CN111003474A - Automatic loading and unloading robot and method for part machining - Google Patents
Automatic loading and unloading robot and method for part machining Download PDFInfo
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- CN111003474A CN111003474A CN201911356826.0A CN201911356826A CN111003474A CN 111003474 A CN111003474 A CN 111003474A CN 201911356826 A CN201911356826 A CN 201911356826A CN 111003474 A CN111003474 A CN 111003474A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention relates to an automatic loading and unloading robot and a method for part processing, which are used for conveying workpieces to be loaded and unloaded and realizing the connection among all stations; comprising a first outer pair of belts and a second inner pair of belts disposed between adjacent first outer pairs of belts; the output end of the first outer pair of conveyor belts is positioned between the input end and the output end of the second inner pair of conveyor belts; the input ends of the second first outer pair of conveyor belts are positioned between the input ends and the output ends of the second inner pair of conveyor belts; an articulated carrier used for bearing a workpiece to be loaded and unloaded is distributed on the first outer pair of conveyor belts, a clamping step is arranged on the upper surface of the root end of the articulated carrier, a process step with the same height as the clamping step is arranged on the upper surface of the head end of the articulated carrier, and a balancing weight is arranged between the clamping step and the process step; the invention has reasonable design, compact structure and convenient use.
Description
Technical Field
The invention relates to an automatic loading and unloading robot and a method for part processing, which are particularly suitable for the connection and transmission of part workpieces among various stations, such as machining workpieces, for example, common parts such as covers, plates and the like.
Background
At present, unloading is limited to through the manipulator in the work piece, corresponds each station and goes up unloading and link up and adopt the conveyer belt, but current scheme conveys the conveyer belt, and its return stroke can't be utilized, only advances one and goes out in addition, needs both sides to set up respectively and goes up unloading, for this reason the frame need design two at least openings to guarantee advancing one and go out, this still is based on traditional design theory, unsuitable automated production. The rotating disc is also adopted for connection, so that the upper end and the lower end are positioned at one end, but the direction of the rotating disc is not adjustable, the expansibility is poor, and the space waste at the center and the corners of a workshop is caused.
Disclosure of Invention
Aiming at the technical problems, the invention aims to provide an automatic loading and unloading robot and a method for part processing. The invention keeps the advantages of the variable conveying direction of the conveying belt and the full utilization of workshop space, and creatively utilizes the return stroke at the same time, thereby avoiding the waste of the return stroke, realizing automatic feeding and discharging and clamping and fastening, and providing a set of equipment which is more reasonable, energy-saving, convenient, good in expansibility and high in integration.
An automatic loading and unloading robot for part processing is used for conveying workpieces to be loaded and unloaded to realize the connection among stations; comprising a first outer pair of belts and a second inner pair of belts disposed between adjacent first outer pairs of belts;
the output end of the first outer pair of conveyor belts is positioned between the input end and the output end of the second inner pair of conveyor belts; the input ends of the second first outer pair of conveyor belts are positioned between the input ends and the output ends of the second inner pair of conveyor belts;
the first outer pair of conveyor belts are disposed outboard of the second inner pair of conveyor belts;
the first outer pair of conveyor belts and the second inner pair of conveyor belts are identical in structure;
the first outer pair of conveyors comprises a conveyor belt up section and a conveyor belt down section; articulated carriers used for bearing workpieces to be loaded and unloaded are distributed on the first outer paired conveyor belts, the root ends of the articulated carriers are installed on the first outer paired conveyor belts through carrier rotating shafts which are transversely arranged, clamping steps are arranged on the upper surfaces of the root ends of the articulated carriers, process steps which are as high as the clamping steps are arranged on the upper surfaces of the head hanging ends of the articulated carriers, and balancing weights are arranged between the clamping steps and the process steps;
an auxiliary reset spring is arranged between the hinged carrier and the first outer transmission belt;
the lower surface of the lower traveling section of the conveyor belt is in rolling contact with the upper surface of the lower support guide rail;
a bottom conveying guide rail is arranged below the lower section of the conveying belt, and a bottom conveying ball in contact with the lower surface of a workpiece to be loaded and unloaded is arranged on the bottom conveying guide rail;
at the lower section of the conveying belt, under the action of the balancing weight, the hinged carrier overcomes the defect that the auxiliary reset spring is changed from a horizontal state to a vertical state, meanwhile, the vertical surface of the clamping step is in contact with the lower section of the conveying belt, and the hinged carrier shifts a workpiece to be loaded and unloaded to longitudinally move on the conveying ball at the bottom.
As a further improvement of the above technical solution:
the lateral width of the outer side between the first outer pair of conveyor belts is smaller than the lateral width of the workpieces to be loaded and unloaded;
a side auxiliary guide conveying belt used for contacting with the side surface of a workpiece to be loaded and unloaded is arranged on the outer side of the first outer forming pair of conveying belts;
a side process gap is arranged between the side auxiliary guide conveying belt and the side auxiliary guide conveying belt;
a middle process gap is arranged between the inner cavities of the first outer pair of conveying belts and the space between the heads and the tails of the second inner pair of conveying belts;
the middle process gap corresponds to the side process gap;
a middle feeding and discharging transition device is arranged at the middle process gap;
the middle feeding and discharging transition device comprises a transition manipulator, a transition supporting plate, a transition bottom process groove, a transition positioning baffle and a transition pushing manipulator, wherein the transition supporting plate is arranged on the transition manipulator and used for bearing a workpiece to be fed and discharged, the workpiece to be fed and discharged is output by a first outer pair of conveying belts or a second inner pair of conveying belts;
when the transition manipulator descends, the height of the transition positioning baffle is lower than that of the bottom conveying ball.
The middle replacement manipulator is arranged on one transverse side of the middle feeding and discharging transition device, the feeding and discharging output device is arranged on the outer side of the middle replacement manipulator, and the output manipulator connected with the corresponding station is arranged on one side of the feeding and discharging output device.
