CN211806239U - Industrial robot's storage and pick-up system - Google Patents

Abstract

The utility model relates to the technical field of mechanical automation production lines, and provides a storage and pickup system of an industrial robot, which comprises a manipulator and a storage device, wherein a workpiece is fixed in the storage device, the manipulator can be movably extended to the storage device to pick up the workpiece, the storage device comprises a fixing frame, a clamping frame and a driving mechanism, a containing seat of the workpiece is arranged on the fixing frame, the periphery of the workpiece is tightly sleeved on the vertical direction of the fixing frame by the containing seat, and the fixing position of the workpiece is limited; the driving mechanism is arranged on the fixed frame and connected with the clamping frame, and drives the clamping frame to displace on the accommodating seat to compress or loosen the workpiece. The utility model discloses improve storage device's structure, the integrality of work piece is ensured to the structure of compatible work piece effectively, saves the adjustment cost, reduces extra work load, improves production efficiency.

Description

Industrial robot's storage and pick-up system

Technical Field

The utility model relates to a mechanical automation line technical field refers in particular to an industrial robot's storage and a system of getting.

Background

With the increasing development of science and technology, in the production and processing operation, the manual assembly line operation originally adopted is gradually replaced by a full-mechanical automatic production line, so that the labor cost is saved, in particular to the standardized industrial production field, high-tech industrial robot equipment is adopted as a processing node on the production line to replace manual processing, the modern production is carried out by utilizing the advantages of high stability, large bearing capacity, accurate operation and the like of the industrial robot, and the industrial robot is gradually popularized to various large-scale full-mechanical automatic production lines.

Currently, in an existing fully automatic mechanical production line, for example, a simple storage and pickup system generally includes a storage device for storing workpieces and a robot for picking workpieces, the robot is disposed at a suitable processing node, and the robot picks the workpieces from the storage device and conveys the workpieces to the production line for processing. However, in practical applications, in order to save the working space on the production line, the storage device is generally disposed at a high position, and the work is suspended from the storage device for storage. The storage device structure generally adopts a clamping frame form, and clamping and releasing of the workpiece are realized by arranging a driving mechanism and an inductor, so that the workpiece can be picked up by a manipulator and unloaded from the storage device.

The storage device in the prior art has a simple structure, is provided with a bolt penetrating through a workpiece, and fixes the workpiece inside through the bolt. However, in order to allow the pin to pass through, a corresponding through hole needs to be arranged on the workpiece, so that the integrity of the workpiece is damaged, the positions of other parts on the workpiece need to be adjusted in cooperation with the through hole, the structure of the whole workpiece is changed, the modeling cost of producing the workpiece is increased, a series of related adjustments such as the position and the operation stroke of picking up the workpiece by a subsequent manipulator are involved, the adjustment setting and debugging time and extra workload are increased, and the production efficiency is seriously influenced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an industrial robot's storage and a system of getting solve the integrality problem of prior art's storage device structure destruction work piece, improve storage device, the integrality of work piece is ensured to the structure of compatible work piece effectively, saves the adjustment cost, reduces extra work load, improves production efficiency.

In order to realize the purpose, the utility model discloses a technical scheme is:

a storage and pickup system of an industrial robot comprises a manipulator and a storage device, wherein a workpiece is fixed in the storage device, the manipulator can movably extend to the storage device to pick up the workpiece, the storage device comprises a fixed frame, a clamping frame and a driving mechanism, a containing seat of the workpiece is arranged on the fixed frame, the containing seat tightly sleeves the periphery of the workpiece in the vertical direction of the fixed frame and limits the fixed position of the workpiece; the driving mechanism is arranged on the fixed frame and connected with the clamping frame, and drives the clamping frame to displace on the accommodating seat to compress or loosen the workpiece.

The utility model discloses an industrial robot's storage and get a system, compare with prior art, it is right storage device structure improves, is equipped with the cooperation in storage device the holding seat of work piece shape, the holding seat is in the cover is tight in the vertical direction of mount the periphery of work piece to inject the fixed position of work piece, thereby adapt to the structure of work piece effectively, need not destroy the integrality of work piece, let the direct holding of work piece in holding the seat. When the workpiece needs to be taken out, the workpiece is taken out from the storage device through the mechanical arm for processing, the problem that the structure of the storage device in the prior art damages the integrity of the workpiece is effectively solved, the adjustment cost of the structure of the workpiece is saved, extra workload is reduced, and the production efficiency is improved.

