CN110683314A - An automatic loading and unloading robot unit and method for automatic processing equipment - Google Patents

Abstract

The invention relates to an automatic loading and unloading robot unit and method for automatic processing equipment. This equipment includes equipment frame, material trolley, pallet servo assembly, station pallet raceway, double three-axis robot assembly, loading and unloading conveyor belt and general controller; the material trolley has two parts, which are connected to the equipment frame side by side. The front side; the tray servo assembly is installed in the front lower part of the equipment frame; the station pallet raceway is installed in the middle part of the equipment frame; the double three-axis robot assembly is installed in the rear upper part of the equipment frame; the loading and unloading conveyor belt It is fixedly connected to the back side of the equipment frame; the general controller is electrically connected to and controls the pallet servo assembly, the station pallet raceway, the double-three-axis robot assembly and the loading and unloading conveyor belt; the machined materials are placed in the material pallet, and the goods from the left Before the material trolley is transported to the equipment frame, after the material trolley is coupled with the equipment frame, the pallet servo assembly will carry the material pallet through the pallet raceway by the double three-axis robot assembly to the loading and unloading conveyor belt; the finished product after processing is reversed It is transported to the right cargo trolley to complete the loading and unloading. The invention can realize full automation of workshop production and improve production efficiency.

Description

An automatic loading and unloading robot unit and method for automatic processing equipment

technical field

The invention relates to a robot, in particular to an automatic loading and unloading robot unit and method for automatic processing equipment, and belongs to the technical field of automatic loading and unloading robots.

Background technique

With the continuous improvement of people's living standards and the development of robot technology, robots are used more and more frequently in parts processing. The loading and unloading robot is mainly used to move and load the materials required for the part processing before the parts are processed, and after the parts are processed, the processed parts are grasped and moved to unload, so as to improve the processing efficiency of the parts.

At present, in the production process of most enterprises, the loading and unloading process of automated processing equipment still uses manual use of cranes or forklifts to transport materials. This method requires operators to manually carry out loading and unloading operations, and the uncertainty and risk of manual operations are high. , it is easy to cause the following problems: First of all, it is necessary to deploy a large number of operators to engage in simple and mechanized operations, and the effective working time of manual labor does not exceed 8 hours a day, which not only increases the labor intensity of operators, but also cannot be done 24 hours a day. Hourly production with automatic processing equipment, the loading and unloading speed is slow and the efficiency is low, which greatly reduces the processing efficiency of parts; secondly, manual loading and unloading operations are used in the production process, which makes product quality control difficult, with high error rate and defective product rate. The disadvantages of high production efficiency, low production efficiency and high labor cost have led to increasing production pressure of enterprises.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the problem that manual loading and unloading operation is adopted in the loading and unloading process of the existing automatic processing equipment, which requires the deployment of a large number of operators, the labor intensity of the operators is too high, and the working time of 8 hours per day for manual operation is serious. The production capacity of production equipment is limited, the error rate of manual loading and unloading is high, the rate of defective products is high, the product control is difficult, the production efficiency is low, and the labor cost is high. The proposed automatic loading and unloading robot for automatic processing equipment units and methods. It can smoothly connect the production equipment and material storage, realize the full automation of the production workshop, improve the efficiency, reduce the cost consumption, and reduce the production pressure of the enterprise.

In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions:

An automatic loading and unloading robot unit for automatic processing equipment includes a cargo trolley, an equipment frame, a pallet servo assembly, a station pallet raceway, a double three-axis robot assembly, a loading and unloading conveyor belt, and a general controller.

It is characterized in that: the cargo trolley consists of two parts, which are detachably connected to the front side of the equipment frame side by side; the pallet servo assembly is installed in the front lower part of the equipment frame; the station pallet raceway is installed on the equipment frame. in the middle of the frame; the double-three-axis robot assembly is installed in the rear upper part of the equipment frame; the loading and unloading conveyor belt is fixedly connected to the rear side of the equipment frame; the general controller is electrically connected to and controls the cargo trolley and the pallet servo assembly , station pallet raceway, double three axis robot assembly and loading and unloading conveyor belt.

The left and right trolleys are placed symmetrically, the left trolley is loaded with products to be processed, and the right trolley is loaded with processed products. The two sides of the trolley are provided with rotary clamping cylinders, which are respectively fixed On the front side column of the equipment frame, in the working state, the general controller fixes the cargo trolley by controlling the rotation of the clamping cylinder to clamp.

The bottom of the tray servo assembly is an x-direction servo assembly, and the top of the x-direction servo assembly is provided with a lead screw sleeve rail assembly 1, the lead screw sleeve rail assembly 1 is connected with the z-direction servo assembly, and the inner wall of the z-direction servo assembly is fixed with a The second lead screw sleeve rail assembly is connected with the right side of the fork in the y direction.

Wherein, two pairs of leaning wheels are fixed on the left side of the y-direction fork, and the leaning wheels are in contact with the inner wall of the z-direction servo assembly.

The bottom of the double-three-axis robot assembly is provided with a robot square steel bracket for support, the robot square steel bracket is connected with the equipment frame, and two three-axis robots are fixed above the robot square steel bracket, and two three-axis robots are installed. The three-axis robot is arranged symmetrically on the left and right, the left three-axis robot operates the product to be processed, and the right three-axis robot operates the processed product.

Wherein, the three-axis robot is a gantry structure, which is respectively composed of an x-direction slide, a y-direction slide, a z-direction slide, an x-direction auxiliary slide and a robot gripper, and the robot gripper is fixed to slide in the z-direction. end of table.

