CN211867250U

CN211867250U - Heavy workpiece carrying and overturning robot workstation

Info

Publication number: CN211867250U
Application number: CN202020539489.0U
Authority: CN
Inventors: 姜海燕
Original assignee: Jiangsu Fanjue Technology Co ltd
Current assignee: Jiangsu Fanjue Machinery Manufacturing Co.,Ltd.
Priority date: 2020-04-13
Filing date: 2020-04-13
Publication date: 2020-11-06
Anticipated expiration: 2030-04-13

Abstract

The utility model discloses a heavy work piece transport and upset robot workstation, including the transfer robot of two collaborative work, transfer robot includes the base, the rotatable first transport axle of locating on the base, the rotatable epaxial second transport axle of locating first transport, around the rotatable tongs of locating on the second transport axle of its self axial lead direction and along the length direction slidable setting of second transport axle, the rotation axis looks parallel arrangement of first transport axle, second transport axle and tongs just extends along the horizontal direction. The utility model discloses a transport and upset robot workstation, the cooperation of first transport axle, second transport axle and tongs on two transfer robots through the collaborative work can the efficient realize the transport of heavy work piece, and through tongs slip and the lifting and the upset of rotation realization work piece on the second transport axle, has avoided the arm directly to lift too high and the too big problem of overturning moment that leads to, has stopped the potential safety hazard.

Description

Heavy workpiece carrying and overturning robot workstation

Technical Field

The utility model relates to the field of machining, concretely relates to heavy work piece transport and upset robot workstation.

Background

For the processing of large flanges and large bearing rings on a numerical control lathe, at present, a mechanical arm is generally used for carrying. However, the existing mechanical arm directly lifts the workpiece when carrying the workpiece, and due to the large and heavy large flange and large bearing ring, when the mechanical arm lifts and turns over the workpiece, the overturning moment is easily too large due to too high lifting, and great potential safety hazard is caused.

Disclosure of Invention

The utility model aims at overcoming the not enough of prior art, provide one kind can the heavy work piece of effectual lifting and carry and the upset and can not lead to toppling the too big robot workstation of moment to it.

In order to achieve the above purpose, the utility model adopts the technical scheme that:

the utility model provides a heavy work piece transport and upset robot workstation for the transport and the upset of the heavy work piece on the processing equipment, it includes that two collaborative work are used for respectively carrying and upset the transfer robot of heavy work piece both sides portion, transfer robot includes the base, rotatable locating first transport axle on the base, rotatable locating second transport axle on the first transport axle, around rotatable locating of its self axial lead direction on the second transport axle and along the tongs of the length direction slidable setting of second transport axle, first transport axle the second transport axle with the rotation axis parallel arrangement of tongs just extends along the horizontal direction.

Preferably, the processing equipment comprises a processing device and a loading and unloading platform, wherein the processing device and the loading and unloading platform are respectively positioned on two sides of the robot workstation and on the rotating paths of the first carrying shaft and the second carrying shaft.

Preferably, one end of the first carrying shaft is rotatably arranged on the base, and the other end of the first carrying shaft is a free end and is positioned above the base.

Further preferably, one end of the second carrying shaft is rotatably disposed on the free end, and the other end is located below the free end.

Preferably, the grippers of the two transfer robots are respectively arranged in a direction in which the grippers approach each other.

Preferably, the transfer robot further comprises a sliding groove formed in the second transfer shaft along the length direction of the second transfer shaft, and a sliding block is arranged at the bottom of the hand grip and can be clamped and embedded in the sliding groove in a matched mode.

Further preferably, the hand grip is rotatably arranged on the sliding block.

Further preferably, the processing devices are arranged in a plurality of numbers in sequence along the horizontal direction, the robot workstation further comprises a guide rail extending along the arrangement direction of the processing devices, and the base is slidably disposed on the guide rail.

Still further preferably, the number of the guide rails is two, and the guide rails are arranged on the guide rail bracket side by side along a direction perpendicular to the arrangement direction of the processing devices.

Still further preferably, the bottom of the base is provided with a clamping groove, and the guide rail can be clamped and embedded in the clamping groove in a matched manner.

Because of above-mentioned technical scheme's application, compared with the prior art, the utility model have the following advantage: the utility model discloses a transport and upset robot workstation, the cooperation of first transport axle, second transport axle and tongs on two transfer robots through the collaborative work can the efficient realize the transport of heavy work piece, and through tongs slip and the lifting and the upset of rotation realization work piece on the second transport axle, has avoided the arm directly to lift too high and the too big problem of overturning moment that leads to, has stopped the potential safety hazard.

Drawings

Fig. 1 is a front view of an inverting and carrying device according to an embodiment of the present invention;

fig. 2 is a side view of an inverting and carrying device in an embodiment of the invention;

FIG. 3 is an enlarged schematic view of A of FIG. 1;

FIG. 4 is an enlarged schematic view of FIG. 1 at B;

FIG. 5 is an enlarged schematic view of FIG. 1 at C;

fig. 6 is an enlarged schematic view at D in fig. 2.