The structure of the containing seat is further improved, the containing seat is provided with a central opening, a convex ring extending towards the central opening is arranged in the containing seat, and the convex ring is matched with the peripheral outline of the workpiece and supports the workpiece from the back. Firstly, the accommodating seat is provided with a central opening, so that the front and rear structures of the workpiece are not limited, and the workpiece can be connected in the accommodating seat in a penetrating way; secondly, the convex ring is matched with the peripheral outline of the workpiece so as to be compatible with workpieces of different shapes; then, the convex ring can bear the periphery of the workpiece from the back and is matched with the clamping frame from the back of the workpiece to clamp and fix the workpiece.

Furthermore, a first sensor for detecting the fixed state of the workpiece is arranged in the accommodating seat, and a detection hole matched with the first sensor is formed in the workpiece; the convex ring is provided with a notch for embedding the first sensor, and the first sensor is arranged on the convex ring for detecting the installation state of the workpiece.

Still further, an opening is arranged below the containing seat, and horizontal baffles connected with the containing seat are arranged on two sides of the opening. An opening is arranged below the containing seat, so that when the workpiece moves out from the lower part, parts on the workpiece are avoided, and the workpiece can be smoothly taken out from the storage device. The horizontal baffle plates on the two sides of the opening play an effective supporting role and effectively strengthen the effect of fixing the workpiece arranged in the accommodating seat.

On the basis, the horizontal baffle is of a one-way door structure which is opened and closed towards the containing seat. In order to facilitate the installation of the workpiece on the fixed frame, the horizontal baffle plate below the containing seat is arranged into a one-way door structure, so that the horizontal baffle plate can be pushed away from the lower part of the fixed frame along the opening and inserted into the containing seat when the workpiece is installed; after the whole workpiece enters the accommodating seat, the horizontal baffle is restored to the original state and plays an effective supporting role.

The cooperation it is right to hold the seat structure the holding frame is further improved, be equipped with on the holding frame with hold seat position complex through-hole, the through-hole below be equipped with hold the open position complex of seat uncovered, uncovered both sides be equipped with horizontal baffle position complex protruding edge, the projection position setting on protruding edge is in on the bulge loop. The through hole of the clamping frame is arranged so as to avoid the working position of the manipulator, so that the manipulator can move to the position above the containing seat through the through hole to pick up the workpiece, and the workpiece can be taken out smoothly under the opening state of the clamping frame.

Furthermore, the clamping frame is provided with a plurality of ejector rods extending towards the accommodating seat, the end parts of the ejector rods are provided with anti-skidding sleeves, and the ejector rods are respectively arranged above the through hole and on the convex edge; and the ejector rod arranged above the through hole is matched with the first sensor in position. On the one hand, the end part of the ejector rod is provided with the anti-skidding sleeve, so that the fixing effect of the ejector rod on the workpiece is favorably enhanced. On the other hand, the ejector pin sets up a plurality ofly, and the balanced compact work piece from a plurality of positions further strengthens fixed effect. The ejector rod arranged on the convex edge is arranged on the convex ring in a manner of being matched with the projection position of the convex edge, so that the ejector rod can be directly pressed above the convex ring, and if a workpiece is installed, the ejector rod is pressed on the workpiece. In addition, locate the ejector pin of through-hole top with the position cooperation of first sensor, when this ejector pin compresses tightly the work piece, will let the work piece simultaneously contradict on first sensor, and then improve the degree of accuracy that targets in place the detection to the work piece installation.

It is further right storage device structure improves, actuating mechanism is including locating driver and orientation pole on the mount, be equipped with the drive shaft in the driver, be equipped with on the holding frame and cup joint the first perforation and the link of driver, the driver passes first perforation cup joints in the link, the drive shaft with the link is connected. When the driving mechanism is started according to the control signal, the driver drives the driving shaft to extend outwards to push the connecting frame, so that the clamping frame is driven to move, the storage device is opened, and the clamping state of the workpiece is relieved.

Furthermore, the clamping frame is further provided with a second through hole for sleeving the orientation rod, the orientation rod is provided with a return spring, and the return spring is fixed between the end parts of the clamping frame and the orientation rod and used for providing acting force for the resetting of the clamping frame. When the driving mechanism is triggered according to the control signal, the driver stops driving the driving shaft, and the clamping frame is displaced and reset towards the direction of the fixed frame under the action of the reset spring, so that the storage device is closed, and the clamping state is restored.

