CN214988610U

CN214988610U - Material grabbing and conveying device

Info

Publication number: CN214988610U
Application number: CN202121326388.6U
Authority: CN
Inventors: 张熠
Original assignee: Linghu Intelligent Shenzhen Co ltd
Current assignee: Linghu Intelligent Shenzhen Co ltd
Priority date: 2021-06-15
Filing date: 2021-06-15
Publication date: 2021-12-03
Anticipated expiration: 2031-06-15

Abstract

The utility model discloses a material grabbing and conveying device, which comprises a material taking area for storing materials, a conveying device for conveying the materials and a grabbing robot for grabbing the materials; the material taking areas are positioned at two sides of the grabbing robot; the grabbing robot is arranged on the robot base and positioned on one side of the conveying device, and a clamp for clamping materials is arranged on the grabbing robot; the clamp comprises a base, a clamp driving part, a sliding block, a clamp and a slide way; the upper end of the base is connected with a front end mechanical arm of the grabbing robot, the lower end of the base is provided with a slide way, a pair of slide blocks which move relatively are arranged on the slide way, a pair of clamps are fixed on the slide blocks, and the clamps are driven by clamp driving parts at two sides of the base. The utility model has high automation degree, effectively replaces manual material conveying, and improves the operation efficiency; the utility model discloses be fit for the material of various shapes, conveying speed is fast, has practiced thrift the space of operation station greatly, merges the material transfer chain of different specifications into one, simplifies the production line.

Description

Material grabbing and conveying device

Technical Field

The utility model relates to an industrial automation processing equipment especially relates to a material snatchs conveyor.

Background

When a product is required to be machined or parts are required to be installed, the product which is required to be operated by the front station is required to be transported to the next procedure for subsequent operation, and in order to improve the machining speed and reduce the labor intensity of workers, a conveying device is required at the moment to replace the workers to convey the product which is required to be operated by the front station to the next procedure.

The existing small-sized and round materials, such as the inner barrel of a washing machine and the conveying of inner barrel components, have the problems of difficult grabbing, difficult positioning and the like.

Disclosure of Invention

To the above-mentioned existing technical problem, the utility model provides a material snatchs conveyor, conveying speed is fast, and degree of automation is high, convenient location.

In order to solve the technical problem, the utility model adopts the following technical scheme: a material grabbing and conveying device comprises a material taking area for storing materials, a conveying device for conveying the materials and a grabbing robot for grabbing the materials; the material taking areas are positioned on two sides of the grabbing robot; the grabbing robot is arranged on the robot base and located on one side of the conveying device, and a clamp used for clamping materials is arranged on the grabbing robot; the clamp comprises a base, a clamp driving part, a sliding block, a clamp and a slide way; the upper end of the base is connected with a front-end mechanical arm of the grabbing robot, the lower end of the base is provided with a slide way, a pair of slide blocks which move relatively are arranged on the slide way, a pair of clamps are fixed on the slide blocks, and the clamps are driven by clamp driving parts on two sides of the base.

The beneficial effect of adopting above-mentioned technical scheme is: the utility model has high automation degree, effectively replaces manual material conveying, improves the operation efficiency and reduces the manual labor intensity; the utility model discloses be fit for the material of various shapes, conveying speed is fast, has practiced thrift the space of operation station greatly, merges the material transfer chain of different specifications into one, simplifies the production line, practices thrift the cost.

The utility model discloses it is further, the mouth that presss from both sides of clamp is the V-arrangement bayonet socket.

The beneficial effect of adopting above-mentioned technical scheme is: the material of multiple outside profile can be snatched, and the adaptation product is extensive, snatchs firmly stably.

The utility model discloses it is further, clamp driver part is the cylinder.

The beneficial effect of adopting above-mentioned technical scheme is: the cylinder has the advantages of strong bearing capacity, high grabbing speed and flexible action, and can adopt suitable driving parts such as an electric cylinder, a servo motor and the like.

The utility model discloses it is further, the robot that snatchs is the ABB robot, has six at least degrees of freedom.

The beneficial effect of adopting above-mentioned technical scheme is: the degree of freedom is high, and the action is nimble, can utilize the SmarTac option of ABB robot to carry out the location and snatch.

The utility model discloses it is further, conveyor is conveying cylinder or conveyer belt.

