CN115303774A

CN115303774A - Jig workpiece dismounting and loading and unloading method and equipment thereof

Info

Publication number: CN115303774A
Application number: CN202210949298.5A
Authority: CN
Inventors: 李立进; 郭坤龙; 温添宇
Original assignee: Shenzhen East Win Technology Co Ltd
Current assignee: Shenzhen East Win Technology Co Ltd
Priority date: 2022-07-27
Filing date: 2022-08-09
Publication date: 2022-11-08

Abstract

The invention relates to the technical field of material processing, in particular to a jig workpiece dismounting and loading and unloading method.A workpiece to be processed is extracted from a first loading and unloading device through a first material taking manipulator, is moved to a first material transferring device and is conveyed to a first area to be extracted through the first material transferring device; the transfer robot transfers the workpiece to be processed to a processing area from the first area to be extracted for processing; the transfer robot extracts the processed workpiece from a processing area, transfers the processed workpiece to the second material transfer device and conveys the processed workpiece to a second area to be extracted through the second material transfer device; the second manipulator moves the processed workpiece from the second region to be extracted to a second loading and unloading device for unloading; the circulation can ensure the continuity of feeding and discharging, reduce the time of feeding and discharging and further improve the production efficiency; still provide a unloading equipment on tool work piece dismouting for whole device compact structure, rationally distributed, thereby be favorable to automation line's use.

Description

Jig workpiece dismounting and loading and unloading method and equipment thereof

Technical Field

The invention relates to the technical field of material processing, in particular to a method and equipment for loading and unloading a jig workpiece in a dismounting manner.

Background

In production, the stores pylon machine often uses the tool, places the product and processes on the tool, for example carries out anodic oxidation and handles etc.. When the product is required to be fixed in the jig for processing, the jig is required to be assembled and locked before processing so that the product can be fixed in the jig.

In actual production, the jig and the products are placed on a material rack of a rack machine at the same time for unified processing, after the processing is finished, the jig is transferred to a jig dismounting station for unlocking so as to take the processed products out of the jig, and the transferring process is very complicated; however, in the conventional process, the loading and unloading of the jig and the product are usually carried out manually, which results in low production efficiency, and if some chemicals are involved, the health of human body is easily affected. Therefore, the problem can be better solved by the method and the equipment for loading and unloading the jig workpiece.

Disclosure of Invention

The invention aims to provide a loading and unloading method for disassembling and assembling a jig workpiece, which aims to overcome at least one of the defects in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme: a loading and unloading method for disassembling and assembling a jig workpiece comprises the following steps: the first material taking manipulator takes the workpiece to be processed from the first feeding and discharging device, moves the workpiece to be processed to the first material transferring device, and conveys the workpiece to be processed to a first region to be extracted through the first material transferring device; the transfer robot transfers the workpiece to be processed to a processing area from the first area to be extracted for processing; the transfer robot extracts the processed workpiece from a processing area, transfers the processed workpiece to the second material transfer device and conveys the processed workpiece to a second area to be extracted through the second material transfer device; and the second manipulator moves the processed workpiece to a second loading and unloading device from the second region to be extracted for blanking.

The invention further improves, the loading and unloading method for assembling and disassembling the jig workpiece further provides an NG product unloading mechanism and an NG product detection area arranged in a processing area, and before the steps that the transfer robot extracts the processed workpiece from the processing area and transfers the processed workpiece to the second transfer device, the loading and unloading method further comprises the following steps: the transfer robot extracts the processed workpiece from a processing area, transfers the processed workpiece to an NG product detection area for detection, and transfers the detected NG product workpiece to an NG product blanking mechanism for blanking.

The invention further improves that the tool workpiece dismounting and loading and unloading method also comprises another processing area at one side of the loading and unloading device, and after the step that the second mechanical arm moves the processed workpiece from the second to-be-extracted area to the second loading and unloading device for unloading, the method also comprises the following steps: placing the machined workpiece subjected to blanking in another machining area for machining again; and then placing the re-processed workpiece on the first loading and unloading device.

The invention further improves, the loading and unloading method for disassembling the jig workpiece also provides a loading mechanism, and the loading mechanism is arranged at one side of the transfer robot; the method further comprises the following steps: the transfer robot extracts the workpiece to be processed from the material carrying mechanism and transfers the workpiece to be processed to a processing area for processing.

Another object of the present invention is to provide a loading and unloading apparatus for assembling and disassembling a jig workpiece, comprising: providing a base station, wherein at least two groups of loading and unloading devices are arranged on the base station, and the first loading and unloading device and the loading and unloading device are correspondingly arranged on the base station at intervals and are used for loading and unloading a workpiece; the first material transferring device and the second material transferring device are respectively and correspondingly arranged on one side of each feeding and discharging device and are used for conveying workpieces; the first material taking manipulator and the second material taking manipulator are respectively and correspondingly arranged between each feeding and discharging device and each material transferring device and are used for extracting workpieces; and the transfer robot is arranged on one side of the transfer device, is far away from the material taking device and is used for transferring workpieces.

The invention further improves, and the loading and unloading device comprises: the first station and the second station are arranged on the base platform; the material rack is arranged on the first station and used for carrying workpieces; a transfer mechanism for transferring the rack from the first station to the second station; and the rotating structure is arranged on the first station and used for rotating the placing angle of the material rack so as to transfer the material rack to the corresponding position of the second station by the transfer mechanism.

In a further improvement of the present invention, the material extracting manipulator further comprises: the material taking mechanism and the moving module are connected with the material taking mechanism so as to drive the material taking mechanism to move towards the material rack; the material taking mechanism comprises: the clamping structure is used for clamping a workpiece, and the material supporting structure is correspondingly arranged below the clamping structure and can move longitudinally; the material supporting structure comprises a material supporting part and a power module which is connected with the material supporting part to drive the material supporting part to move linearly in the longitudinal direction; the clamping structure of the material taking mechanism can be driven by the moving module to move to the position above the workpiece, and the workpiece corresponds to the clamping groove of the clamping structure; the material supporting part corresponds to the clamping groove, and the material supporting part can move upwards under the driving of the power module so as to support the workpiece into the clamping groove of the clamping structure.