The general controller communicates with the upper computer, controls the movement of the motor, opens and closes the cylinder, and collects the I/O signals of the sensor.

As a further solution of the present invention: the main body of the equipment frame is a square steel bracket, which supports the overall weight of the equipment and is used to fix the pallet servo assembly, the station pallet raceway and the cargo trolley to ensure that the relative positions between the components are fixed and unchanged. , There are 2 pairs of 4 rotating clamping cylinders installed on the column position on the front side of the square steel bracket for fixing the cargo trolley, which are used to fix the cargo trolley to ensure that the trolley does not shake during the operation of the equipment, and an external profile is installed above. Frame with protective glass to keep staff safe.

As a further solution of the present invention: an L-shaped pallet support plate is installed on the inner side of the upright column of the cargo trolley, and the L-shaped pallet support plate is symmetrically distributed from left to right, and arranged at equal distances up and down, with a total of 6 pairs for placing the cargo pallet; The inner side of the wheel centering mechanism is equipped with centrally arranged pulleys, which provide guidance and positioning during the parking process of the cargo trolley. The rear side of the wheel centering mechanism is provided with an opposite-beam photoelectric sensor for sensing the cargo. Check the position of the material trolley and communicate with the general controller. When the beam-type photoelectric sensor detects that the material trolley is in place and sends a trolley in-position signal, the main controller receives the trolley in-position signal, and then controls the action of the rotary clamping cylinder to clamp the goods. Material trolley.

As a further solution of the present invention: the x-direction servo assembly is supported by the foot cup and connected to the front bottom beam of the equipment frame (2); the z-direction servo assembly is connected to the x-direction servo assembly through the lead screw rail assembly 1 The first part of the lead screw sleeve rail assembly is provided with a lead screw one and a pair of slide rails, one end of the lead screw is connected to the motor and a lead screw nut is sleeved, and the slide rail is provided with a set of Slide one, the screw nut one and the slider one are both fixed at the bottom of the z-direction servo assembly, and the lead screw rotates under the drive of the motor, which in turn drives the lead screw nut to push the z-direction servo assembly along the slide rail-track It moves in the positive and negative directions of the x-axis; the y-direction fork is connected to the z-direction servo assembly through the second lead screw sleeve rail assembly, which is provided with a second lead screw and a pair of slide rails. The two ends of the lead screw are connected with the second motor and sleeved with the second lead screw nut. The second slide rail is provided with a second slider, and the second lead screw nut and the second slider are both fixed on the right side of the y-direction fork. The second lead screw is driven by the second motor to rotate, and then the second lead screw nut is driven to push the y-direction fork to move in the positive and negative directions of the z-axis along the second track of the slide rail; the bottom of the y-direction fork is installed with a third motor, and the third motor is connected The rack and pinion transmission mechanism inside the fork in the y direction, the top of the rack and pinion transmission mechanism is fixed with a fork plate, and the rack and pinion transmission mechanism drives the fork plate to move freely in the positive and negative directions of the y-axis under the drive of the third motor. Under the combined action of motor 1, motor 2 and motor 3, the fork plate can move freely in the three-coordinate direction, and go back and forth between the cargo trolley and the station pallet raceway to pick up and deliver the material pallet.

As a further scheme of the present invention: the station pallet raceway provides a total of 4 pallet stations, the two on the left are feeding stations, the two on the right are unloading stations, and the bottom of the station pallet raceway is It is a pallet raceway square steel bracket, and the bottom of the pallet raceway square steel bracket is connected to the equipment frame, and the top of the pallet raceway square steel bracket is fixed with an over-slide for placing the pallet. The universal balls are evenly arranged on the contact surface of the tray to reduce the friction between the tray and the excessive slideway, which is convenient for fixing. Guiding action, a centering cylinder is installed at the center of the upper side of the excessive slideway, and a centering block is installed on the centering cylinder, and the centering block is pushed by the centering cylinder to clamp the tray; the inner side of the square steel bracket of the tray raceway is installed with A pallet station sensor, and the pallet station sensor is facing the pallet station to identify the position of the pallet.

As a further solution of the present invention: the stroke of the left three-axis robot covers two feeding stations and the feeding conveyor, and the stroke of the right three-axis robot covers two unloading stations and the feeding conveyor; so The x-direction slide table is provided with an x-direction slide block and a motor x, and the x-direction slide block and the motor x are connected by a lead screw guide rail inside the x-direction slide table; the x-direction auxiliary slide table is provided with an x-direction auxiliary slide table. The y-direction slider is fixed on the upper side of the x-direction slider, and the y-direction slider and the motor y are arranged on the side of the y-direction slider, and the y-direction slider and the motor y pass through the inside of the y-direction slider The z-direction sliding table is fixed on the side of the y-direction slider, and the side of the z-direction sliding table is provided with a z-direction slider and a motor z, and the z-direction slider and the motor z pass through z The lead screw guide rail in the direction slide table is connected by transmission, and the side of the z-direction slider is installed with a gripper connecting plate; the main body of the robot gripper is a clamping cylinder, and the clamping cylinder is fixed at the bottom of the gripper connecting plate. The gripper is installed on both sides of the clamping cylinder for grasping the product. During the production process, the installation position of the gripper can be adjusted according to the size and model of the product to be grasped, which can be adapted to different products.

1. As a further solution of the present invention: the loading and unloading conveyor belt is provided with a loading conveyor belt and a blanking conveyor belt, the loading conveyor belt is used to transport the products to be processed into the processing equipment for processing, and the unloading conveyor belt is used for transporting and processing completed. The products returned to the automatic loading and unloading robot unit to complete the blanking work.