The middle replacing mechanical arm comprises a replacing mechanical seat, replacing hand supports distributed on the replacing mechanical seat, a replacing push rod arranged on the replacing hand support, a replacing supporting plate arranged on the replacing push rod, a replacing supporting fork arranged on the replacing supporting plate and used for being inserted into a transition bottom process groove to bear a workpiece to be loaded and unloaded, and a replacing chamfer arranged at the front end of the replacing supporting fork;
the blanking output device comprises a lifting waiting material supporting plate, a waiting carrier arranged on the lifting waiting material supporting plate and used for bearing a workpiece to be blanked and unloaded, and a carrier process groove arranged on the waiting carrier;
the replacing support fork corresponds to the carrier process groove.
The output mechanical arm comprises a clamping mechanical lifting seat arranged on one side of the lifting material waiting support plate, a clamping mechanical support seat, a clamping telescopic push rod and a clamping guide sleeve which are arranged on the clamping mechanical lifting seat, a clamping driving support movably arranged on the clamping telescopic push rod, a clamping axial sliding seat, clamping sliding seat grooves and clamping mechanical claws, wherein the clamping axial sliding seat is sleeved on the clamping telescopic push rod in the middle and is positioned on the clamping driving support, and the cross section of the clamping axial sliding seat is of an H-shaped structure;
the clamping mechanical claw comprises a clamping swing block, a clamping driven block and clamping driven positioning arc grooves, wherein the two sides of the clamping swing block are hinged to a clamping mechanical support seat, the cross section of the clamping swing block is oval, and one end of the clamping swing block is located in a clamping slide seat groove;
the other end of the clamping swinging block is arranged in the clamping sliding seat groove;
a clamping hinged top seat is arranged on the clamping driven positioning arc groove, a clamping claw hinged shaft is arranged on the clamping mechanical supporting seat, a claw clamping arm root is hinged on the clamping claw hinged shaft, a claw clamping pad used for clamping a workpiece to be loaded and unloaded is arranged at the head of a claw clamping arm cantilever, a clamping claw deflecting arm is connected at the claw clamping arm root, and a clamping claw actuating arm is connected with the clamping claw deflecting arm;
clamping buffer springs are connected between the clamping claw driving arms on the two sides, and the clamping claw driving arms are in pressure contact with the corresponding clamping hinged top seats under the action of the clamping buffer springs.
A pair of conveying belts is arranged in the second section of the last section of the conveying stroke or the pair of conveying belts is arranged in the second section of the conveying stroke, an auxiliary downlink output conveying belt is arranged between the pair of conveying belts in the second section or the pair of conveying belts in the second section, and an upper layer connection device and a lower layer connection device are arranged at the terminal of the auxiliary downlink output conveying belt;
the auxiliary descending output conveyor belt outputs workpieces to be loaded and unloaded at the descending section of the conveyor belt to the upper-layer and lower-layer connecting device;
the upper-layer and lower-layer linking device comprises a linking mechanical arm, a linking telescopic arm arranged on the linking mechanical arm, a linking groove arranged at the center of the linking telescopic arm and used for being occluded at the terminal end of the auxiliary downlink output conveyor belt, and a linking conveyor belt arranged on the linking telescopic arm, positioned at two sides of the linking groove and used for receiving the auxiliary downlink output conveyor belt and conveying the auxiliary downlink output conveyor belt into a workpiece to be loaded and unloaded;
the connecting conveying belt is used for conveying workpieces to be loaded and unloaded to the upper section of the conveying belt.
The above scheme is that the workpiece to be processed is firstly fed in from the lower section of the conveying belt and then is fed out from the upper section of the conveying belt, and as an equivalent transformation, the workpiece to be processed can be firstly fed in from the upper section of the conveying belt and then is fed out from the lower section of the conveying belt by adjusting the conveying direction.
An automatic loading and unloading robot for part processing comprises an output manipulator for clamping a workpiece to be loaded and unloaded;
the output mechanical arm comprises a clamping mechanical lifting seat arranged on one side of the lifting material waiting support plate, a clamping mechanical support seat, a clamping telescopic push rod and a clamping guide sleeve which are arranged on the clamping mechanical lifting seat, a clamping driving support movably arranged on the clamping telescopic push rod, a clamping axial sliding seat, clamping sliding seat grooves and clamping mechanical claws, wherein the clamping axial sliding seat is sleeved on the clamping telescopic push rod in the middle and is positioned on the clamping driving support, and the cross section of the clamping axial sliding seat is of an H-shaped structure;
the clamping mechanical claw comprises a clamping swing block, a clamping driven block and clamping driven positioning arc grooves, wherein the two sides of the clamping swing block are hinged to a clamping mechanical support seat, the cross section of the clamping swing block is oval, and one end of the clamping swing block is located in a clamping slide seat groove;
the other end of the clamping swinging block is arranged in the clamping sliding seat groove;
a clamping hinged top seat is arranged on the clamping driven positioning arc groove, a clamping claw hinged shaft is arranged on the clamping mechanical supporting seat, a claw clamping arm root is hinged on the clamping claw hinged shaft, a claw clamping pad used for clamping a workpiece to be loaded and unloaded is arranged at the head of a claw clamping arm cantilever, a clamping claw deflecting arm is connected at the claw clamping arm root, and a clamping claw actuating arm is connected with the clamping claw deflecting arm;
clamping buffer springs are connected between the clamping claw driving arms on the two sides, and the clamping claw driving arms are in pressure contact with the corresponding clamping hinged top seats under the action of the clamping buffer springs.