The invention further improves that the material transferring device comprises a first material transferring mechanism and a second material transferring mechanism, wherein the upper layer and the lower layer of the first material transferring mechanism are arranged on the base platform in parallel; the first material transferring mechanism and the second material transferring mechanism are respectively provided with a material loading structure and a moving assembly for driving the material loading structure to horizontally move; the loading structure comprises a first loading part and a second loading part which are used for loading workpieces; wherein, the second carries the material portion bottom to be provided with rather than being connected and be used for driving its horizontal rotation's flip structure.

In a further development of the invention, the transfer robot comprises: the swinging mechanism comprises a rotating seat, a mechanical arm rotationally connected with the rotating base and a power part connected with the mechanical arm and positioned at one end far away from the rotating seat; tongs structure, tongs structure includes: the base is used for being connected with the power part of the gripper structure; the clamping structures are respectively arranged on two sides of the base; the driving structure is arranged between the clamping structure and the base and is used for driving the clamping structure to clamp the workpiece; the clamping structure comprises a first clamping piece and a second clamping piece which is arranged corresponding to the first clamping piece, and a clamping area for clamping a workpiece is formed between the first clamping piece and the second clamping piece; the driving structure comprises a first driving assembly and a second driving assembly, and the first driving assembly and the second driving assembly respectively drive the first clamping piece and the second clamping piece to move linearly towards the direction of the clamping area so as to clamp the workpiece.

The further improvement of the invention, the NG article blanking mechanism comprises: the first conveying mechanism and the second conveying mechanism that correspond and the level was arranged on upper and lower layer, first conveying mechanism and second conveying mechanism have respectively: the device comprises a bracket, a first rotating shaft and a second rotating shaft, wherein the first rotating shaft and the second rotating shaft are horizontally arranged at two ends of the bracket; the conveying belt is sleeved on the first rotating shaft and the second rotating shaft and can rotate around the first rotating shaft and the second rotating shaft; and the driving component is connected with the first rotating shaft and is used for driving the first rotating shaft to rotate, so that the conveying belt is driven to rotate.

Compared with the prior art, the invention has at least the following beneficial effects: the jig workpiece dismounting and loading and unloading method comprises the steps that a workpiece to be machined is extracted from a first loading and unloading device through a first material taking mechanical arm, the workpiece to be machined is moved to a first material transferring device, and the workpiece to be machined is conveyed to a first area to be extracted through the first material transferring device; the transfer robot transfers the workpiece to be processed to a processing area from the first area to be extracted for processing; the transfer robot extracts the processed workpiece from a processing area, transfers the processed workpiece to the second material transfer device and conveys the processed workpiece to a second area to be extracted through the second material transfer device; the second manipulator moves the processed workpiece from the second region to be extracted to a second loading and unloading device for unloading; the circulation can ensure the continuity of feeding and discharging, reduce the time of feeding and discharging and further improve the production efficiency.

In addition, this unloading equipment on tool work piece dismouting includes: providing a base station, wherein at least two groups of loading and unloading devices are arranged on the base station, and the first loading and unloading device and the loading and unloading devices are correspondingly arranged on the base station at intervals and are used for loading and unloading workpieces; the first material transferring device and the second material transferring device are respectively and correspondingly arranged on one side of each feeding and discharging device and are used for conveying workpieces; the first material taking manipulator and the second material taking manipulator are respectively and correspondingly arranged between each feeding and discharging device and each material transferring device and are used for extracting workpieces; the transfer robot is arranged on one side of the material transfer device, is far away from the material taking device and is used for transferring workpieces; through the ingenious combination together for whole device compact structure, rationally distributed, thereby be favorable to automation line's use.

The invention is further described with reference to the drawings and the specific embodiments in the following description.

Drawings

FIGS. 1-4 are schematic views illustrating the process of loading and unloading during the assembly and disassembly of a jig workpiece according to the present invention;

FIG. 5 is a block diagram of the overall structure flow of the loading and unloading method for disassembling and assembling the jig workpiece according to the present invention;

FIGS. 6-7 are schematic views of the overall structure of the present invention;

FIG. 8 is a schematic perspective view of a loading and unloading apparatus according to the present invention;

FIG. 9 is an enlarged view of the part A of the loading and unloading apparatus of FIG. 8 according to the present invention;

FIG. 10 is an enlarged schematic view of a part B of the loading and unloading apparatus of FIG. 8 according to the present invention;

FIG. 11 is a schematic side view of the loading and unloading apparatus of the present invention;

fig. 12 is a schematic view of a three-dimensional structure of a rack of the loading and unloading device of the present invention;

figures 13 and 15 are schematic perspective views of a material extraction robot of the present invention;

FIG. 14 is an enlarged partial schematic view of portion A of the material extraction robot of FIG. 13 in accordance with the present invention;

FIG. 16 is a schematic view of a material handling robot according to the present invention in an in-use configuration;

FIGS. 17-18 are schematic perspective views of the transfer device of the present invention;

FIGS. 19-20 are schematic views of a partial structure of the transfer device of the present invention;

FIG. 21 is an enlarged view of the portion A of the transferring device shown in FIG. 17;

FIG. 22 is a schematic top view of the transfer device of the present invention;

FIG. 23 is a schematic view of the overall structure of the transfer robot of the present invention;

fig. 24 is a schematic view showing the overall structure of a gripper structure of the transfer robot according to the present invention;

FIG. 25 is a schematic view of a portion A of the transfer robot of FIG. 24 according to the present invention;

FIG. 26 is a schematic view of a portion B of the transfer robot of FIG. 23 according to the present invention;

fig. 27 is a schematic view of the entire structure of the swing mechanism of the transfer robot of the present invention;

FIG. 28 is a schematic perspective view of an NG product blanking mechanism according to the present invention;

FIG. 29 is a schematic structural view of a NG product blanking mechanism according to the present invention;

fig. 30 is a schematic side view of the NG product blanking mechanism of the present invention.