The clamping frame is characterized by further comprising a detection mechanism for detecting the displacement position of the clamping frame, wherein the detection mechanism comprises a second sensor, a third sensor and a fixed plate which are arranged on the fixed frame, and the fixed plate extends from the fixed frame to the clamping frame; the clamping frame is provided with an induction block, and the induction block moves along with the clamping frame and axially displaces at the fixed positions of the second sensor and the third sensor; the second sensor and the third sensor are arranged on the fixing plate and used for detecting the position of the induction block, so that the working state of the clamping frame is determined, and a detection signal is provided for a control system of the whole equipment.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a structural view of a storage and pickup system of an industrial robot according to the present invention;

FIG. 2 is a structural view of the storage device of the present invention;

fig. 3 is an exploded view of the storage device of the present invention 1;

fig. 4 is an exploded view of the storage device of the present invention, fig. 2;

FIG. 5 is a structural view of the fixing frame of the present invention;

fig. 6 is a structural view of the storage device in a compressed state;

fig. 7 is a structural view of the storage device of the present invention in a released state;

fig. 8 is a view showing a state where the workpiece is taken out from the storage device according to the present invention.

Reference numerals: 100. a storage device; 200. a manipulator; 300. a workpiece; 301. a detection hole; 1. a fixed mount; 2. a clamping frame; 21. a through hole; 22. opening the mouth; 23. a convex edge; 24. a top rod; 240. an anti-slip sleeve; 25. a first perforation; 26. a connecting frame; 27. a second perforation; 28. an induction block; 3. a drive mechanism; 31. a driver; 32. an orientation bar; 33. a drive shaft; 34. a return spring; 4. a housing seat; 40. opening a hole in the center; 41. a convex ring; 410. a notch; 42. a first sensor; 43. an opening; 44. a horizontal baffle; 5. a detection mechanism; 51. a second sensor; 52. a third sensor; 53. and (7) fixing the plate.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 1 to 4, an embodiment of the present invention provides a storage and pickup system for an industrial robot, including a storage device 100 and a manipulator 200, wherein a workpiece 300 is fixed in the storage device 100, the manipulator 200 can movably extend to the storage device 100 to pick up the workpiece 300, the storage device 100 includes a fixing frame 1, a holding frame 2 and a driving mechanism 3, a containing seat 4 for the workpiece 300 is provided on the fixing frame 1, and the containing seat 4 tightly covers the periphery of the workpiece 300 in a vertical direction of the fixing frame 1 and defines a fixing position of the workpiece 300; the driving mechanism 3 is arranged on the fixing frame 1 and connected with the clamping frame 2, drives the clamping frame 2 to move on the accommodating seat 4, and compresses or releases the workpiece 300.

The utility model discloses a storage and a system of getting, it is right storage device 100 structure is improved, is equipped with the cooperation in storage device 100 the holding seat 4 of work piece 300 shape, holding seat 4 is in the cover is tight in the vertical direction of mount 1 the periphery of work piece 300 to inject the fixed position of work piece 300, thereby adapt to the structure of work piece 300 effectively, need not destroy the integrality of work piece 300, let work piece 300 can the snap-on in holding seat 4. When the workpiece 300 needs to be taken out, the manipulator 200 is used for taking the workpiece 300 out of the storage device 100 for processing, so that the problem that the structure of the storage device 100 in the prior art damages the integrity of the workpiece 300 is effectively solved, the adjustment cost of the structure of the workpiece 300 is saved, the extra workload is reduced, and the production efficiency is improved.

It should be noted that, in the system of the present invention, the storage device 100 may be provided with a plurality of fixing frames 1 and holding frames 2 according to actual requirements, so as to store a corresponding number of workpieces 300.

The structure of the accommodating base 4 is optimized, as shown in fig. 5, the accommodating base 4 is provided with a central opening 40, a convex ring 41 extending towards the central opening 40 is arranged in the accommodating base 4, and the convex ring 41 is matched with the peripheral contour of the workpiece 300 and supports the workpiece 300 from the back. Firstly, the housing seat 4 is provided with a central opening 40, so that the front and rear structure of the workpiece 30 is not limited, and the workpiece 300 can be inserted into the housing seat 4; secondly, the convex ring 41 is arranged to match the peripheral contour of the workpiece 300 so as to be compatible with workpieces 300 with different shapes; then, the protruding ring 41 can carry the periphery of the workpiece 300 from the back, and cooperate with the holding frame 2 from the back of the workpiece 300 to hold and fix the workpiece 300.

Preferably, as shown in fig. 4 to 5, a first sensor 42 for detecting a fixed state of the workpiece 300 is further disposed in the accommodating seat 4, and a detection hole 301 matched with the first sensor 42 is disposed on the workpiece 300; the collar 41 is provided with a notch 410 that engages the first sensor 42, so that the first sensor 42 is arranged on the collar 41 to detect the installation state of the workpiece 300.