An automatic loading and unloading method for part processing is characterized in that an automatic loading and unloading robot for part processing is used; the method comprises the following steps
Firstly, placing a workpiece to be loaded and unloaded below a clamping step and a process step of a first upper section of a conveying belt of an outer forming pair of conveying belts, and conveying the workpiece forwards; then, starting the second inner paired conveyor belts and the first outer paired conveyor belts to alternately convey, and adjusting the lateral direction through a side auxiliary guide conveyor belt;
step two, when the process feeding is needed, starting the middle feeding and discharging transition device, and firstly, enabling a transition mechanical arm to ascend to enable a transition positioning baffle to block a workpiece to be fed and discharged to move forwards and separate from the ascending section of the conveying belt; then, rotating the transition supporting plate to enable the transition bottom process groove to face the replacement manipulator;
starting a replacement manipulator and a feeding and discharging output device, firstly, replacing a push rod to push a replacement supporting plate, and inserting a replacement supporting fork into a transition bottom process groove; then, the mechanical seat is lifted to be replaced and separated from the transition supporting plate; secondly, the replacement mechanical seat rotates to rotate a workpiece to be loaded and unloaded to a loading and unloading output device, and meanwhile, the replacement support fork conveys the workpiece to be loaded and unloaded on the waiting carrier to a transition supporting plate through a carrier process groove;
starting the output manipulator, and loading and unloading workpieces to be loaded and unloaded on the waiting carrier at corresponding stations;
step five, after the workpieces to be loaded and unloaded return to the transition supporting plate, firstly, rotating the transition manipulator; then, driving a transitional pushing manipulator to send the workpiece to be loaded and unloaded to the ascending section of the conveying belt; secondly, the ascending section of the conveying belt drives the workpiece to be loaded and unloaded to reach the next station.
Step six, starting the upper-layer and lower-layer connecting devices after the travel end point is reached; firstly, a connecting conveyor belt rotatably receives a workpiece to be loaded and unloaded, which is sent by an upper row section of the conveyor belt; then, the linking manipulator retracts and descends; secondly, assisting the drive of a downward output conveyor belt, receiving workpieces to be loaded and unloaded and conveying the workpieces to a downward section of the conveyor belt;
seventhly, the hinged carrier positioned at the lower section of the conveyor belt is changed into a vertical state; and the feeding and discharging workpieces are pushed to move forwards on the conveying balls at the bottom.
In step four, the following steps are included;
firstly, starting a clamping telescopic push rod to drive a clamping driving support to drive a clamping axial sliding seat to move forward; then, the clamping swing block is shifted to rotate on the clamping mechanical support seat by utilizing the clamping slide groove; secondly, the clamping swinging block is changed from an inclined state to a vertical state, so that the clamping driven block is ejected outwards along the clamping guide sleeve; thirdly, the clamping hinged top seat overcomes the outer top of the clamping buffer spring to clamp the claw driving arm; and then, the claw clamping arm rotates around the clamping claw hinge shaft, so that the claw clamping pad clamps the workpiece to be loaded and unloaded.
The above scheme is that the workpiece to be processed can be fed from the upper section of the conveying belt and then fed from the lower section of the conveying belt through the adjustment of the conveying direction, and as an equivalent transformation, the workpiece to be processed is fed from the lower section of the conveying belt and then fed from the upper section of the conveying belt.
The automatic feeding and discharging device realizes automatic feeding of workpieces, then realizes feeding and discharging of corresponding stations through the manipulator, realizes automatic conveying of the workpieces through a return stroke, is ingenious in design, saves energy, reduces consumption, enables the total feeding and discharging to be on one side, can realize turning through a transfer transition device or a conveyor belt, and is firm in clamping.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the structure of the conveyor belt of the present invention.
Fig. 3 is a schematic structural diagram of the transition device of the present invention.
Fig. 4 is a schematic view of the structure of the replacing device of the invention.
FIG. 5 is a schematic view of the engagement device of the present invention.
FIG. 6 is a schematic view of the structure of the clamping device of the present invention.
Wherein: 1. a workpiece to be loaded and unloaded; 2. a first outer pair of conveyor belts; 3. a second inner pair of conveyor belts; 4. conveying and loading the belt in a side auxiliary guide way; 5. a side process gap; 6. a middle process gap; 7. a middle feeding and discharging transition device; 8. and replacing the manipulator. 9. A feeding and discharging output device; 10. an upper and lower layer joining device; 11. an output manipulator; 12. a conveyor belt up run segment; 13. a down-run section of the conveyor; 14. an articulating vehicle; 15. a carrier spindle; 16. a balancing weight; 17. a clamping step; 18. a process step; 19. an auxiliary reset spring; 20. a lower support rail; 21. a bottom transport rail; 22. bottom conveying balls; 23. a transition manipulator; 24. a transition pallet; 25. a transition bottom process tank; 26. a transitional positioning baffle; 27. a transition pushing manipulator; 28. replacing the mechanical seat; 29. replacing the hand support; 30. replacing the push rod; 31. replacing the supporting plate; 32. replacing the support fork; 33. replacing the chamfer; 34. lifting the supporting plate to be fed; 35. waiting for the carrier; 36. a carrier process tank; 37. connecting the mechanical arm; 38. connecting the telescopic arm; 39. connecting the conveyor belts; 40. a joining groove; 41. a clamping mechanical lifting seat; 42. clamping a mechanical supporting seat; 43. clamping a telescopic push rod; 44. a gripping drive support; 45. clamping mechanical claws; 46. clamping an axial sliding seat; 47. clamping a sliding seat groove; 48. clamping the swinging block; 49. clamping a guide sleeve; 50. clamping a driven block; 51. clamping a driven positioning arc groove; 52. clamping the hinged top seat; 53. a clamping claw hinge shaft; 54. a gripping jaw actuating arm; 55. a gripping jaw reversing arm; 56. a claw grip arm; 57. a jaw grip pad; 58. clamping a buffer spring; assisting the downstream output conveyor.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.
