CN206010415U - A kind of robot workstation of processing computing shell - Google Patents
A kind of robot workstation of processing computing shell Download PDFInfo
- Publication number
- CN206010415U CN206010415U CN201620789414.1U CN201620789414U CN206010415U CN 206010415 U CN206010415 U CN 206010415U CN 201620789414 U CN201620789414 U CN 201620789414U CN 206010415 U CN206010415 U CN 206010415U
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- China
- Prior art keywords
- robot
- charging device
- articulated robot
- automatic charging
- stripper
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Abstract
The utility model discloses a kind of robot workstation of processing computing shell, belongs to industrial robot applied technical field, including three Digit Control Machine Tools, an articulated robot, a positioner and an automatic charging device；Three Digit Control Machine Tools are arranged at adjacent three vertex positions of square, and another vertex position square places automatic charging device；Place articulated robot in foursquare center；Positioner is placed between articulated robot and wherein any one Digit Control Machine Tool；Articulated robot is positioned by positioner from after automatic charging device feeding, then gives Digit Control Machine Tool processing；And by processing after workpiece reposition, then put back to automatic charging device；Automatic charging device automatic discharging after bin full, articulated robot repeat feeding next time.Advantage is：Automatic charging device Automatic-feeding, speed are fast, save manpower；Using robot feeding, CNC is waited to expect without shutting down, and saves the production time.
Description
Technical field
This utility model belongs to industrial robot applied technical field, is related to lathe loading and unloading, and in particular to a kind of processing
The robot workstation of computer casing.
Background technology
At present, the processing of computer casing screwed hole and groove is completed by numerical control machining center, although in certain journey
Production efficiency is improve on degree；But, every time after a workpiece is processed, need manually to remove workpiece, change raw material, weight
The new processing for carrying out by start button next time, for the workpiece for needing multiple working procedure to process, after completing a workpiece every time, work
People needs repetition feeding clamping multiple；Do so, in feeding, feeding this simple and work for needing constantly to repeat, wave
The plenty of time is taken, and as the production time is long, workman has been easy to fatigue, the danger of operation and scrapping for product can have been increased
Rate.
With the fast development of roboticses, robot carrying application in the industrial production is increasingly badly in need of.
Utility model content
This utility model for machine tooling loading and unloading automaticity not high the characteristics of, exist with industrial joint robot
A kind of time-sharing multiplexing technology between different process equipments, it is proposed that robot workstation of processing computing shell.
The robot workstation includes three Digit Control Machine Tools, an articulated robot, a positioner and one from
Dynamic feeding device；
Three described Digit Control Machine Tools are arranged at adjacent three vertex positions of square, and another vertex position square is put
Put automatic charging device；Place articulated robot in foursquare center；Positioner is placed on articulated robot and wherein appoints
Between one Digit Control Machine Tool of meaning；
Described positioner includes locating platform, side push cylinder, push pedal, limited block and locating platform support；Positioning is flat
Platform is fixedly mounted on locating platform support, and locating platform includes concavo-convex two planes, is joined near concave and convex plane on concave surface
Place's one push pedal of fixed installation, installation side push cylinder on concave surface, the take-off lever of side push cylinder are connected with push pedal；Pacify around convex surface
Fill 4 limited blocks；When workpiece is placed on convex surface by articulated robot, positioned by 4 limited blocks, while pushing away gas by side
Cylinder drives push pedal movement, fixes workpiece pre-tightening in conjunction with limited block；
Described automatic charging device includes front stock shelf, stripper, discharging cylinder, unloading rack and bracing frame；
The front stock shelf is supported in ground by bracing frame, and the bottom surface rear end of front stock shelf is downward-sloping, unloading rack position
Below front stock shelf, it is fixed on bracing frame, unloading rack bottom surface front end is downward-sloping；Front stock shelf rear portion arranges stripper,
It is hinged between stripper rear end and bracing frame；Discharging cylinder on rear side of bracing frame, fixed with stripper bottom surface by take-off lever；Pass through
Discharging air cylinder driven stripper is rotated around jointed shaft；When discharging cylinder take-off lever is extended to extreme position, stripper with front on
Bin bottom surface rear end connects and coplanar, forms hopper conveyor surface；Discharging cylinder take-off lever foreshortens to extreme position, stripper with unload
Bin bottom surface rear end connects.
