CN113843341A - Automatic workpiece conveying device - Google Patents
Automatic workpiece conveying device Download PDFInfo
- Publication number
- CN113843341A CN113843341A CN202111400426.2A CN202111400426A CN113843341A CN 113843341 A CN113843341 A CN 113843341A CN 202111400426 A CN202111400426 A CN 202111400426A CN 113843341 A CN113843341 A CN 113843341A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- axis robot
- lifting
- grabbing part
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 241000252254 Catostomidae Species 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims 2
- 238000004080 punching Methods 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D28/00—Shaping by press-cutting; Perforating
- B21D28/24—Perforating, i.e. punching holes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D28/00—Shaping by press-cutting; Perforating
- B21D28/02—Punching blanks or articles with or without obtaining scrap; Notching
- B21D28/04—Centering the work; Positioning the tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/027—Combined feeding and ejecting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of workpiece conveying equipment, in particular to an automatic workpiece conveying device. The device comprises a mounting frame, a lifting workpiece mechanism, a workpiece storage table, a first multi-axis robot, a first grabbing part, a second multi-axis robot, a second grabbing part and a CCD industrial camera, wherein the lifting workpiece mechanism and the workpiece storage table, the first multi-axis robot, the second multi-axis robot and the CCD industrial camera are all mounted in the mounting frame, the second grabbing part is mounted on the second multi-axis robot, and the first grabbing part is mounted on the first multi-axis robot. The invention lifts the workpiece to the material taking height through the workpiece lifting mechanism. The workpiece is placed on the workpiece storage table through the first multi-axis robot and the first grabbing part. And putting the workpiece into the punching machine through the second multi-axis robot and the second grabbing part. The orientation of the workpiece is judged by a CCD industrial camera. The application improves the work efficiency of the workpiece placing plate and improves the positioning precision.
Description
Technical Field
The invention relates to the field of workpiece conveying equipment, in particular to an automatic workpiece conveying device.
Background
The workpiece needs to be placed on an accurate punching station according to a certain orientation, and then the workpiece can be punched by the punching machine. At present, the placement of workpieces is completed through manual operation, so that the working efficiency is low, and the placement precision is not high.
Disclosure of Invention
To solve the technical problems described in the background art, the present invention provides an apparatus for automatically conveying a workpiece. The workpiece is lifted to the material taking height through the workpiece lifting mechanism. The workpiece is placed on the workpiece storage table through the first multi-axis robot and the first grabbing part. And putting the workpiece into the punching machine through the second multi-axis robot and the second grabbing part. The orientation of the workpiece is judged by a CCD industrial camera. The application improves the work efficiency of the workpiece placing plate and improves the positioning precision.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides an automatic work piece carrying device, includes that mounting bracket, lifting workpiece mechanism, work piece deposit platform, multiaxis robot one, snatch one, multiaxis robot two, snatch two, CCD industrial camera, lifting workpiece mechanism, work piece deposit platform, multiaxis robot one, multiaxis robot two, CCD industrial camera all install in the mounting bracket, snatch two and install on multiaxis robot two, snatch one and install on multiaxis robot one.
Specifically, the workpiece lifting mechanism consists of a table body, a lifting linear module and a lifting plate, wherein a cylinder body of the lifting linear module is fixed on the table body, the lifting plate is connected on the table body in a sliding manner, and the lifting plate is fixed on a sliding seat of the lifting linear module.
Specifically, the first grabbing part comprises a linear support, a connecting rod and a first sucker, the linear support is fixed on the first multi-axis robot, the connecting rod is fixed at each of two ends of the linear support, and the first suckers are sequentially fixed on the connecting rod.
Specifically, the second grabbing part comprises rectangular frames and second suckers, the two rectangular frames are fixed on the second multi-axis robot, and the rectangular frames are fixed with the second suckers.