As shown in fig. 1 to 6, the automatic loading and unloading robot for part processing of the embodiment is used for conveying a workpiece 1 to be loaded and unloaded to realize the connection between stations; comprising a first outer pair of conveyor belts 2 and a second inner pair of conveyor belts 3 arranged between adjacent first outer pairs of conveyor belts 2;
the output end of the first outer pair of conveyor belts 2 is positioned between the input end and the output end of the second inner pair of conveyor belts 3; the input end of the second first outer pair of conveyor belts 2 is positioned between the input end and the output end of the second inner pair of conveyor belts 3;
the first outer pair of conveyor belts 2 is arranged outside the second inner pair of conveyor belts 3; through the staggered design of the conveyor belts, the continuous conveying of the workpieces is realized, and the length of the conveyor belts is reduced.
The first outer pair of conveyor belts 2 is identical in structure to the second inner pair of conveyor belts 3;
the first outer pair of conveyor belts 2 comprises a conveyor belt upper run section 12 and a conveyor belt lower run section 13; the articulated carrier 14 for bearing the workpiece 1 to be loaded and unloaded is distributed on the first outer paired conveyor belt 2 to realize the supporting and loading of the workpiece, the root end of the articulated carrier 14 is arranged on the first outer paired conveyor belt 2 through a transversely arranged carrier rotating shaft 15, the clamping step 17 is arranged on the upper surface of the root end of the articulated carrier 14, so that the workpiece can be supported and the workpiece can be prevented from tipping backwards when the workpiece is pushed downwards by the step, the upper surface of the head end of the suspension part of the articulated carrier 14 is provided with a process step 18 which is as high as the clamping step 17 to realize the positioning of the workpiece, and a balancing weight 16 is arranged between the clamping step 17 and the process step 18, so that when the carrier is moved downwards, the vertical effect is realized by overcoming the spring force, and the spring assists the carrier to become horizontal in the ascending section;
an auxiliary return spring 19 is arranged between the articulated carrier 14 and the first outer pair of conveyor belts 2;
the lower surface of the lower running section 13 of the conveyor belt is in rolling contact with the upper surface of the lower support guide rail 20; thereby ensuring the level of the conveyor belt and avoiding the sinking caused by gravity.
A bottom conveying guide rail 21 is arranged below the lower section 13 of the conveying belt, and a bottom conveying ball 22 which is contacted with the lower surface of the workpiece 1 to be loaded and unloaded is arranged on the bottom conveying guide rail 21; and the workpiece is advanced by rolling.
At the lower section 13 of the conveyor belt, under the action of the counterweight 16, the articulated carrier 14 overcomes the auxiliary return spring 19 and changes from horizontal to vertical, meanwhile, the vertical surface of the clamping step 17 contacts with the lower section 13 of the conveyor belt, and the articulated carrier 14 shifts the workpiece 1 to be loaded and unloaded to move longitudinally on the bottom conveying ball 22.
The lateral width of the outer side between the first outer pair of conveyor belts 2 is smaller than the lateral width of the workpieces 1 to be loaded and unloaded; thereby realizing the alternate forwarding of the workpieces.
A side auxiliary guide conveying belt 4 used for contacting with the side surface of the workpiece 1 to be loaded and unloaded is arranged on the outer side of the first outer forming pair of conveying belts 2; realize the side righting.
A side process gap 5 is arranged between the side auxiliary guide conveying belt 4 and the side auxiliary guide conveying belt 4; thereby being capable of placing the transfer manipulator.
A middle process gap 6 is arranged between the inner cavities of the first outer paired conveyor belts 2 and the space between the heads and the tails of the second inner paired conveyor belts 3;
the middle process gap 6 corresponds to the side process gap 5;
a middle feeding and discharging transition device 7 is arranged at the middle process gap 6; thereby realizing the full utilization of the space.
The middle feeding and discharging transition device 7 comprises a transition manipulator 23, a transition supporting plate 24 which is arranged on the transition manipulator 23 and used for bearing a workpiece 1 to be fed and discharged, which is output by the first outer paired conveying belt 2 or the second inner paired conveying belt 3, a transition bottom process groove 25 which is arranged on the upper surface of the transition supporting plate 24, a transition positioning baffle 26 which is arranged at one end of the transition supporting plate 24 and used for blocking the workpiece 1 to be fed and discharged to move forwards, and a transition pushing manipulator 27;
when the transition robot 23 descends, the transition positioning baffle 26 is lower in height than the bottom conveying balls 22. Thereby avoiding blocking the advance of the workpiece.
And a middle replacement manipulator 8 is arranged on one transverse side of the middle feeding and discharging transition device 7, a feeding and discharging output device 9 is arranged on the outer side of the middle replacement manipulator 8, and an output manipulator 11 used for being connected with a corresponding station is arranged on one side of the feeding and discharging output device 9. The transfer of the workpiece is realized.
The middle replacing manipulator 8 comprises a replacing manipulator seat 28, replacing hand supports 29 distributed on the replacing manipulator seat 28, a replacing push rod 30 arranged on the replacing hand supports 29, a replacing supporting plate 31 arranged on the replacing push rod 30, a replacing supporting fork 32 arranged on the replacing supporting plate 31 and used for being inserted into the transition bottom process groove 25 to bear the workpiece 1 to be loaded and unloaded, and a replacing chamfer 33 arranged at the front end of the replacing supporting fork 32; the chamfer is convenient to insert below the workpiece, and the workpiece is lifted and placed through the process groove.
The blanking output device 9 comprises a lifting material waiting supporting plate 34, a waiting carrier 35 arranged on the lifting material waiting supporting plate 34 and used for bearing a workpiece 1 to be blanked and loaded, and a carrier process groove 36 arranged on the waiting carrier 35;
the replacement pallet fork 32 corresponds to the carrier process bowl 36.