Preferably, as shown in fig. 5, an opening 43 is provided below the containing seat 4, and horizontal baffles 44 connected with the containing seat 4 are provided on both sides of the opening 43. An opening 43 is provided below the receptacle 4, so that when the workpiece 300 is removed from below, the workpiece 300 is cleared of parts, and the workpiece 300 can be smoothly taken out of the storage device 100. The horizontal baffles 44 on both sides of the opening 43 play an effective supporting role, and effectively enhance the fixing effect on the workpiece 300 installed in the accommodating seat 4.

In addition, in order to facilitate the installation of the workpiece 300 on the fixing frame 1, the horizontal baffle 44 is preferably a one-way door structure (not shown) that is opened and closed toward the inside of the accommodating seat 4, so that when the workpiece 300 is installed, the horizontal baffle 44 can be pushed away from the lower side of the fixing frame 1 along the opening 43 and inserted into the accommodating seat 4; when the workpiece 300 is wholly inserted into the accommodating seat 4, the horizontal baffle 44 is restored to the original state and plays an effective supporting role.

The holding frame 2 is optimized by matching with the structure of the containing seat 4, as shown in fig. 2 to 4, a through hole 21 matched with the position of the containing seat 4 is arranged on the holding frame 2, an opening 22 matched with the position of an opening 43 of the containing seat 4 is arranged below the through hole 21, and convex edges 23 matched with the position of a horizontal baffle 44 are arranged on two sides of the opening 22, so that the projection position of the convex edges 23 is positioned on the convex ring 41. The through-hole 21 of the clamping frame 2 is arranged so as to avoid the working position of the robot 200, so that the robot 200 can move to above the accommodating seat 4 through the through-hole 21 to pick up the workpiece 300 and take out the workpiece 300 in the open state of the clamping frame 2.

Preferably, as shown in fig. 3 to 4, the clamping frame 2 is provided with a plurality of push rods 24 extending towards the accommodating seat 4, the end of each push rod 24 is provided with an anti-slip sleeve 240, and the plurality of push rods 24 are respectively arranged above the through hole 21 and on the convex edge 23; wherein, the mandril 24 arranged above the through hole 21 is matched with the position of the first sensor 42. On one hand, the anti-slip sleeve 240 is arranged at the end of the ejector rod 24, which is beneficial to enhancing the fixing effect of the ejector rod 24 on the workpiece 300. On the other hand, the ejector pins 24 are provided in plural numbers, and the workpiece 300 is pressed in a balanced manner from plural positions, thereby further enhancing the fixing effect. The ejector rod 24 arranged on the ledge 23 is arranged on the convex ring 41 in a manner of matching with the projection position of the ledge 23, so that the ejector rod 24 can be directly pressed above the convex ring 41, and if the ejector rod is arranged on the workpiece 300, the workpiece 300 is pressed. In addition, the ejector rod 24 arranged above the through hole 21 is matched with the position of the first sensor 42, when the ejector rod 24 presses the workpiece 300, the workpiece 300 is abutted against the first sensor 42, and the accuracy of in-place installation detection of the workpiece 300 is further improved.

The structure of the storage device 100 is optimized, as shown in fig. 2 to 5, the driving mechanism 3 includes a driver 31 and an orientation rod 32, which are disposed on the fixing frame 1, a driving shaft 33 is disposed in the driver 31, a first through hole 25 and a connecting frame 26, which are sleeved on the driver 31, are disposed on the holding frame 2, the driver 31 is sleeved in the connecting frame 26 through the first through hole 25, and the driving shaft 33 is connected to the connecting frame 26. When the driving mechanism 3 is started according to the control signal, the driver 31 drives the driving shaft 33 to extend outward to push the connecting frame 26, so as to drive the clamping frame 2 to displace, open the storage device 100, and release the clamping state of the workpiece 300.

On the basis, as shown in fig. 2 to 3, the clamping frame 2 is further provided with a second through hole 27 sleeved with the orientation rod 32, the orientation rod 32 is provided with a return spring 34, and the return spring 34 is fixed between the clamping frame 2 and the end of the orientation rod 32 and used for providing acting force for the return of the clamping frame 2. After the driving mechanism 3 is triggered according to the control signal, the driver 31 stops driving the driving shaft 33, and the clamping frame 2 is displaced and reset towards the direction of the fixing frame 1 under the action of the reset spring 34, so that the storage device 100 is closed, and the clamping state is restored.

