CN210456518U - Automatic loading and unloading device and workpiece processing machine - Google Patents
Automatic loading and unloading device and workpiece processing machine Download PDFInfo
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- CN210456518U CN210456518U CN201920724974.2U CN201920724974U CN210456518U CN 210456518 U CN210456518 U CN 210456518U CN 201920724974 U CN201920724974 U CN 201920724974U CN 210456518 U CN210456518 U CN 210456518U
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Abstract
The utility model relates to an automatic unloader and work piece processing machine go up. An automatic loading and unloading device comprises: magazine mechanism, move and carry drive mechanism and manipulator. The material box mechanism is used for bearing a material box, the material box is used for loading a workpiece, and the material box mechanism comprises a material feeding box mechanism and a material discharging box mechanism; the manipulator is arranged at the moving end of the transfer transmission mechanism to drive the manipulator to move between the feeding box mechanism and the discharging box mechanism; the transfer transmission mechanism drives the mechanical arm to move to a position close to the feeding box mechanism so that the mechanical arm can take a workpiece from the feeding box mechanism, drives the mechanical arm clamping the workpiece to move to a working position for workpiece processing, and then drives the mechanical arm to move to a position close to the discharging box mechanism so that the mechanical arm can place the processed workpiece to the discharging box mechanism. A workpiece processing machine comprises the automatic loading and unloading device. Can accomplish unloading and processing to the work piece automatically, go up unloading fast, and work efficiency is high.
Description
Technical Field
The utility model relates to an industrial automation equipment technical field especially relates to an automatic unloader and work piece processing machine go up.
Background
At present, the glass processing industry and the small-sized plate processing industry generally adopt a manual feeding and discharging mode, and the manual feeding and discharging mode is slow in speed, poor in stability, high in cost, high in working strength and high in danger and cannot work continuously for 24 hours, so that the production of plate-shaped workpieces such as glass is restricted.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is desirable to provide an automatic loading and unloading device and a workpiece processing machine with high loading and unloading speed and high efficiency.
An automatic loading and unloading device comprises:
the material box mechanism is used for bearing a material box, the material box is used for loading a workpiece, and the material box mechanism comprises a material feeding box mechanism and a material discharging box mechanism;
the manipulator is arranged at the moving end of the transfer transmission mechanism and drives the manipulator to move between the feeding box mechanism and the discharging box mechanism; the transfer transmission mechanism drives the manipulator to move to a position close to the feeding box mechanism so that the manipulator can take a workpiece from the feeding box mechanism, drives the manipulator clamping the workpiece to move to a working position for workpiece processing, and then drives the manipulator to move to a position close to the discharging box mechanism so that the manipulator can place the processed workpiece to the discharging box mechanism.
In one embodiment, the transfer transmission mechanism comprises a base, a movable seat and a driving assembly, the movable seat is movably arranged on the base, the driving assembly is used for driving the movable seat to move relative to the base, and the manipulator is arranged on the movable seat.
In one embodiment, the drive assembly comprises a guide unit and a drive unit; the guide unit comprises a fixed rail and a sliding rail connected with the fixed rail in a sliding mode, the fixed rail is arranged on the base and one of the movable seats, and the sliding rail is arranged on the other of the base and the movable seat.
In one embodiment, the feeding box mechanism and the discharging box mechanism are used for positioning the material box, so that different material boxes are loaded in the feeding box mechanism and the discharging box mechanism and keep the same positioning reference.
In one embodiment, the feeding box mechanism and the discharging box mechanism at least comprise a fixed seat and the following structural members loaded on the fixed seat:
the positioning plate assembly is fixedly connected to the fixed seat; and
the clamping assembly comprises a fixed driving part and a pushing part, the fixed driving part is fixed on the fixed seat, and the pushing part can be close to the positioning plate assembly so as to push the material box in the accommodating groove towards the positioning plate assembly to enable the material box to be clamped and positioned by the positioning plate assembly and the clamping assembly.
In one embodiment, the feeding box mechanism and the discharging box mechanism both comprise guide wheel assemblies arranged on the fixed seat, and the guide wheel assemblies are used for being supported between the fixed seat and the material box.
In one embodiment, the feeding box mechanism and the discharging box mechanism both include a material pushing unit, and the material pushing unit includes: the material pushing device comprises a guide rod, a push plate and a pushing driving piece used for driving the push plate to slide along the guide rod, wherein the push plate is used for abutting against a workpiece in a material box so as to push the workpiece in the material box to move.
In one embodiment, the robot is a four spindle robot.
A workpiece processing machine comprising the automatic loading and unloading device as described in any one of the above.