The working method of the loading and unloading robot unit specifically includes the following steps:

Step 1: The main controller receives the signal of the pallet station sensor (detects whether the pallet is in place at the loading station), controls motor 1, motor 2 and motor 3 to drive the pallet servo assembly to adjust the position and posture, and extend the fork plate into the left side of the goods The trolley (loading the products to be processed) takes out the cargo pallet in the order from top to bottom, and then puts the cargo pallet into the loading station where the pallet is not placed;

Step 2: The general controller controls the motor x, motor y and motor z to drive the action of the left three-axis robot (operating the product to be processed), aligning the robot hand with the product to be processed, and the general controller controls the clamping cylinder of the robot hand The opening and closing drive the gripper to grab the product to be processed. When the product is grasped, the general controller controls the left three-axis robot to move the robot hand to the feeding conveyor belt, and then controls the robot hand to put the product to be processed into the feeding conveyor belt. The loading conveyor belt transports the product to be processed into the processing equipment for processing; when the product is processed, the unloading conveyor belt transports the product back to the right three-axis robot (operating the processed product), and the right three-axis robot takes it back from the unloading conveyor belt for processing The finished product is put into the pallet of the unloading station;

Step 3: After the left three-axis robot completes the gear grabbing work of the pallet at the loading station, the main controller receives the signal from the pallet station sensor (detects whether the pallet at the unloading station is in place), and controls the pallet servo assembly to move the loading station. Take out the empty tray and put it into the blanking station;

Step 4: After the three-axis robot on the right completes the gear stacking work of the pallet at the unloading station, the pallet servo assembly will take out the fully loaded pallet, and put the pallet back into the material trolley in the order from bottom to top. After completing a set of loading and unloading processes , the loading and unloading robot unit does not take a break, and returns to step 1 to continue to start the next set of loading and unloading processes. The processing process follows the working status of the press in real time to ensure that the supply of loading and unloading materials is sufficient when the press is working and meets the manufacturing takt time requirements.

Compared with the prior art, the present invention has the following obvious outstanding substantive features and remarkable technical progress:

1. The present invention provides an automatic loading and unloading robot unit for automatic processing equipment, with clear innovation and novel structure; the present invention can smoothly connect production equipment and material storage due to the adoption of the above-mentioned technical solutions, and provide automatic loading and unloading of automatic production equipment. It realizes the full automation of the production workshop, greatly saves the manpower and material resources required for the loading and unloading process of the automatic processing equipment, realizes automatic and intelligent loading and unloading, and at the same time improves the efficiency, saves a lot of manpower and material resources, reduces the The consumption of cost reduces the production pressure of enterprises.

2. By adjusting the layer height of the cargo trolley, the distance between the grippers and the covering material of the dual-three-axis robot, it can be adapted to transport different materials, ensuring the versatility of adaptation.

3. Set up sensors to ensure accurate and reliable operation of the equipment, greatly reduce the error rate, realize the automatic operation of the equipment, and 24-hour uninterrupted production greatly improves the production efficiency.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of automatic loading and unloading robot unit in the present invention;

Fig. 2 is the three-dimensional structure exploded schematic diagram of the automatic loading and unloading robot unit in the present invention;

Fig. 3 is the three-dimensional structure schematic diagram of the goods trolley in the present invention;

Fig. 4 is the three-dimensional structure schematic diagram of the equipment frame in the present invention;

Fig. 5 is the three-dimensional structure schematic diagram of the tray servo assembly in the present invention;

Fig. 6 is the three-dimensional structure exploded schematic diagram of the tray servo assembly in the present invention;

Fig. 7 is the three-dimensional structure schematic diagram of the station pallet raceway in the present invention;

Fig. 8 is the three-dimensional structure schematic diagram of the double-three-axis robot assembly in the present invention;

9 is a schematic exploded view of the three-dimensional structure of the dual-three-axis robot assembly in the present invention;

Fig. 10 is a schematic three-dimensional structure diagram of the loading and unloading conveyor belt in the present invention.

Detailed ways

The technical solution of the present patent will be further described in detail and completely below in conjunction with the specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1:

Please refer to Figure 1-10, the automatic loading and unloading robot unit for automatic processing equipment, including equipment frame 2, cargo trolley 1, pallet servo assembly 3, station pallet raceway 4, dual three-axis robot assembly 5, up and down Material conveyor belt 6 and overall controller 7.

It is characterized in that the cargo trolley consists of two parts, which are detachably connected to the front side of the equipment frame 2 side by side; the pallet servo assembly 3 is installed in the front lower part of the equipment frame 2; the station pallet raceway 4 is installed in the middle of the equipment frame 2; the double three-axis robot assembly 5 is installed in the rear upper part of the equipment frame 2; the loading and unloading conveyor belt 6 is fixedly connected to the rear side of the equipment frame 2; Connect and control the cargo trolley 1, the pallet servo assembly 3, the station pallet raceway 4, the double three-axis robot assembly 5 and the loading and unloading conveyor belt 6.

The standby processing materials are placed in the material tray, and are transported by the left cargo trolley 1 to the front of the equipment frame 2. After the cargo trolley 1 and the equipment frame 2 are buckled, the pallet servo component 3 transfers the material pallet through the pallet raceway 4 to the front of the equipment frame 2. The double-three-axis robot assembly 5 lifts the material to the loading and unloading conveyor belt 6; the processed finished product is reversely transported to the right cargo trolley 1 to complete the loading and unloading.