Preferably, as shown in fig. 5 to 6, the clamping device further comprises a detection mechanism 5 for detecting a displacement position of the clamping frame 2, wherein the detection mechanism 5 comprises a second sensor 51, a third sensor 52 and a fixing plate 53 arranged on the fixing frame 1, and the fixing plate 53 extends from the fixing frame 1 to the clamping frame 2; the clamping frame 2 is provided with an induction block 28, and the induction block 28 moves along with the clamping frame 2 and axially displaces at the fixed positions of the second sensor 51 and the third sensor 52; the second sensor 51 and the third sensor 52 are disposed on the fixing plate 53, and detect the position of the sensing block 28, so as to determine the working state of the clamping frame 2 and provide a detection signal for the control system of the whole device.

The utility model discloses an industrial robot storage and get a theory of operation of system is:

as shown in fig. 6, a workpiece 300 is fixed on the storage device 100, and the holding frame 2 presses the workpiece into the containing seat 4 through the ejector rod 24; the third sensor 52 detects and determines the position of the sensing block 28.

When the workpiece 300 needs to be taken out, as shown in fig. 7, the driver 31 controls the driving shaft 33 to extend outwards, so that the connecting frame 26 connected with the driving shaft 33 drives the clamping frame 2 to displace outwards, so that the mandril 24 moves away, and the workpiece 300 on the containing seat 4 is released; the second sensor 51 detects and determines the position of the sensing block 28.

Finally, the workpiece 300 can be removed from the receptacle 4 of the holder 1 by the robot 200, as shown in fig. 8.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (9)

1. A storage and pickup system of an industrial robot comprises a manipulator and a storage device, wherein a workpiece is fixed in the storage device, and the manipulator can movably extend to the storage device to pick up the workpiece; the driving mechanism is arranged on the fixed frame and connected with the clamping frame, and drives the clamping frame to displace on the accommodating seat to compress or loosen the workpiece.

2. An industrial robot storage and retrieval system according to claim 1, wherein the receptacle is provided with a central opening and a collar extending towards the central opening is provided in the receptacle, the collar engaging the peripheral contour of the workpiece and supporting the workpiece from the back.

3. The storage and picking system for an industrial robot according to claim 2, wherein a first sensor for detecting the fixed state of the workpiece is further provided in the housing seat, and a detection hole matched with the position of the first sensor is provided on the workpiece; the convex ring is provided with a notch for embedding the first sensor, and the first sensor is arranged on the convex ring for detecting the installation state of the workpiece.

4. An industrial robot storage and picking system according to claim 3, characterized in that an opening is arranged below the containing seat, and horizontal baffles connected with the containing seat are arranged on two sides of the opening.

5. The storage and pickup system of an industrial robot according to claim 4, wherein the holding frame is provided with a through hole which is matched with the position of the accommodating seat, an opening which is matched with the position of the opening of the accommodating seat is arranged below the through hole, two sides of the opening are provided with convex edges which are matched with the position of the horizontal baffle, and the projection position of the convex edges is arranged on the convex ring.

6. The storage and pickup system for an industrial robot according to claim 5, wherein the holder has a plurality of lift pins extending in the direction of the housing base, the lift pins having anti-slip covers at their ends, and the lift pins being disposed above the through holes and on the protruding edges, respectively; and the ejector rod arranged above the through hole is matched with the first sensor in position.

7. The storage and pickup system for an industrial robot of claim 1 wherein said drive mechanism comprises a drive and an orientation rod mounted on said mounting bracket, said drive having a drive shaft mounted therein, said holder having a first aperture for receiving said drive and a connecting bracket, said drive being received in said connecting bracket through said first aperture, said drive shaft being connected to said connecting bracket.

8. The storage and retrieval system of claim 7, wherein the holder further comprises a second through hole for receiving the orientation rod, and the orientation rod is provided with a return spring, the return spring is fixed between the holder and the end of the orientation rod for providing a force for returning the holder.

9. The storage and picking system for an industrial robot according to claim 8, further comprising a detecting mechanism for detecting a displacement position of the holder, wherein the detecting mechanism comprises a second sensor, a third sensor and a fixing plate disposed on the holder, the fixing plate extending from the holder in a direction toward the holder; the clamping frame is provided with an induction block, and the induction block moves along with the clamping frame and axially displaces at the fixed positions of the second sensor and the third sensor; the second sensor and the third sensor are arranged on the fixing plate and used for detecting the position of the induction block.

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