CN212221450U

CN212221450U - Supporting six robots multistation unloading equipment of going up

Info

Publication number: CN212221450U
Application number: CN202020634013.5U
Authority: CN
Inventors: 廖进堃
Original assignee: Zhejiang Ruihong Automation Technology Co ltd
Current assignee: Zhejiang Ruihong Automation Technology Co ltd
Priority date: 2020-04-24
Filing date: 2020-04-24
Publication date: 2020-12-25
Anticipated expiration: 2030-04-24

Abstract

The utility model belongs to the technical field of automation equipment. The technical scheme is as follows: the utility model provides a supporting six robots unloading equipment on multistation which characterized in that: this go up unloading equipment is including fixing subaerial and the front side and opening and be equipped with open panel beating room, the feed bin bottom plate at the inside intermediate position in panel beating room is fixed to the level, can fix a position the carousel on the feed bin bottom plate around vertical axis rotation ground, install in feed bin bottom plate bottom and drive carousel pivoted rotary mechanism, install the feed bin subassembly in order to place the work piece on the carousel, fix panel beating room front side and its free end can stretch into to open interior robot, install the anchor clamps in order to snatch the work piece at the robot free end, install the automatically controlled cabinet in panel beating room left side below and install the control panel in order to control automatically controlled cabinet in panel beating room left side top. The feeding and discharging equipment can greatly reduce the whole floor area, improves the safety performance of the whole equipment, and has the characteristics of simple structure, convenience in operation, high automation degree and safety and reliability in work.

Description

Supporting six robots multistation unloading equipment of going up

Technical Field

The utility model belongs to the technical field of automation equipment, specifically a unloading equipment in supporting six robots multistation.

Background

In the existing feeding and discharging equipment with the six-axis robot, the robot and a feeding machine are usually split, the robot needs to be provided with an independent feeding machine, and the overall occupied area is large; and because the robot needs to operate above the feeding machine, the feeding machine and the robot are usually set to be open, the safety level is low, and the production safety of workers and equipment can be ensured only by additionally adding a safety protection device to the equipment, so that the production cost is increased. Because material loading machine and robot are independently placed respectively, the relative position precision of material loading machine and robot is unstable, if material loading machine or robot appear the displacement deviation because of the collision, then can greatly reduced robot go up the degree of accuracy of unloading, need shut down and adjust the action of robot again, have influenced normal production greatly. In addition, the grabbing range of the robot is very limited, and workpieces need to be frequently supplied to the feeding machine in the working process, so that the robot can continuously grab the workpieces, and the labor intensity of workers is greatly increased. Therefore, there is a need for further improvement of the existing loading and unloading equipment matched with the six-axis robot.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the not enough of above-mentioned background art, provide a unloading equipment in supporting six robots multistation, the unloading equipment in should can reduce holistic area greatly, improves the security performance of whole equipment to can greatly reduced staff's intensity of labour, have simple structure, convenient operation, degree of automation height, the characteristics of work safe and reliable.

The utility model provides a technical scheme is:

the utility model provides a supporting six robots unloading equipment on multistation which characterized in that: the feeding and discharging equipment comprises a sheet metal room which is fixed on the ground and provided with an opening at the front side, a bin bottom plate which is horizontally fixed at the middle position in the sheet metal room, a rotary table which can be positioned on the bin bottom plate in a rotating mode around a vertical axis, a rotary mechanism which is installed at the bottom of the bin bottom plate and drives the rotary table to rotate, a bin assembly which is installed on the rotary table and used for placing a workpiece, a robot which is fixed at the front side of the sheet metal room and of which the free end can extend into the opening, a clamp which is installed at the free end of the robot and used for grabbing the workpiece, an electric control cabinet which is installed below the left side of the sheet;

the bin assembly comprises a plurality of groups of material stations which are uniformly arranged along the circumferential direction of the turntable; each group of material stations comprises a plurality of limiting columns which are vertically fixed on the turntable so as to limit the workpiece and a tray which can vertically and slidably penetrate and sleeve the limiting columns;

and the bottom of the stock bin bottom plate is provided with jacking mechanisms corresponding to the two groups of material stations close to the robot so as to drive the trays in the two groups of material stations to vertically move along the limiting columns.

