CN214161666U

CN214161666U - Electrode transfer robot

Info

Publication number: CN214161666U
Application number: CN202022610812.1U
Authority: CN
Inventors: 任开文
Original assignee: Suzhou Jiuwu Interchange Intelligent Technology Co ltd
Current assignee: Suzhou Jiuwu Intelligent Technology Co ltd
Priority date: 2020-11-12
Filing date: 2020-11-12
Publication date: 2021-09-10
Anticipated expiration: 2030-11-12

Abstract

The utility model discloses an electrode carrying robot, which comprises a mobile robot body; the mechanical arm is fixed on the mobile robot body; the executing gripper is fixed at the tail end of the mechanical arm and comprises a driving part and a pair of clamping parts, and the driving part drives the pair of clamping parts to open or close; the clamping part comprises a supporting body, the supporting body comprises a semi-circular table, an inclined guide part and limiting lugs, the inclined guide part is arranged at the clamping inlet of the clamping part, the limiting lugs are arranged at the middle section of the clamping part, and the inclined guide part and the limiting lugs are connected to two sides of the semi-circular table respectively. The utility model discloses an electrode transfer robot replaces artifical and industrial machine arm transport electrode, and the flexibility is high. According to the electrode appearance characteristics, the electrode carrying robot is provided with a clamping part matched with the electrode appearance characteristics, the clamping is firm, the grabbing is simple, convenient, stable and reliable, and the compatibility is good.

Description

Electrode transfer robot

Technical Field

The utility model relates to a materials handling field, concretely relates to electrode transfer robot.

Background

Electrical Discharge Machining (EDM) is a common Machining method in the mold industry, and compared with CNC Machining, Electrical Discharge Machining can be used for accurately Machining small gaps, holes or other places where CNC cannot easily reach a tool on a mold workpiece very conveniently, and can complete Machining processes which cannot be achieved by CNC.

In the machining of mold parts, different electrode splitting is usually required according to the structural shape of a mold cavity, and then electrodes are replaced on a numerical control electric spark machine tool in sequence, so that the machining of the whole mold cavity is completed. The electrode is split differently, so that the processing difficulty and cost can be reduced, and the universality of the electrode is improved. Due to the fact that the electrodes are detached, the replacement times of the electrodes of the machining center are increased. For some old electric spark machine tool equipment, electrode replacement is mainly a manual mode, the mode is low in efficiency and complex in operation, and meanwhile, the working difficulty and the working strength are not high, and certain manual waste exists.

In some intelligent processing workshops, machine tool electrodes are replaced mainly by industrial mechanical arms, the mechanical arms are fixed on ground guide rails with single degree of freedom on the ground, and electrode libraries and multiple machine tool devices are covered by moving the guide rails and storing point positions of the mechanical arms. The single degree of freedom guide rail precision is high, easily lays, and the implementation degree of difficulty is low, and is not fragile, nevertheless has strict limitation: (1) the positions of the machine tool and the electrode library relative to the ground cannot be changed, otherwise, the storage work site of the mechanical arm cannot correspond to the storage work site; (2) the mechanical arm can only cover single equipment on two sides of the track, can not cover multiple equipment in the moving direction perpendicular to the guide rail, and can only lengthen the track and increase the plant if the number of machine tools to be covered is increased. On the other hand, the execution end for taking and placing the electrode needs to replace the clamping jaw aiming at different electrodes, and limitation is brought to the use of the industrial mechanical arm.

Disclosure of Invention

The to-be-solved technical problem of the utility model is to provide an electrode transfer robot replaces artifical and industrial mechanical arm transport electrode, and the flexibility is high, snatchs portably, reliable and stable.

In order to solve the technical problem, the utility model provides an electrode carrying robot, which comprises a mobile robot body;

the mechanical arm is fixed on the mobile robot body;

the executing gripper is fixed at the tail end of the mechanical arm and comprises a driving part and a pair of clamping parts, and the driving part drives the pair of clamping parts to open or close; the clamping part comprises a supporting body, the supporting body comprises a semi-circular table, an inclined guide part and limiting lugs, the inclined guide part is arranged at the clamping inlet of the clamping part, the limiting lugs are arranged at the middle section of the clamping part, and the inclined guide part and the limiting lugs are connected to two sides of the semi-circular table respectively.