Reference numerals: a. a loading and unloading device; b. a material taking manipulator; c. a material transferring device; d. a transfer robot; e. an NG product blanking mechanism; f. A first processing station; g. a second processing station; h. a base station; i. a workpiece; k. a material rack; a2, a first station; a3, a second station; a4, a transfer mechanism; a41, grabbing a structure; a411, a connecting part; a412, a grasping part; a42, a transverse shaft transmission module; a421, a transmission track; a422, a transmission seat; a423, a first driving member; a43, a vertical shaft transmission module; a431 and a second driving piece; a44, a positioning structure; a441, positioning blocks; a5, a rotating structure; a51, a rotating platform; a52, a power device; a61, a hook structure; b2, placing a structure; b21, a first placing piece; b22, a second placing piece; b23, a placing area; b3, a material taking mechanism; b31, clamping the structure; b311, a clamping groove; b32, supporting a material structure; b321, supporting parts; b322, a power module; b4, moving the module; b41, a sliding rail; b42, a sliding block; b43, a driving device; b5, a positioning structure; b51, a first positioning piece; b52, a second positioning piece; b6, a power device; b7, carrying a structure; b8, a lifting component; c2, a first material transferring mechanism; c3, a second material transferring mechanism; c4, carrying a material structure; c41, a first material loading part; c42, a second material loading part; c5, moving the assembly; c51, a mover; c52, a slide rail group; c53, a driving component; c6, turning over the structure; c61, a second transmission member; c62, a driving piece; c7, supporting components; d1, a swing mechanism; d11, a rotating base; d12, a mechanical arm; d13, a power part; d121, a first connecting arm; d122, a second connecting arm; d123, a third connecting arm; d2, a gripper structure; d21, a base; d22, a clamping structure; d221, a first clamping member; d222, a second clamping member; d223, a clamping area; d224, a clip body; d225, a clamping jaw part; d226, card slot; d23, a driving structure; d231, a first driving component; d232, a second driving assembly; d233, a slide rail; d234, a slider; d235, a power part; e1, a first conveying mechanism; e2, a second conveying mechanism; e3, a base; e4, a first rotating shaft; 5. e a second rotating shaft; e6, conveying a belt; e7, a driving component; e71, a driving member; e72, a first linkage wheel; e73, a second linkage wheel; e74, a linkage belt; e8, a notch part; e9, a support frame; e10, connecting pieces; e11, a feed end; e12, a discharging end; e13, supporting structure.

Detailed Description

The present invention is described in more detail below with reference to specific examples, but the embodiments of the present invention are not limited thereto, and the examples are illustrative and are intended to explain the present invention, and should not be construed as limiting the present invention. For process parameters or conditions not specifically mentioned, it can be carried out with reference to conventional techniques.

Referring to fig. 1 to 26, the technical solution adopted by the present embodiment is as follows: a loading and unloading method for disassembling and assembling jig workpieces i comprises the following steps: s6: the first material taking manipulator b extracts a workpiece i to be processed from the first loading and unloading device a, moves the workpiece i to be processed to the first material transferring device c, and conveys the workpiece i to be processed to a first area to be extracted through the first material transferring device c; s7: the transfer robot d transfers the workpiece i to be processed to a processing area from the first area to be extracted for processing; s3: the transfer robot d extracts the processed workpiece i from a processing area, transfers the processed workpiece i to a second material transfer device c and conveys the processed workpiece i to a second area to be extracted through the second material transfer device c; s4: and the second mechanical arm moves the processed workpiece i to a second loading and unloading device a from the second region to be extracted for unloading.

The steps are as follows: executing S6, S7, S3, and S4 in sequence is one of the working modes of the present invention, specifically: one side that first unloader a and second unloader a correspond goes up unloading station respectively, and wherein, should go up unloading station can also be unloading for the manual work, also can be for the manipulator goes up unloading to can guarantee the continuation of going up unloading.

In a second working mode of the present invention, the method for loading and unloading jig workpieces i by disassembling and assembling further comprises an NG product unloading mechanism e and an NG product detecting area disposed in a processing area, wherein before the step of picking up the processed workpiece i from the processing area by the transfer robot d and transferring the processed workpiece i to the second material transferring device c, the method further comprises the steps of: s2: the transfer robot d extracts a processed workpiece i from a processing area, transfers the processed workpiece i to an NG product detection area for detection, and transfers the workpiece i detected as an NG product to an NG product blanking mechanism e for blanking; if the workpiece i is detected to be a non-NG workpiece i, the steps S3-S4 are executed.

In a third working mode of the present invention, the method for loading and unloading a jig workpiece i by dismounting further includes another processing area on one side of the loading and unloading device a, and after the step of moving the processed workpiece i to the second loading and unloading device a from the second to-be-extracted area by the second manipulator, the method further includes the steps of: s5: placing the machined workpiece i subjected to blanking in another machining area for machining again, then placing the machined workpiece i in the first loading and unloading device a again, and then sequentially executing the steps S6, S7, S2, S3 and S4 in such a circulating manner; the re-processing can be understood as the processing of the raw material with the jigs into clinker with the jigs.

The fourth working mode of the invention is that the loading and unloading method for disassembling and assembling the jig workpiece i further provides a loading mechanism which is arranged on one side of the transfer robot d; the method further comprises the steps of: s1: and the transfer robot d extracts the workpiece i to be processed from the material carrying mechanism and transfers the workpiece i to be processed to a processing area for processing. Wherein, deposit in this year material mechanism and wait to process work piece i, should wait to process work piece i and be anchor clamps.