The rotating mechanism comprises a first speed reducer and a first motor, wherein the first speed reducer is fixed on the bottom plate of the storage bin, an output shaft of the first speed reducer is fixedly connected with the center of the bottom of the rotary table, and the first motor is fixedly connected with an input shaft of the first speed reducer.

The jacking mechanism comprises a support fixed at the bottom of the bin bottom plate, a second speed reducer fixed on the support, a second motor fixedly connected with an input shaft of the second speed reducer, a screw vertically and fixedly connected with an output shaft of the second speed reducer, a screw block in threaded fit with the screw and two ejector rods vertically fixed on the screw block and respectively corresponding to the two groups of trays in position to push the corresponding trays.

A plurality of sensor mounting rods fixed on a bottom plate of the storage bin are arranged on the outer side of the rotary table; an infrared correlation sensor is fixed on each sensor mounting rod to identify whether a workpiece exists on the material station.

A movable door is arranged at the rear side of the sheet metal room; an observation window is arranged on the movable door.

The ground safety scanner for detecting the intervention of external personnel is installed below the front side of the sheet metal room.

And a warning lamp for displaying the running state of the feeding and discharging equipment is fixed at the top of the metal plate room.

The control panel is provided with a touch screen, a first motor power switch, an electric control cabinet power switch, a robot starting button, a robot stopping button and a robot emergency stopping button.

A plurality of positioning holes are uniformly formed in the turntable; a pushing cylinder is vertically fixed on the bin bottom plate; and the tail end of a push rod of the pushing cylinder is vertically fixed with a positioning column which can extend into the positioning hole so as to position the turntable.

The electric control cabinet is respectively electrically connected with the control panel, the robot, the first motor, the second motor, the ground safety scanner and the warning lamp.

The utility model has the advantages that:

1. the utility model discloses in, automatically controlled cabinet, feed bin subassembly and robot an organic whole are installed on the panel beating room, and overall structure designs compactly, and the holistic area of last unloading equipment that has significantly reduced has effectively saved the space, has improved the integrated rate, guarantees the stability of robot and feed bin subassembly relative position simultaneously, makes the robot can accurately snatch the work piece, has improved the positioning accuracy.

2. In the utility model, the front side of the sheet metal room is a robot work area, and the staff opens the movable door at the rear side of the sheet metal room to place a workpiece, so that the robot work area and the manual material placing position are effectively isolated; in addition, a ground safety scanner is installed below the front side of the sheet metal room, when a person enters a working area of the robot, the ground safety scanner transmits a detection signal to an electric control cabinet, the electric control cabinet controls the robot to reduce the running speed or stop the robot to run, and the safety protection performance of the equipment is further improved.

3. The utility model discloses a work piece on the carousel will different material stations is delivered to the robot snatch the within range, can once only deposit a plurality of work pieces, and work piece intermittent type supply time prolongs, greatly reduced artifical intensity of labour.

4. The jacking mechanism is arranged at the bottom of the bottom plate of the storage bin, trays in two groups of material stations close to the robot can be pushed to vertically move along the limiting column, and the robot can accurately grab a workpiece at the bottom of the material stations.

5. The utility model has the advantages of being simple in whole structure, convenient operation, work safe and reliable, applicable in the last unloading of slice work piece, degree of automation is high, has improved production efficiency greatly, is fit for popularizing and applying.

Drawings

Fig. 1 is one of the overall structural diagrams (front side) of the present invention.

Fig. 2 is a second schematic view (back side) of the overall structure of the present invention.

Fig. 3 is a schematic view of the structure of the present invention.

Fig. 4 is the distribution structure diagram of eight material stations in the embodiment of the present invention.

Fig. 5 is a schematic view of the front view structure of the rotating mechanism of the present invention.