The output manipulator 11 comprises a clamping mechanical lifting seat 41 arranged on one side of the lifting material waiting support plate 34, a clamping mechanical support seat 42, a clamping telescopic push rod 43 and a clamping guide sleeve 49 which are arranged on the clamping mechanical lifting seat 41, a clamping driving support 44 movably arranged on the clamping telescopic push rod 43, a clamping axial slide 46, a clamping slide groove 47 arranged at two ends of the clamping axial slide 46 and clamping mechanical claws 45 symmetrically arranged at two ends of the clamping axial slide 46, wherein the middle part of the clamping axial slide 46 is sleeved on the clamping telescopic push rod 43 and is positioned on the clamping driving support 44;
the gripping gripper 45 includes a gripping swing block 48 whose both sides are hinged to the gripping gripper support base 42 and whose cross section is elliptical and one end is located in the gripping slide groove 47, a gripping driven block 50 which slides in the gripping guide sleeve 49 in the radial direction of the gripping drive bracket 44, and gripping driven positioning arc grooves 51 provided at both ends of the gripping driven block 50;
the other end of the gripping swing block 48 is in the gripping slide groove 47;
a clamping hinged top seat 52 is arranged on the clamping driven positioning arc groove 51, a clamping claw hinged shaft 53 is arranged on the clamping mechanical supporting seat 42, the root of a claw clamping arm 56 is hinged on the clamping claw hinged shaft 53, a claw clamping pad 57 for clamping a workpiece 1 to be loaded and unloaded is arranged at the cantilever head of the claw clamping arm 56, the root of the claw clamping arm 56 is connected with a clamping claw turning arm 55, and the clamping claw turning arm 55 is connected with a clamping claw driving arm 54;
a clamping buffer spring 58 is connected between the gripping claw driving arms 54 on both sides, and the gripping claw driving arms 54 are brought into pressure contact with the corresponding gripping hinge abutments 52 by the action of the clamping buffer spring 58.
A pair of conveying belts 3 or a pair of conveying belts 3 is arranged in the second inner part of the last section of the conveying stroke, an auxiliary downlink output conveying belt 59 is arranged between the pair of conveying belts 3 or the pair of conveying belts 3 in the second inner part, and an upper-layer and lower-layer connecting device 10 is arranged at the terminal of the auxiliary downlink output conveying belt 59;
the auxiliary downward output conveyor belt 59 outputs the workpieces 1 to be loaded and unloaded at the downward section 13 of the conveyor belt to the upper and lower layer connecting device 10; the invention creatively utilizes the ellipse shape to realize self-positioning, utilizes the change of the rotating length to realize the principle similar to scissors, realizes the clamping of the workpiece, and enables the claws to be opened through the spring force.
The upper-layer and lower-layer joining device 10 comprises a joining manipulator 37, a joining telescopic arm 38 arranged on the joining manipulator 37 and preferably provided with a lifting and stretching functional component, a joining groove 40 arranged at the center of the joining telescopic arm 38 and used for being meshed at the terminal end of the auxiliary downlink output conveyor belt 59, and a joining conveyor belt 39 arranged on the joining telescopic arm 38 and positioned at two sides of the joining groove 40 and used for receiving the auxiliary downlink output conveyor belt 59 and sending the auxiliary downlink output conveyor belt 59 into a workpiece 1 to be fed and discharged so as to realize the extended conveying of the workpiece, so that the distance difference is generated between a downlink section and an uplink section, the feeding of the workpiece replacement is realized, and the auxiliary conveyor belt can be omitted;
the joining conveyor 39 is used for conveying the workpieces 1 to be loaded and unloaded to the conveyor belt up section 12. Therefore, the connection of the upper layer and the lower layer of the workpiece is realized, and the workpiece is conveyed from the ascending section to the descending section by reverse movement.
The automatic loading and unloading method for part processing of the embodiment is realized by means of an automatic loading and unloading robot for part processing; the method comprises the following steps
Firstly, placing a workpiece 1 to be loaded and unloaded below a clamping step 17 and a process step 18 of an upper row section 12 of a conveyor belt of a first outer forming pair conveyor belt 2, and conveying the workpiece forwards; then, starting the second inner pair of conveyor belts 3 and the first outer pair of conveyor belts 2 to alternately convey, and adjusting the lateral direction through a side auxiliary guide conveyor belt 4;
step two, when the process feeding is needed, the middle feeding and discharging transition device 7 is started, firstly, the transition manipulator 23 ascends to enable the transition positioning baffle 26 to block the workpiece 1 to be fed and discharged from advancing and separate from the ascending section 12 of the conveyor belt; then, the transition pallet 24 is rotated so that the transition bottom process bowl 25 faces the replacement robot 8;
step three, starting the replacement manipulator 8 and the feeding and discharging output device 9, firstly, pushing a replacement supporting plate 31 by a replacement push rod 30, and inserting a replacement supporting fork 32 into the transition bottom process groove 25; the change nest 28 is then raised and separated from the transition pallet 24; secondly, the replacement mechanical seat 28 rotates to rotate the workpiece 1 to be loaded and unloaded to the loading and unloading output device 9, and meanwhile, the replacement support fork 32 sends the workpiece 1 to be loaded and unloaded on the waiting carrier 35 to the transition supporting plate 24 through the carrier process groove 36;
step four, starting the output mechanical arm 11, and loading and unloading the workpiece 1 to be loaded and unloaded on the waiting carrier 35 at the corresponding station;
step five, after the workpiece 1 to be loaded and unloaded returns to the transition supporting plate 24, firstly, the transition manipulator 23 is rotated; then, driving a transitional pushing manipulator 27 to send the workpiece 1 to be loaded and unloaded to the upper section 12 of the conveying belt; secondly, the ascending section 12 of the conveyor belt drives the workpiece 1 to be loaded and unloaded to reach the next station.