The utility model has the advantage of：
(1) a kind of robot workstation processed with computer casing, automatic charging device Automatic-feeding, speed are fast, save
Manpower, improve production efficiency.
(2) a kind of robot workstation processed with computer casing, using robot feeding, CNC is waited to expect without shutting down, section
About production time.
(3) a kind of robot workstation processed with computer casing, whole work station simple structure are flexible, take empty
Between few.
(4) a kind of robot workstation processed with computer casing is using the high flexibility of 6DOF industrial robot, high
Repetitive positioning accuracy, can complete a robot while to 3 CNC feedings.
Description of the drawings
Fig. 1 is this utility model automatical feeding system dimensional structure diagram；
Fig. 2 is this utility model computer casing machining robot work station dimensional structure diagram；
Fig. 3 is this utility model Working piece positioning device structural representation；
Stock shelf before 1-；2- hoppers；The upper top gas cylinders of 3-；4- strippers；5- photoswitches；6- bracing frames；7- discharging cylinders；
8- unloading racks；9- Digit Control Machine Tools；10- articulated robots；11- positioners；12- automatic charging devices；13- locating platforms；14-
Side push cylinder；15- push pedals；16- limited blocks；17- locating platform supports；
Specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
A kind of robot workstation processed with computer casing of this utility model, as shown in figure 1, specifically include three number of units controls
Lathe 9, an articulated robot 10, a positioner 11 and an automatic charging device 12；Articulated robot 10 selects six
Degree of freedom robot.
Wherein three Digit Control Machine Tools 9 are used for processing computing shell, place finished product shape on the ground, are arranged at square phase
Adjacent three vertex positions, automatic charging device 12 are located at another summit square；Place articulated robot in foursquare center
10；Positioner 11 is placed between articulated robot 10 and wherein any one Digit Control Machine Tool 9；
The working range of articulated robot 10 is the circle with brachium as radius；Brachium is 1440mm；Digit Control Machine Tool 9, positioning
Device 11 and automatic charging device 12 are all placed in the working range of articulated robot 10.Articulated robot 10 is from automatic charging
After 12 feeding of device, positioned by positioner 11, then give Digit Control Machine Tool 9 and process；And by processing after workpiece again
Secondary positioning, then puts back to automatic charging device 12；12 automatic discharging of automatic charging device after bin full, 10 weight of articulated robot
Purgation again feeding once.
Described positioner 11 includes locating platform 13, side push cylinder 14, push pedal 15, limited block 16 and locating platform
Frame 17；Locating platform 13 is fixedly mounted on locating platform support 17, and locating platform 13 includes concavo-convex two planes, on concave surface
A push pedal 15, installation side push cylinder 14 on concave surface, the take-off lever of side push cylinder 14 are fixedly mounted near concave and convex plane junction
It is connected with push pedal 15, around convex surface, is symmetrically installed 4 limited blocks 16；When workpiece is placed on convex surface by articulated robot 10
When, positioned by 4 limited blocks 16, while drive push pedal 15 to move by side push cylinder 14, in conjunction with limited block 16 by workpiece top
Fasten and positioned.
Described automatic charging device 12 include front stock shelf 1, stripper 4, hopper 2, upper top gas cylinder 3, photoswitch 5,
Bracing frame 6, discharging cylinder 7 and unloading rack 8；Photoelectric sensor selected by photoswitch 5；
The front stock shelf 1 is supported in ground by bracing frame 6, and 1 bottom surface rear end of front stock shelf is downward-sloping, angle of inclination
For 6 °.Unloading rack 8 is located at below front stock shelf 1, is fixed on bracing frame 6, and 8 bottom surface front end of unloading rack is downward-sloping, inclination angle
Spend for 6 °.1 rear portion of front stock shelf arranges stripper 4, is hinged between 4 rear end of stripper and bracing frame 6.Discharging cylinder 7 is arranged on and props up
On rear side of support 6, take-off lever is fixed with 4 bottom surface of stripper.Stripper 4 is driven to rotate around jointed shaft by discharging cylinder 7.Work as discharging
When 7 take-off lever of cylinder is extended to extreme position, stripper 4 is connected and coplanar with 1 bottom surface rear end of front stock shelf, forms hopper 2 defeated
Send face.Each hopper 2 being now placed on front stock shelf 1 together glides along hopper conveyor surface, reaches discharging to first hopper
On plate 4, now the jaw gripping workpiece of 10 mechanical arm tail end of articulated robot is operated；
After one case workpiece of first hopper 2 is all machined, 7 take-off lever of discharging cylinder foreshortens to extreme position,
Stripper 4 is connected with 8 bottom surface rear end of unloading rack.Now, unloading rack 8 is snapped down to along stripper 4, will be defeated for hopper 2 by unloading rack 8
Go out.