Embodiment 2:

Please refer to Figure 1-10, an automatic loading and unloading robot unit for automatic processing equipment, including a cargo trolley 1, an equipment frame 2, a pallet servo assembly 3, a station pallet raceway 4, a double three-axis robot assembly 5, Loading and unloading conveyor belt 6.

It is characterized in that the cargo trolley 1 is placed at the front of the equipment, used for holding cargo pallets and transporting the products to be processed. The centering mechanism 30 is connected to the equipment frame 2, the front bottom beam of the equipment frame 2 is connected to the tray servo assembly 3, the bottom of the station tray raceway 4 is connected to the bottom beam of the equipment frame 2, the double The bottom of the three-axis robot assembly 5 is connected to the rear column of the equipment frame 2, and the loading and unloading conveyor belt 6 is connected to the rear beam of the equipment frame 2 for transporting production materials.

Wherein, the cargo trolley 1 is placed symmetrically on the left and right, the left cargo trolley 1 is loaded with the product to be processed, the right cargo trolley 1 is loaded with the processed product, and the two sides of the cargo trolley 1 are provided with rotary clamping The air cylinders 41 are respectively fixed on the uprights on the front side of the equipment frame 2. In the working state, the general controller 7 fixes the cargo trolley 1 by controlling the rotation of the clamping air cylinders 41 to clamp.

The bottom of the tray servo assembly 3 is the x-direction servo assembly 50, and the top of the x-direction servo assembly 50 is provided with a lead screw sleeve rail assembly 1 51, and the lead screw sleeve rail assembly 1 51 is connected to the z-direction servo assembly 52, and the z direction servo assembly 52 is connected. The second screw sleeve rail assembly 53 is fixed on the inner wall of the direction servo assembly 52 , and the second screw sleeve rail assembly 53 is connected to the right side of the y-direction fork 54 .

Wherein, two pairs of leaning wheels 55 are fixed on the left side of the y-direction fork 54 , and the leaning wheels 55 are in contact with the inner wall of the z-direction servo assembly 52 .

The bottom of the double three-axis robot assembly 5 is provided with a robot square steel bracket 80 for support, the robot square steel bracket 80 is connected with the equipment frame 2, and two three-axis robots are fixed above the robot square steel bracket 80 81, and the two three-axis robots 81 are arranged symmetrically on the left and right, the left three-axis robot 81 operates the product to be processed, and the right three-axis robot 81 operates the processed product.

Among them, the three-axis robot 81 is a gantry structure, which is respectively composed of an x-direction slide 82, a y-direction slide 83, a z-direction slide 84, an x-direction auxiliary slide 89 and a robot gripper 88. The robot hand The claw 88 is fixed to the end of the z-direction slide 84 .

The general controller 7 communicates with the upper computer, controls the movement of the motor, opens and closes the cylinder, and collects the I/O signals of the sensors.

As shown in FIG. 4 , the equipment frame 2 in the present invention specifically includes: a square steel bracket 40 for supporting the overall weight of the equipment, a rotary clamping cylinder 41 for clamping the cargo trolley, and the upper part of the equipment is used to protect the equipment and work Personnel's external profile frame 42 and protective glass 43.

As a preferred embodiment of the present invention: the main body of the equipment frame 2 is a square steel bracket 40, which supports the overall weight of the equipment and is used to fix the pallet servo assembly 3, the station pallet raceway 4 and the cargo trolley 1, so as to ensure the safety of each component. The relative position between the two is fixed, the front side of the square steel bracket 40 is installed with 2 pairs of four rotating clamping cylinders 41 at the position of the column on the front side of the fixed cargo trolley 1, which are used to fix the cargo trolley 1 and ensure that the trolley is running in the equipment. There is no shaking during the process, and an external profile frame 42 and a protective glass 43 are installed above to protect the safety of workers.

As shown in FIG. 3 , the cargo trolley 1 in the present invention specifically includes: a wheel centering mechanism 30 for providing a guiding and positioning function for the cargo trolley 1 to reduce friction and collision during the parking process of the cargo trolley 1 The pulley 31, the photoelectric sensor 32 for the facility to measure the position of the cargo trolley 1, and the L-shaped pallet support plate 33 for supporting the cargo pallet in Chinese.

As a preferred embodiment of the present invention, an L-shaped pallet support plate 33 is installed on the inner side of the vertical column of the cargo trolley 1. The L-shaped pallet support plate 33 is symmetrically distributed from left to right, and is arranged at equal distances up and down. There are 6 pairs in total, which are used for placing A cargo pallet; the inner side of the wheel centering mechanism 30 is provided with a centering pulley 31, which provides guidance and positioning during the parking process of the cargo trolley 1. The rear side of the wheel centering mechanism 30 is provided with a pair of The beam photoelectric sensor 32 is used to sense the position of the cargo trolley, and communicate with the general controller 7. When the beam photoelectric sensor 32 detects that the cargo trolley is in position and sends a trolley in-position signal, the general controller 7 receives the trolley in position. signal, and then control the action of the rotary clamping cylinder 41 to clamp the cargo trolley 1.

As shown in FIGS. 5 and 6 , the tray servo assembly 3 in the present invention specifically includes: an x-direction servo assembly 50 installed at the bottom, for the z-direction servo assembly 53 to move smoothly in the x-direction of the device, and the z-direction servo assembly 53, The y-direction fork 54 is used to move smoothly in the y-direction of the equipment, and the y-direction fork 54 can take the material pallet between the material trolley 1 and the station pallet raceway 4 .