The invention has the beneficial effects that: the invention provides an automatic workpiece conveying device. The workpiece is lifted to the material taking height through the workpiece lifting mechanism. The workpiece is placed on the workpiece storage table through the first multi-axis robot and the first grabbing part. And putting the workpiece into the punching machine through the second multi-axis robot and the second grabbing part. The orientation of the workpiece is judged by a CCD industrial camera. The application improves the work efficiency of the workpiece placing plate and improves the positioning precision.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a first grasping portion of the present invention;
FIG. 3 is a schematic structural view of a second grasping portion of the present invention;
in the figure, 1, a mounting frame, 2, a workpiece lifting mechanism, 3, a workpiece storage table, 4, a first multi-axis robot, 5, a first grabbing part, 6, a second multi-axis robot, 7, a second grabbing part, 8, a CCD industrial camera, 51, a linear support, 52, a connecting rod, 53, a first sucker, 71, a rectangular frame and 72, and a second sucker are arranged.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Fig. 1 is a schematic structural view of the present invention, fig. 2 is a schematic structural view of a first grip portion of the present invention, and fig. 3 is a schematic structural view of a second grip portion of the present invention.
The utility model provides an automatic carry work piece device, includes that mounting bracket 1, lifting workpiece mechanism 2, work piece deposit platform 3, multiaxis robot 4, snatch a 5, multiaxis robot two 6, snatch a two 7, CCD industry camera 8, lifting workpiece mechanism 2, work piece deposit platform 3, multiaxis robot 4, multiaxis robot two 6, CCD industry camera 8 all install in mounting bracket 1, snatch a two 7 and install on multiaxis robot two 6, snatch a 5 and install on multiaxis robot 4. The lifting workpiece mechanism 2 consists of a table body, a lifting linear module and a lifting plate, wherein a cylinder body of the lifting linear module is fixed on the table body, the lifting plate is connected on the table body in a sliding manner, and the lifting plate is fixed on a sliding seat of the lifting linear module. The first grabbing part 5 comprises a linear support 51, a connecting rod 52 and first suckers 53, the linear support 51 is fixed on the first multi-axis robot 4, the connecting rod 52 is fixed at each of two ends of the linear support 51, and the first suckers 53 are sequentially fixed on the connecting rod 52. The second grabbing part 7 is composed of a rectangular frame 71 and second suckers 72, the two rectangular frames 71 are fixed on the second multi-axis robot 6, and the rectangular frames 71 are fixed with the second suckers 72.
Referring to the attached drawings 1, 2 and 3, a workpiece is placed on a lifting plate of a workpiece lifting mechanism 2, then a lifting linear module drives the lifting plate to move upwards, and after the lifting plate moves upwards to a workpiece taking height along with a product, a first multi-axis robot 4 drives a first grabbing part 5 to grab the workpiece. After the first sucker 53 of the first grabbing part 5 sucks the workpiece through negative pressure suction, the first multi-axis robot 4 grabs the workpiece, the CCD industrial camera 8 transmits image information of the grabbed workpiece to the controller, the controller controls the first multi-axis robot 4 to adjust the orientation of the workpiece, and finally the oriented workpiece is placed on the workpiece storage table 3. At the moment, the multi-axis robot II 6 drives the grabbing part II 7 to grab the workpiece on the workpiece storage table 3, the sucking disc II 72 of the grabbing part II 7 sucks the product through negative pressure suction, and finally the multi-axis robot II 6 sends the product into the punching machine for punching. The workpiece storage table 3 is made of a light-transmitting material with holes, so that the CCD industrial camera 8 can capture the MARK point of the workpiece more easily, and the function of precise positioning is achieved.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (4)
1. An automatic workpiece conveying device is characterized in that: the multi-axis robot comprises an installation frame (1), a lifting workpiece mechanism (2), a workpiece storage table (3), a multi-axis robot I (4), a grabbing part I (5), a multi-axis robot II (6), a grabbing part II (7) and a CCD industrial camera (8), wherein the lifting workpiece mechanism (2), the workpiece storage table (3), the multi-axis robot I (4), the multi-axis robot II (6) and the CCD industrial camera (8) are all installed in the installation frame (1), the grabbing part II (7) is installed on the multi-axis robot II (6), and the grabbing part I (5) is installed on the multi-axis robot I (4).