Step six, starting the upper and lower layer connecting device 10 after the travel end point is reached; firstly, the connecting conveyor belt 39 is used for rotatably receiving the workpieces 1 to be loaded and unloaded, which are sent by the upper row section 12 of the conveyor belt; then, the engaging manipulator 37 retracts and descends; secondly, the auxiliary downward output conveyor belt 59 is driven to receive the workpiece 1 to be loaded and unloaded and send the workpiece to the lower downward section 13 of the conveyor belt;
seventhly, the articulated carrier 14 positioned at the lower section 13 of the conveyor belt is changed into a vertical state; and pushes the loading and unloading workpieces 1 to move forward on the bottom conveying balls 22.
In step four, the following steps are included;
step four, firstly, the clamping telescopic push rod 43 is started, so that the clamping driving support 44 drives the clamping axial sliding base 46 to move forward; then, the clamping swing block 48 is shifted to rotate on the clamping machine supporting seat 42 by utilizing the clamping slide groove 47; next, the gripping oscillating block 48 is changed from the inclined state to the vertical state, thereby ejecting the gripping driven block 50 outward along the gripping guide sleeve 49; thirdly, the gripping hinged top seat 52 pushes the gripping claw driving arm 54 against the outside of the gripping buffer spring 58; next, the claw holding arm 56 rotates about the gripping claw hinge shaft 53, so that the claw holding pad 57 holds the workpiece 1 to be loaded and unloaded.
The above disclosure is only for the specific embodiment of the present invention, but the embodiment of the present invention is not limited thereto, and any variations that can be made by those skilled in the art should fall within the scope of the present invention.
Claims (10)
1. An automatic loading and unloading robot for part processing is used for conveying workpieces (1) to be loaded and unloaded to realize the connection among stations; the method is characterized in that: comprising a first outer pair of conveyor belts (2) and a second inner pair of conveyor belts (3) arranged between adjacent first outer pairs of conveyor belts (2);
the output end of the first outer pair of conveyor belts (2) is positioned between the input end and the output end of the second inner pair of conveyor belts (3); the input end of the second first outer pair of conveyor belts (2) is positioned between the input end and the output end of the second inner pair of conveyor belts (3);
the first outer pair of conveyor belts (2) is arranged outside the second inner pair of conveyor belts (3);
the first outer pair of conveyor belts (2) and the second inner pair of conveyor belts (3) have the same structure;
the first outer pair of conveyor belts (2) comprises a conveyor belt up section (12) and a conveyor belt down section (13); articulated carriers (14) used for bearing workpieces (1) to be loaded and unloaded are distributed on the first outer paired conveyor belts (2), the root ends of the articulated carriers (14) are installed on the first outer paired conveyor belts (2) through carrier rotating shafts (15) which are transversely arranged, clamping steps (17) are arranged on the upper surfaces of the root ends of the articulated carriers (14), process steps (18) which are as high as the clamping steps (17) are arranged on the upper surfaces of the head hanging ends of the articulated carriers (14), and balancing weights (16) are arranged between the clamping steps (17) and the process steps (18);
an auxiliary return spring (19) is arranged between the hinged carrier (14) and the first outer pair of conveyor belts (2);
the lower surface of the lower moving section (13) of the conveyor belt is in rolling contact with the upper surface of a lower support guide rail (20);
a bottom conveying guide rail (21) is arranged below the lower section (13) of the conveying belt, and bottom conveying balls (22) which are in contact with the lower surface of the workpiece (1) to be loaded and unloaded are arranged on the bottom conveying guide rail (21);
at the lower descending section (13) of the conveyor belt, under the action of a balancing weight (16), the articulated carrier (14) overcomes an auxiliary return spring (19) and changes from a horizontal state to a vertical state, meanwhile, the vertical surface of a clamping step (17) is contacted with the lower descending section (13) of the conveyor belt, and the articulated carrier (14) shifts a workpiece (1) to be loaded and unloaded to move longitudinally on a bottom conveying ball (22).
2. The automatic loading and unloading robot for part processing as claimed in claim 1, wherein the lateral width between the first outer pair of conveyor belts (2) is smaller than the lateral width for conveying the workpiece (1) to be loaded and unloaded;
a side auxiliary guide conveying belt (4) used for contacting with the side surface of the workpiece (1) to be loaded and unloaded is arranged on the outer side of the first outer forming pair of conveying belts (2);
a side process gap (5) is arranged between the side auxiliary guide conveying belt (4) and the side auxiliary guide conveying belt (4);
a middle process gap (6) is arranged between the inner cavities of the first outer pair of conveying belts (2) and the space between the head and the tail of the second inner pair of conveying belts (3);
the middle process gap (6) corresponds to the side process gap (5);
a middle feeding and discharging transition device (7) is arranged at the middle process gap (6);
the middle feeding and discharging transition device (7) comprises a transition manipulator (23), a transition supporting plate (24) which is arranged on the transition manipulator (23) and used for bearing a workpiece (1) to be fed and discharged, wherein the workpiece (1) to be fed and discharged is output by a first outer paired conveying belt (2) or a second inner paired conveying belt (3), a transition bottom process groove (25) which is arranged on the upper surface of the transition supporting plate (24), a transition positioning baffle (26) which is arranged at one end of the transition supporting plate (24) and used for blocking the workpiece (1) to be fed and discharged from moving forwards, and a transition pushing manipulator (27);
when the transition manipulator (23) descends, the height of the transition positioning baffle (26) is lower than that of the bottom conveying ball (22).
3. The automatic loading and unloading robot for part processing as claimed in claim 2, wherein a middle replacement manipulator (8) is arranged on one lateral side of the middle loading and unloading transition device (7), a loading and unloading output device (9) is arranged on the outer side of the middle replacement manipulator (8), and an output manipulator (11) used for being connected with a corresponding station is arranged on one side of the loading and unloading output device (9).