In one embodiment, the automatic loading and unloading device comprises a rack, a processing device arranged on the rack and a guide device, wherein the guide device is connected between the rack and the automatic loading and unloading device so as to drive the automatic loading and unloading device to be close to or far away from the processing device.
Has the advantages that: the automatic feeding and discharging device and the workpiece processing machine in the application can automatically complete feeding and discharging and processing of workpieces, and are high in feeding and discharging speed and high in working efficiency.
Drawings
Fig. 1 is a schematic structural view of an automatic loading and unloading device in an embodiment of the present application;
FIG. 2 is a schematic view illustrating a state in which empty cartridges are mounted in a cartridge mechanism of the automatic loading and unloading apparatus shown in FIG. 1;
FIG. 3 is a schematic structural diagram of a feeding box mechanism or a discharging box mechanism of the automatic feeding and discharging device according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a workpiece processing machine according to an embodiment of the present application.
Reference numerals: 10. an automatic loading and unloading device; 11. a magazine; 12. a workpiece; 13. a frame; 14. a processing device; 100. a magazine mechanism; 101. a fixed seat; 102. a positioning plate assembly; 1021. a first positioning plate; 1022. a second positioning plate; 103. a clamping assembly; 1031. a first clamping unit; 1032. a second clamping unit; 1033a, a first fixed drive; 1033b, a second stationary drive member; 1034a, a first pusher; 1034b, a second pusher; 104. a containing groove; 1041. an opening; 105. a guide wheel assembly; 106. a material pushing unit; 1061. a guide bar; 1062. pushing the plate; 1063. a material pushing driving member; 110. a feeding box mechanism; 120. a blanking box mechanism; 200. a transfer transmission mechanism; 210. a base; 220. a movable seat; 230. a drive assembly; 231. a guide unit; 232. a drive unit; 300. a robot arm.
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Fig. 1 is a schematic structural view of an automatic loading and unloading apparatus 10 according to an embodiment, and as shown in fig. 1, the automatic loading and unloading apparatus 10 includes a magazine mechanism 100, a transfer transmission mechanism 200, and a robot 300. The magazine mechanism 100 is used for bearing the magazine 11, and the magazine 11 is used for loading the workpiece 12; the workpieces 12 may be plate-shaped workpieces such as glass, and the workpieces 12 are vertically arranged in groups in the magazine 11. The magazine mechanism 100 includes a feeding magazine mechanism 110 and a discharging magazine mechanism 120, and the feeding magazine mechanism 110 and the discharging magazine mechanism 120 are respectively disposed on the left and right sides of the transfer transmission mechanism 200. The robot 300 is disposed at the moving end of the transfer transmission mechanism 200, and the transfer transmission mechanism 200 drives the robot 300 to move between the upper magazine mechanism 110 and the lower magazine mechanism 120. During work, the transfer transmission mechanism 200 drives the manipulator 300 to move to a position close to the feeding box mechanism 110 so that the manipulator 300 can take a workpiece from the feeding box mechanism 110, and then drives the manipulator 300 clamping the workpiece 12 to move to a work position for processing the workpiece 12, wherein the work position in fig. 1 is the middle part of the transfer transmission mechanism 200; the robot 300 is then moved to a position adjacent to the lower magazine mechanism 120 so that the robot 300 can place the processed workpiece 12 into the empty magazine 11 in the lower magazine mechanism 120. The transfer transmission mechanism 200 drives the manipulator 300 to move between the feeding box mechanism 110 and the discharging box mechanism 120, so that the defect of insufficient stroke of the manipulator 300 can be compensated.
Fig. 2 is a schematic view illustrating a state in which empty cartridges 11 are mounted in the cartridge mechanism 100 of the automatic loader/unloader 10 shown in fig. 1. During operation, the magazine 11 loaded with the workpieces 12 is installed in the upper magazine mechanism 110, the empty magazine 11 is installed in the lower magazine mechanism 120, the transfer transmission mechanism 200 drives the manipulator 300 to be close to the upper magazine mechanism 110, and the manipulator 300 takes the workpieces from the magazine 11 in the upper magazine mechanism 110; then the transfer transmission mechanism 200 drives the manipulator 300 to move to the working position for processing the workpiece 12, during the processing process, the manipulator 300 always clamps the workpiece 12, and after the workpiece 12 is processed, the transfer transmission mechanism 200 drives the manipulator 300 to approach the feeding box mechanism 120, so that the manipulator 300 places the processed workpiece 12 in the feeding box 11 in the feeding box mechanism 120.