Wherein: 1. a base; 2. a first carrying shaft; 3. a second carrying shaft; 4. a gripper; 5. a chute; 6. a slider; 7. a guide rail; 8. a rail bracket; 9. a card slot; 10. a motor; 11. a speed reducer; 12. a slider;

101. a processing device; 102. and a loading and unloading platform.

Detailed Description

The technical solution of the present invention will be further explained with reference to the accompanying drawings.

The utility model relates to an innovation to handling device of heavy work piece. The mechanical arm of carrying heavy work piece at present lifts the too big problem that has the potential safety hazard of overturning moment when too high, the utility model discloses creative the proposition of heavy work piece transport and upset robot workstation, it cooperatees through two transfer robots of collaborative work, and every transfer robot all includes first transport axle, second transport axle and tongs, through the cooperation of first transport axle on two transfer robots, second transport axle and tongs, can the efficient carry the work piece, and realize the lifting and the upset of work piece through the slip of tongs on the second transport axle with rotate. The utility model discloses can make no longer need directly lift when carrying the work piece, slide the lifting instead, the potential safety hazard has been stopped to the structure is ingenious, is particularly useful for the transport of large-scale race ring or flange circle.

In particular, with reference to fig. 1, there is shown a heavy workpiece handling and turning robot station for handling and turning heavy workpieces on a processing plant, comprising two cooperating handling robots for handling and turning two sides of a heavy workpiece, respectively. The workpiece is a large flange ring or a bearing ring, two conveying robots are respectively positioned on two radial sides of the flange ring or the bearing ring and synchronously act under the control of the same controller to form a robot workstation for cooperatively and efficiently grabbing two sides of the workpiece and carrying and overturning the workpiece. The controller here is a conventional PLC controller, and details are not repeated.

As shown in fig. 1-2, each of the transfer robots includes a base 1, a first transfer shaft 2 rotatably disposed on the base 1, a second transfer shaft 3 rotatably disposed on the first transfer shaft 2, and a gripper 4 rotatably disposed on the second transfer shaft 3 around its own axial line direction and slidably disposed along the length direction of the second transfer shaft 3, wherein the rotation axes of the first transfer shaft 2, the second transfer shaft 3, and the gripper 4 are disposed in parallel and extend along the horizontal direction. Here, the processing apparatus includes a processing device 101 and an upper and lower material loading platform 102, the processing device 101 and the upper and lower material loading platform 102 are respectively located at two sides of the robot workstation and located on the rotation path of the first carrying shaft 2 and the second carrying shaft 3, the first carrying shaft 2 and the second carrying shaft 3 rotate synchronously, and the first carrying shaft 2 and the second carrying shaft 3 cooperatively drive the gripper 4 to move to the processing device 101 and the upper and lower material loading platform 102. The feeding and discharging table 102 includes a feeding table and a discharging table, and is respectively located at two opposite sides of the processing device 101.

One end of the first carrying shaft 2 is rotatably arranged on the base 1, and the other end is a free end and is positioned above the base 1; one end of the second carrying shaft 3 is rotatably arranged on the free end, and the other end is positioned below the free end; the grippers 4 of the two transfer robots are arranged in a direction in which they approach each other.

Specifically, as shown in fig. 3 to 5, the first carrying shaft 2, the second carrying shaft 3 and the hand grip 4 are respectively rotated by the cooperation of the motor 10 and the joint reducer 11. The motor 10 and the reducer 11 are purchased from other places, and the detailed driving principle is not described again.

As shown in fig. 5, the transfer robot further includes a sliding slot 5 disposed on the second transfer shaft 3 along the length direction of the second transfer shaft 3, a sliding block 6 is disposed at the bottom of the hand grip 4, the sliding block 6 can be engaged with the sliding slot 5, and the hand grip 4 is rotatably disposed on the sliding block 6. Here, the speed reducer 11 is arranged in the slide block 6, the motor 10 is located on the upper portion of the slide block 6 and connected with the speed reducer 11, and the output end of the speed reducer 11 extends out towards one side of the slide block 6 and is connected with the hand grip 4 to drive the hand grip 4 to rotate. The gripper 4 can slide on the second carrying shaft 3 through the cooperation of the sliding block 6 and the sliding groove 5, and the lifting of the workpiece is completed. Here, be provided with ball screw in the spout 5, ball screw is outsourcing, and not shown in the figure, and specific principle is not repeated. The slide block 6 slides under the driving of the ball screw.

In this embodiment, the processing devices 101 are provided in plural and arranged in order along the horizontal direction. As shown in fig. 1-2, the robot workstation further includes a guide rail 7 extending along the arrangement direction of the processing device 101, and the base 1 is slidably disposed on the guide rail 7. Two of the guide rails 7 are arranged on the guide rail bracket 8 side by side along the arrangement direction perpendicular to the processing device 101. As shown in fig. 6, a clamping groove 9 is formed at the bottom of the base 1, and the guide rail 7 can be fittingly clamped in the clamping groove 9. The bottom of the base 1 is detachably connected with a sliding part 12, the clamping groove 9 is formed in the sliding part 12, and the sliding part 12 can slide on the guide rail 7. Through the arrangement of the guide rail 7, the robot workstation can move among a plurality of processing devices 101, meanwhile, the overturning and conveying of workpieces on the plurality of processing devices 101 are considered, and the working efficiency is improved. Here, the base 1 slides on the guide rail 7 through the cooperation of the motor, the gear and the rack, wherein the motor, the gear and the rack are purchased and not shown in the figure, and the detailed driving principle is not described again.