As a preferred embodiment of the present invention: the x-direction servo assembly 50 is supported by the foot cup and is connected to the front bottom beam of the equipment frame (2); the z-direction servo assembly 52 passes through the screw sleeve rail assembly 51 is connected to the x-direction servo assembly 50, the lead screw sleeve rail assembly one 51 is provided with a lead screw one 61 and a pair of slide rails one 66, the end of the lead screw one 61 is connected to the motor one 60 and is sleeved with a lead screw Screw nut one 62, the slide rail one 66 is sleeved with a slider one 67, the lead screw nut one 62 and the slider one 67 are both fixed on the bottom of the z-direction servo assembly 52, and the lead screw one is driven by the motor one 60. 61 rotates, and then drives the lead screw nut one 62 to push the z-direction servo assembly 52 to move in the positive and negative directions of the x-axis along the slide rail one 66 track; the y-direction fork 54 passes the lead screw sleeve rail assembly two The second assembly 52 is connected, and the second lead screw sleeve rail assembly 53 is provided with a second lead screw 64 and a pair of second slide rails 68. The end of the second lead screw 64 is connected to the second motor 63 and is sleeved with a second lead screw nut 65. The second sliding rail 68 is sleeved with a second sliding block 69, the second lead screw nut 65 and the second sliding block 69 are fixed on the right side of the fork 54 in the y direction, and the second lead screw 64 is driven by the second motor 63 to rotate, and then the second lead screw 64 rotates. Drive the second screw nut 65 to push the fork 54 in the y-direction to move in the positive and negative directions of the z-axis along the track of the second rail 68; the bottom of the fork 54 in the y-direction is installed with a third motor 56, and the third motor 56 is connected to the fork 54 in the y-direction The internal rack and pinion transmission mechanism 57, the top of the rack and pinion transmission mechanism 57 is fixed with a fork plate 58, driven by the motor three 56, the rack and pinion transmission mechanism 57 drives the fork plate 58 to move freely in the positive and negative directions of the y-axis . Under the combined action of the first motor 60 , the second motor 63 and the third motor 56 , the fork plate 58 can move freely in the three-coordinate direction, going back and forth between the cargo trolley 1 and the station tray raceway 4 to pick up and deliver the feeding tray.

As shown in FIG. 7 , the station pallet raceway 4 in the present invention specifically includes: a pallet raceway square steel bracket 70 at the bottom, a transition slideway 71 , a surface-embedded universal ball 72 , a regular stopper 73 , and a centering cylinder 74 , the centering block 75 and the pallet position sensor 76 are installed.

As a preferred embodiment of the present invention: the station pallet raceway 4 provides a total of 4 pallet stations, the two on the left are feeding stations, the two on the right are unloading stations, and the station tray The bottom of the raceway 4 is a pallet raceway square steel bracket 70, and the bottom of the pallet raceway square steel bracket 70 is connected to the equipment frame 2, and the top of the pallet raceway square steel bracket 70 is fixed with a transition slide 71, which is used for For placing the tray, the transition slides 71 are evenly arranged and embedded in the universal balls 72 at the contact surface with the tray to reduce the friction between the tray and the transition slide 71 and facilitate fixing. The transition slide 71 is located at the four corners of the tray placement position A regular stopper 73 is installed to provide a guiding function in the process of placing the pallet, and a centering cylinder 74 is installed at the center of the upper side of the transition slide 71. The centering cylinder 74 is installed with a centering block 75. Push the centering block 75 to clamp the pallet; a pallet position sensor 76 is installed on the inner side of the pallet raceway square steel bracket 70, and the pallet position sensor 76 is facing the pallet station to identify the position of the pallet.

As shown in FIGS. 8 and 9 , the dual-three-axis robot assembly 5 in the present invention specifically includes: a robot square steel bracket 80 at the bottom, which is directly connected to the equipment frame 2, and a three-axis robot 81, which is fixed on the robot square steel bracket 80, A robot gripper 88 is installed at the action end of each three-axis robot for grabbing materials.

As a preferred embodiment of the present invention, the stroke of the left three-axis robot 81 covers two feeding stations and the feeding conveyor 97, and the stroke of the right three-axis robot 81 covers two unloading stations and The unloading conveyor belt 98; the x-direction sliding table 82 is provided with an x-direction slider 90 and a motor x85, and the x-direction slider 90 and the motor x85 are connected through the screw guide rail in the x-direction sliding table 82; The direction auxiliary slide 89 is provided with an x-direction auxiliary slide 93, the y-direction slide 83 is fixed on the upper side of the x-direction slide 90, and the y-direction slide 83 is provided with a y-direction slide 91 and a motor y86 on the side. , the y-direction slider 91 is connected with the motor y86 through the lead screw guide rail inside the y-direction sliding table 83; the z-direction sliding table 84 is fixed on the side of the y-direction slider 91, and the z-direction sliding table 84 A z-direction slider 92 and a motor z87 are provided, and the z-direction slider 92 and the motor z87 are connected by means of a lead screw guide rail inside the z-direction sliding table 84 , and a gripper connecting plate is installed on the side of the z-direction slider 92 94; the main body of the robot gripper 88 is a clamping cylinder 95, the clamping cylinder 95 is fixed at the bottom of the gripper connecting plate 94, and grippers 96 are installed on both sides of the clamping cylinder 95 for grasping the product. During the production process, according to the size and model of the product to be grasped, the installation position of the gripper can be adjusted to adapt to different products.

