limiting assembly in the present invention.
Fig. 9 is a schematic view of the structure of fig. 8 in another direction.
FIG. 10 is a schematic view of a hose pre-positioning mechanism according to the present invention.
Fig. 11 is a schematic view of the slide assembly of fig. 10.
Fig. 12 is a schematic structural view of the pushing assembly in the present invention.
Fig. 13 is a schematic view of the structure of fig. 12 in another direction.
Fig. 14 is a schematic view of the structure of the flipping assembly of the present invention.
Fig. 15 is a schematic view of the structure of the moving member in fig. 14.
Fig. 16 is a mounting structure view of the roll-over stand portion in fig. 14.
Fig. 17 is a schematic structural view of the pushing assembly in the present invention.
In the figure:
1. The device comprises a frame, a first rectangular mounting frame, a first 112 cylinder mounting plate, a second mounting cylinder, a second 114 push plate, a second 115 guide sleeve, a second 116 guide rod, a second 117 connecting plate,
2. Hose pre-placement mechanism, 21, slide assembly, 211, first rail, 212, slide mount, 213, slide, 214, drive, 2141, motor, 2142, gear, 2143, rack, 22, lift assembly, 23, pre-placement frame, 221, U-shaped mounting frame, 2211, support bar, 222, linear module, 223, drive motor, 224, drive rod,
3. Hose transfer mechanism, 31, transfer frame, 32, flat push assembly, 321, lift frame, 3212, upper mounting plate, 3213, guide bar, 3214, guide sleeve, 3215, cylinder, 3216, lower mounting plate, 322, belt module, 3221, gear motor, 3222, belt, 3223, guide rail, 3224, slider, 3225, drive pulley, 3226, sliding plate, 3227, drive pulley, 323, push plate, 33, telescoping insert assembly, 330, insert, 3301, connecting segment, 3302, support segment, 3303, insert, 331, motor, 332, screw, 333, guide rail two, 334, mounting plate one, 335, connecting plate, 34, centering assembly, 341, centering frame, 3411, upright, 3412, cross bar, mounting bar 3413,342, lower platen, 343, left push plate, 344, right push plate, 345, clip,
4. The empty box feed mechanism 41, the turnover assembly 411, the turnover frame 4111, the transverse section 4112, the longitudinal section 4113, the rotary clamping cylinder 412, the rotary motor 413, the rotary motor mounting plate 414, the movable member 4141, the second slide rail 4142, the slide rail mounting plate 4143, the slide block 4144, the second drive motor 4145, the toothed belt 4146, the connecting block 4147, the driving gear 4148, the driven gear 42, the pushing assembly 421, the rectangular mounting frame second 422, the pushing plate third 423, the front mounting plate 424, the guide rod third 425, the guide sleeve third 426, the guide sleeve mounting plate 427, the rear mounting plate 428, the belt second 429, the driving wheel mounting plate 430, the first drive motor 431,
5. A full box blanking structure, 51, a pushing component, 511, a linear module II, 512, a pushing rod, 513, a driving motor III, 514, an L-shaped connecting plate, 515, a transmission roller frame,
6. The empty box conveying frame is provided with a plurality of empty box conveying frames,
7. And a full box transmission frame.
Detailed Description
The invention will now be further described with reference to the drawings and preferred embodiments. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
As shown in fig. 1, the high-speed special-shaped hose loading and unloading robot comprises a frame 1, a hose pre-placing mechanism 2, a hose conveying mechanism 3, an empty box loading mechanism 4 and a full box unloading structure 5, wherein the hose pre-placing mechanism 2 is arranged on one side of the frame 1 and is provided with a sliding component 21, a lifting component 22 is arranged on the sliding component 21, the lifting component 22 is connected with a U-shaped pre-placing frame 23, the hose conveying mechanism 3 is arranged on the frame 1 on one side of the hose pre-placing mechanism 2 and is provided with a conveying frame 31, a flat pushing component 32 for pushing a row of hoses into the pre-placing frame 23 is arranged on the outer side wall of the rear part of the conveying frame 31, a telescopic plugboard component 33 is arranged in the conveying frame 31 corresponding to the flat pushing component 32, the telescopic plugboard component 33 is provided with a plugboard 330 which stretches into the pre-placing frame 23 to realize layering, an auxiliary limiting component 11 is arranged on the frame 1 opposite to the flat pushing component 32, the empty box loading mechanism 4 is provided with a turnover component 41 and a pushing component 42, the pushing component 42 is arranged on the frame 1 at the tail end of the conveying frame 31, the turnover component 41 turns over the empty box so that the empty box loading mechanism 4 faces the pushing component 42, all hoses are pushed out of the empty box loading mechanism 42 and the empty box loading mechanism is pushed out of the empty box loading mechanism 4 by the hollow box loading mechanism and the empty box loading mechanism is arranged at the position of the empty box loading mechanism and the empty box loading mechanism is pushed by the empty box loading mechanism 42.
