CN212449706U - Automatic unstacking and stacking robot unit for material boxes - Google Patents
Automatic unstacking and stacking robot unit for material boxes Download PDFInfo
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- CN212449706U CN212449706U CN202021200737.5U CN202021200737U CN212449706U CN 212449706 U CN212449706 U CN 212449706U CN 202021200737 U CN202021200737 U CN 202021200737U CN 212449706 U CN212449706 U CN 212449706U
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Abstract
The utility model relates to an automatic pile up neatly machine people unit of tearing open of magazine specifically is a pile up neatly machine people unit is torn open to magazine that is used for automatic raw and other materials material loading of machining and finished product unloading equipment to be equipped with. The device comprises a rectangular coordinate manipulator, a loading objective table and a blanking objective table, wherein the rectangular coordinate manipulator is used for carrying a material box; the rectangular coordinate manipulator is arranged on a vertical frame, and the vertical frame is also provided with a first positioning part for positioning the loading objective table and a second positioning part for positioning the unloading objective table; when the loading object stage is limited to the first positioning part and the unloading object stage is limited to the second positioning part, the working range of the manipulator covers the stations of the two object stages. The automatic feeding and discharging device realizes batch automatic feeding and discharging in automatic machining, reduces the labor intensity of workers and achieves the purpose of nursing a plurality of devices by one person.
Description
Technical Field
The utility model relates to an automatic pile up neatly machine people unit of tearing open of magazine specifically is a pile up neatly machine people unit is torn open to magazine that is used for automatic raw and other materials material loading of machining and finished product unloading equipment to be equipped with.
Background
At present, aiming at different bar stock raw materials, the existing material arranging equipment can basically meet the production requirement.
However, when the diameter of the bar structure is thick and the length is short, due to the fact that the appearance characteristics are not obvious, the conventional material arranging equipment cannot accurately perform sequencing and positioning, and therefore normal material arranging is difficult to achieve. There is a need to design an automatic unstacking and stacking robot unit capable of meeting specific requirements.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an automatic unstacking and stacking robot unit for a material box, which can automatically feed rods to a specified position in batch in machining and finish the batch blanking of finished products after automatic machining in a machining system. The automatic feeding and discharging device realizes batch automatic feeding and discharging in automatic machining, reduces the labor intensity of workers and achieves the purpose of nursing a plurality of devices by one person.
In order to achieve the purpose, the invention adopts the following technical scheme that the device comprises a rectangular coordinate manipulator, a loading objective table and a blanking objective table, wherein the rectangular coordinate manipulator is used for carrying a material box;
the rectangular coordinate manipulator is arranged on a vertical frame, and the vertical frame is also provided with a first positioning part for positioning the loading objective table and a second positioning part for positioning the unloading objective table;
when the loading object stage is limited to the first positioning part and the unloading object stage is limited to the second positioning part, the working range of the manipulator covers the stations of the two object stages.
Furthermore, the loading objective table adopts a loading trolley, and the unloading objective table adopts an unloading trolley.
Furthermore, the manipulator is perpendicular to the ground, and the feeding trolley and the discharging trolley travel on the ground.
Furthermore, the rectangular coordinate mechanical arm comprises an X-axis linear module, a Y-axis linear module and a clamp, wherein the mounting seat of the X-axis linear module is mounted on the stand, the Y-axis linear module is mounted on the rotor seat of the X-axis linear module, and the clamp is mounted on the rotor seat of the Y-axis linear module.
Further, anchor clamps include the triangle-shaped mounting bracket that links to each other with Y axis nature module, the first right-angle face of this triangle-shaped mounting bracket links to each other as the active cell seat of mounting panel and Y axis nature module, the second right-angle face of this triangle-shaped mounting bracket parallels with material loading objective table or unloading objective table, a parallel gas claw that opens and shuts is all installed to second right-angle face both sides, two telescopic links of gas claw that open and shut in parallel respectively are connected with a finger, and with the same two finger mirror images setting that the gas claw links to each other that opens and shuts, the parallel gas claw that opens and shuts moves, two fingers approach each other and realize that the magazine presss from both sides tightly or two fingers keep away from each other.