The present invention provides a method for manufacturing a semiconductor device, which comprises a driving part including a driving body, the driving body being fixed to the end of a mechanical arm, a power end of the driving body being connected to a pair of clamping parts, a casing of the driving body being provided with a linear slide rail, and a pair of clamping parts being slidably connected to the linear slide rail.

In a preferred embodiment of the present invention, the robot further comprises an object stage, wherein the object stage is fixed on the mobile robot body, and the mechanical arm is fixed on the object stage; the electrode buffer storage frame is supported on the objective table and provided with a clamping groove, the clamping groove is open, and the electrode buffer storage frame is located on two sides of the clamping groove to form hanging parts.

The present invention further provides a plurality of said slots on said electrode buffer rack.

The present invention further provides a preferred embodiment, wherein the plurality of slots are arranged in one row, or in two rows, and the slots are alternately arranged in a staggered manner when the slots are arranged in two rows.

The utility model discloses a preferred embodiment further includes still be equipped with the reservoir on the objective table, the reservoir sets up under the electrode buffer memory frame.

In a preferred embodiment of the present invention, the robot further comprises a visual positioning camera at the end of the robot arm, wherein the visual positioning camera is close to the front end of the gripper, and the gripper is arranged in the moving direction.

The utility model discloses a preferred embodiment, further include the mobile robot body includes laser navigation, laser navigation includes three group's laser range finder at least, wherein one set of laser range finder sets up the front end of mobile robot body moving direction, and is two sets of laser range finder sets up respectively the both sides of mobile robot body.

The utility model discloses a preferred embodiment, further include the front end of mobile robot body moving direction still is equipped with ultrasonic radar.

The present invention provides a preferred embodiment, further comprising the mechanical arm is any one of a four-axis mechanical arm, a five-axis mechanical arm, and a six-axis mechanical arm.

The utility model has the advantages that:

the utility model discloses an electrode transfer robot replaces artifical and industrial machine arm transport electrode, and the flexibility is high. According to the electrode appearance characteristics, the electrode carrying robot is provided with a clamping part matched with the electrode appearance characteristics, the clamping is firm, the grabbing is simple, convenient, stable and reliable, and the compatibility is good.

Drawings

FIG. 1 is a schematic diagram of an electrode structure;

fig. 2 is a schematic structural view of the electrode transfer robot according to the present invention;

FIG. 3 is a schematic diagram of an executing gripper of the electrode handling robot of FIG. 2;

FIG. 4 is an enlarged view of a portion D of FIG. 3;

fig. 5 is a schematic structural view of an electrode buffer rack in the electrode transfer robot shown in fig. 2.

The reference numbers in the figures illustrate:

1-electrode, 11-electrode shaft handle, 13-electrode connecting block and 15-electrode mould;

2-moving a robot body, 4-mechanical arm, 6-executing gripper, 8-clamping component, 10-driving component, 12-semi-circular table, 14-inclined guiding part, 16-limiting lug, 18-linear sliding rail, 20-objective table, 22-electrode buffer storage rack, 24-clamping groove, 26-hanging part, 28-liquid storage device, 30-visual positioning camera, 32-laser range finder and 34-ultrasonic radar.

Detailed Description

The present invention is further described with reference to the following drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.

Examples

Referring to fig. 1, the electrode structure used for processing the die is shown, the electrode 1 comprises an electrode shaft handle 11, an electrode connecting block 13 and an electrode die 15, different electrodes have different shapes of the electrode die 15, the electrode shaft handle 11 and the electrode block 13 are the same, and only the electrode shaft handle 11 of each electrode 1 can be used for clamping and grabbing. Referring to fig. 1, the external shape feature of the electrode shaft handle 11 is subdivided into A, B, C three areas, the area a is used for clamping the electrode at the equipment end, so the gripper at the mechanical arm end can only select the area B and the area C, since four fixing screws are arranged around the electrode, if the area C is used as the gripper support, the interference between the support end and the fixing screws is easily caused, so the gripper support acts on the area B, and the gripper clamp acts on the area C.

The embodiment of the utility model discloses electrode transfer robot, refer to the electrode that figure 1 is referred to in electrode storehouse and equipment end transport through this transfer robot, refer to figure 2 and show, transfer robot includes mobile robot body 2, objective table 20, arm 4 and execution tongs 6, objective table 20 installs on the mobile robot body 2, arm 4 is installed on the objective table 20, execution tongs 6 is installed the end of arm 4.