The hose conveying mechanism 3 can be connected with production lines of different hose forms or production lines in the hose production process, empty boxes are fed through the empty box conveying frames 6, full boxes are pushed onto the full box conveying frames 7 by the pushing assemblies 51, and full-automatic operation of the whole process is guaranteed.
As shown in fig. 2 and 3, the telescopic plugboard assembly 33 further includes a first motor 331, a screw 332, and a second guide rail 333, the second guide rail 333 is fixed on a first mounting plate 334 in the transmission frame 31, the first motor 331 is disposed outside the transmission frame 31 and is mounted on a connecting plate 335, the connecting plate 335 is fixed at one end of the second guide rail 333, an output end of the first motor 331 is connected with the screw 332, and a screw nut on the screw 332 is connected with the plugboard 330. The first motor 331 is started to drive the screw rod 332 to rotate, and the screw rod nut on the screw rod 332 drives the plugboard 330 to move back and forth along the second guide rail 333 to extend into or extend out of the transmission frame 31.
Specifically, the insert 330 is composed of a connection section 3301, a support section 3302 and an insertion section 3303, wherein the connection section 3301 is arranged on the second guide rail 333 and is connected with a screw nut on a screw rod, the support section 3302 is connected with the connection section 3301 to facilitate assembly, and the thickness of the insertion section 3303 is smaller than that of the support section 3302, so that the part extending into the pre-assembled frame 23 is thin enough to facilitate the extraction from the pre-assembled frame 23.
As shown in fig. 2, the centering assembly 34 of the hose is provided at the front of the transmission frame 31, and as shown in fig. 4, the centering assembly 34 includes a centering frame 341, a lower pressure plate 342, a left push plate 343 and a right push plate 344, the centering frame 341 is connected to one side wall of the transmission frame 31, and is mainly composed of a vertical rod 3411 and a cross rod 3412, the middle part of the cross rod 3412 is connected to the lower pressure plate 342 through a mounting rod 3413, and the left push plate 343 and the right push plate 344 are respectively connected to the cross rod 3412 through the mounting rod 3413 and positioned at left and right sides of the lower pressure plate 342. The left push plate 343 and the right push plate 344 are each in an L-shaped structure.
The side wall of the transmission frame 31 is fixed with a clamp 345 connected with a vertical rod 3411, and the cross bar 3412 is provided with a clamp 345 connected with a mounting rod 3413. The clips 345 on the side wall of the transmission frame 31 can be used for adjusting the height of the upright rod 3411, namely, the height of the centering frame 341 can be adjusted according to the specification of the hose, the clips 345 on the mounting rod 3413 can be used for adjusting the heights of the lower pressing plate 342, the left pushing plate 343 and the right pushing plate 344, the lower pressing plate 342 can prevent the hose from being stacked and transported on the transmission frame 31, and the left pushing plate 343 and the right pushing plate 344 can ensure the centering and the transmission of the hose on the transmission frame 31. The transmission frame 31 comprises a power source (a gear motor), a driving roller, a driven roller and a transmission belt, wherein the driving roller and the driven roller are respectively and movably connected to two ends of the transmission frame 31, the transmission belt is sleeved on the driving roller and the driven roller, and the power source is arranged at a position, close to the driving roller, in the transmission frame 31 and is in transmission connection with the driving roller through gears, chains and the like.