Fig. 6 is a schematic view of a three-dimensional structure of the clamp of the present invention.

Reference numerals:

1. a bin floor; 2. a positioning column; 3. a robot; 4. a clamp; 5. a sheet metal room; 6. a warning light; 7. a touch screen; 8. a ground security scanner; 9. supporting legs; 10. a movable door; 11. a power switch of the electric control cabinet; 12. a robot emergency stop button; 13. a robot stop button; 14. a robot start button; 15. a first motor power switch; 18. a workpiece; 19. a first motor; 20. a first decelerator; 21. a turntable; 22. an observation window; 23. an electric control cabinet; 24. a limiting column; 25. a sensor mounting rod; 26. an infrared correlation sensor; 27. a screw; 28. a screw block; 29. a top rod; 30 a second motor; 31. a second decelerator; 32. a support; 33. a tray; 34. a base plate; 35. and (7) positioning the holes.

Detailed Description

The following further description is made with reference to the embodiments shown in the drawings.

The supporting six-axis robot multi-station loading and unloading equipment shown in fig. 1 and 2 comprises a sheet metal room 5, a bin bottom plate 1, a turntable 21, a rotating mechanism, a positioning column 2, a bin assembly, a robot 3, a clamp 4, a movable door 10, an observation window 22, a ground safety scanner 8, a warning lamp 6, an electric control cabinet 23 and a control panel.

An opening is formed in the front side of the sheet metal room; the supporting legs 9 are installed at the bottom of the sheet metal house so as to be fixed on the ground. The feed bin bottom plate is horizontally fixed at the middle position inside the sheet metal room. The turntable can be rotationally positioned on the bin bottom plate around a vertical axis to change stations; the rotating disc is driven to rotate by the rotating mechanism. As shown in fig. 3 and 5, the rotating mechanism is mounted at the bottom of the bin bottom plate and comprises a first speed reducer 20 and a first motor 19 (preferably a servo motor); the first speed reducer is fixed on the bin bottom plate through an external flange, and an output shaft of the first speed reducer is fixedly connected with the center of the bottom of the rotary table; the first motor is fixed on the shell of the first speed reducer, and the rotating shaft of the first motor is fixedly connected with the input shaft of the first speed reducer.

A pushing cylinder (not shown in the figure) is vertically fixed on the bin bottom plate; the positioning column is vertically fixed at the tail end of a push rod of the pushing cylinder; a plurality of positioning holes 35 which are matched with the positioning columns in position are uniformly formed in the turntable (the number of the positioning holes is determined according to the rotating angle of the turntable when the station is changed every time, and the positioning columns just correspond to one positioning hole after the station is changed every time), so that the positioning columns can accurately extend into the positioning holes. During operation, after the rotary table rotates to the position at every time, the push cylinder pushes the positioning column to stretch into the positioning hole to position the rotary table, so that the rotary table is prevented from deviating in the process of grabbing a workpiece by the robot, and grabbing precision of the workpiece is improved.

The robot passes through bottom plate 34 fixed mounting at panel beating room front side (bottom plate and panel beating room body coupling) to the free end of robot can stretch into to uncovered in. As shown in fig. 6, the free end of the robot is connected to the gripper for gripping the work piece 18. The floating gate is installed in panel beating room rear side, and the material level is put as the manual work to the mounted position of floating gate, and the staff can open the floating gate and put the work piece on the feed bin subassembly. The observation window is arranged on the movable door, so that a worker can observe the grabbing condition of the workpiece conveniently, and the workpiece is supplied to the stock bin assembly in time.

As shown in fig. 4, the magazine assembly is mounted on a turntable for placing workpieces. The bin assembly comprises a plurality of groups (eight groups in the figure) of material stations which are uniformly arranged along the circumferential direction of the turntable; each group of material stations comprises three limiting columns 24 and a tray 33. The three limiting columns are vertically fixed on the rotary table and are distributed in a triangular manner so as to limit the workpiece; the tray can vertically and slidably penetrate and sleeve the three limiting columns. And the bin bottom plate is provided with jacking mechanisms corresponding to the two groups of material stations close to the robot so as to push the trays in the two groups of material stations to vertically move along the limiting columns.