Furthermore, the feeding trolley and the blanking trolley are identical in structure and are provided with positioning pin holes.
Furthermore, the stand is detachably provided with a positioning mounting plate, the positioning mounting plate stretches across the working range of the manipulator and is parallel to the ground, and the first positioning part and the second positioning part are arranged on one side, away from the manipulator, of the positioning mounting plate.
Furthermore, the first positioning part and the second positioning part have the same structure and respectively comprise a U-shaped frame, the U-shaped frame comprises a transverse edge and two vertical edges perpendicular to the transverse edge, the two vertical edges are used as trolley limiting plates, and the transverse edge is provided with a positioning cylinder and a positioning pin guide sleeve; the cylinder rod of the positioning cylinder is connected with a positioning pin, the positioning pin penetrates through the guide sleeve, and the cylinder rod acts to drive the positioning pin to shuttle back and forth along the inside of the guide sleeve.
Furthermore, when the trolley is positioned in the positioning part, the positioning pin is inserted into the positioning pin hole to realize positioning.
Compared with the prior art, the invention has the beneficial effects.
The automatic unstacking and stacking robot unit can realize automatic batch feeding and batch discharging of customized products, can meet the requirement that products are not needed in various shapes, only needs to redesign a material box structure in the process of changing the products, and has stronger universality compared with some existing material arranging equipment. Meanwhile, the unstacking and stacking robot is compact in unit structural design, small in occupied area and convenient to operate manually. And by adopting a module mode, equipment maintenance and accessory replacement are convenient. Low manufacturing cost and easy maintenance and overhaul.
Drawings
The invention is further described with reference to the following figures and detailed description. The scope of the invention is not limited to the following expressions.
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view of the structure of the cart of the present invention.
Fig. 3-4 are schematic views of the working state of the present invention.
Fig. 5 is a partially enlarged view of the positioning portion of the present invention.
FIG. 6 is a schematic view of a triangular mounting bracket according to the present invention.
In the figure, 1 is a feeding trolley, 2 is a vertical frame, 3 is a clamp, 4 is a Y-axis linear module, 5 is an X-axis linear module, 6 is a second positioning part, 7 is a material box, 8 is a handrail, 9 is a wheel, 10 is a vehicle body, 11 is a positioning pin hole, 12 is a blanking trolley, 13 is a manipulator, 14 is a guide sleeve, 15 is a positioning cylinder, 16 is a trolley limiting plate, 17 is a positioning pin, 18 is a parallel opening and closing air claw, 19 is a finger, and 20 is a first right-angle surface.
Detailed Description
As shown in fig. 1 to 6, the present invention includes a rectangular coordinate robot 13 for carrying the magazine 7, a loading stage, and a unloading stage. The rectangular coordinate manipulator 13 is installed on a vertical frame 2, and a first positioning part for positioning a loading objective table and a second positioning part 6 for positioning a blanking objective table are further arranged on the vertical frame 2. When the loading object stage is limited to the first positioning part and the unloading object stage is limited to the second positioning part 6, the working range of the manipulator 13 covers the stations of the two object stages.
Preferably, the loading objective table adopts a loading trolley 1, and the unloading objective table adopts an unloading trolley 12.
In practice, a forklift motion stage may be used as the loading stage and the unloading stage.
Preferably, the manipulator 13 is arranged perpendicular to the ground, and the feeding trolley 1 and the discharging trolley 12 run on the ground. The manipulator 13 is opposite to the two trolleys, so that the manipulator 13 can take the material plate conveniently, and the material plate can be conveyed.
More preferably, the rectangular robot 13 includes an X-axis linear module 5, a Y-axis linear module 4, and a jig 3, wherein the mounting seat of the X-axis linear module 5 is mounted on the stand 2, the Y-axis linear module 4 is mounted on the mover seat of the X-axis linear module 5, and the jig 3 is mounted on the mover seat of the Y-axis linear module 4.
The fixture 3 moves in an X/Y-axis rectangular coordinate system composed of an X-axis linear module 5 and a Y-axis linear module 4.