As shown in fig. 5 to 7, the flat pushing assembly 32 includes a lifting frame 321, a belt linear module 322 and a first pushing plate 323, the first pushing plate 323 is fixed at one end of the belt linear module 322, the belt linear module 322 is mounted on the lifting frame 321, and the lifting frame 321 is provided with a lifting plate 3211 connected with a sliding seat of the belt linear module 322. The lifting frame 321 further comprises an upper mounting plate 3212, a first guide rod 3213, a first guide sleeve 3214, a first cylinder 3215 and a lower mounting plate 3216, wherein the lower mounting plate 3212 is fixed on the frame 1 outside the transmission frame 31, the first guide rod 3213 is arranged between the upper mounting plate 3212 and the lower mounting plate 3216, the first guide sleeve 3214 is sleeved on the first guide rod 3213, the lifting plate 3211 is sleeved on the first guide sleeve 3214 and is fixedly connected with the first guide sleeve, the first cylinder 3215 is mounted on the upper mounting plate 3212, and a push rod of the first cylinder 3215 penetrates through the upper mounting plate 3212 and is connected with the lifting plate 3211. The first cylinder 3215 stretches and contracts, and the first guide sleeve 3214 slides up and down on the first guide rod 3213 to lift and lower the lifting plate 3211, so that the longitudinal position of the first push plate 323 is adjusted.
Specifically, the belt linear module 322 includes a gear motor 3221, a first driving wheel set, a first belt 3222, a first guide rail 3223 and a sliding base 3224, the sliding base 3224 is fixed on the back of the lifting plate 3211 and is disposed on the first guide rail 3223, the first belt 3222 is disposed on the other side wall of the first guide rail 3223 along the length direction of the first guide rail 3223, the first belt 3222 is wound on the first driving wheel set, the first driving wheel set has a first driving wheel 3225 driven to rotate by the gear motor 3221 and a plurality of driving wheels 3227 (two driving wheels 3227 in this embodiment) movably mounted on the sliding plate 3226, the sliding plate 3226 is fixed on the back of the lifting plate 3211 through a support post 3228, and the gear motor 3221 is mounted on the sliding plate 3226 through the lifting plate 3221.
The gear motor 3221 is started to drive the first driving wheel 3225 to rotate, the driving wheel 3227 rotates in a following manner, transverse power is transmitted to the lifting plate 3211 for the first belt 3222, the lifting plate 3211 is transversely fixed, and the first guide rail 3223 moves transversely, so that the first push plate 323 moves transversely back and forth.
As shown in fig. 8 to 9, the auxiliary limiting assembly 11 includes a first rectangular mounting frame 111, a first cylinder mounting plate 112 is fixed on the first rectangular mounting frame 111, a second cylinder 113 is mounted on the first cylinder mounting plate 112, a push rod of the second cylinder 113 passes through the first cylinder mounting plate 112 to be connected with a second push plate 114, the first cylinder mounting plate 112 is sleeved on a second guide rod 116 through a second guide sleeve 115, one end of the second guide rod 116 is connected with the second push plate 114, and the other end of the second guide rod 116 is connected with a second connecting plate 117. The second cylinder 113 stretches and contracts, and the cylinder mounting plate 112 is fixed on the first rectangular mounting frame 111, so that the second guide rod 116 moves back and forth in the second guide sleeve 115, and the second push plate 114 moves back and forth in the transverse direction. It should be added that the side column of the rectangular mounting frame 111 may be provided with a plurality of bolt holes, and the mounting height of the cylinder mounting plate 112 may be adjusted, or, of course, a telescopic member such as a cylinder may be mounted on the top of the rectangular mounting frame 111 to connect with the cylinder mounting plate 112, so as to realize the adjustment of the mounting height of the cylinder mounting plate 112.
And, the first push plate 323 and the second push plate 114 are composed of a middle mounting section and two side extension sections, so that the length of the push plate can be adjusted.
As shown in fig. 10 and 11, the sliding assembly 21 includes a first rail 211, a first rail mounting member 212, a sliding plate 213 and a driving member 214, the first rail 211 is fixed on the first rail mounting member 212, the sliding plate 213 is disposed on the first rail 211, the driving member 214 includes a motor 2141, a gear 2142 and a rack 2143, the rack 2143 is fixed on an inner sidewall of the first rail mounting member 212, the gear 2142 is mounted on an output shaft of the motor 2141, and the motor 2141 is mounted on a back surface of the sliding plate 213. The motor 2141 is started to drive the gear 2142 to rotate, so that the slide 213 moves back and forth along the first rail 211 to realize the back and forth movement of the pre-assembled frame 23.