The specific implementation mode of the method is as follows: step S1 is performed first: the transfer robot d extracts a workpiece i to be processed from the material carrying mechanism and transfers the workpiece i to be processed to a processing area for processing, namely, a clamp arranged in the material carrying mechanism is transferred to the processing area to assemble raw materials and the clamp into a raw material workpiece i;

then, executing steps S3-S5, namely transferring the raw material workpiece i to a second material transferring device c by a transferring robot d, then discharging, processing the raw material workpiece i through another processing area, namely an oxidation mechanism, carrying out anodic oxidation treatment on the raw material workpiece i to form a clinker workpiece i, and placing the clinker workpiece i on a first loading and unloading device a;

then, step S7 is performed in order: the transfer robot d transfers the workpiece i to be processed to a processing area from the first area to be extracted for processing; the processing area is used for unlocking the clinker workpiece i so as to take out the processed product from the jig; then assembling the raw material and the clamp into a raw material workpiece i; then, returning to the step S3-S6, and circulating in the way;

wherein step S2 is performed after the clinker workpiece i is unlocked to take the finished product out of the fixture, i.e. after step S7 is performed.

In conclusion, the method for loading and unloading the jig workpiece i in the dismounting process can ensure the continuity of loading and unloading, and the cycle is repeated, so that the time for loading and unloading is shortened, and the production efficiency is improved.

The utility model provides a unloading equipment on tool work piece dismouting, includes: a base station h; the two feeding and discharging devices a are symmetrically arranged on the base platform h at intervals and are used for feeding and discharging a workpiece i; the material transferring devices c are correspondingly arranged on one side of each loading and unloading device a respectively and are used for conveying workpieces i; the material taking manipulators b are respectively and correspondingly arranged between the loading and unloading devices a and the material transferring devices c and are used for extracting workpieces i; the transfer robot d is arranged on one side of the material transfer device c, is far away from the material taking device and is used for transferring the workpiece i; the NG product blanking mechanism e is arranged on one side of the transfer robot d and used for blanking NG products; wherein, change material device c and be used for driving work piece i and move between last unloader a and transfer robot d.

This unloader a, it includes: a base station h; the first station a2 and the second station a3 are arranged on the base platform h; the first station a2 and the second station a3 are two adjacent stations and are distributed in rows; the material rack k is placed on the first station a2 and used for carrying the workpieces i, the material rack k is used for placing a plurality of workpieces i, however, a placing area for placing the workpieces i is arranged on the inner side of the material rack k, a plurality of placing structures for placing the workpieces i are uniformly arranged in the placing area, and a connecting piece used for being grabbed by the grabbing structure a41 of the transfer mechanism a4 is arranged at the top of the material rack k.

A transfer mechanism a4 for transferring the rack k from the first station a2 to the second station a3; the transfer mechanism a4 is positioned above the base platform h, and the transfer mechanism a4 comprises a grabbing structure a41 for taking and placing the material rack k, a vertical shaft transmission module a43 connected with the grabbing structure a41 to drive the grabbing structure to vertically and linearly move, and a transverse shaft transmission module a42 connected with the vertical shaft transmission module a43 to drive the vertical shaft transmission module to horizontally move; however, when the rack k is placed at the first station a2, the vertical shaft transmission module a43 drives the grabbing structure a41 to move linearly and reciprocally downward to grab the rack k, and the horizontal shaft transmission module a42 drives the grabbing structure a41 to move horizontally to transfer the grabbed rack k to the position above the second station a3, and then the vertical shaft transmission module a43 moves linearly and reciprocally to place the rack k on the second station a 3. However, in the above operation steps, the turnover of the rack k is matched with the moving mechanism, so that manual turnover is replaced, the turnover efficiency is improved, and the labor force of workers is greatly reduced, so that the rack k has the characteristics of simple and reasonable structure and convenience in use.

The rotating structure a5 is arranged on the first station a2 and used for rotating the placing angle of the rack k so that the transfer mechanism a4 can transfer the rack k to the corresponding position of the second station a3; the rotating structure a5 comprises a rotating platform a51 arranged on the first station a2 and a power device a52 arranged at the bottom of the rotating platform a51 to drive the rotating platform a51 to rotate horizontally, wherein the power device a52 can be a motor; however, the rack k can be rotated by the rotating structure a5, so that the orientation of the rack k is the same as the orientation of the corresponding position of the two stations, and therefore, the rack k is beneficial to accurately transferring the first station a2 to the corresponding position of the second station a3, and further, the manipulator can take materials from the rack k on the second station a3 conveniently.

Wherein the first station a2 and the second station a3 are coaxially arranged, however, the transverse shaft transmission module a42 horizontally moves along the axial direction of the first station a2 and the second station a3; the transverse shaft transmission module a42 comprises a transmission rail a421, a transmission seat a422 slidably connected with the transmission rail a421, and a first driving member a423 connected with the transmission seat a422 and used for driving the transmission seat a422 to move horizontally; the vertical shaft transmission module a43 comprises a second driving piece a431 which is fixed at the bottom of the transmission seat a422 and is used for driving the grabbing structure a41 to vertically move; however, the first driving element a423 and the second driving element a431 may be cylinders, but obviously, the invention is not limited thereto, and other driving elements are also applicable to the embodiment.

One end of the grabbing structure a41 is provided with a connecting part a411 connected with the power part of the second driving part a431, and the other end is provided with a grabbing part a412 used for taking and placing the rack k; specifically, the rack k has a hook structure a61, the connecting member is a strip-shaped structure, the grabbing part a412 of the grabbing structure a41 is rectangular, however, the grabbing part a412 can be clamped in the hook structure a 61; through the design, the hook structures a61 on the material rack k are grabbed by the grabbing parts a412 of the grabbing structures a 41; it should be noted that, in addition to the above structure, any other structure that enables the grasping portion a412 to grasp the connecting member is applicable to this embodiment.

A positioning structure a44 for positioning the material rack k is arranged on the peripheral side of the rotating structure a 5; the positioning structure a44 comprises at least two positioning blocks a441 symmetrically arranged at the edge of the rotating structure a 5; however, through the design of the positioning structure a44, the stability of the rack k is improved, and the situation that the rack k shakes can be avoided.

The invention also provides a production line with the loading and unloading device a of the rack machine, which comprises at least one loading and unloading station, wherein each loading and unloading station is provided with one loading and unloading device a of the rack machine; thereby being beneficial to the use of an automatic production line.

