CN113334402A

CN113334402A - Automatic reloading robot

Info

Publication number: CN113334402A
Application number: CN202110604998.6A
Authority: CN
Inventors: 齐思晨; 盛东营; 王海蛟; 伯昊阳
Original assignee: Bokesi Intelligent Equipment Qingdao Co ltd
Current assignee: Bokesi Intelligent Equipment Qingdao Co ltd
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2021-09-03

Abstract

The utility model provides an automatic machine people reloads, relates to automated production technical field for the in-process that exists at the change material book among the solution prior art is difficult to carry out the automation to the material book and gets the problem of putting. An automatic material changing robot comprises a mechanical arm assembly, wherein a clamping mechanism is connected to the mechanical arm assembly and comprises a connecting frame and at least one group of clamping jaw mechanisms, the clamping jaw mechanisms are arranged on the connecting frame, clamping jaw cylinders are arranged on the side face of the connecting frame, and each clamping jaw cylinder comprises two clamping jaws which can be opened and closed; the clamping jaw mechanism comprises two clamping rods capable of being opened and closed, the lower ends of the clamping rods are bent inwards, and the lower ends of the clamping rods are respectively connected with a lower clamping plate.

Description

Automatic reloading robot

Technical Field

The invention relates to the technical field of automatic production, in particular to an automatic material changing robot.

Background

Gypsum board is a building material, and during the processing of gypsum board, a film, such as a PVC film, is applied to the gypsum board. In the process of pasting the film on the gypsum board, an unwinding mechanism is needed to unwind the film roll; and the material roll on the unwinding mechanism needs to be replaced every time the machine works for a period of time. In the prior art, the material roll replacement work depends on manual operation. The roll change process involves taking out the core (the film on which has run out) and placing a new roll in place.

During the change of the roll, the joining of the film on the new roll and the film on the waste roll is carried out-in order to avoid a new feeding of the film between the entire set of tensioning rollers. After the joining work is completed, the joint needs to be cut off, and the cut-off waste needs to be taken out from the production line.

The prior art lacks an apparatus for taking and placing a roll of material and removing waste material during the change of the roll of material.

Disclosure of Invention

The invention aims to provide an automatic material changing robot, which is used for solving the problems that in the prior art, in the process of changing a material roll, the material roll is difficult to take and place automatically and waste materials are difficult to take out automatically.

The technical scheme adopted by the invention for solving the technical problems is as follows:

an automatic material changing robot comprises a mechanical arm assembly, wherein a clamping mechanism is connected to the mechanical arm assembly and comprises a connecting frame and at least one group of clamping jaw mechanisms, the clamping jaw mechanisms are arranged on the connecting frame, clamping jaw cylinders are arranged on the side face of the connecting frame, and each clamping jaw cylinder comprises two clamping jaws which can be opened and closed;

the clamping jaw mechanism comprises two clamping rods capable of being opened and closed, the lower ends of the clamping rods are bent inwards, and the lower ends of the clamping rods are respectively connected with a lower clamping plate.

Further, the lower plate piece comprises a connecting portion and a bending portion, and the connecting portion is detachably connected to the lower end of the clamping rod.

Further, the inner side bending angle of the bending part is less than 180 degrees.

Furthermore, the number of the clamping jaw cylinders is two, and the clamping openings of the two groups of clamping jaw cylinders are arranged in an aligned mode.

Further, gripper mechanism still drives actuating cylinder, first horizontal pole, second horizontal pole and two connecting rods, and first horizontal pole and second horizontal pole are parallel, two the supporting rod distributes in the both sides of second horizontal pole, and first horizontal pole links firmly on the link, the second horizontal pole is connected on the working shaft who drives actuating cylinder, drives actuating cylinder and is used for driving the below of second horizontal pole at first horizontal pole and goes up and down, one of them the upper end of supporting rod articulates the one end at first horizontal pole, another the upper end of supporting rod articulates the other end at first horizontal pole, and the both ends of second horizontal pole respectively articulate there is a connecting rod, and the connecting rod articulates on the supporting rod that is located the homonymy.

Furthermore, the inboard of supporting rod is equipped with the protection pad, and the protection pad is used for avoiding causing the fish tail to the PVC membrane.

Furthermore, the connecting frame is detachably connected with an extension frame, and the clamping jaw air cylinder is detachably connected to the outer end of the extension frame.

Further, the robotic arm assembly includes six degrees of freedom.