The mobile robot body 2 comprises a laser navigation system, the laser navigation system at least comprises three groups of laser range finders 32, one group of the laser range finders 32 is arranged at the front end of the mobile robot body 2 in the moving direction, and two groups of the laser range finders 32 are respectively arranged at two sides of the mobile robot body 2; the front end of the mobile robot body 2 in the moving direction is also provided with an ultrasonic radar 34. The mobile robot body 2 realizes barrier-free autonomous navigation movement in the area between the electrode library and the equipment end by means of the ultrasonic radar 34 and the laser navigation system, and bears the movement of the mechanical arm 4 to the target position for operation.

Objective table 20 is as the support module in the middle of mobile robot body and the arm, does arm 4 provides benchmark working height, and it mainly comprises bearing section bar frame, outer clamshell and bogie plate triplex, and the switch board and the demonstrator of arm are embedded to be placed in objective table internal cavity, and the bearing frame is done to the aluminium alloy, compact structure, and simple installation, light in weight reduces the continuation of the journey influence to mobile robot. The outer housing is used as a transition release between the mobile robot body and the load board, the appearance of the front side housing and the appearance of the rear side housing refer to the mobile robot body and are of a convex arc structure, a control panel is installed on a cover plate of the left housing, keys such as startup and shutdown and emergency stop are arranged on the control panel, and information such as states and tasks of the robot can be read through a display screen of the control panel.

The mechanical arm 4 is a six-axis mechanical arm, and can complete six-degree-of-freedom motions, namely X, Y, Z-axis movement and alpha, beta and theta rotation around X, Y, Z rotation respectively. It is understood that in other embodiments, the robot arm 4 may be a four-axis robot arm, a five-axis robot arm. Of course, a seven-axis robot arm, an eight-axis robot arm, or the like may be used as necessary for practical use.

The execution hand grip 6 is fixed at the tail end of the mechanical arm 4 and comprises a driving part 10 and a pair of clamping parts 8, the driving part 10 drives the pair of clamping parts 8 to open or close, the pair of clamping parts 8 grab the electrode when closing, and the electrode is released when opening. Referring to fig. 3 and 4, the clamping member 8 includes a supporting body, the supporting body includes a semi-circular truncated cone 12, an inclined guide portion 14 disposed at a clamping entrance of the clamping member 8, and a limiting lug 16 disposed at a middle section of the clamping member 8, and the inclined guide portion 14 and the limiting lug 16 are respectively connected to two sides of the semi-circular truncated cone 12. When the pair of clamping members 8 are closed, the ends of the corresponding pair of semicircular stages 12 are engaged with and clamp the region C of the electrode 1, and the region B of the electrode 1 is supported on the pair of semicircular stages 12. The pair of gripping members 8 are driven by the driving member 10 to close the fixed-point grasping electrode 1. And the electrode mould can be replaced aiming at different electrodes 1, and the execution hand grip 6 is suitable for different electrodes and has good compatibility.

Further, the driving member 10 includes a driver body, and it is understood that the driver body may be implemented by using an existing structure, such as a clamping jaw electric cylinder, a clamping jaw air cylinder, and the like. The driver body is fixed at the tail end of the mechanical arm 4, the power end of the driver body is connected with the pair of clamping components 8, a linear slide rail 18 is arranged on a shell of the driver body, and the pair of clamping components 8 are connected to the linear slide rail 18 in a sliding mode. The linear slide rail 18 restrains the pair of clamping parts 8 from moving to open or close along the linear direction, and the position precision of the grabbing electrode is improved.

Further, the tail end of the mechanical arm 4 is provided with a visual positioning camera 30, the visual positioning camera 30 is arranged close to the execution gripper 6 and located at the front end of the execution gripper 6 in the moving direction, and the visual positioning camera 30 scans a two-dimensional code fixed on the equipment end when the transfer robot is in butt joint with the equipment end to complete accurate positioning of the mechanical arm 4 and the equipment end.