2. The automatic workpiece handling device according to claim 1, wherein: the lifting workpiece mechanism (2) is composed of a table body, a lifting linear module and a lifting plate, wherein a cylinder body of the lifting linear module is fixed on the table body, the lifting plate is connected on the table body in a sliding manner, and the lifting plate is fixed on a sliding seat of the lifting linear module.
3. The automatic workpiece handling device according to claim 1, wherein: the grabbing part I (5) is composed of a linear support (51), a connecting rod (52) and a first sucker (53), the linear support (51) is fixed on the multi-axis robot I (4), the connecting rod (52) is fixed at two ends of the linear support (51) respectively, and a plurality of first suckers (53) are fixed on the connecting rod (52) in sequence.
4. The automatic workpiece handling device according to claim 1, wherein: the second grabbing part (7) is composed of rectangular frames (71) and second suckers (72), the two rectangular frames (71) are fixed on the second multi-axis robot (6), and the rectangular frames (71) are fixed with the second suckers (72).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020113947645 | 2020-12-03 | ||
| CN202011394764.5A CN112496144A (en) | 2020-12-03 | 2020-12-03 | Workpiece punching and plate placing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113843341A true CN113843341A (en) | 2021-12-28 |
Family
ID=74969431
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011394764.5A Withdrawn CN112496144A (en) | 2020-12-03 | 2020-12-03 | Workpiece punching and plate placing machine |
| CN202111400426.2A Pending CN113843341A (en) | 2020-12-03 | 2021-11-24 | Automatic workpiece conveying device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011394764.5A Withdrawn CN112496144A (en) | 2020-12-03 | 2020-12-03 | Workpiece punching and plate placing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN112496144A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114229430A (en) * | 2022-01-06 | 2022-03-25 | 昆山可立维机电有限公司 | Multi-level temporary storage machine |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202845630U (en) * | 2012-10-12 | 2013-04-03 | 佛山市艾乐博机器人科技有限公司 | Stamping mechanical arm |
| CN207170640U (en) * | 2017-08-17 | 2018-04-03 | 中山市蓝海自动化设备有限公司 | A kind of elastomer automatic punching device |
| CN210150263U (en) * | 2019-07-02 | 2020-03-17 | 苏州耀百自动化技术有限公司 | Workpiece carrying and detecting mechanism |
| CN111151906A (en) * | 2019-12-30 | 2020-05-15 | 苏州贸贝特自动化科技有限公司 | Compressor assembly welding production line and control method |
| CN210936829U (en) * | 2019-09-25 | 2020-07-07 | 重庆华品电子科技有限公司 | Automatic grabbing equipment |
| CN211197828U (en) * | 2019-11-27 | 2020-08-07 | 昆山煜弘达自动化科技有限公司 | Automatic feeding equipment for curved surface products |
-
2020
- 2020-12-03 CN CN202011394764.5A patent/CN112496144A/en not_active Withdrawn
-
2021
- 2021-11-24 CN CN202111400426.2A patent/CN113843341A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202845630U (en) * | 2012-10-12 | 2013-04-03 | 佛山市艾乐博机器人科技有限公司 | Stamping mechanical arm |
| CN207170640U (en) * | 2017-08-17 | 2018-04-03 | 中山市蓝海自动化设备有限公司 | A kind of elastomer automatic punching device |
| CN210150263U (en) * | 2019-07-02 | 2020-03-17 | 苏州耀百自动化技术有限公司 | Workpiece carrying and detecting mechanism |
| CN210936829U (en) * | 2019-09-25 | 2020-07-07 | 重庆华品电子科技有限公司 | Automatic grabbing equipment |
| CN211197828U (en) * | 2019-11-27 | 2020-08-07 | 昆山煜弘达自动化科技有限公司 | Automatic feeding equipment for curved surface products |
| CN111151906A (en) * | 2019-12-30 | 2020-05-15 | 苏州贸贝特自动化科技有限公司 | Compressor assembly welding production line and control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114229430A (en) * | 2022-01-06 | 2022-03-25 | 昆山可立维机电有限公司 | Multi-level temporary storage machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112496144A (en) | 2021-03-16 |
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