The beneficial effects are that:

the clamping mechanism is used for clamping a new material roll or a waste material roll, the diameter of the new material roll is larger, and the new material roll is clamped through the clamping rod; and clamping the waste material roll through the lower clamping plate. Because the replacing work of the material roll comprises two steps of taking the waste material roll off the unwinding mechanism and placing the new material roll on the roll changing mechanism, the invention can realize the taking and placing work of the new material roll or the waste material roll in the roll changing work process. According to the invention, the driving cylinder is used for driving the clamping rods or the lower clamping plate to open and close, when the working shaft of the driving cylinder extends downwards, the clamping rods or the lower clamping plate move outwards, so that the clamping mechanism is opened, and a new material roll or a waste material roll can be conveniently placed on the inner side of the clamping rods or the inner side of the lower clamping plate. When the working shaft of the driving cylinder moves upwards, the clamping rods or the lower clamping plate piece move inwards, and then the new material roll is clamped through the clamping rods or the waste material roll is clamped through the lower clamping plate piece. The mechanical arm assembly is used for moving the clamping mechanism in the working space, and then moving a new material roll or a waste material roll to a specified area, and then finishing the material roll taking and placing work. The robot arm assembly belongs to the prior art and is not described in detail herein. The invention has the advantages that the clamping device can form effective and stable clamping work for both new material rolls and waste material rolls, thereby facilitating accurate automatic material roll replacement and automatically taking out the waste materials cut off in the roll replacement process.

Drawings

FIG. 1 is a schematic diagram of an embodiment of the present invention;

FIG. 2 is a schematic top view of an embodiment of a clamping mechanism;

FIG. 3 is a right side view of an embodiment of a clamping mechanism;

FIG. 4 is a front view of an embodiment of a gripper mechanism;

FIG. 5 is an enlarged view of portion A of FIG. 4

FIG. 6 is a schematic view of the clamping mechanism clamping the material roll;

in the figure: the mechanical arm assembly, the

link

2, 3 clamping jaw cylinders, 31 clamping jaws, 4 clamping rods, 41 driving cylinders, 42 first cross rods, 43 second cross rods, 44 connecting rods, 45 protection pads, 46 extending frames, 5 lower clamping plate pieces, 51 connecting parts and 6 new material rolls of 52 bending parts. 7 waste material roll.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

As shown in fig. 1 to 5, an automatic material changing robot includes a robot arm assembly 1, and a clamping mechanism is connected to the robot arm assembly 1. The robot arm assembly 1 includes 6 degrees of freedom, i.e., a robot arm assembly employing six degrees of freedom. The clamping mechanism comprises a connecting frame 2 and at least one group of clamping jaw mechanisms, and in the embodiment, two groups of clamping jaw mechanisms are arranged; in actual use, the appropriate number of jaw mechanisms may be provided depending on the axial length and weight of the roll. The clamping jaw mechanism is arranged on the connecting frame 2, and the connecting frame is detachably connected to the mechanical arm assembly 1. The side of link 2 is equipped with clamping jaw cylinder 3, and every clamping jaw cylinder 3 includes two clamping jaws 31 that can open and shut. The clamping jaw 31 mechanism comprises two clamping rods 4 capable of being opened and closed, the lower end of each clamping rod 4 is bent inwards, and the lower end of each clamping rod 4 is connected with a lower clamping plate part 5.

As shown in fig. 1 to 6, the clamping mechanism is used for clamping a new material roll 6 or a waste material roll 7, the new material roll 7 has a larger diameter, and the new material roll 6 is clamped by the clamping rod 4; the waste material roll 7 is nipped by the lower nipper 5. Because the replacing work of the material roll comprises two steps of taking the waste material roll off the unwinding mechanism and placing the new material roll on the roll changing mechanism, the invention can realize the taking and placing work of the new material roll or the waste material roll in the roll changing work process. In the invention, the driving cylinder 41 is used for driving the opening and closing operation of the clamping rods 4 or the lower clamping plates 5, when the working shaft of the driving cylinder 41 extends downwards, the clamping rods 4 or the lower clamping plates 5 move outwards, so that the clamping mechanism is opened, and a new material roll or a waste material roll can be conveniently placed on the inner sides of the clamping rods 4 or the inner sides of the lower clamping plates 5. When the working shaft of the driving cylinder 41 moves upward, the clamping rod 4 or the lower clamping plate 5 moves inward, and then the new material roll is clamped by the clamping rod 4 or the waste material roll is clamped by the lower clamping plate 5. The mechanical arm assembly 1 is used for moving the clamping mechanism in a working space, and then moving a new material roll or a waste material roll to a specified area, and further finishing the material roll taking and placing work. The robot arm assembly 1 belongs to the prior art and is not described in detail herein. The invention has the advantages that the clamping device can form effective and stable clamping work for both new material rolls and waste material rolls, thereby being beneficial to accurately carrying out automatic material roll replacement work. The clamping jaw cylinder 3 is used for clamping out the cut joint waste materials.