The lifting assembly 22 comprises a U-shaped mounting frame 221 and two linear modules 222, the U-shaped mounting frame 221 is fixed on the sliding plate 213, the two linear modules 222 are vertically installed on two upright posts of the U-shaped mounting frame 221, and sliding blocks of the linear modules 222 are connected with the pre-placement frame 23. The bottom of the pre-placing frame 23 is provided with a support rod 2211 in sliding connection with the linear modules 222, the lower end of each linear module 222 is provided with a driving part, the driving part of one linear module 222 is provided with a driving motor 223, and the output end of the driving motor 223 is connected with the driving part of the other linear module 222 through a transmission rod 224. The driving motor 223 rotates, the two linear modules 222 are operated simultaneously through the transmission rod 224, and the pre-assembly frame 23 is driven to lift through the sliding plate 213.
Specifically, the support rod 2211 is uniformly provided with a plurality of mounting holes, the pre-placement frame 23 is formed by splicing two L-shaped plates with the same structure, the bottoms of the L-shaped plates are fixed on the support rod 2211 through bolts penetrating through the mounting holes, and thus, the adjustment of the pre-placement frame 23 in the length direction can be realized so as to adapt to feed boxes with different specifications.
As shown in fig. 12 and 13, the pushing component 42 includes a second rectangular mounting frame 421, a third push plate 422, a front mounting plate 423, a third guide rod 424, a third guide sleeve 425, a guide sleeve mounting plate 426 and a rear mounting plate 427, the third guide sleeve 425 is sleeved on the third guide rod 424 and is fixed on the guide sleeve mounting plate 426, the guide sleeve mounting plate 426 is fixed on a side post of the second rectangular mounting frame 421, one end of the third guide rod 424 is connected with the front mounting plate 423, the front mounting plate 423 is connected with the third push plate 422, the other end of the third guide rod 424 is connected with the rear mounting plate 427, a second belt 428 is connected between the rear mounting plate 427 and the front mounting plate 423, a driving wheel mounting plate 429 is mounted between the side posts of the second rectangular mounting frame 421, a plurality of driving wheels (two driving wheels are movably mounted on the driving wheel mounting plate 429, a driving wheel second driving motor 431 is mounted on the back surface of the driving wheel mounting plate 429, the output end of the driving motor 430 is rotatably provided with a second driving wheel 431, and the second belt 428 is wound on the driving wheel second driving wheel 431 and the driving wheels. Preferably, the third push plate 422 has a width smaller than the width of the pre-placement frame 23 and is adapted to the opening of the empty box.
The first driving motor 430 rotates to drive the second driving wheel 431 to rotate, the driving wheel follows to rotate, a transverse power is provided for the second belt 428, the driving wheel mounting plate 429 is fixed, the second belt 428 drives the frame body formed by the front mounting plate 423, the third guide rod 424 and the rear mounting plate 427 to realize transverse movement, and the third push plate 422 is further enabled to realize transverse back and forth movement. It should be added that the side column of the second rectangular mounting frame 421 is provided with a plurality of bolt holes, and the mounting height of the guide sleeve mounting plate 426 is adjustable, and of course, the top of the second rectangular mounting frame 421 can also be provided with a telescopic member such as an air cylinder connected with the guide sleeve mounting plate 426, so as to realize the mounting height adjustment of the guide sleeve mounting plate 426.