In one embodiment, as shown in fig. 1, the transfer driving mechanism 200 includes a base 210, a movable base 220 and a driving assembly 230, wherein the movable base 220 is a movable end of the transfer driving mechanism 200, the driving assembly 230 is used for driving the movable base 220 to move relative to the base 210, and the robot 300 is disposed on the movable base 220.
In one embodiment, as shown in fig. 1, the driving assembly 230 includes a guide unit 231 and a driving unit 232. The guide unit 231 may include a fixed rail provided on one of the base 210 and the movable base 220 and a sliding rail slidably coupled to the fixed rail provided on the other of the base 210 and the movable base 220. In this embodiment, the fixed rail is disposed on the base 210, the sliding rail is disposed on the movable base 220, and the movement of the movable base 220 relative to the base 210 is along the guiding direction of the guiding unit 231 through the cooperation of the fixed rail and the sliding rail. In other embodiments, the fixed rail may be disposed on the movable base 220, and the sliding rail may be disposed on the base 210.
In one embodiment, as shown in fig. 1, the driving assembly 230 may include a servo motor and a rack and pinion assembly, the rack and the fixed rail are fixed on the base 210 in parallel, the servo motor is fixed on the movable base 220, a gear is connected to an output shaft of the servo motor, and the gear is engaged with the rack. In one embodiment, the driving assembly 230 may further include a servo motor and a screw nut assembly, the screw nut may be fixed on the movable base 220, the screw is rotatably connected to the base 210, and the screw nut is threadedly engaged with the screw, and the servo motor drives the screw nut to rotate so as to move the movable base 220 relative to the base 210.
In one embodiment, both upper cartridge mechanism 110 and lower cartridge mechanism 120 are used to position cartridges 11 such that different cartridges 11 are loaded on both upper cartridge mechanism 110 and lower cartridge mechanism 120 with the same positioning reference. Specifically, the robot 300 takes out the workpiece 12 from the magazine 11 in the magazine loading mechanism 110 and processes the workpiece, and after the processing is completed, the robot 300 puts the workpiece 12 into the magazine 11 in the magazine unloading mechanism 120. When the magazine 11 in the feeding magazine mechanism 110 is empty of workpieces 12, or when the magazine 11 in the discharging magazine mechanism 120 is full of workpieces 12, the magazine 11 needs to be replaced. Because the manipulator 300 is coordinate-corrected before working, the manipulator 300 after coordinate correction can accurately take and place the workpiece 12. When the magazine 11 is replaced, if the magazine mechanism 100 is only used to carry the magazine 11, the positioning reference of the magazine 11 with respect to the magazine mechanism 100 is difficult to be the same, and it is further difficult for the robot 300 to accurately pick and place the material. In order to enable the robot 300 to accurately take and place materials, in one embodiment, the structure of the feeding box mechanism 110 and the structure of the discharging box mechanism 120 are substantially the same, and fig. 3 is a schematic structural view of the feeding box mechanism 110 or the discharging box mechanism 120 in one embodiment; as shown in fig. 3, each of the feeding box mechanism 110 and the discharging box mechanism 120 at least includes a fixing base 101, and a positioning plate assembly 102 and a clamping assembly 103 supported on the fixing base 101, the positioning plate assembly 102 is fixedly connected to the fixing base 101, and the positioning plate assembly 102 and the clamping assembly 103 surround an accommodating groove 104 for accommodating the feeding box 11 (see fig. 2). In one embodiment, the clamping assembly 103 includes a first clamping unit 1031 and a second clamping unit 1032, and the positioning plate assembly 102 includes a first positioning plate 1021 and a second positioning plate 1022, wherein the first clamping unit 1031, the second clamping unit 1032, the first positioning plate 1021 and the second positioning plate 1022 enclose a rectangular accommodating groove 104, the first clamping unit 1031 and the first positioning plate 1021 are respectively located on one set of opposite sides of the rectangular accommodating groove 104, and the second clamping unit 1032 and the second positioning plate 1022 are respectively located on the other set of opposite sides of the rectangular accommodating groove 104.
The first clamping unit 1031 includes a first fixed driving member 1033a and a first pushing member 1034a, the first fixed driving member 1033a may be fixed on the fixing base 101, and the first fixed driving member 1033a may be an air cylinder. The first fixed driving element 1033a may drive the first pushing element 1034a to push upwards, a horizontal distance between the first pushing element 1034a and the first positioning plate 1021 may be equal to a length of the material box 11, when the first fixed driving element 1033a drives the first pushing element 1034a to move downwards, the accommodating groove 104 forms an opening 1041 into which the material box 11 enters, when the material box 11 completely enters the accommodating groove 104, the first fixed driving element 1033a drives the first pushing element 1034a to move upwards to seal the opening 1041 of the accommodating groove 104, and the first pushing element 1034a and the first positioning plate 1021 abut against the material box 11 together.