Further, an electrode buffer frame 22 is supported on the stage 20, as shown in fig. 5, a clamping groove 24 is provided on the electrode buffer frame 22, the clamping groove 24 is open, and hanging portions 26 are formed on the electrode buffer frame 22 at two sides of the clamping groove 24. The electrode buffer frame 22 is used for buffering electrodes, for example, electrodes grabbed at the device end are placed on the electrode buffer frame 22, especially, a plurality of the slots 24 are arranged on the electrode buffer frame 22, wherein the slots 24 are arranged in a row or in two rows, and the two rows are alternately arranged in a staggered manner. The electrodes grabbed from the electrode library are placed on the electrode cache frame 22, and when the electrodes are in butt joint with the equipment end, the electrodes on the electrode cache frame 22 are grabbed to the target position of the equipment end; alternatively, the motor grasped from the equipment side is placed on the electrode buffer rack 22, and then moved to another station, and the electrode grasped from the previous equipment side is released to the target position of the next equipment side. Multiple pockets 24 may be used to differentiate between electrodes placed into different stations by being staggered.

Further, a reservoir 28 is disposed on the stage 20, and the reservoir 27 is located right below the electrode buffer rack 22 for intercepting the electrolyte dropping from the electrodes, so as to prevent the electrolyte from contaminating the stage 20.

In one of the application scenarios:

the electric spark digit control machine tool passes through PLC and connects mobile robot body 2, when the lathe has the material of getting/feed supplement request, the task passes through wireless network and sends for mobile robot body 2, mobile robot body 2 receives the task and goes to corresponding equipment end from the district of awaiting orders, mobile robot body 2 accomplishes thick location through pasting the reflector panel on the equipment end earlier, arm 4 utilizes terminal vision positioning camera 30 after the thick location, the two-dimensional code of scanning fixing on the equipment end, accomplish the accurate positioning of arm 4 and lathe equipment end, in order to satisfy the required precision requirement of change electrode. After the location is accomplished, the gesture that the arm 4 was accomplished according to the teaching in advance, arrive appointed station, the electrode is cliied to clamping part 8, mobile robot body 2 and equipment end communication, the electrode is loosened to the equipment end, the electrode is taked away to arm 4, place electrode buffer storage frame 22 on objective table 20, arm 4 takes away the electrode of waiting to process from other draw-in grooves on electrode buffer storage frame 22 afterwards, place the appointed station on the equipment end, mobile robot body 2 and equipment end communication, the electrode is cliied to the equipment end, arm 4 withdraws safe gesture, mobile robot body 2 drives away.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutes or changes made by the technical personnel in the technical field on the basis of the utility model are all within the protection scope of the utility model. The protection scope of the present invention is subject to the claims.

Claims

1. An electrode transfer robot, characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

a mobile robot body;

the mechanical arm is fixed on the mobile robot body;

2. The electrode handling robot of claim 1, wherein: the driving part comprises a driver body, the driver body is fixed at the tail end of the mechanical arm, the power end of the driver body is connected with the pair of clamping parts, a linear slide rail is arranged on a shell of the driver body, and the pair of clamping parts are connected to the linear slide rail in a sliding mode.

3. The electrode handling robot of claim 1, wherein: the mobile robot further comprises an object stage, the object stage is fixed on the mobile robot body, and the mechanical arm is fixed on the object stage; the electrode buffer storage frame is supported on the objective table and provided with a clamping groove, the clamping groove is open, and the electrode buffer storage frame is located on two sides of the clamping groove to form hanging parts.

4. The electrode handling robot of claim 3, wherein: the electrode caching frame is provided with a plurality of clamping grooves.

5. The electrode handling robot of claim 4, wherein: the plurality of clamping grooves are arranged in a row or in two rows, and the clamping grooves are alternately arranged in a staggered manner when the clamping grooves are arranged in the two rows.

6. The electrode handling robot of claim 3, wherein: the object stage is further provided with a liquid storage device, and the liquid storage device is arranged right below the electrode caching frame.

7. The electrode handling robot of claim 1, wherein: and the tail end of the mechanical arm is provided with a visual positioning camera, and the visual positioning camera is arranged close to the execution hand grip and is arranged at the front end of the execution hand grip in the moving direction.

8. The electrode handling robot according to any one of claims 1 to 7, wherein: the mobile robot body comprises a laser navigation system, the laser navigation system at least comprises three groups of laser range finders, one of the laser range finders is arranged at the front end of the moving direction of the mobile robot body, and the two groups of laser range finders are respectively arranged on two sides of the mobile robot body.

9. The electrode handling robot of claim 8, wherein: and the front end of the moving direction of the mobile robot body is also provided with an ultrasonic radar.

10. The electrode handling robot of claim 1, wherein: the mechanical arm is any one of a four-axis mechanical arm, a five-axis mechanical arm and a six-axis mechanical arm.