The following specifically explains the working process of this embodiment:

during carrying, the two carrying robots act cooperatively, the first carrying shaft 2 on each carrying robot rotates towards the direction of the feeding table, and the second carrying shaft 3 is driven to reach the upper part of the feeding table; the second transfer shaft 3 is then rotated about the free end of the first transfer shaft 2, the end of which reaches the side of the workpiece; at the moment, the gripper 4 slides downwards to the workpiece along the length direction of the second carrying shaft 3 and grips the workpiece; after grabbing, the gripper 4 slides upwards to lift the workpiece, at the moment, the second carrying shaft 3 and the first carrying shaft 2 rotate reversely to drive the gripper 4 to reach the upper part of the processing device 101, the gripper 4 slides downwards to place the workpiece on the processing device 101 for processing, and then the first carrying shaft 2, the second carrying shaft 3 and the gripper 4 reset;

after one surface of the workpiece is machined, the first conveying shaft 2 and the second conveying shaft 3 rotate towards the machining device 101 to drive the gripper 4 to reach the upper part of the machining device 101, the gripper 4 slides downwards to grip the workpiece and then slides upwards, and then the gripper 4 rotates around the axis line direction of the gripper 4 and drives the workpiece to turn over; after the turning is finished, the workpiece is sent back to the other side of the workpiece processed on the processing device 101;

after the other side of the workpiece is machined, the first conveying shaft 2 and the second conveying shaft 3 rotate towards the machining device 101 again to drive the gripper 4 to reach the upper side of the machining device 101, the gripper 4 slides downwards to grab the workpiece and then slides upwards, then the first conveying shaft 2 and the second conveying shaft 3 rotate reversely to drive the gripper 4 to reach the upper side of the blanking table, and the gripper 4 slides downwards to place the workpiece on the blanking table.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and the protection scope of the present invention can not be limited thereby, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.

Claims

1. The utility model provides a heavy work piece transport and upset robot workstation for the transport and the upset of heavy work piece on the processing equipment, it includes that two collaborative work are used for respectively carrying and upset the transfer robot of heavy work piece both sides portion which characterized in that: the transfer robot comprises a base (1), a first transfer shaft (2) rotatably arranged on the base (1), a second transfer shaft (3) rotatably arranged on the first transfer shaft (2) and a gripper (4) rotatably arranged around the axis direction of the second transfer shaft (3) and arranged on the second transfer shaft (3) along the length direction of the second transfer shaft (3) in a sliding mode, wherein the first transfer shaft (2), the second transfer shaft (3) and the rotation axis of the gripper (4) are arranged in parallel and extend along the horizontal direction.

2. The heavy work handling and upending robotic workstation of claim 1, wherein: the machining equipment comprises a machining device (101) and a feeding and discharging platform (102), wherein the machining device (101) and the feeding and discharging platform (102) are respectively located on two sides of the robot workstation and located on rotating paths of the first carrying shaft (2) and the second carrying shaft (3).

3. The heavy work handling and upending robotic workstation of claim 1, wherein: one end of the first carrying shaft (2) is rotatably arranged on the base (1), and the other end of the first carrying shaft is a free end and is positioned above the base (1).

4. A heavy workpiece handling and overturning robotic workstation as claimed in claim 3 wherein: one end of the second carrying shaft (3) is rotatably arranged on the free end, and the other end of the second carrying shaft is positioned below the free end.

5. The heavy work handling and upending robotic workstation of claim 1, wherein: the grippers (4) of the two transfer robots are arranged in a direction in which the grippers approach each other.

6. The heavy work handling and upending robotic workstation of claim 1, wherein: the transfer robot further comprises a sliding groove (5) formed in the second transfer shaft (3) along the length direction of the second transfer shaft (3), a sliding block (6) is arranged at the bottom of the gripper (4), and the sliding block (6) can be embedded into the sliding groove (5) in a matched mode.

7. The heavy work handling and turning robot workstation of claim 6, wherein: the gripper (4) is rotatably arranged on the sliding block (6).

8. A heavy workpiece handling and overturning robotic workstation as claimed in claim 2 wherein: the processing devices (101) are arranged in sequence along the horizontal direction, the robot workstation further comprises guide rails (7) extending along the arrangement direction of the processing devices (101), and the base (1) is arranged on the guide rails (7) in a sliding mode.

9. A heavy work handling and upending robotic workstation as claimed in claim 8, wherein: the number of the guide rails (7) is two, and the guide rails are arranged on the guide rail bracket (8) side by side along the arrangement direction perpendicular to the processing device (101).

10. A heavy work handling and upending robotic workstation as claimed in claim 8, wherein: the bottom of the base (1) is provided with a clamping groove (9), and the guide rail (7) can be clamped and embedded in the clamping groove (9) in a matched mode.