Based on the above structure of the present invention, the working principle of the present invention will be introduced below.

In the normal work start state, the whole equipment is ready to work, the cargo trolley 1 is parked in the working area, fixed by the rotary clamping cylinder 41, the pallet servo assembly 3 returns to the initial state, the y-direction fork 54, the z-direction servo assembly 52 The servo assembly 50 in the x-direction returns to the original position in sequence, and the centering cylinder 74 performs an opening and closing action to adjust the position of the pallet, and then keeps the pallet in a clamped state. The two three-axis robots 81 return to the initial state, and the robot gripper 88 During the process, the clamping state is always maintained to prevent the material from falling, and the loading and unloading conveyor belt 6 remains on standby. During the preparatory work, the in-position signal of the cargo trolley 1 is detected by the through-beam photoelectric sensor 32. After confirming that the trolley is in place, the rotating clamping cylinder 41 starts to act to clamp the cargo trolley 1; The y-direction fork 54 in-position signal, the z-direction servo assembly 52 in-position signal, the x-direction servo assembly 50 in-position signal, and then proceed to the next step; during the movement of the pallet servo assembly 2 to restore the original state, the station pallet raceway 4 can be simultaneously The preparation work is carried out. The in-position signal of the pallet is detected by the pallet position sensor 76 installed on the lower side of the pallet station. If the pallet position sensor 76 does not detect that the pallet is in position, the centering cylinder 74 is opened, and the pallet is in place. 76 detects that the pallet is in place, and the centering cylinder 74 clamps and fixes the pallet; the dual three-axis robot assembly 5 restores its original state and can act simultaneously with the pallet servo assembly 2 and the station pallet raceway 4, and the three-coordinate robot z, y, and x three-axis Return to the original position in turn as a signal that the preparation work is completed.

After confirming that the preparation of the robot unit is completed, start the loading and unloading operation. First, the main controller 7 receives the signal of the pallet station sensor 76 to detect whether the loading station pallet is in place, and controls the motor one 60, the motor two 63 and the motor three 56 to drive the tray servo assembly. 3. Adjust the posture, extend the fork plate 58 into the left cargo trolley 1 (load the products to be processed), take out the cargo tray in the order from top to bottom, and then put the cargo tray into the unloading tray Then the general controller 7 controls the motor x85, the motor y86 and the motor z87 to drive the action of the left three-axis robot 81 (operating the product to be processed), aligning the robot hand 88 with the product to be processed, and the general controller 7 controls the robot hand. The opening and closing of the clamping cylinder 95 of the claw 88 drives the gripper 96 to grasp the product to be processed. When the product grasping is completed, the general controller 7 controls the left three-axis robot 81 to move the robot hand to the feeding conveyor belt 97, and then controls the robot hand. The claw 88 puts the product to be processed into the feeding conveyor belt 97, and the feeding conveyor belt 97 transports the product to be processed into the processing equipment for processing; when the product is processed, the unloading conveyor belt 98 transports the product back to the right three-axis robot 81 (operation and processing completed). product), the right three-axis robot 81 retrieves the processed product from the unloading conveyor belt 98 and puts it into the cargo tray of the unloading station; wait until the left three-axis robot 81 completes the gear grabbing work of the loading station tray , the main controller 7 receives the signal of the pallet station sensor 76 (detects whether the pallet at the unloading station is in place), and controls the pallet servo assembly 3 to take out the empty pallet at the loading station and put it into the unloading station; The robot 81 completes the gear stacking work of the pallet at the unloading station. The pallet servo assembly 3 takes out the fully loaded pallet and puts the pallet back into the cargo trolley 1 in the order from bottom to top. After completing a set of unloading and unloading processes, the unloading robot unit Do not take a break, continue to start the next set of loading and unloading processes, and follow up the working status of the press in real time during the processing process to ensure that the supply of loading and unloading materials is sufficient when the press is working to meet the manufacturing takt time requirements.

To sum up, the advantages of the present invention are as follows:

The biggest highlight of the present invention is that it can smoothly connect the production equipment and the material storage, supply the automatic loading and unloading of the automatic production equipment, realize the full automation of the production workshop, greatly save the manpower and material resources required in the loading and unloading process of the automatic processing equipment, and realize the Automatic and intelligent loading and unloading, while improving efficiency, reducing cost consumption, and reducing the production pressure of enterprises.

By adjusting the layer height of the cargo trolley, the distance between the grippers and the covering material of the dual-three-axis robot, it can be adapted to transport different materials, ensuring the versatility of adaptation.

Set up sensors to ensure accurate and reliable operation of the equipment, greatly reduce the error rate, realize the automatic operation of the equipment, and 24-hour uninterrupted production, which greatly improves the production efficiency.

The bottom square steel bracket is designed to fix and support each component to ensure the stability of the equipment operation and the safety of the staff.

The guide pulley of the trolley raceway is designed, and the in-position sensor is used to further ensure that the trolley is in place accurately and ensure the stable and reliable operation of the equipment.

The pallet servo assembly is designed, referring to the common stacker to improve the braking scheme, the use of rails and screw drive increases the positioning accuracy of the pallet servo assembly, and the use of a bidirectional working forklift increases the working range of the pallet servo assembly and improves the equipment. Work efficiency, while reducing the space occupancy rate of the equipment.

The station pallet raceway is designed to ensure the accurate positioning of the pallet placed at the station, provide temporary transfer buffer space for materials, ensure the rhythm of loading and unloading, and increase the stability of the equipment.