4. The automatic loading and unloading robot for part processing as recited in claim 3, wherein the middle replacement manipulator (8) comprises a replacement mechanical seat (28), replacement hand rests (29) distributed on the replacement mechanical seat (28), a replacement push rod (30) arranged on the replacement hand rest (29), a replacement pallet (31) arranged on the replacement push rod (30), a replacement pallet fork (32) arranged on the replacement pallet (31) and used for being inserted into the transition bottom process groove (25) to carry the workpiece (1) to be loaded and unloaded, and a replacement chamfer (33) arranged at the front end of the replacement pallet fork (32);
the blanking output device (9) comprises a lifting material waiting supporting plate (34), a waiting carrier (35) arranged on the lifting material waiting supporting plate (34) and used for bearing a workpiece (1) to be blanked and unloaded, and a carrier process groove (36) arranged on the waiting carrier (35);
the replacement fork (32) corresponds to the carrier process tank (36).
5. The automatic loading and unloading robot for part processing as claimed in claim 4, wherein the output manipulator (11) comprises a clamping mechanical lifting seat (41) arranged at one side of the lifting material waiting support plate (34), a clamping mechanical support seat (42) and a clamping telescopic push rod (43) which are arranged on the clamping mechanical lifting seat (41), a clamping guide sleeve (49), a clamping driving support (44) which is movably arranged on the clamping telescopic push rod (43), a clamping axial slide seat (46) which is sleeved on the clamping telescopic push rod (43) at the middle part and is positioned on the clamping driving support (44) and has an H-shaped cross section, clamping slide seat grooves (47) arranged at two ends of the clamping axial slide seat (46), and clamping mechanical claws (45) symmetrically arranged at two ends of the clamping axial slide seat (46);
the clamping mechanical claw (45) comprises a clamping swing block (48) with two sides hinged on a clamping mechanical support seat (42) and an oval section, wherein one end of the clamping swing block is positioned in a clamping slide seat groove (47), a clamping driven block (50) which slides in a clamping guide sleeve (49) along the radial direction of a clamping driving support (44), and clamping driven positioning arc grooves (51) arranged at two ends of the clamping driven block (50);
the other end of the clamping swinging block (48) is arranged in the clamping sliding seat groove (47);
a clamping hinged top seat (52) is arranged on the clamping driven positioning arc groove (51), a clamping claw hinged shaft (53) is arranged on the clamping mechanical supporting seat (42), the root of a claw clamping arm (56) is hinged on the clamping claw hinged shaft (53), a claw clamping pad (57) for clamping a workpiece (1) to be loaded and unloaded is arranged at the head of a cantilever of the claw clamping arm (56), a clamping claw reversing arm (55) is connected at the root of the claw clamping arm (56), and a clamping claw driving arm (54) is connected with the clamping claw reversing arm (55);
clamping buffer springs (58) are connected between the two clamping claw driving arms (54), and the clamping claw driving arms (54) are in pressure contact with the corresponding clamping hinged top seats (52) under the action of the clamping buffer springs (58).
6. The automatic loading and unloading robot for part processing as claimed in claim 1 or 5, characterized in that the conveyor belt pair (3) or the conveyor belt pair (3) is arranged in the second inner of the last section of the conveying stroke, an auxiliary downlink output conveyor belt (59) is arranged between the conveyor belt pair (3) or the conveyor belt pair (3) in the second inner, and an upper and lower layer joining device (10) is arranged at the terminal of the auxiliary downlink output conveyor belt (59);
the auxiliary downward output conveyor belt (59) outputs the workpieces (1) to be loaded and unloaded at the downward section (13) of the conveyor belt to the upper and lower layer connecting device (10);
the upper layer and lower layer connecting device (10) comprises a connecting manipulator (37), a connecting telescopic arm (38) arranged on the connecting manipulator (37), a connecting groove (40) arranged at the center of the connecting telescopic arm (38) and used for being occluded at the terminal end of the auxiliary downlink output conveyor belt (59), and a connecting conveyor belt (39) which is arranged on the connecting telescopic arm (38), is positioned at two sides of the connecting groove (40) and is used for receiving the auxiliary downlink output conveyor belt (59) and sending the auxiliary downlink output conveyor belt (59) into a workpiece (1) to be loaded and unloaded;
the connecting conveyor belt (39) is used for conveying the workpiece (1) to be loaded and unloaded to the upper section (12) of the conveyor belt.
7. An automatic loading and unloading robot for part processing is characterized by comprising an output manipulator (11) for clamping a workpiece (1) to be loaded and unloaded;
the output manipulator (11) comprises a clamping mechanical lifting seat (41) arranged on one side of the lifting material waiting support plate (34), a clamping mechanical support seat (42), a clamping telescopic push rod (43) and a clamping guide sleeve (49) which are arranged on the clamping mechanical lifting seat (41), a clamping driving support (44) movably arranged on the clamping telescopic push rod (43), a clamping axial slide seat (46) with the middle part sleeved on the clamping telescopic push rod (43) and positioned on the clamping driving support (44), and the cross section of the clamping axial slide seat is of an H-shaped structure, clamping slide seat grooves (47) arranged at two ends of the clamping axial slide seat (46), and clamping mechanical claws (45) symmetrically arranged at two ends of the clamping axial slide seat (46);
the clamping mechanical claw (45) comprises a clamping swing block (48) with two sides hinged on a clamping mechanical support seat (42) and an oval section, wherein one end of the clamping swing block is positioned in a clamping slide seat groove (47), a clamping driven block (50) which slides in a clamping guide sleeve (49) along the radial direction of a clamping driving support (44), and clamping driven positioning arc grooves (51) arranged at two ends of the clamping driven block (50);
the other end of the clamping swinging block (48) is arranged in the clamping sliding seat groove (47);
a clamping hinged top seat (52) is arranged on the clamping driven positioning arc groove (51), a clamping claw hinged shaft (53) is arranged on the clamping mechanical supporting seat (42), the root of a claw clamping arm (56) is hinged on the clamping claw hinged shaft (53), a claw clamping pad (57) for clamping a workpiece (1) to be loaded and unloaded is arranged at the head of a cantilever of the claw clamping arm (56), a clamping claw reversing arm (55) is connected at the root of the claw clamping arm (56), and a clamping claw driving arm (54) is connected with the clamping claw reversing arm (55);
clamping buffer springs (58) are connected between the two clamping claw driving arms (54), and the clamping claw driving arms (54) are in pressure contact with the corresponding clamping hinged top seats (52) under the action of the clamping buffer springs (58).