More preferably, the fixture 3 comprises a triangular mounting rack connected with the Y-axis linear module 4, a first right-angle surface 20 of the triangular mounting rack is connected with a rotor base of the Y-axis linear module 4 as a mounting plate, a second right-angle surface of the triangular mounting rack is parallel to a loading objective table or a unloading objective table, a parallel opening and closing air claw 18 is mounted on each of two sides of the second right-angle surface, two telescopic rods of the parallel opening and closing air claw 18 are respectively connected with a finger 19, the two fingers 19 connected with the same opening and closing air claw are arranged in a mirror image mode, the parallel opening and closing air claws 18 act, the two fingers 19 approach to each other to clamp the material box 7 or the two fingers 19 are far away from each other to loosen the material box 7.
More preferably, the loading trolley 1 and the unloading trolley 12 have the same structure, and the bottom of the trolley body 10 is provided with a positioning pin hole 11. The trolley is also provided with a handrail 8, and the bottom of the trolley body 10 is provided with wheels 9.
More preferably, the stand 2 is detachably provided with a positioning mounting plate, the positioning mounting plate spans across the working range of the manipulator 13, the positioning mounting plate is parallel to the ground, and the first positioning part and the second positioning part 6 are arranged on one side of the positioning mounting plate, which is far away from the manipulator 13.
More preferably, the first positioning part and the second positioning part 6 have the same structure and both comprise a U-shaped frame, the U-shaped frame comprises a transverse edge and two vertical edges perpendicular to the transverse edge, the two vertical edges are used as trolley limiting plates 16, and the transverse edge is provided with a positioning cylinder 15 and a positioning pin guide sleeve 14; the cylinder rod of the positioning cylinder 15 is connected with a positioning pin 17, the positioning pin 17 penetrates through the guide sleeve 14, and the cylinder rod acts to drive the positioning pin to shuttle back and forth along the guide sleeve 14.
More preferably, when the trolley is positioned in the positioning part, the positioning pin 17 is inserted into the positioning pin hole 11 to realize positioning.
When the trolley is about to leave, the positioning pin 17 is driven by the positioning cylinder 15 to leave the positioning pin hole 11.
Specifically, the Y-axis linear module 4 and the X-axis linear module 5 both use a silver-coated module, a linear module with a KU060 model. The parallel opening and closing fingers 19 are MHL2-25D in model.
The use process of the invention is explained by combining the attached drawings and the technical scheme: the feeding trolley 1 loaded with the raw material tray stack (material box 7) is manually pushed to the position of the appointed feeding trolley 1, and the trolley positioning part acts to position the feeding trolley 1. And manually pushing the other empty trolley to the position of the blanking trolley 12, and enabling the second positioning part 6 to act to position the blanking trolley 12. And (3) the unstacking robot acts to convey the material box 7 on the feeding trolley 1 to the discharging trolley 12 through the clamp 3, so that the equipment of the machining automation unit can take the workpiece out of the material box 7 on the discharging trolley 12 for machining, and after machining is completed, the equipment of the machining automation unit can place the machined workpiece in the original position (taking position) in the material box 7 of the discharging trolley 12. The processes of taking, processing and returning to the original position are carried out in sequence according to the flow. After the whole material box 7 workpiece on the blanking trolley 12 is completely processed, the unstacking and stacking robot unit carries the material box 7 of the feeding trolley 1 to the position above the original material box 7 of the blanking trolley 12 again, and the equipment of the machining automation unit carries out the work cycle of taking, processing and returning the material box 7 again. Finally, all the material boxes 7 of the feeding trolley 1 are unstacked and stacked to the discharging trolley 12, meanwhile, workpieces in the material boxes 7 on the discharging trolley 12 are processed, the feeding trolley 1 with unprocessed product material boxes 7 is supplemented after the feeding trolley 1 is pushed away manually, and meanwhile, an empty discharging trolley 12 is supplemented after the discharging trolley 12 with the processed material boxes 7 is pushed away.
It should be understood that the detailed description of the present invention is only for illustrating the present invention and is not limited by the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention can be modified or substituted equally to achieve the same technical effects; as long as the use requirements are met, the method is within the protection scope of the invention.