The preferred embodiments of the present patent have been described in detail above, but the present patent is not limited to the above-mentioned embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, the present invention can also be made without departing from the purpose of the present patent. Various changes.

Claims (9)

1. The utility model provides a go up unloading robot cell in automation for automatic processing equipment, includes equipment frame (2), goods material dolly (1), tray servo component (3), station tray raceway (4), two triaxial robot subassembly (5), goes up unloading conveyer belt (6) and total controller (7), its characterized in that:

1) the cargo trolley comprises two parts which are detachably buckled on the front side of the equipment frame (2) side by side;

2) the tray servo assembly (3) is arranged in the front lower part of the equipment frame (2); the station tray roller path (4) is arranged in the middle of the equipment frame (2); the double three-axis robot assembly (5) is arranged in the rear upper part of the equipment frame (2); the feeding and discharging conveyor belt (6) is fixedly connected to the rear side of the equipment frame (2);

3) the master controller (7) is electrically connected with and controls the material trolley (1), the tray servo assembly (3), the station tray roller path (4), the double-triaxial robot assembly (5) and the feeding and discharging conveyor belt (6);

the standby processing materials are placed in a material tray and are conveyed to the front of an equipment frame (2) by a left material trolley (1), and after the material trolley (1) is buckled with the equipment frame (2), the material tray is lifted by a tray servo assembly (3) to a feeding and discharging conveyor belt (6) by a double-triaxial robot assembly (5) through a tray roller path (4); and conveying the processed finished product to a right goods trolley (1) in a reverse direction to finish feeding and discharging.

2. The automatic loading and unloading robot unit for automated processing equipment of claim 1, wherein: the goods trolley (1) is placed at the forefront of an equipment frame (2), a depended wheel centering mechanism (30) is arranged below the goods trolley, the depended wheel centering mechanism (30) is connected with the equipment frame (2), a bottom cross beam at the front side of the equipment frame (2) is connected with the tray servo assembly (3), the bottom of a station tray raceway (4) is connected with a bottom cross beam of the equipment frame (2), the bottom of the double-triaxial robot assembly (5) is connected with an upright post at the rear side of the equipment frame (2), and the feeding and discharging conveyor belt (6) is connected with the rear cross beam of the equipment frame (2);

the two cargo trolleys (1) are symmetrically arranged at the left and right, and rotary clamping cylinders (41) are respectively arranged at two sides of the two cargo trolleys (1) and respectively fixed on upright columns at the front side of the equipment frame (2);

the tray servo assembly (3) is characterized in that an x-direction servo assembly (50) is arranged at the bottom of the tray servo assembly (3), a first lead screw sleeve rail assembly (51) is arranged at the top of the x-direction servo assembly (50), the first lead screw sleeve rail assembly (51) is connected with a y-direction servo assembly (52), a second lead screw sleeve rail assembly (53) is fixed on the inner wall of the y-direction servo assembly (52), and the second lead screw sleeve rail assembly (53) is connected with the right side of a fork (54) in the z direction;

2 pairs of idler wheels (55) are fixed on the left side of the z-direction pallet fork (54), and the idler wheels (55) are in contact with the inner wall of the y-direction servo assembly (52);

a robot square steel support (80) is arranged at the bottom of the double-triaxial robot assembly (5), the robot square steel support (80) is connected with the equipment frame (2), two triaxial robots (81) are fixed above the robot square steel support (80) and are symmetrically arranged in the left-right direction, the left triaxial robot (81) operates a product to be processed, and the right triaxial robot (81) operates a processed product;

the three-axis robot (81) is of a gantry type structure and is composed of an x-direction sliding table (82), a y-direction sliding table (83), a z-direction sliding table (84), an x-direction auxiliary sliding table (89) and a robot paw (88), wherein the robot paw (88) is fixed at the tail end of the z-direction sliding table (84);

and the master controller (7) is communicated with an upper computer, controls the motor to act, opens and closes the air cylinder and collects the I/O signals of the sensor.

3. The automated loading and unloading robot unit for automated processing equipment of claim 2, wherein: the main body of the equipment frame (2) is a square steel support (40), 2 pairs of 4 rotary clamping cylinders (41) are arranged at the position of an upright column of the square steel support (40) at the front side of the fixed cargo trolley (1), and an external section frame (42) and protective glass (43) are arranged above the fixed cargo trolley.

4. The automated loading and unloading robot unit for automated processing equipment of claim 2, wherein: an L-shaped tray supporting plate (33) is installed on the inner side of an upright column of the cargo trolley (1), the L-shaped tray supporting plates (33) are distributed in bilateral symmetry and are arranged at equal intervals from top to bottom, and 6 pairs are provided; the inner side of the idler wheel centering mechanism (30) is provided with pulleys (31) arranged in a centering way, and the rear side of the idler wheel centering mechanism (30) is provided with a correlation type photoelectric sensor (32).