In order to prevent in discharge process, rear hopper 2 continues to glide along conveyor surface, therefore installs light at 4 rear portion of stripper
Electric switch 5, while top gas cylinder 3 is installed in 1 rear end of front stock shelf, and the take-off lever of upper top gas cylinder 3 is placed in 1 bottom of front stock shelf
Face.Thus when first hopper 2 is reached on stripper, 2 edge of hopper touches photoswitch 5, and now photoswitch 5 is to upper
3 output signal of top gas cylinder, upper 3 take-off lever of top gas cylinder are stretched out, and limit the downslide of second hopper 2.
A kind of course of work of the robot workstation of processing computing shell is as follows：
First, the hopper 2 for filling workpiece to be processed is sequentially placed on front stock shelf 1, first 2 the past of hopper feeding
Frame 1 glides, and when the edge for sliding into stripper 4 touches 5 position of photoswitch, photoswitch 5 sends letter to upper top gas cylinder 3
Number, upper top gas cylinder 3 is pushed up upwards, prevents second hopper 2 from gliding.
Photoswitch 5 sends a signal in place to articulated robot 10 simultaneously, and articulated robot 10 receives signal in place
After start to work from feeding in first hopper 2, the jaw of 10 mechanical arm tail end of articulated robot gripping workpiece, and to positioning dress
11 movements are put, secondary accurate positioning is carried out；Positioner 11 drives push pedal 15 by side push cylinder 14, in conjunction with the limited block of surrounding
16 pairs of workpiece are accurately positioned；
After being accurately positioned to workpiece, articulated robot 10 grips first workpiece and is put in Digit Control Machine Tool 9, and exits
Arrive safe origin；Digit Control Machine Tool 9 is waited to start working workpiece；
Then, articulated robot 10 grips second workpiece and is positioned, and is then placed in second Digit Control Machine Tool 9；
Now, when Digit Control Machine Tool 9 does not complete work to first workpiece, articulated robot 10 can grip the 3rd workpiece and carry out
Positioning, is then placed in the 3rd Digit Control Machine Tool 9.One six-DOF robot is can achieve while being responsible for three Digit Control Machine Tools 9
Loading and unloading.
Articulated robot 10 is received and is moved to specified location after Digit Control Machine Tool 9 completes signal, the jaw folder of mechanical arm tail end
The workpiece for machining is taken, and puts back to the feeding position of hopper 2；
Then articulated robot 10 starts to take second workpiece, until completing a machining circulation.
After one case workpiece of first hopper 2 is all machined, the variable counter inside articulated robot 10 reaches
To requiring, now, give discharging cylinder 7 one signals, 7 take-off lever of discharging cylinder foreshortens to extreme position, allows under first hopper 2
Fall, stripper 4 is connected with 8 bottom surface rear end of unloading rack.Now, unloading rack 8 is snapped down to along stripper 4, by unloading rack 8 by first
Individual hopper 2 is exported.
Meanwhile, receive articulated robot 10 and output signal to 3 generation action of top gas cylinder whereabouts, by timer control
Stroke of the top gas cylinder 3 in lower end is kept for certain time, is ensured the reset of discharging cylinder 7, is treated that timer completes timing, discharging gas
After cylinder 7 rises in place, upper top gas cylinder 3 receives signal output bar retraction, allows second hopper to fall, completes following between hopper
Ring.
The above, is the corresponding separate unit machining of single bin；With industrial joint robot between different machinings
Time-sharing multiplexing technology, can be with the machining single rate time of three machining centers of reasonable arrangement, by separate unit industry joint machine
People service three machining apparatus automatic loading and unloading system, and the advantage with reference to articulated robot loading and unloading, necessity and
System is finally applied in the actual production of certain CNC machinings factory, significantly by the construction featuress and operation principle of the system
Improve automaticity and production efficiency.