The beneficial effect of adopting above-mentioned technical scheme is: can automatically convey the material to the next processing procedure, and has the characteristics of large conveying capacity, high speed and light and fast operation

The utility model discloses it is further, it is provided with the rail to get the regional outside of material.

The beneficial effect of adopting above-mentioned technical scheme is: the working area is independently divided, and the cleaning and the safety are realized.

The utility model discloses it is further, get the material region and include material trolley and subassembly skip, be located the both sides of snatching robot 7 respectively.

The beneficial effect of adopting above-mentioned technical scheme is: the materials are convenient to store and carry.

The utility model discloses it is further, still including being used for the location to snatch the reference column of position, snatch the reference column through anchor clamps.

The beneficial effect of adopting above-mentioned technical scheme is: an ABB industrial robot with a SmarTac option is utilized, an iron rod is arranged on a clamp of the robot, the robot moves to the position near a skip car to carry out related position finding movement, and the position of a material frame foot point in the X direction is obtained after the material frame is touched from the X direction; the position of a material money pin point in the Y direction is obtained after the material frame is touched from the position close to the Y direction; and the iron rod is close to the material frame in the Z direction, and the position of the material frame in the Z direction of the material frame is obtained after the iron rod touches the material frame. And comprehensively obtaining the XYZ positions of the foot points of the material frame, and obtaining the relevant position of each material by using the size of the locally stored material frame. And then, the grabbing of the whole vehicle material can be completed by using a stacking instruction of the ABB robot. After the grabbing is completed, the materials can be placed on a production line and flow to the next station for related production.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the structure of the clamp of the present invention;

FIG. 3 is a schematic view of the operation of the clamp of the present invention;

FIG. 4 is a schematic view of the working condition of the present invention;

in the figure: 1. the device comprises a component material trolley, 2, a conveying device, 3, a robot base, 4, a positioning column, 5, a material trolley, 6, a washing machine inner barrel, 7, a grabbing robot, 8, a clamp, 9, an inner barrel component, 10, a cylinder, 11, a sliding block, 12, a clamp, 13, a sliding way, 14, a base, 15 and a fence.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The utility model discloses an embodiment: as shown in fig. 1 and 2, a material gripping and conveying device comprises a material taking area for storing materials, a conveying device 2 for conveying the materials, and a gripping robot 7 for gripping the materials; the material taking areas are positioned at two sides of the grabbing robot 7; the grabbing robot 7 is arranged on the robot base 3 and located on one side of the conveying device 2, and a clamp for clamping materials is arranged on the grabbing robot 7; the clamp 8 comprises a base 14, a clamp driving part, a slide block 11, a clamp 12 and a slide way 13; the upper end of the base 14 is connected with a front end mechanical arm of the grabbing robot 7, the lower end of the base 14 is provided with a slide way 13, a pair of slide blocks 11 which move relatively are arranged on the slide way 13, a pair of clamps 12 are fixed on the slide blocks 11, and the clamps 12 are driven by clamp driving parts on two sides of the base 14. The utility model has high automation degree, effectively replaces manual material conveying, improves the operation efficiency and reduces the manual labor intensity; the utility model discloses be fit for the material of various shapes, conveying speed is fast, has practiced thrift the space of operation station greatly, merges the material transfer chain of different specifications into one, simplifies the production line, practices thrift the cost.

In other embodiments of the present invention, the rest of the embodiments are the same as the above embodiments, except that the clamping opening of the clamp 12 is a V-shaped bayonet, as shown in fig. 2. The material of multiple outside profile can be snatched, and the adaptation product is extensive, snatchs firmly stably.

In other embodiments of the present invention, the rest of the embodiments are the same as the above embodiments except that the clamp driving part is a cylinder 10 as shown in fig. 2 and 3. The cylinder has the advantages of strong bearing capacity, high grabbing speed and flexible action, and can adopt suitable driving parts such as an electric cylinder, a servo motor and the like.

In other embodiments of the present invention, the rest of the embodiments are the same as the above embodiments, except that, as shown in fig. 1, the grasping robot 7 is an ABB robot having at least six degrees of freedom. The degree of freedom is high, and the action is nimble, can utilize the SmarTac option of ABB robot to carry out the location and snatch.