The second clamping unit 1032 includes a second fixed driving member 1033b and a second pushing member 1034b, the second fixed driving member 1033b may be fixed on the fixing base 101, and the second fixed driving member 1033b may be an air cylinder. The second fixed driving element 1033b may drive the second pushing element 1034b to push toward the second positioning plate 1022, so as to push the magazine 11 located in the accommodating groove 104 toward the second positioning plate 1022, so that the magazine 11 is clamped and positioned by the positioning plate assembly 102 and the clamping assembly 103.
In one embodiment, as shown in fig. 3, each of the upper and lower cartridge mechanisms 110 and 120 includes a guide wheel assembly 105 provided on the fixed base 101, the guide wheel assembly 105 being configured to be supported between the fixed base 101 and the cartridge 11 (see fig. 2). When the magazine 11 enters the containing groove 104 from the opening 1041 in the above embodiment, the magazine 11 is placed on the guide wheel assembly 105, there may be two guide wheel assemblies 105, and the guide direction of the guide wheel assembly 105 is the direction in which the magazine 11 enters the containing groove 104. By providing the guide wheel assembly 105, the magazine 11 can more easily enter the accommodating groove 104.
In one embodiment, as shown in fig. 3, each of the upper magazine mechanism 110 and the lower magazine mechanism 120 includes a material pushing unit 106, the material pushing unit 106 includes a guide rod 1061, a push plate 1062, and a material pushing driving member 1063 for driving the push plate 1062 to slide along the guide rod 1061, and the material pushing driving member 1063 may be a rodless cylinder.
In one embodiment, push plate 1062 is configured to abut against cartridge 11 to push empty cartridge 11 out of upper cartridge mechanism 110 to allow empty cartridge 11 to be recovered.
In one embodiment, the push plate 1062 is configured to abut against the workpiece 12 in the magazine 11 to push the workpiece 12 in the magazine 11 to move. After the manipulator 300 takes away the workpieces 12 in the magazine 11 in the magazine loading mechanism 110, the space left by the taken away workpieces 12 in the magazine 11 can enable the remaining workpieces 12 in the magazine 11 to move in the magazine 11, so that the positioning of the workpieces 12 is not accurate, the pushing unit 106 pushes the workpieces 12 in the magazine 11, the workpieces 12 in the magazine 11 uniformly move towards one direction of the magazine 11, and the workpieces 12 in the magazine 11 are kept in a clamping state in the magazine 11, so that the remaining workpieces 12 in the magazine 11 are still kept in a tight arrangement and the positioning reference is still kept unchanged as the manipulator 300 takes away the workpieces 12 from the magazine 11 one by one.
Fig. 4 is a schematic structural diagram of a workpiece processing machine according to an embodiment, and as shown in fig. 4, the workpiece processing machine includes a frame 13, an automatic loading and unloading device 10 and a processing device 14, which are disposed on the frame 13. The manipulator 300 in the automatic loading and unloading device 10 takes materials from the feeding box mechanism 110, the manipulator 300 is driven by the transfer transmission mechanism 200 to carry the workpiece 12 to process the workpiece 12 on the processing device 14, and after the processing is finished, the transfer transmission mechanism 200 carries the manipulator 300 to move the workpiece 12 to the discharging box mechanism 120, so that the manipulator 300 can place the processed workpiece 12 into the feeding box 11 in the discharging box mechanism 120.
In one embodiment, the robot 300 is a four-axis robot including a gripping end, which may be a suction cup, and in one embodiment, the workpiece 12 may be a sheet material, such as glass, and may be sucked on the surface of the glass by the suction cup to carry the sheet material.
In one embodiment, the machine further comprises a guide coupled between the frame and the robotic loader 10 to drive the robotic loader 10 toward and away from the processing unit 14 to compensate for the lack of travel of the robot 300. The guides may be, for example, linear modules by which the robotic loader 10 is driven toward and away from the processing unit 14. In one embodiment, the upper magazine mechanism 110 and the lower magazine mechanism 120 are fixed at two ends of the base 210 of the transfer transmission mechanism 200, and when the linear module drives the transfer transmission mechanism 200 to move closer to or away from the processing device 14, the upper magazine mechanism 110 and the lower magazine mechanism 120 also move closer to or away from the processing device 14 synchronously.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. The utility model provides an automatic unloader that goes up which characterized in that includes:
the material box mechanism is used for bearing a material box, the material box is used for loading a workpiece, and the material box mechanism comprises a material feeding box mechanism and a material discharging box mechanism;
the manipulator is arranged at the moving end of the transfer transmission mechanism and drives the manipulator to move between the feeding box mechanism and the discharging box mechanism; the transfer transmission mechanism drives the manipulator to move to a position close to the feeding box mechanism so that the manipulator can take a workpiece from the feeding box mechanism, drives the manipulator clamping the workpiece to move to a working position for workpiece processing, and then drives the manipulator to move to a position close to the discharging box mechanism so that the manipulator can place the processed workpiece to the discharging box mechanism.