Claims (2)
1. a kind of robot workstation of processing computing shell, it is characterised in that the robot workstation includes three number of units controls
Lathe, an articulated robot, a positioner and an automatic charging device；
Three described Digit Control Machine Tools are arranged at adjacent three vertex positions of square, and another vertex position square is placed certainly
Dynamic feeding device；Place articulated robot in foursquare center；Positioner is placed on articulated robot and wherein any one
Between platform Digit Control Machine Tool；
Described positioner includes locating platform, side push cylinder, push pedal, limited block and locating platform support；Locating platform is solid
Dingan County is mounted on locating platform support, and locating platform includes concavo-convex two planes, solid near concave and convex plane junction on concave surface
Dingan County fills a push pedal, and installation side push cylinder on concave surface, the take-off lever of side push cylinder are connected with push pedal；4 are installed around convex surface
Individual limited block；When workpiece is placed on convex surface by articulated robot, positioned by 4 limited blocks, while passing through side push cylinder
Push pedal movement is driven, workpiece pre-tightening is fixed in conjunction with limited block；
Described automatic charging device includes front stock shelf, stripper, discharging cylinder, unloading rack and bracing frame；
The front stock shelf is supported in ground by bracing frame, and the bottom surface rear end of front stock shelf is downward-sloping, and unloading rack is located at front
Below stock shelf, it is fixed on bracing frame, unloading rack bottom surface front end is downward-sloping；Front stock shelf rear portion arranges stripper, discharging
It is hinged between plate rear end and bracing frame；Discharging cylinder on rear side of bracing frame, fixed with stripper bottom surface by take-off lever；By discharging
Air cylinder driven stripper is rotated around jointed shaft；When discharging cylinder take-off lever is extended to extreme position, stripper and front stock shelf
Bottom surface rear end connects and coplanar, forms hopper conveyor surface；Discharging cylinder take-off lever foreshortens to extreme position, stripper and unloading rack
Bottom surface rear end connects.
2. a kind of robot workstation of processing computing shell as claimed in claim 1, it is characterised in that the joint machine
The working range of people is the circle with brachium as radius, Digit Control Machine Tool, and positioner and automatic charging device are respectively positioned on joint machine
In the working range of people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620789414.1U CN206010415U (en) | 2016-07-26 | 2016-07-26 | A kind of robot workstation of processing computing shell |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620789414.1U CN206010415U (en) | 2016-07-26 | 2016-07-26 | A kind of robot workstation of processing computing shell |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206010415U true CN206010415U (en) | 2017-03-15 |
Family
ID=58245650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620789414.1U Expired - Fee Related CN206010415U (en) | 2016-07-26 | 2016-07-26 | A kind of robot workstation of processing computing shell |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206010415U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932165A (en) * | 2018-01-08 | 2018-04-20 | 东莞市铭航智能科技有限公司 | One drags four manipulators to coordinate bloom CNC automatic loading and unloading systems |
| CN108032130A (en) * | 2018-01-08 | 2018-05-15 | 东莞市铭航智能科技有限公司 | Two drag three manipulators to coordinate bloom CNC automatic loading and unloading systems |
| CN108127470A (en) * | 2018-01-08 | 2018-06-08 | 东莞市铭航智能科技有限公司 | One drag two manipulator coordinates bloom CNC automatic loading and unloading systems |
| CN108838688A (en) * | 2018-08-10 | 2018-11-20 | 浙江泰鸿万立科技股份有限公司 | A kind of car door part automatic production line system |
-
2016
- 2016-07-26 CN CN201620789414.1U patent/CN206010415U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932165A (en) * | 2018-01-08 | 2018-04-20 | 东莞市铭航智能科技有限公司 | One drags four manipulators to coordinate bloom CNC automatic loading and unloading systems |
| CN108032130A (en) * | 2018-01-08 | 2018-05-15 | 东莞市铭航智能科技有限公司 | Two drag three manipulators to coordinate bloom CNC automatic loading and unloading systems |
| CN108127470A (en) * | 2018-01-08 | 2018-06-08 | 东莞市铭航智能科技有限公司 | One drag two manipulator coordinates bloom CNC automatic loading and unloading systems |
| CN108838688A (en) * | 2018-08-10 | 2018-11-20 | 浙江泰鸿万立科技股份有限公司 | A kind of car door part automatic production line system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170315 Termination date: 20170726 |