In other embodiments of the present invention, the rest of the embodiments are the same as the above embodiments, except that the conveying device 2 is a conveying roller or a conveying belt, as shown in fig. 1. Can automatically convey the material to the next processing procedure, and has the characteristics of large conveying capacity, high speed and light and fast operation

In other embodiments of the present invention, the rest of the embodiments are the same as the above embodiments, except that a fence 15 is disposed outside the material taking region as shown in fig. 4. The working area is independently divided, and the cleaning and the safety are realized.

In other embodiments of the present invention, the rest of the embodiments are the same as the above embodiments, except that, as shown in fig. 1, the material taking region includes a material trolley 5 and a component material trolley 1, which are respectively located at two sides of the grabbing robot 7. The materials are convenient to store and carry.

In other embodiments of the present invention, the rest of the embodiments are the same as the above embodiments, except that, as shown in fig. 1, the present invention further includes a positioning column 4 for positioning the grabbing position, and the positioning column 4 is grabbed by the fixture 8.

Combine above-mentioned embodiment the utility model discloses a working process as follows: taking the inner drum 6 and the inner drum assembly 9 of the washing machine as an example, an ABB industrial robot with a SmarTac option is utilized, a positioning column 4 is arranged on a clamp 8 of the robot, the robot moves to the vicinity of a skip car to carry out related position finding movement, and the position of a material frame foot point in the X direction is obtained after the robot is close to and touches the material frame in the X direction; the position of a material money pin point in the Y direction is obtained after the material frame is touched from the position close to the Y direction; and the positioning rod is close to the material frame in the Z direction, and the position of the material frame in the Z direction of the material frame is obtained after the positioning rod 4 touches the material frame. The XYZ positions of the foot points of the material frame are obtained comprehensively, the related position of each material can be obtained by using the size of the locally stored material frame, and the positioning methods of the material trucks on the two sides of the grabbing robot are the same. Then, grabbing of the washing machine inner cylinder 6 and the inner cylinder assembly 9 can be alternately completed from the material trolley 5 and the assembly material trolley 1 by using a stacking instruction of the ABB robot. After the grabbing is finished, the materials can be placed on the conveying device 2 and flow to the next station for related production. A grabbing scheme for finding the corner points of the material frame is found by utilizing SmarTac, so that the labor cost is greatly reduced; the system is compatible with various products, has reasonable software design, is convenient to use and is more friendly to customers; after the system is used by a client, the production efficiency is greatly improved.

The above-mentioned 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 to implement the present invention, which should not be construed as limiting the scope of the present invention. All equivalent changes or modifications made according to the spirit of the main technical solution of the present invention should be covered within the protection scope of the present invention.

Claims

1. A material grabbing and conveying device is characterized by comprising a material taking area for storing materials, a conveying device for conveying the materials and a grabbing robot for grabbing the materials;

the material taking areas are positioned on two sides of the grabbing robot; the grabbing robot is arranged on the robot base and located on one side of the conveying device, and a clamp used for clamping materials is arranged on the grabbing robot; the clamp comprises a base, a clamp driving part, a sliding block, a clamp and a slide way; the upper end of the base is connected with a front-end mechanical arm of the grabbing robot, the lower end of the base is provided with a slide way, a pair of slide blocks which move relatively are arranged on the slide way, a pair of clamps are fixed on the slide blocks, and the clamps are driven by clamp driving parts on two sides of the base.

2. The material gripping and conveying device as claimed in claim 1, wherein the mouth of the clamp is a V-shaped bayonet.

3. A material handling conveyor as claimed in claim 1 or claim 2 wherein the gripper drive means is an air cylinder.

4. A material gripping and conveying device according to claim 1 or 2, characterised in that the gripping robot is an ABB robot with at least six degrees of freedom.

5. The material handling conveyor of claim 1, wherein the conveyor is a conveyor drum or belt.

6. The material grabbing and conveying device as claimed in claim 1, wherein a fence is arranged outside the material taking area.

7. The material grabbing and conveying device according to claim 1, wherein the material fetching area comprises a material trolley and a component material trolley which are respectively located on two sides of the grabbing robot.

8. The material grabbing and conveying device as claimed in claim 4, further comprising a positioning column for positioning the grabbing position, wherein the positioning column is grabbed by the clamp.