Claims (9)
1. An automatic material box unstacking and stacking robot unit comprises a rectangular coordinate manipulator, a loading objective table and a discharging objective table, wherein the rectangular coordinate manipulator is used for carrying material boxes; the device is characterized in that the rectangular coordinate manipulator is arranged on a vertical frame, and the vertical frame is also provided with a first positioning part for positioning a loading objective table and a second positioning part for positioning a blanking objective table;
when the loading object stage is limited to the first positioning part and the unloading object stage is limited to the second positioning part, the working range of the manipulator covers the stations of the two object stages.
2. An automated magazine unstacking and stacking robot unit as claimed in claim 1, wherein: the loading objective table adopts a loading trolley, and the unloading objective table adopts an unloading trolley.
3. An automated magazine unstacking and stacking robot unit as claimed in claim 2, wherein: the manipulator is perpendicular to the ground, and the feeding trolley and the discharging trolley travel on the ground.
4. An automated magazine unstacking and stacking robot unit as claimed in claim 1, wherein: the rectangular coordinate manipulator comprises an X-axis linear module, a Y-axis linear module and a clamp, wherein a mounting seat of the X-axis linear module is mounted on the vertical frame, the Y-axis linear module is mounted on a rotor seat of the X-axis linear module, and the clamp is mounted on a rotor seat of the Y-axis linear module.
5. An automated magazine unstacking and stacking robot unit as recited in claim 4, wherein: anchor clamps include the triangle-shaped mounting bracket that links to each other with Y axis nature module, the first right-angle face of this triangle-shaped mounting bracket links to each other as the active cell seat of mounting panel and Y axis nature module, the second right-angle face and the material loading objective table or the unloading objective table of this triangle-shaped mounting bracket parallel, a parallel gas claw that opens and shuts is all installed to second right-angle face both sides, two telescopic links that the gas claw that opens and shuts in parallel respectively are connected with a finger, and with the same two finger mirror image settings that the gas claw links to each other that opens and shuts, the parallel gas claw that opens and shuts moves, two fingers approach each other and realize that the magazine presss from both sides tightly or two fingers keep away.
6. An automated magazine unstacking and stacking robot unit as claimed in claim 2, wherein: the feeding trolley and the discharging trolley are identical in structure and are provided with positioning pin holes.
7. An automated magazine unstacking and stacking robot unit as claimed in claim 1, wherein: the vertical frame is detachably provided with a positioning mounting plate, the positioning mounting plate stretches across the working range of the manipulator and is parallel to the ground, and the first positioning part and the second positioning part are arranged on one side, deviating from the manipulator, of the positioning mounting plate.
8. An automated magazine unstacking and stacking robot unit as recited in claim 7, wherein: the first positioning part and the second positioning part have the same structure and respectively comprise a U-shaped frame, the U-shaped frame comprises a transverse edge and two vertical edges perpendicular to the transverse edge, the two vertical edges are used as trolley limiting plates, and the transverse edge is provided with a positioning cylinder and a positioning pin guide sleeve; the cylinder rod of the positioning cylinder is connected with a positioning pin, the positioning pin penetrates through the guide sleeve, and the cylinder rod acts to drive the positioning pin to shuttle back and forth along the inside of the guide sleeve.
9. An automated magazine unstacking and stacking robot unit as recited in claim 8, wherein: when the trolley is positioned in the positioning part, the positioning pin is inserted into the positioning pin hole to realize positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021200737.5U CN212449706U (en) | 2020-06-26 | 2020-06-26 | Automatic unstacking and stacking robot unit for material boxes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021200737.5U CN212449706U (en) | 2020-06-26 | 2020-06-26 | Automatic unstacking and stacking robot unit for material boxes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212449706U true CN212449706U (en) | 2021-02-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021200737.5U Active CN212449706U (en) | 2020-06-26 | 2020-06-26 | Automatic unstacking and stacking robot unit for material boxes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212449706U (en) |
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2020
- 2020-06-26 CN CN202021200737.5U patent/CN212449706U/en active Active
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