As shown in fig. 1, the overturning assembly 41 is arranged on the frame 1 opposite to the pushing assembly 42, as shown in fig. 14, the overturning assembly 41 comprises an overturning frame 411, a rotating motor 412, a rotating motor mounting plate 413 and a moving member 414, specifically, as shown in fig. 15, the moving member 414 comprises a second sliding rail 4141, a sliding rail mounting plate 4142, a sliding block 4143, a second driving motor 4144, a toothed belt 4145, a connecting block 4146, a driving gear 4147 and a driven gear 4148, the second sliding rail 4141 is fixed on the sliding rail mounting plate 4142, the sliding block 4143 is arranged on the second sliding rail 4141 and is connected with the rotating motor mounting plate 413, the second driving motor 4144 is arranged at one end of the sliding rail mounting plate 4142, the driving gear 4147 is arranged at the output end of the second driving motor 4144, the other end of the sliding rail mounting plate 4142 is provided with the driven gear 4148, the driven gear 4148 is connected with the driving gear 4147 through the toothed belt 4145, the connecting block 4146 is fixed on the toothed belt 4145, the connecting block 4146 is connected with the rotating motor mounting plate 413, the rotating motor mounting plate 412 is arranged on the rotating motor mounting plate, and the output end of the rotating motor 412 is connected with the overturning frame. The second driving motor 4144 rotates to drive the driving gear 4147 to rotate and drive the toothed belt 4145 to move, so that the rotating motor mounting plate 413 moves back and forth, and the rotating motor 412 drives the turnover frame 411 to turn over.
As shown in fig. 16, the roll-over stand 411 has an L-shaped structure including a vertical portion and a horizontal portion, the horizontal portion has a well-shaped structure formed by connecting a transverse profile 4111 and a longitudinal profile 4112, and rotary clamping cylinders 4113 are mounted at both ends of the longitudinal profile 4112. The rotary clamping cylinder 4113 acts to rotationally clamp the bin, limiting the empty or full bin during the tumbling process.
As shown in fig. 17, the pushing assembly 51 includes a second linear module 511 and a pushing rod 512, the second linear module 511 is parallel to the transmission frame 31, one end of the second linear module 511 is far away from the frame 1 and suspended, a third driving motor 513 is mounted at the other end of the second linear module, the pushing rod 512 is mounted on a sliding block of the second linear module 511 through an L-shaped connecting plate 514, and a transmission roller frame 515 is disposed at a position of the frame 1 close to the third driving motor 513. The driving motor III 513 is started to drive the pushing rod 512 on the sliding block to move and push the feed box to move towards the transmission roller frame 515, and after the feed box moves onto the transmission roller frame 515, the feed box slides onto the full box transmission frame 7 due to inertia and is transmitted to a required station by the full box transmission frame 7.
The specific working process comprises the following steps:
The empty bin (for short, empty bin) is fed to the turnover assembly 41 through the empty bin transmission frame 6, the driving motor II 4144 of the moving part 414 drives the sliding block 4143 to enable the turnover frame 411 to approach the empty bin transmission frame 6 so as to receive the empty bin, and the rotating motor 412 drives the turnover frame 411 to turn over so that the opening of the empty bin faces the pushing assembly 42;
Meanwhile, the hoses are transmitted to the transmission frame 31 by other production lines, an induction device (shown in fig. 1) is arranged at the end part of the transmission frame 31, the number of the transmitted hoses can be known through an upper computer, the hoses are transmitted to the centering component 34, centered by the centering component and then transmitted to the flat pushing component 32 (the telescopic plugboard component 33), the number of the flat pushing hoses is set according to the specification of a material box and the induction device, and when the number reaches a set value, the transmission frame 31 stops transmitting;
in the process, the lifting assembly 22 drives the pre-placing frame 23 to rise to be flush with the inserting plate 330, the telescopic inserting plate assembly 33 stretches the inserting plate 330 into the pre-placing frame 23 (the step is not needed when a hose is pushed into the bottommost layer of the pre-placing frame 23), the first pushing plate 323 of the flat pushing assembly 32 pushes the hose into the pre-placing frame 23, meanwhile, the second pushing plate 114 of the auxiliary limiting assembly 11 moves towards the first pushing plate 323, the hose is placed at the middle position of the pre-placing frame 23 in the width direction through the first pushing plate 323 and the second pushing plate 114, and the actions are repeated, so that the hose with the required layer number is arranged in the pre-placing frame 23;
The motor 2141 of the sliding assembly 21 drives the sliding plate 213 to enable the pre-placing frame 23 to move to the position of the pushing assembly 42, the driving motor II 4144 of the moving member 414 drives the sliding block 4143 to enable the roll-over stand 411 to be close to the pushing assembly 42, and the driving motor I430 of the pushing assembly 42 drives the pushing plate III 422 to move towards the pre-placing frame 23 to push all the hoses in the pre-placing frame 23 into the empty box;
The second driving motor 4144 of the moving member 414 drives the sliding block 4143 to enable the turnover frame 411 to close to the empty box conveying frame 6, the rotating motor 412 drives the turnover frame 411 to turn over to enable the opening of the empty box to face upwards, the third driving motor 513 of the pushing assembly 51 drives the sliding block of the linear module II 511 to move to enable the pushing rod 512 to push the full box to move to the conveying roller frame 515, the full box moves to the conveying roller frame 515 and slides to the full box conveying frame 7 due to inertia, and the full box conveying frame 7 conveys the full box to a required station.