As shown in fig. 3, the jacking mechanism includes a bracket 32, a second reducer 31, a second motor 30 (preferably a servo motor), a screw 27, a screw block 28 and two push rods 29. The bracket is fixed at the bottom of the stock bin bottom plate; the second speed reducer is fixed on the support. And a motor shaft of the second motor is fixedly connected with an input shaft of the second speed reducer. The screw rod is vertically and fixedly connected with an output shaft of the second speed reducer; the screw block is in threaded fit with the screw rod. Two ejector rods are vertically fixed on the screw block and respectively correspond to the two groups of trays in position so as to push the corresponding trays to ascend and descend.

As shown in fig. 4, a plurality of (four in the figure) sensor mounting rods 25 fixed on the bottom plate of the storage bin are arranged outside the turntable; each sensor mounting rod is fixed with an infrared correlation sensor 26 for identifying whether a workpiece exists on a material station.

The feed bin subassembly structure of this embodiment is applicable in the unloading of slice material. During work, manually stacking the sheet-shaped workpiece among the three limiting columns of the material station; after the feeding is finished, a first motor power switch is started, the rotating disc is driven to rotate through the rotating mechanism, when the rotating disc rotates for 90 degrees, the electric control cabinet controls the rotating disc to stop rotating, meanwhile, a push rod of the air cylinder is pushed to extend, the positioning column is driven to extend into a positioning hole of the rotating disc, and the rotating disc is positioned; then the robot grabs the workpiece through the clamp to complete the feeding and discharging operation of the workpiece. In addition, when the robot grabs one workpiece, the electric control cabinet controls the second motor to rotate by a certain angle, and the tray is driven to vertically move upwards by a certain distance (the distance is the thickness of the workpiece), so that the robot can accurately grab the next workpiece in the material station.

When the rotary table rotates, workpieces on different material stations are conveyed to a robot working area, a plurality of workpieces can be stored in the stock bin assembly at one time, workpiece supply times are reduced, workpiece intermittent supply time is prolonged, and manual labor intensity is greatly reduced. And the workpiece in each material station can be jacked to the grabbing position of the clamp by the jacking mechanism, so that the robot can accurately grab the workpiece.

The electric control cabinet is fixed below the left side of the sheet metal room; the electric control cabinet is respectively electrically connected with the control panel, the robot, the first motor, the second motor, the ground safety scanner, the warning lamp and the pushing cylinder so as to ensure the working cooperation of all the parts. The ground safety scanner is arranged below the front side of the sheet metal room and used for detecting whether a person enters a robot work area; when personnel enter, the ground safety scanner transmits the detection signal to the electric control cabinet, and the electric control cabinet controls the robot to reduce the running speed or stop the robot running, so that the safety protection performance of the equipment is improved. Sheet metal roof portion fixed mounting has warning light, warning light can warn three kinds of colours and represent the three kinds of running state of equipment, and wherein green represents that equipment is in normal operating condition, and yellow represents that equipment is in standby state, and red represents that equipment is in the shutdown state.

The control panel is arranged above the left side of the sheet metal room and used for controlling the electric control cabinet; the control panel comprises a touch screen 7, a first motor power switch 15 for starting a first motor, an electric control cabinet power switch 11 for starting an electric control cabinet, a robot starting button, a robot stopping button 14, and a robot emergency stopping button 12, wherein the robot starting button, the robot stopping button 13 and the robot emergency stopping button are respectively used for controlling the robot to start, stop and emergency stop. The touch screen is also provided with a man-machine control monitoring interface so as to monitor the production running state of the equipment in real time.

All of the above components are commercially available.

Finally, it should be noted that the above-mentioned embodiments illustrate only specific embodiments of the invention. Obviously, the present invention is not limited to the above embodiments, and many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the invention should be considered as within the scope of the invention.