8. An automatic loading and unloading method for part processing is characterized in that an automatic loading and unloading robot for part processing is used; the method comprises the following steps
Firstly, placing a workpiece (1) to be loaded and unloaded below a clamping step (17) and a process step (18) of a conveyor belt ascending section (12) of a first outer pair of conveyor belts (2) and conveying the workpiece forwards; then, starting the second inner pair of conveyor belts (3) and the first outer pair of conveyor belts (2) to alternately convey, and adjusting the lateral direction through a side auxiliary guide conveyor belt (4);
step two, when the process feeding is needed, starting the middle feeding and discharging transition device (7), and firstly, enabling the transition manipulator (23) to ascend to enable the transition positioning baffle (26) to stop the workpiece (1) to be fed and discharged from moving forwards and to be separated from the ascending section (12) of the conveying belt; then, rotating the transition pallet (24) to enable the transition bottom process groove (25) to face the replacement manipulator (8);
step three, starting a replacement manipulator (8) and a feeding and discharging output device (9), firstly, pushing a replacement supporting plate (31) by a replacement push rod (30) so that a replacement supporting fork (32) is inserted into a transition bottom process groove (25); then, the robot base (28) is lifted up and replaced. The supporting fork (32) is replaced to lift the workpiece (1) to be loaded and unloaded upwards and separate the workpiece from the transition supporting plate (24); secondly, the replacement mechanical seat (28) rotates to rotate the workpiece (1) to be loaded and unloaded to the loading and unloading output device (9), and meanwhile, the replacement support fork (32) conveys the workpiece (1) to be loaded and unloaded on the waiting carrier (35) to the transition supporting plate (24) through the carrier process groove (36);
step four, starting the output mechanical arm (11), and loading and unloading the workpiece (1) to be loaded and unloaded on the waiting carrier (35) at the corresponding station;
step five, after the workpiece (1) to be loaded and unloaded returns to the transition supporting plate (24), firstly, rotating the transition manipulator (23); then, a transitional pushing manipulator (27) is driven to send the workpiece (1) to be loaded and unloaded to the ascending section (12) of the conveying belt; secondly, the ascending section (12) of the conveying belt drives the workpiece (1) to be loaded and unloaded to reach the next station.
9. The automatic loading and unloading method for part processing as claimed in claim 8, wherein the following steps are performed;
step six, starting the upper-layer and lower-layer connecting devices (10) after the travel end point is reached; firstly, a connecting conveyor belt (39) rotatably receives a workpiece (1) to be loaded and unloaded, which is sent by an upper row section (12) of the conveyor belt; then, the engaging manipulator (37) retracts and descends; secondly, the auxiliary downward output conveyor belt (59) drives, receives the workpiece (1) to be loaded and unloaded and sends the workpiece to the lower downward section (13) of the conveyor belt;
seventhly, the hinged carrier (14) positioned at the lower section (13) of the conveyor belt is changed into a vertical state; and pushes the loading and unloading workpieces (1) to move forward on the bottom conveying ball (22).
10. The automatic loading and unloading method for part processing as claimed in claim 9, wherein in the fourth step, the following steps are included;
firstly, starting a clamping telescopic push rod (43) to enable a clamping driving support (44) to drive a clamping axial sliding seat (46) to move forwards; then, the clamping swing block (48) is shifted to rotate on the clamping mechanical support seat (42) by utilizing the clamping slide groove (47); secondly, the gripping swing block (48) is changed from the inclined state to the vertical state, thereby ejecting the gripping driven block (50) outward along the gripping guide sleeve (49); thirdly, the clamping hinged top seat (52) overcomes the outer top of the clamping buffer spring (58) to clamp the claw driving arm (54); subsequently, the claw holding arm (56) is rotated about the gripping claw hinge shaft (53) so that the claw holding pad (57) holds the workpiece (1) to be loaded and unloaded.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110013462.7A CN112850078B (en) | 2019-12-25 | 2019-12-25 | Output manipulator and method of automatic loading and unloading robot for part machining |
| CN201911356826.0A CN111003474B (en) | 2019-12-25 | 2019-12-25 | Automatic loading and unloading robot for part machining |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911356826.0A CN111003474B (en) | 2019-12-25 | 2019-12-25 | Automatic loading and unloading robot for part machining |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110013462.7A Division CN112850078B (en) | 2019-12-25 | 2019-12-25 | Output manipulator and method of automatic loading and unloading robot for part machining |
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| Publication Number | Publication Date |
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| CN111003474A true CN111003474A (en) | 2020-04-14 |
| CN111003474B CN111003474B (en) | 2021-03-23 |
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| CN201911356826.0A Expired - Fee Related CN111003474B (en) | 2019-12-25 | 2019-12-25 | Automatic loading and unloading robot for part machining |
| CN202110013462.7A Active CN112850078B (en) | 2019-12-25 | 2019-12-25 | Output manipulator and method of automatic loading and unloading robot for part machining |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202110013462.7A Active CN112850078B (en) | 2019-12-25 | 2019-12-25 | Output manipulator and method of automatic loading and unloading robot for part machining |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112547555A (en) * | 2020-11-19 | 2021-03-26 | 无锡普天铁心股份有限公司 | Silicon steel hot rolling limit portion breach detection device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116409628B (en) * | 2023-06-12 | 2023-08-11 | 默克韦尔传动技术(苏州)有限公司 | Automatic picking and placing device for production of frequency converter based on manipulator |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112850078B (en) | 2022-07-05 |
| CN112850078A (en) | 2021-05-28 |
| CN111003474B (en) | 2021-03-23 |
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