The high-speed special-shaped hose loading and unloading robot is mainly used for loading and unloading the hose, so that the hose is transferred in two different procedures. The hose is loaded into the empty bin for discharging from the previous process, and the bin filled with the hose is output for feeding to the next process. In this process, the hose is typically a cylindrical hose that has not been filled with material.
When the hose is transmitted to the transmission frame 31 by other production lines, the hose on the transmission frame 31 is directly fed into the transmission frame 31, and the hose on the transmission frame 31 is perpendicular to the transmission direction of the transmission frame 31, so that the hose on the transmission frame 31 is tightly arranged by controlling the start and stop of the transmission frame 31 through the PLC. The number of hoses is detected by sensing means, typically an infrared sensor. When the number of hoses reaches a specified value, the transfer rack 31 is stopped for the next operation.
Before operation, firstly, the width of the pre-placing frame is adjusted according to the specification of the hose and the specification of the feed box, meanwhile, the widths of the first push plate 323 and the second push plate 114 are adjusted adaptively, the adaptive plugboard 330 is replaced, and the width of the third push plate 422 is adjusted adaptively. In addition, according to the specification of the hose and the specification of the material box, the number of each layer of hose and the number of layers of hose in the material box are set or generated on the upper computer, and meanwhile, the operation parameters of each execution element are generated, and the PLC system is informed to control the sequential operation of the execution elements, so that the operation is completed and automated.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and to implement the same, but are not intended to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (9)
1. High-speed abnormal shape hose goes up unloading robot, including the frame, its characterized in that still includes:
the hose pre-placing mechanism is arranged on the rack and is provided with a sliding component, a lifting component is arranged on the sliding component, and the lifting component is connected with a U-shaped pre-placing frame;
The hose transmission mechanism is arranged on the frame and is provided with a transmission frame, a flat pushing assembly is arranged above the transmission frame, a telescopic plugboard assembly is arranged below the transmission frame, the telescopic plugboard assembly is provided with a plugboard extending into the pre-placement frame, and an auxiliary limiting assembly is arranged on the frame and opposite to the flat pushing assembly;
the empty box feeding mechanism comprises a turnover assembly and a pushing assembly which are oppositely arranged, wherein the turnover assembly is used for turning over an empty box so that an opening of the empty box faces the pushing assembly, and the pushing assembly is used for pushing all hoses in a pre-placed frame which slides to the position into the empty box;
the full-box blanking mechanism comprises a pushing component for pushing out a box filled with a hose.
2. The high-speed special-shaped hose loading and unloading robot according to claim 1, wherein the sliding assembly comprises a first sliding rail, a first sliding rail mounting piece, a sliding plate and a driving piece, the first sliding rail is fixed on the first sliding rail mounting piece, the sliding plate is arranged on the first sliding rail, the driving piece comprises a motor, a gear and a rack, the rack is fixed on the inner side wall of the sliding rail mounting piece, the gear is arranged on an output shaft of the motor, and the motor is arranged on the back of the sliding plate;
The lifting assembly comprises a U-shaped mounting frame and two linear modules, the U-shaped mounting frame is fixed on the sliding plate, the two linear modules are vertically arranged on two upright posts of the U-shaped mounting frame, and the sliding blocks of the linear modules are connected with the pre-placing frame;
the bottom of the pre-placing frame is provided with a supporting rod connected with a sliding block of the linear module, the lower end of the linear module is provided with a driving part, the driving part of one linear module is provided with a driving motor, and the output end of the driving motor is connected with the driving part of the other linear module through a transmission rod;
A plurality of mounting holes are uniformly formed in the support rod, the pre-placement frame is formed by splicing two L-shaped plates with the same structure, and the bottoms of the L-shaped plates are fixed to the support rod through bolts penetrating through the mounting holes.
