CN212245256U

CN212245256U - Supporting six last unloading equipment of robot

Info

Publication number: CN212245256U
Application number: CN202020634007.XU
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: 2020-12-29
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 last unloading equipment of robot 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 occupied area, greatly reduce the labor intensity of workers and has the characteristics of simple structure, convenient operation and safe and reliable work.

Description

Supporting six last unloading equipment of robot

Technical Field

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

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 on supporting six robots, this unloading equipment of going up 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 last unloading equipment of robot 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 grid plate arranged above the rotary table and spaced from the rotary table, and a support column arranged between the grid plate and the rotary table for supporting the grid plate; the grid plate, the supporting column and the turntable are connected into a whole through the positioning column.

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

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

The grid plate is obliquely arranged, and the middle part of the grid plate is upwards raised; the included angle between the grid plate and the horizontal plane is 15 degrees.

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 motor power switch, an electric control cabinet power switch, a robot starting button, a robot stopping button and a robot emergency stopping button.

And the electric control cabinet is respectively electrically connected with the control panel, the robot, the 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 carousel delivers to the robot with the work piece of the different stations of waffle slab the within range that snatchs, can once only deposit a plurality of work pieces in the waffle slab, and work piece intermittent type supply time extension, greatly reduced artifical intensity of labour.

4. The utility model has the advantages of being simple in whole structure, convenient operation, work safe and reliable, applicable in the last unloading of column 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 a three-dimensional structure of the stock bin assembly of the present invention.

Fig. 4 is a schematic view of the front view structure of the rotating mechanism of the present invention.

Fig. 5 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 motor power switch; 16. a grid plate; 17. a support pillar; 18. a workpiece; 19. a motor; 20. a speed reducer; 21. a turntable; 22. an observation window; 23. an electric control cabinet; 34. a base plate.

Detailed Description

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

The six-axis robot loading and unloading equipment matched with the six-axis robot shown in the figures 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. 4, the rotating mechanism is installed at the bottom of the bin bottom plate and comprises a speed reducer 20 and a motor 19 (preferably a servo motor); the speed reducer is fixed on the bin bottom plate through an external flange, and an output shaft of the speed reducer is fixedly connected with the center of the bottom of the rotary table; the motor is fixed on the shell of the speed reducer, and the rotating shaft of the motor is fixedly connected with the input shaft of the speed reducer.

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. 5, 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 grid plate. 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. 3, the magazine assembly is mounted on a turntable for placing workpieces. The bin assembly includes a grid plate 16 and support posts 17. The grid plate is arranged above the turntable and is separated from the turntable by a distance for preventing cutting fluid from remaining; the grid plates are obliquely arranged, the middle parts of the grid plates are upwards protruded, and the included angle between each grid plate and the horizontal plane is 15 degrees, so that the robot can grab workpieces. The support column is installed between grid plate and carousel in order to support the grid plate. The positioning column 2 is fixed on the turntable and penetrates upwards through the supporting column to be fixedly connected with the grid plate, so that the grid plate, the supporting column and the turntable are fixedly connected into a whole (the grid plate, the supporting plate and the turntable can also be integrally connected by adopting a bolt structure).

The feed bin subassembly structure of this embodiment is applicable in the unloading of column material. When the device works, a worker opens the movable door and manually places the columnar workpiece on the grid plate; after the feeding is finished, a motor power switch is started, the rotary table is driven to rotate through the rotating mechanism, when the rotary table rotates 180 degrees, the electric control cabinet controls the motor to stop rotating, the robot grabs the workpiece through the clamp, and the feeding and discharging operation of the workpiece is finished.

Because the grid plate is driven by the turntable, workpieces on different stations of the grid plate are conveyed to the grabbing range of the robot, so that a plurality of workpieces can be stored in the grid plate at one time, the workpiece feeding times are reduced, the workpiece intermittent feeding time is prolonged, and the manual labor intensity is greatly reduced.

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 motor, the ground safety scanner and the warning lamp 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 motor power switch 15 for starting a motor, an electric control cabinet power switch 11 for starting an electric control cabinet, a robot starting button, a robot stopping button 14, a robot emergency stopping button 12 and a control unit, 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 last unloading equipment of robot 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 grid plate (16) arranged above the rotary table and spaced from the rotary table, and a support column (17) arranged between the grid plate and the rotary table to support the grid plate; the grid plate, the supporting column and the turntable are fixedly connected into a whole through the positioning column (2).

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

3. The six-axis robot loading and unloading device matched with the robot as claimed in claim 2, 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.

4. The six-axis robot loading and unloading device matched with the robot as claimed in claim 3, wherein: the grid plate is obliquely arranged, and the middle part of the grid plate is upwards raised; the included angle between the grid plate and the horizontal plane is 15 degrees.

5. The six-axis robot loading and unloading device matched with the robot as claimed in claim 4, 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.

6. The six-axis robot loading and unloading device matched with the robot as claimed in claim 5, 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.

7. The six-axis robot loading and unloading device matched with the robot as claimed in claim 6, wherein: the control panel is provided with a touch screen (7), a motor power switch (15), an electric cabinet power switch (11), a robot starting button (14), a robot stopping button (13) and a robot emergency stopping button (12).

8. The six-axis robot loading and unloading device matched with the robot as claimed in claim 7, wherein: and the electric control cabinet is respectively electrically connected with the control panel, the robot, the motor, the ground safety scanner and the warning lamp.