This reclaimer manipulator b still includes: the material taking mechanism b3 and a moving module b4 are connected with the material taking mechanism b3 to drive the material taking mechanism b3 to move towards the direction of the material rack k; the material rack k, the material taking mechanism b3 and the moving module b4 are all arranged on the base platform h; the material taking mechanism b3 includes: a clamping structure b31 for clamping the workpiece i and a material supporting structure b32 which is correspondingly arranged below the clamping structure b31 and can move longitudinally; the material supporting structure b32 includes a material supporting member b321 and a power module b322 connected to the material supporting member b321 for driving the material supporting member b to move linearly in the longitudinal direction.

In actual operation, the clamping structure b31 of the material taking mechanism b3 can be driven by the moving module b4 to move to the position above the workpiece i, and the workpiece i corresponds to the clamping groove b311 of the clamping structure b 31; the material supporting part b321 corresponds to the clamping groove b311, and the material supporting part b321 can move upwards under the driving of the power module b322 to support the workpiece i into the clamping groove b311 of the clamping structure b 31; thereby the operation of work piece i clamp is got to the completion, has simple structure reasonable, convenient operation characteristics. Wherein the material supporting member b321 can move longitudinally and linearly in a direction approaching to or departing from the gripping structure b 31.

The moving module b4 comprises a slide rail b41, a slide block b42 connected with the slide rail b41 in a sliding manner, and a driving device b43 for driving the slide block b42 to move horizontally, wherein the slide block b42 is fixed with the material taking mechanism b3, so that when the driving device b43 drives the slide block b42 to slide linearly along the slide rail b41, the material taking mechanism b3 is driven to slide linearly.

The placing structure b2 comprises a first placing piece b21 and a second placing piece b22 which are symmetrically arranged on the inner side of the material rack k, a placing area b23 for placing the workpiece i is formed between the first placing piece b21 and the second placing piece b22, and the bottoms of the first placing piece b21 and the second placing piece b22 are respectively provided with a first clamping position. The material taking manipulator b further comprises a positioning structure b5 arranged below the clamping structure b31 and a power device b6 driving the positioning structure b5 to move longitudinally, wherein the positioning structure b5 is used for positioning the position of the placing structure b2 on the material rack k so as to prevent the placing structure b2 from shaking; the two ends of the positioning structure b5 are provided with a first positioning element b51 and a second positioning element b52 which are correspondingly arranged, and the first positioning element b51 and the second positioning element b52 are respectively used for being mutually clamped and positioned with the first placing element b21 and the second placing element b22, wherein the first positioning element b51 and the second positioning element b52 are both provided with a second clamping portion, that is, the first clamping portion of the placing structure b2 and the second clamping portion of the positioning structure b5 are mutually clamped and positioned.

The material taking mechanism b3 comprises a sensor arranged on the clamping structure b31, the sensor is electrically connected with the power device b66, when the clamping structure b31 moves towards the direction of the material rack k and approaches the material taking mechanism b3, a sensing signal is sent out under the action of the sensor, and the power device b6 receives the sensing signal and carries out corresponding execution. That is, when the sensor on the material taking mechanism b3 reaches a preset distance and can sense the material taking mechanism b3, a signal is sent to the power device b 66.

The material taking manipulator b also comprises a bearing structure b7 connected with the material taking mechanism b3 and a lifting assembly b8 arranged on the bearing structure b7 and used for driving the material taking mechanism b3 to do longitudinal linear motion; namely, one end of the bearing structure b7 is connected with the material taking mechanism b3, and the other end is connected with the lifting assembly b8, wherein the connection mode can be fixed or detachable; however, the material taking mechanism b3 can clamp the workpiece i placed up and down through the lifting component b8, so that the flexibility is improved. Wherein, this lifting unit b8 can be the cylinder, and the power axle through the cylinder drives feeding agencies b3 elevating movement. It is apparent that it is not limited thereto and other elevating means b8 may be applied to the present embodiment in addition to the above-described cylinder.

The material transferring device c comprises a first material transferring mechanism c2 and a second material transferring mechanism c3, wherein the upper layer and the lower layer of the first material transferring mechanism are arranged on the base platform h in parallel; because the current material transfer device c usually has multiple sets of conveying mechanisms for carrying multiple workpieces i, and the multiple sets of conveying mechanisms are arranged in a substantially horizontal arrangement, excessive space is occupied; however, the whole device is compact in structure and reasonable in layout by skillfully combining the components, so that the use of an automatic production line is facilitated.

Specifically, the first material transferring mechanism c2 is located above the second material transferring mechanism c3, and the two are arranged correspondingly; the first material transferring mechanism c2 is fixed with the base through a supporting component c7, namely, the first material transferring mechanism c2 is supported above the second material transferring mechanism c3 through the supporting component c 7; wherein, the supporting component c7 is composed of a plurality of bases.

The first material transferring mechanism c2 and the second material transferring mechanism c3 are respectively provided with a material loading structure c4 and a moving component c5 for driving the material loading structure c4 to horizontally move; the moving assembly c5 includes a sub-assembly c51 for mounting the material loading structure c4, a slide rail set c52 for slidably connecting the sub-assembly c51, and a driving assembly c53 connected to the sub-assembly c51 and used for driving the sub-assembly c51 to move horizontally.

Specifically, the stator component is a sliding block, the sliding rail group c52 is composed of at least two sliding rail groups c52 arranged at intervals, the bottom of the sliding block is provided with at least two sliding grooves, and the sliding grooves are installed on the sliding rails and are in sliding connection with the sliding rails, so that the stability of the sliding block is enhanced through the design of the sliding rail group c 52; wherein, this drive assembly c53 can be the cooperation drive of motor and drive belt, and is fixed through drive belt and sliding block to the horizontal migration of band-driven sliding block. In some embodiments, the driving component c53 may also be a cylinder, and the power part of the cylinder is fixed with the sliding block to drive the sliding block to move horizontally. In addition to the above-described driving unit c53, other driving units c53 are also applicable to the present embodiment.