3. The high-speed special-shaped hose loading and unloading robot according to claim 1, wherein the front part of the transmission frame is provided with a centering assembly, the centering assembly comprises a centering frame, a lower pressing plate, a left pushing plate and a right pushing plate, the centering frame is connected to one side wall of the transmission frame and comprises a vertical rod and a cross rod, the middle part of the cross rod is connected with the lower pressing plate through a mounting rod, and the left pushing plate and the right pushing plate are respectively connected to the cross rod through the mounting rod and are positioned at the left side and the right side of the lower pressing plate;
The side wall of the transmission frame is fixedly provided with a clamp connected with the vertical rod, and the cross rod is provided with a clamp connected with the installation rod.
4. The high-speed special-shaped hose loading and unloading robot according to claim 1, wherein the horizontal pushing assembly comprises a lifting frame, a belt linear module and a pushing plate I, wherein the pushing plate I is fixed at one end of the belt linear module, the belt linear module is arranged on the lifting frame, and the lifting frame is provided with a lifting plate connected with a sliding seat of the belt linear module;
The lifting frame further comprises an upper mounting plate, a first guide rod, a first guide sleeve, a first cylinder and a lower mounting plate, wherein the lower mounting plate is fixed on a frame on the outer side of the transmission frame, the first guide rod is arranged between the upper mounting plate and the lower mounting plate, the first guide sleeve is sleeved on the first guide rod, the lifting plate is sleeved on the first guide sleeve and is fixedly connected with the first guide sleeve, the first cylinder is mounted on the upper mounting plate, and a push rod of the first cylinder penetrates through the upper mounting plate to be connected with the lifting plate;
The belt linear module comprises a gear motor, a first transmission wheel set, a first belt, a first guide rail and a sliding seat, wherein the sliding seat is fixed on the back of the lifting plate and is arranged on the first guide rail, the first belt is arranged on the other side wall of the first guide rail along the length direction of the first guide rail, the first belt is wound on the first transmission wheel set, the first transmission wheel set is provided with a first driving wheel driven by the gear motor to rotate and a plurality of driving wheels movably mounted on the sliding plate, the sliding plate is fixed on the back of the lifting plate through a support column, and the gear motor penetrates through the lifting plate and is mounted on the sliding plate.
5. The high-speed special-shaped hose loading and unloading robot according to claim 1, wherein the auxiliary limiting assembly comprises a first rectangular mounting frame, a cylinder mounting plate is fixed on the first rectangular mounting frame, a second cylinder is mounted on the cylinder mounting plate, a push rod of the second cylinder penetrates through the cylinder mounting plate to be connected with a second push plate, the cylinder mounting plate is sleeved on a second guide rod through a second guide sleeve, one end of the second guide rod is connected with the second push plate, and the other end of the second guide rod is connected with a second connecting plate.
6. The high-speed special-shaped hose loading and unloading robot according to claim 1, wherein the telescopic plugboard assembly further comprises a first motor, a screw rod and a second guide rail, the second guide rail is fixed on a first mounting plate in the transmission frame, the first motor is arranged outside the transmission frame and is arranged on a connecting plate, the connecting plate is fixed at one end of the second guide rail, the output end of the first motor is connected with the screw rod, and a screw nut on the screw rod is connected with the plugboard.
7. The high-speed special-shaped hose feeding and discharging robot according to claim 1, wherein the pushing assembly comprises a rectangular mounting frame II, a pushing plate III, a front mounting plate, a guide rod III, a guide sleeve mounting plate and a rear mounting plate, the guide sleeve III is sleeved on the guide rod III and is fixed on the guide sleeve mounting plate, the guide sleeve mounting plate is fixed on a side column of the rectangular mounting frame II, one end of the guide rod III is connected with the front mounting plate, the front mounting plate is connected with the pushing plate III, the other end of the guide rod III is connected with the rear mounting plate, a belt II is connected between the rear mounting plate and the front mounting plate, a driving wheel mounting plate is arranged between the side column of the rectangular mounting frame II, a plurality of driving wheels are movably mounted on the driving wheel mounting plate, a driving motor I is mounted on the back surface of the driving wheel mounting plate, a driving wheel II is mounted at the output end of the driving motor I, and the belt II is wound on the driving wheel II and the driving wheel;
the third push plate is smaller than the pre-placing frame in width and is matched with the opening of the empty box.