Claims

1. The utility model provides a supporting six robots unloading equipment on multistation which characterized in that: the feeding and discharging equipment comprises a sheet metal room (5) which is fixed on the ground and provided with an opening at the front side, a bin bottom plate (1) which is horizontally fixed at the middle position in the sheet metal room, a rotary table (21) which can be rotationally positioned on the bin bottom plate around a vertical axis, a rotary mechanism which is arranged at the bottom of the bin bottom plate and drives the rotary table to rotate, a bin assembly which is arranged on the rotary table and used for placing a workpiece (18), a robot (3) which is fixed at the front side of the sheet metal room and the free end of which can extend into the opening, a clamp (4) which is arranged at the free end of the robot and used for grabbing the workpiece, an electric control cabinet (23) which is arranged below the left side of the;

the bin assembly comprises a plurality of groups of material stations which are uniformly arranged along the circumferential direction of the turntable; each group of material stations comprises a plurality of limiting columns (24) which are vertically fixed on the turntable so as to limit the workpiece and a tray (33) which can vertically and slidably penetrate through the limiting columns;

2. The six-axis robot multi-station loading and unloading device matched with the robot as claimed in claim 1, wherein: the rotating mechanism comprises a first speed reducer (20) and a first motor (19), wherein the first speed reducer is fixed on the bottom plate of the storage bin, an output shaft of the first speed reducer is fixedly connected with the center of the bottom of the rotary disc, and the first motor is fixedly connected with an input shaft of the first speed reducer.

3. The six-axis robot multi-station loading and unloading device matched with the robot as claimed in claim 2, wherein: the jacking mechanism comprises a support (32) fixed at the bottom of the bottom plate of the storage bin, a second speed reducer (31) fixed on the support, a second motor (30) fixedly connected with an input shaft of the second speed reducer, a screw (27) vertically and fixedly connected with an output shaft of the second speed reducer, a screw block (28) in threaded fit with the screw and two ejector rods (29) vertically fixed on the screw block and respectively corresponding to the positions of the two groups of trays so as to push the corresponding trays.

4. The six-axis robot multi-station loading and unloading device matched with the robot as claimed in claim 3, wherein: a plurality of sensor mounting rods (25) fixed on the bottom plate of the storage bin are arranged on the outer side of the rotary table; an infrared correlation sensor (26) is fixed on each sensor mounting rod to identify whether a workpiece exists on the material station.

5. The six-axis robot multi-station loading and unloading device matched with the robot of claim 4, wherein: a movable door (10) is arranged at the rear side of the sheet metal room; an observation window (22) is arranged on the movable door.

6. The six-axis robot multi-station loading and unloading device matched with the machine tool as claimed in claim 5, wherein: the ground safety scanner (8) used for detecting the intervention of external personnel is installed below the front side of the sheet metal room.

7. The six-axis robot multi-station loading and unloading device matched with the machine tool as claimed in claim 6, wherein: and a warning lamp (6) for displaying the running state of the feeding and discharging equipment is fixed at the top of the sheet metal room.

8. The six-axis robot multi-station loading and unloading device matched with the robot in claim 7, wherein: the control panel is provided with a touch screen (7), a first motor power switch (15), an electric control cabinet power switch (11), a robot starting button (14), a robot stopping button (13) and a robot emergency stopping button (12).

9. The six-axis robot multi-station loading and unloading device matched with the machine tool as claimed in claim 8, wherein: a plurality of positioning holes (35) are uniformly formed in the turntable; a pushing cylinder is vertically fixed on the bin bottom plate; and the tail end of a push rod of the pushing cylinder is vertically fixed with a positioning column (2) which can extend into the positioning hole so as to position the turntable.

10. The six-axis robot multi-station loading and unloading device matched with the machine tool as claimed in claim 9, wherein: the electric control cabinet is respectively and electrically connected with the control panel, the robot, the first motor, the second motor, the ground safety scanner, the warning lamp and the pushing cylinder.