The loading structure c4 comprises a first loading part c41 and a second loading part c42 for loading the workpieces i, namely, the workpieces i can be loaded on both the first loading part c41 and the second loading part c 42; the bottom of the second material loading part c42 is provided with a turnover structure c6 which is connected with the second material loading part c42 and is used for driving the second material loading part c to horizontally rotate; the horizontal rotation angle is 180 degrees; the flip structure c6 includes: the driving device comprises a sliding groove arranged on the mover c51, a first transmission piece connected with the sliding groove in a sliding manner, a second transmission piece c61 connected with the first transmission piece in a transmission manner, and a driving piece c62 connected with the first transmission piece and used for driving the first transmission piece to move linearly in the sliding groove so as to drive the second transmission piece c61 to rotate; the second transmission member c61 is connected to the second loading portion c42 for driving the second loading portion c42 to rotate.

Specifically, the first transmission member may be a rack structure, the second transmission member c61 may be a gear structure, and the rack structure is in meshing connection with the gear structure, wherein the gear structure has a rotating disc, the second material loading portion c42 is fixed on the rotating disc, and the driving member c62 is an air cylinder; however, the first transmission element is driven by the driving element c62 to move linearly in the sliding groove to drive the second transmission element c61 to rotate, so as to drive the second transmission element c61 to perform a back-and-forth rotation within a certain angle range, and further drive the second material loading portion c42 to perform a back-and-forth rotation.

The second material loading part c42 is detachably connected with the second transmission piece c61, so that the installation and the disassembly are convenient, and the repair and the replacement are convenient; the detachable connection manner may be a bolt connection manner, but obviously, the detachable connection manner is not limited thereto, and other detachable connection manners are also applicable to the embodiment.

In conclusion, the material transferring device c solves the problem that the material loading structure c4 is required to load two workpieces i in different directions.

This transfer robot d includes: the swinging mechanism d1, the swinging mechanism d1 includes a rotating base d11, the rotating base d11 can be installed on the frame, and a mechanical arm d12 rotatably connected with the rotating base, the mechanical arm d12 is located at the upper end of the rotating base d11, and a power portion d13 connected with the mechanical arm d12 and located at the end far away from the rotating base d 11.

Tongs structure d2, tongs structure d2 includes: a base d21, the base d21 is used for connecting with the power part d13 of the gripping structure d 2; the connection mode can be detachable connection, and the detachable installation mode has various modes, for example, the connection mode can be matched by inserting and buckling, and for example, the connection mode can be connected by bolts; but obviously, the present invention is not limited thereto, and may be a one-piece structure. At least two clamping structure d22, each clamping structure d22 arranges respectively in the both sides of base d21, and wherein, this both sides can be the front and back side, also can be left and right sides, and specific the settlement can be decided according to user's demand. The clamping structure d22 comprises a first clamping piece d221 and a second clamping piece d222 arranged corresponding to the first clamping piece d221, and a clamping area d223 used for clamping the workpiece i is formed between the first clamping piece and the second clamping piece.

The driving structure d23, the driving structure d23 is arranged between the clamping structure d22 and the base d21, and is used for driving the clamping structure d22 to clamp the workpiece i; the driving structure d23 comprises a first driving assembly d231 and a second driving assembly d232, and the first driving assembly d231 and the second driving assembly d232 respectively drive the first clamping member and the second clamping member to move linearly towards the clamping area d223 so as to clamp the workpiece i; that is, the first and second clamping members are moved toward or away from each other by the first and second driving assemblies d231 and d 232. The first driving assembly d231 and the second driving assembly d232 are respectively provided with a slide rail d233, a slide block d234 connected with the slide rail d233 in a sliding way, and a power part d235 for driving the slide block d234 to move linearly; the slide block d234 of the first driving assembly d231 and the slide block d234 of the second driving assembly d232 are respectively fixed with the first clamping piece and the second clamping piece; therefore, when the driving component drives the sliding block d234 to move on the sliding rail d233, the clamping member is further driven to move.

The slide rail d233 is fixed at the side end of the base d 21; namely, the slide rail d233 can be fixed with the base d21 through a fastener, or can be an integrated structure; wherein, first clamping piece d221 and second clamping piece d222 all include: a clamp body d224 and clamping jaw portions d225 arranged at two ends of the clamp body d224, wherein the clamping jaw portion d225 of the first clamping piece d221 is arranged opposite to the clamping jaw portion d225 of the second clamping piece d222, and the clamping jaw portion d225 is in an L shape, but obviously, the invention is not limited thereto, and other shapes besides the L shape are also applicable to the embodiment, for example, a shape of 21274. Further, the jaw portion d225 has a connecting portion connected to the clamp body d224 at one end and a catching groove d226 at the other end, so that the workpiece i can be caught to improve stability.

The mechanical arm d12 includes a first connecting arm d121, a second connecting arm d122 and a third connecting arm d123 connected in sequence, the first connecting arm d121 horizontally rotates relative to the rotating base d11, the second connecting arm d122 longitudinally rotates relative to the first connecting arm d121, one end of the third connecting arm d123 longitudinally rotates relative to the second connecting arm d122, and the other end horizontally rotates relative to the power portion d13, so that the mechanical arm has flexible characteristics.

This NG article unloading mechanism e includes: the workpiece conveying device comprises a first conveying mechanism e1 and a second conveying mechanism e2 which are arranged on the upper layer and the lower layer correspondingly and horizontally, wherein one ends of the first conveying mechanism e1 and the second conveying mechanism e2 are both feed ends e11, the other ends of the first conveying mechanism e1 and the second conveying mechanism e2 are both discharge ends e12, and one side corresponding to the feed ends e11 is provided with a robot, so that the robot can convey a workpiece i to the feed ends e11 conveniently; one side corresponding to the discharge end e12 is a manual blanking station so as to facilitate manual blanking.