8. The high-speed special-shaped hose loading and unloading robot according to claim 1, wherein the overturning assembly is arranged on the frame and comprises an overturning frame, a rotating motor mounting plate and a moving part, the moving part comprises a second sliding rail, a second sliding rail mounting plate, a sliding block, a second driving motor, a toothed belt, a connecting block, a driving gear and a driven gear, the second sliding rail is fixed on the second sliding rail mounting plate, the sliding block is arranged on the second sliding rail and is connected with the rotating motor mounting plate, the second driving motor is arranged at one end of the second sliding rail mounting plate, the driving gear is arranged at the output end of the second driving motor, the other end of the sliding rail mounting plate is provided with a driven gear, the driven gear is connected with the driving gear through the toothed belt, the connecting block is fixed on the toothed belt and connected with the rotating motor mounting plate, the rotating motor is arranged on the rotating motor mounting plate, and the output end of the rotating motor is connected with the overturning frame;
the turnover frame is of an L-shaped structure and comprises a vertical part and a horizontal part, wherein the horizontal part is of a groined structure formed by connecting a transverse section bar and a longitudinal section bar, and rotary clamping cylinders are arranged at two ends of the longitudinal section bar.
9. The high-speed special-shaped hose loading and unloading robot according to claim 8, wherein the pushing assembly comprises a second linear module and a pushing rod, the second linear module is arranged in parallel with the transmission frame, one end of the second linear module is far away from the frame and is suspended, a third driving motor is arranged at the other end of the second linear module, the pushing rod is arranged on a sliding block of the second linear module through an L-shaped connecting plate, and a transmission roller frame is arranged at a position of the frame close to the third driving motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310901659.3A CN116923813B (en) | 2023-07-21 | 2023-07-21 | High-speed special-shaped hose loading and unloading robot |
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| CN202310901659.3A CN116923813B (en) | 2023-07-21 | 2023-07-21 | High-speed special-shaped hose loading and unloading robot |
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| CN116923813B true CN116923813B (en) | 2025-07-25 |
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| GB1405065A (en) * | 1972-03-16 | 1975-09-03 | Giben Impianti Spa | Method and apparatus for the automatic stacking and discharge of wood panels from a machining line |
| US7104026B2 (en) * | 2001-05-14 | 2006-09-12 | F.R. Drake Company | Apparatus for packing |
| WO2013000130A1 (en) * | 2011-06-29 | 2013-01-03 | 武汉人天包装技术有限公司 | Boxing equipment suitable for round-coiling objects |
| DE102012204013B4 (en) * | 2012-03-14 | 2025-10-02 | Krones Aktiengesellschaft | Method and device for transferring article layers between adjacent modules |
| DE102016000320A1 (en) * | 2016-01-15 | 2017-07-20 | Ignis Holding Gmbh | Device and method for clearing lying on a conveyor conveyed a Förderanlagenabschlusses |
| KR101743416B1 (en) * | 2017-03-22 | 2017-06-02 | 코렉스 엔지니어링 컴퍼니 리미티드 | An automatic loading system of an article of manufacture having a hexahedral shape |
| CN111924237B (en) * | 2020-09-15 | 2025-02-18 | 龙海市安得马富机械有限公司 | A conveying, packing and sealing machine for automatic packing equipment |
| CN112141386B (en) * | 2020-10-20 | 2025-03-21 | 洛阳市人诚轴承配件有限责任公司 | Bearing roller loading machine |
| CN116040042B (en) * | 2022-12-28 | 2025-02-14 | 陈会英 | Hose boxing machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109625435A (en) * | 2018-12-19 | 2019-04-16 | 东莞天赋传奇自动化科技有限公司 | A kind of inhalator jar recrater |
| CN110893921A (en) * | 2019-12-09 | 2020-03-20 | 红塔辽宁烟草有限责任公司营口卷烟厂 | Cigarette carton packing equipment and application thereof |
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