As shown in fig. 4 and 5, the lower jaw member 5 includes a connecting portion 51 and a bent portion 52, and the connecting portion 51 is detachably coupled to the lower end of the clamping bar 4. The bent portion 52 is beneficial to forming stable and firm clamping work on the waste material coil, and the clamped waste material coil is prevented from falling off. The bending part is detachably connected with the lower end of the clamping rod 4, which is beneficial to the maintenance and assembly work of the invention. The definition is that two lower splints located in the same clamping mechanism are the inner sides of the lower splint 5 at the opposite side of the lower splint 5, the inner sides of the bending parts 52 are the opposite sides of the two bending parts 52, and the bending angle of the inner sides of the bending parts 52 is smaller than 180, which is beneficial to effectively clamping the waste material coil with smaller diameter.

As shown in fig. 2, the number of the gripper cylinders 3 is two, and the clamping openings of the two gripper cylinders are aligned. The seam waste gas material of excision is one section narrower rectangular shape, through the cooperation of two clamping jaw cylinders 3, can avoid the waste material winding of this rectangular shape to paste on the clamping jaw cylinder, and then does benefit to getting of waste material and put work, does benefit to and improves work efficiency.

As shown in fig. 1 to 4, the clamping jaw mechanism further includes a driving cylinder 41, a first cross bar 42, a second cross bar 43 and two connecting rods 44, the first cross bar 42 is parallel to the second cross bar 43, two clamping rods 4 are distributed on two sides of the second cross bar 43, the first cross bar 42 is fixedly connected to the connecting frame 2, the second cross bar 43 is connected to a working shaft of the driving cylinder 41, the driving cylinder 41 is used for driving the second cross bar 43 to lift below the first cross bar 42, the upper end of one clamping rod 4 is hinged to one end of the first cross bar 42, the upper end of the other clamping rod 4 is hinged to the other end of the first cross bar 42, two ends of the second cross bar 43 are respectively hinged to one connecting rod 44, and the connecting rods 44 are hinged to the clamping rods 4 located on the same side. This facilitates the symmetry of the action of the two gripping shanks 4 in the same jaw structure and also of the two lower gripping plates 5 in the same jaw structure. The stability and the firmness of the clamping rod 4 for clamping the new material roll are facilitated; and the stability and the firmness of the clamping work of the lower clamping plate 5 on the waste material roll are facilitated. Thereby being beneficial to the stability and the safety of the material coil taking and placing work.

As shown in fig. 1 to 6, a protective pad 45 is disposed on the inner side of the clamping rod 4, and the protective pad 45 is used for preventing the PVC film from being scratched. This does benefit to and protects the PVC membrane, avoids causing the damage to the PVC membrane in the course of the working of roll change, does benefit to the quality of guaranteeing gypsum board subsides PVC membrane work.

As shown in fig. 2 and 3, an extension frame 46 is detachably attached to the attachment frame 2, and the gripper cylinder 3 is detachably attached to an outer end of the extension frame 46. The clamping jaw cylinder 3 is favorable for extending outwards, and then the waste material is favorably taken out.

Claims

1. An automatic material changing robot comprises a mechanical arm assembly and is characterized in that a clamping mechanism is connected to the mechanical arm assembly and comprises a connecting frame and at least one group of clamping jaw mechanisms, the clamping jaw mechanisms are arranged on the connecting frame, clamping jaw cylinders are arranged on the side face of the connecting frame, and each clamping jaw cylinder comprises two clamping jaws which can be opened and closed;

2. The automatic reloading robot as claimed in claim 1, wherein said lower plate member comprises a connecting portion and a bent portion, said connecting portion being detachably connected to a lower end of said clamping rod.

3. The automatic reloading robot as claimed in claim 2, wherein said inner side of said bending portion has a bending angle of less than 180 °.

4. The automatic material changing robot as claimed in claim 1, wherein the number of the gripper cylinders is two, and the gripping openings of the two gripper cylinders are aligned.

5. The automatic material changing robot as claimed in claim 1, wherein the gripper mechanism further comprises a driving cylinder, a first cross bar, a second cross bar and two connecting rods, the first cross bar and the second cross bar are parallel, two clamping rods are distributed on two sides of the second cross bar, the first cross bar is fixedly connected to the connecting frame, the second cross bar is connected to a working shaft of the driving cylinder, the driving cylinder is used for driving the second cross bar to lift below the first cross bar, the upper end of one of the clamping rods is hinged to one end of the first cross bar, the upper end of the other clamping rod is hinged to the other end of the first cross bar, the two ends of the second cross bar are respectively hinged to one connecting rod, and the connecting rods are hinged to the clamping rods on the same side.

6. The automatic reloading robot as claimed in claim 1, wherein said gripping rods are provided with a protective pad on the inside thereof, said pad being adapted to avoid scratching of the PVC film.

7. The automatic material changing robot as claimed in claim 1, wherein an extension frame is detachably connected to the connection frame, and the clamping jaw cylinder is detachably connected to an outer end of the extension frame.

8. The automated refueling robot as recited in claim 1, wherein the robotic arm assembly includes six degrees of freedom.