2. The automatic loading and unloading device according to claim 1, wherein the transfer transmission mechanism includes a base, a movable seat movably disposed on the base, and a driving assembly for driving the movable seat to move relative to the base, and the robot is disposed on the movable seat.
3. The automatic loading and unloading device according to claim 2, wherein the driving assembly comprises a guide unit and a driving unit; the guide unit comprises a fixed rail and a sliding rail connected with the fixed rail in a sliding mode, the fixed rail is arranged on the base and one of the movable seats, and the sliding rail is arranged on the other of the base and the movable seat.
4. The automatic loading and unloading device of claim 1, wherein the loading box mechanism and the unloading box mechanism each at least comprise a fixed seat and the following structural members supported on the fixed seat:
the positioning plate assembly is fixedly connected to the fixed seat; and
the clamping assembly, the locating plate assembly and the clamping assembly surround to form a containing groove for containing the material box.
5. The automatic loading and unloading device of claim 4, wherein the clamping assembly comprises a first clamping unit and a second clamping unit, and the positioning plate assembly comprises a first positioning plate and a second positioning plate;
the first clamping unit comprises a first fixed driving piece and a first pushing piece, the horizontal distance between the first pushing piece and the first positioning plate is approximately equal to the length of the material box, and the first fixed driving piece can drive the first pushing piece to move up and down so that the material box can enter and be positioned in the accommodating groove;
the second clamping unit comprises a second fixed driving piece and a second pushing piece, and the second fixed driving piece can drive the second pushing piece to push towards the second positioning plate, so that the material box is clamped and positioned by the positioning plate assembly and the clamping assembly.
6. The automatic loading and unloading device as claimed in claim 5, wherein the feeding box mechanism and the unloading box mechanism each comprise a guide wheel assembly arranged on the fixed seat, and the guide wheel assembly is used for being supported between the fixed seat and the material box.
7. The automatic loading and unloading device of claim 5, wherein the loading box mechanism and the unloading box mechanism each comprise a pushing unit, and the pushing unit comprises: the material pushing device comprises a guide rod, a push plate and a pushing driving piece used for driving the push plate to slide along the guide rod, wherein the push plate is used for abutting against a workpiece in a material box so as to push the workpiece in the material box to move.
8. The automatic loading and unloading device of claim 1, wherein the robot is a four-axis robot.
9. A workpiece processing machine, characterized by comprising an automatic loading and unloading device as claimed in any one of claims 1-8.
10. The machine of claim 9, comprising a frame, a processing assembly mounted on the frame, and a guide assembly coupled between the frame and the robotic loader and unloader assembly for driving the robotic loader assembly toward and away from the processing assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920724974.2U CN210456518U (en) | 2019-05-17 | 2019-05-17 | Automatic loading and unloading device and workpiece processing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920724974.2U CN210456518U (en) | 2019-05-17 | 2019-05-17 | Automatic loading and unloading device and workpiece processing machine |
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| Publication Number | Publication Date |
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| CN210456518U true CN210456518U (en) | 2020-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920724974.2U Active CN210456518U (en) | 2019-05-17 | 2019-05-17 | Automatic loading and unloading device and workpiece processing machine |
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| CN (1) | CN210456518U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117342210A (en) * | 2023-12-04 | 2024-01-05 | 歌尔股份有限公司 | Lens feed mechanism |
-
2019
- 2019-05-17 CN CN201920724974.2U patent/CN210456518U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117342210A (en) * | 2023-12-04 | 2024-01-05 | 歌尔股份有限公司 | Lens feed mechanism |
| CN117342210B (en) * | 2023-12-04 | 2024-03-12 | 歌尔股份有限公司 | Lens feed mechanism |
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Address after: 523000 building 3, no.6, West Third Industrial Road, Songshanhu Park, Dongguan City, Guangdong Province Patentee after: Guangdong Tianji Intelligent System Co.,Ltd. Address before: 523000 1st floor, building 1, No.7, Gongye North Road, Songshanhu high tech Industrial Development Zone, Dongguan City, Guangdong Province Patentee before: GUANGDONG TIANJI INDUSTRIAL INTELLIGENT SYSTEM Co.,Ltd. |
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