The first conveyance mechanism e1 and the second conveyance mechanism e2 each have: a base e3, and a first rotating shaft e4 and a second rotating shaft horizontally arranged at both ends of the base e 3; the conveying belt e6 is sleeved on the first rotating shaft e4 and the second rotating shaft, and the conveying belt e6 can rotate around the first rotating shaft e4 and the second rotating shaft; and a driving component e7 connected with the first rotating shaft e4 and used for driving the first rotating shaft e4 to rotate, so as to drive the conveying belt e6 to rotate, and then the workpiece i arranged on the conveying belt e6 can be driven to move horizontally. One side of the conveyor belt e6 of the first conveyor mechanism e1 is provided with a notch e8, and the notch e8 is positioned above the conveyor belt e6 of the second conveyor mechanism e2, wherein the notch e8 is positioned on the side of the feeding end e11 of the first conveyor mechanism e 1; so that the feeding ends e11 of the first conveying mechanism e1 and the second conveying mechanism e2 are longitudinally arranged in a staggered manner, and therefore, the robot can conveniently place the workpiece i at the feeding ends e11 of the conveying belts e6 of the first conveying mechanism e1 and the second conveying mechanism e 2; the length of the conveyor belt e6 of the first conveyor mechanism e1 is smaller than that of the conveyor belt e6 of the second conveyor mechanism e 2. The first conveying mechanism e1 and the second conveying mechanism e2 are respectively supported on the base platform h through a supporting frame e9, wherein the supporting frame e9 consists of a plurality of supporting pieces, and the number of the supporting pieces is four, and the supporting pieces are respectively and evenly arranged around each conveying mechanism at intervals; the driving parts e71 are respectively positioned at the bottom of each conveying mechanism, and the driving parts e71 are fixed with the supporting frame e9 through connecting parts e 10.

The drive assembly e7 includes: the driving part e71 and the first linkage wheel e72, wherein the first linkage wheel e72 is rotationally connected with a power shaft of the driving part e 71; a second linkage wheel e73, wherein the second linkage wheel e73 is rotatably connected with the first rotating shaft e 4; the linkage belt e74 is sleeved with the first linkage wheel e72 and the second linkage wheel e73 so as to drive the first linkage wheel e72 and the second linkage wheel e73 to synchronously rotate; the driving member e71 is a synchronous motor, but it is obvious that the present invention is not limited thereto, and other driving members e71 are also applicable to the present embodiment, except for the above-described synchronous motor.

The conveying belt e6 is annular, and the material of the conveying belt e6 can be made of rubber material; the base e3 is provided with a supporting structure e13 for supporting the conveying belt e6, the supporting structure e13 is a plate-shaped structure, and the supporting structure e13 is positioned at the inner side of the conveying belt e 6; since the conveyer belt e6 is made of a flexible rubber material, the supporting structure e13 can support when too many workpieces i are placed on the conveyer belt e6 for conveying. Tooth grooves are formed in the inner side of the conveying belt e6, convex tooth blocks are arranged on the surfaces of the rotating shafts, and the tooth grooves are in meshed connection with the tooth blocks; thereby enhancing the stability of the conveying by the conveyor belt e 6.

In conclusion, the feeding and discharging equipment for assembling and disassembling the jig workpiece is skillfully combined, so that the whole device is compact in structure and reasonable in layout, and the use of an automatic production line is facilitated; and the production efficiency is improved.

In the specific implementation process, firstly, the material rack k is placed on a first station of a feeding and discharging device a on a base platform h, and then the material rack k can be rotated through the rotating structure, so that the direction of the material rack k is the same as the direction of the corresponding position of the two stations; then, the vertical shaft transmission module of the feeding and discharging device a drives the grabbing structure to do downward linear reciprocating motion to grab the material rack k, the horizontal shaft transmission module drives the grabbing structure to horizontally move, the grabbed material rack k is transferred to the position above a second station, and the material rack k is placed on the second station through the linear reciprocating motion of the vertical shaft transmission module; then, through the clamping structure of the material taking mechanism, the material taking mechanism is driven by the moving module to move above a workpiece i on the material rack k of the second station, the workpiece i corresponds to the clamping groove of the clamping structure, the material supporting part corresponds to the clamping groove, and the material supporting part is driven by the power module to move upwards so as to support the workpiece i into the clamping groove of the clamping structure; thereby completing the operation of clamping the workpiece i; then, transferring the workpiece i to a material transferring mechanism on a material transferring device c through the material taking mechanism, carrying the workpiece i through a material carrying structure of the material transferring mechanism, driving the material carrying structure to horizontally move by a moving assembly, and moving between a corresponding feeding and discharging device a and a transferring robot d, so that the workpiece i can be moved to one end close to the transferring robot d from the feeding and discharging device a, and the transferring robot d can grab the workpiece i; subsequently, transfer robot d and transport the work piece i who snatchs to the machining-position and process, detect through NG check out test set after the processing, if present NG article work piece i, transport NG article work piece i to NG article unloading mechanism e's conveying mechanism on through transferring robot d, carry out the unloading to NG article work piece i.

The conception, the specific structure and the technical effects of the present invention are clearly and completely described above in connection with the embodiments and the accompanying drawings, so that the objects, the features and the effects of the present invention can be fully understood. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. In addition, all the connection relations mentioned herein do not mean that the components are directly connected, but mean that a better connection structure can be formed by adding or reducing connection auxiliaries according to specific implementation conditions.

The above embodiments are described in detail for the purpose of further illustrating the present invention and should not be construed as limiting the scope of the present invention, and the skilled engineer can make insubstantial modifications and variations of the present invention based on the above disclosure.

Claims

1. A loading and unloading method for disassembling and assembling jig workpieces is characterized by comprising the following steps:

the first material taking mechanical arm extracts the workpiece to be machined from the first loading and unloading device, moves the workpiece to be machined to the first material transferring device, and conveys the workpiece to be machined to a first area to be extracted through the first material transferring device;

the transfer robot transfers the workpiece to be processed to a processing area from the first area to be extracted for processing;

the transfer robot extracts the processed workpiece from a processing area, transfers the processed workpiece to the second material transfer device and conveys the processed workpiece to a second area to be extracted through the second material transfer device;

and the second manipulator moves the processed workpiece to a second loading and unloading device from the second region to be extracted for blanking.