5. The automatic loading and unloading robot unit of the automatic processing equipment as claimed in claim 2, wherein: the x-direction servo assembly (50) is supported by a foot cup and connected with a front side bottom beam of the equipment frame (2); the y-direction servo assembly (52) is connected with the x-direction servo assembly (50) through a first lead screw sleeve rail assembly (51), the first lead screw sleeve rail assembly (51) is provided with a first lead screw (61) and a first pair of slide rails (66), the end part of the first lead screw (61) is connected with a first motor (60) and sleeved with a first lead screw nut (62), the first slide rail (66) is sleeved with a first slide block (67), and the first lead screw nut (62) and the first slide block (67) are both fixed at the bottom of the y-direction servo assembly (52); the z-direction pallet fork (54) is connected with the y-direction servo assembly (52) through a second lead screw sleeve rail assembly (53), the second lead screw sleeve rail assembly (53) is provided with a second lead screw (64) and a pair of second slide rails (68), the end part of the second lead screw (64) is connected with a second motor (63) and sleeved with a second lead screw nut (65), the second slide rails (68) are sleeved with a second sliding block (69), and the second lead screw nut (65) and the second sliding block (69) are both fixed on the right side of the z-direction pallet fork (54); the bottom of the z-direction pallet fork (54) is provided with a motor III (56), the motor III (56) is connected with a gear rack transmission mechanism (57) inside the z-direction pallet fork (54), and a pallet fork plate (58) is fixed to the top of the gear rack transmission mechanism (57).

6. The automatic loading and unloading robot unit of the automatic processing equipment as claimed in claim 2, wherein: the station tray roller path (4) provides 4 tray stations, the left two tray stations are feeding stations, the right two tray stations are discharging stations, the bottom of the station tray roller path (4) is a tray roller path square steel support (70), the bottom of the tray roller path square steel support (70) is connected with the equipment frame (2), transition sliding ways (71) are fixed at the top of the tray roller path square steel support (70), universal balls (72) are uniformly distributed and embedded in the positions of contact surfaces of the transition sliding ways (71) and the tray, regular stop blocks (73) are installed at four corners of the position where the tray is placed on the transition sliding ways (71), centering cylinders (74) are installed at the center positions of the upper sides of the transition sliding ways (71), and centering blocks (75) are installed on the centering cylinders (74); and a tray station sensor (76) is arranged on the inner side of the tray raceway square steel support (70), and the tray station sensor (76) is over against a tray station to identify the in-place condition of the tray.

7. The automatic loading and unloading robot unit of the automatic processing equipment as claimed in claim 2, wherein: the stroke of the left three-axis robot (81) covers two feeding stations and two feeding conveyor belts (97), and the stroke of the right three-axis robot (81) covers two blanking stations and two blanking conveyor belts (98); the x-direction sliding table (82) is provided with an x-direction sliding block (90) and a motor x (85), and the x-direction sliding block (90) is in transmission connection with the motor x (85) through a lead screw guide rail in the x-direction sliding table (82); the x-direction auxiliary sliding table (89) is provided with an x-direction auxiliary sliding block (93), the y-direction sliding table (83) is fixed on the upper side of the x-direction sliding block (90), a y-direction sliding block (91) and a motor y (86) are arranged on the side surface of the y-direction sliding table (83), and the y-direction sliding block (91) is in transmission connection with the motor y (86) through a lead screw guide rail in the y-direction sliding table (83); the z-direction sliding table (84) is fixed on the side surface of the y-direction sliding block (91), the z-direction sliding block (92) and the motor z (87) are arranged on the side surface of the z-direction sliding table (84), the z-direction sliding block (92) is in transmission connection with the motor z (87) through a lead screw guide rail in the z-direction sliding table (84), and a paw connecting plate (94) is installed on the side surface of the z-direction sliding block (92); the robot gripper (88) main part is die clamping cylinder (95), die clamping cylinder (95) are fixed in gripper connecting plate (94) bottom, gripper (96) are installed to die clamping cylinder (95) both sides.

8. The automatic loading and unloading robot unit of the automatic processing equipment as claimed in claim 2, wherein: the feeding and discharging conveyor belt (6) is provided with a feeding conveyor belt (97) and a discharging conveyor belt (98).

9. An automatic loading and unloading method of an automatic processing device, which is operated by the automatic loading and unloading robot unit of the automatic processing device as claimed in claim 2, and is characterized by comprising the following operation steps:

the method comprises the following steps: the main controller (7) receives signals of the tray station sensor (76) (detects whether a tray of a feeding station is in place), controls the motor I (60), the motor II (63) and the motor III (56) to drive the tray servo assembly (3) to adjust the pose, extends the cargo fork plate (58) into the left cargo trolley (1) (for loading products to be processed) to take out the cargo trays according to the sequence from top to bottom, and then puts the cargo trays into the feeding station where the trays are not placed;

step two: the master controller (7) controls a motor x (85), a motor y (86) and a motor z (87) to drive a left three-axis robot (81) (operating a product to be processed) to act, a robot claw (88) is aligned to the product to be processed, the master controller (7) controls a clamping cylinder (95) of the robot claw (88) to open and close to drive a gripper (96) to grip the product to be processed, the product is gripped completely, the master controller (7) controls the left three-axis robot (81) to move the robot claw to a feeding conveyor belt (97), then the robot claw (88) is controlled to place the product to be processed into the feeding conveyor belt (97), and the feeding conveyor belt (97) conveys the product to be processed into processing equipment for processing; after the product is processed, the blanking conveyor belt (98) conveys the product to the right three-axis robot (81) (the processed product is operated), and the right three-axis robot (81) takes back the processed product from the blanking conveyor belt (98) and puts the processed product into a material tray of a blanking station;

step three: when the left three-axis robot (81) finishes gear grabbing work of a loading station tray, a master controller (7) receives a tray station sensor (76) signal (detects whether a blanking station tray is in place), and controls a tray servo assembly (3) to take out an empty tray of the loading station and place the empty tray into a blanking station;

step four: and (3) after the right three-axis robot (81) finishes gear stacking work of the blanking station tray, taking out the full-load tray by the tray servo assembly (3), putting the tray back to the material trolley (1) according to the sequence from bottom to top, and continuing to start the work of the first step.

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