2. The loading and unloading method for disassembling and assembling jig workpieces as claimed in claim 1, wherein: the jig workpiece dismounting and loading and unloading method further provides an NG product unloading mechanism and an NG product detection area arranged in a processing area, and before the step that the transfer robot extracts the processed workpiece from the processing area and transfers the processed workpiece to the second transfer device, the method further comprises the following steps:

the transfer robot extracts the processed workpiece from a processing area, transfers the processed workpiece to an NG product detection area for detection, and transfers the detected NG product workpiece to an NG product blanking mechanism for blanking.

3. The loading and unloading method for disassembling and assembling the jig workpiece according to claim 1, wherein: the loading and unloading method for disassembling and assembling the jig workpiece further comprises another processing area at one side of the loading and unloading device,

after the step that the second manipulator moves the processed workpiece from the second region to be extracted to the second loading and unloading device for unloading, the method also comprises the following steps:

placing the machined workpiece subjected to blanking in another machining area for machining again;

and then placing the re-processed workpiece on the first loading and unloading device.

4. The loading and unloading method for disassembling and assembling the jig workpiece according to claim 1, wherein: the jig workpiece dismounting and loading and unloading method also provides a loading mechanism, and the loading mechanism is arranged on one side of the transfer robot;

the method further comprises the following steps:

the transfer robot extracts the workpiece to be processed from the material loading mechanism and transfers the workpiece to be processed to a processing area for processing.

5. The utility model provides a unloading equipment on tool work piece dismouting which characterized in that includes:

providing a base platform, wherein at least two groups of loading and unloading devices are arranged on the base platform, and the first loading and unloading device and the loading and unloading devices are correspondingly arranged on the base platform at intervals and are used for loading and unloading workpieces; and

the first material transferring device and the second material transferring device are respectively and correspondingly arranged on one side of each feeding and discharging device and are used for conveying workpieces; and

the first material taking manipulator and the second material taking manipulator are respectively and correspondingly arranged between each feeding and discharging device and each material transferring device and are used for extracting workpieces; and

the transfer robot is arranged on one side of the transfer device and is far away from the material taking device, and the transfer robot is used for transferring workpieces.

6. The loading and unloading apparatus for disassembling and assembling jig workpieces as claimed in claim 1,

the loading and unloading device comprises:

the first station and the second station are arranged on the base platform;

the material rack is arranged on the first station and used for carrying a workpiece;

a transfer mechanism for transferring the stack from the first station to the second station;

and the rotating structure is arranged on the first station and used for rotating the placing angle of the material rack so as to transfer the material rack to the corresponding position of the second station by the transfer mechanism.

7. The loading and unloading apparatus for disassembling and assembling jig workpieces as claimed in claim 1,

the material taking manipulator further comprises:

the material taking mechanism and the moving module are connected with the material taking mechanism so as to drive the material taking mechanism to move towards the material rack;

the material taking mechanism comprises: the clamping structure is used for clamping the workpiece, and the material supporting structure is correspondingly arranged below the clamping structure and can move longitudinally; the material supporting structure comprises a material supporting part and a power module which is connected with the material supporting part to drive the material supporting part to move linearly in the longitudinal direction;

the clamping structure of the material taking mechanism can be driven by the moving module to move to the position above the workpiece, and the workpiece corresponds to the clamping groove of the clamping structure;

the material supporting piece corresponds to the clamping groove, and the material supporting piece can move upwards under the driving of the power module so as to support the workpiece into the clamping groove of the clamping structure.

8. The loading and unloading apparatus for disassembling and assembling jig workpieces as claimed in claim 1,

the material transferring device comprises a first material transferring mechanism and a second material transferring mechanism, wherein the upper layer and the lower layer of the first material transferring mechanism and the second material transferring mechanism are arranged on the base platform in parallel;

the first material transferring mechanism and the second material transferring mechanism are respectively provided with a material loading structure and a moving assembly for driving the material loading structure to move horizontally;

the loading structure comprises a first loading part and a second loading part which are used for loading the workpieces;

and the bottom of the second material loading part is provided with a turnover structure which is connected with the second material loading part and is used for driving the second material loading part to rotate horizontally.

9. The loading and unloading apparatus for disassembling and assembling jig workpieces as claimed in claim 1,

the transfer robot includes:

the swinging mechanism comprises a rotating seat, a mechanical arm rotationally connected with the rotating base, and a power part connected with the mechanical arm and positioned at one end far away from the rotating seat;

the tongs structure, the tongs structure includes:

the base is used for being connected with the power part of the gripper structure;

the clamping structures are respectively arranged on two sides of the base;

the driving structure is arranged between the clamping structure and the base and is used for driving the clamping structure to clamp a workpiece;

the clamping structure comprises a first clamping piece and a second clamping piece which is arranged corresponding to the first clamping piece, and a clamping area for clamping a workpiece is formed between the first clamping piece and the second clamping piece;

the driving structure comprises a first driving assembly and a second driving assembly, and the first driving assembly and the second driving assembly respectively drive the first clamping piece and the second clamping piece to move linearly towards the direction of the clamping area so as to clamp the workpiece.

10. The loading and unloading apparatus for disassembling and assembling jig workpieces as claimed in claim 2,

NG article unloading mechanism, its characterized in that includes:

the first conveying mechanism and the second conveying mechanism which correspond to each other on the upper layer and the lower layer and are horizontally arranged are respectively provided with:

the device comprises a bracket, a first rotating shaft and a second rotating shaft, wherein the first rotating shaft and the second rotating shaft are horizontally arranged at two ends of the bracket; and

the conveying belt is sleeved on the first rotating shaft and the second rotating shaft and can rotate around the first rotating shaft and the second rotating shaft; and

and the driving component is connected with the first rotating shaft and is used for driving the first rotating shaft to rotate, so that the conveying belt is driven to rotate.