CN217457883U

CN217457883U - Feeding robot and material transfer system

Info

Publication number: CN217457883U
Application number: CN202221098496.7U
Authority: CN
Inventors: 彭羿; 杨旭磊; 曲跃峰
Original assignee: SAIC GM Wuling Automobile Co Ltd
Current assignee: SAIC GM Wuling Automobile Co Ltd
Priority date: 2022-05-09
Filing date: 2022-05-09
Publication date: 2022-09-20
Anticipated expiration: 2032-05-09

Abstract

The utility model provides a feeding robot and a material transfer system, wherein the feeding robot comprises a base, a first driving module, a second driving module, a third driving module and a grabbing piece, the first driving module comprises a guide rail and a slide block which can be slidably arranged on the guide rail, and the guide rail is arranged on the base; the second driving module comprises a rotating piece and a rack connected with the rotating piece, and the rotating piece is rotatably arranged on the sliding block; the third drive module is including installing in the lift driving piece of frame, snatchs the piece and includes the mounting bracket and install in the tongs and the range finding sensor of mounting bracket respectively, and the mounting bracket is connected with the lift driving piece, and the range finding sensor is used for detecting the tongs and treats the distance of snatching the part. The total cost of the feeding robot is 50% of that of a universal six-axis robot, the operation is stable, and the one-time investment of equipment is greatly saved. The feeding robot has the advantages of saving labor cost and being low in manufacturing cost.

Description

Feeding robot and material transfer system

Technical Field

The utility model relates to a material shifts technical field, especially relates to a material loading robot and material transfer system.

Background

At present, in the welding process of a top cover sub-assembly of a car top cover beam, the assembling method mainly comprises two modes of manual assembling and robot gripper assembling. The biggest characteristic of artifical dress mode is that the flexibility is good, is general in all motorcycle types, but reply the motorcycle type that the top cap is longer, the crossbeam is more (can reach 6), then need increase workman's quantity and guarantee sufficient takt, increase labour cost. The robot gripper assembling piece can meet the requirement of simultaneously assembling a plurality of cross beams, and does not need manpower. The commonly used industrial robot is a universal six-axis robot, although the movement rate is high and a more complicated movement track can be set, the movement track is relatively simple in the scene of the top cover beam assembly alone, and the universal six-axis robot can achieve the required functions but has high purchase cost.

Accordingly, there is a need for a new type of loading robot and material transfer system that solves or at least alleviates the above technical drawbacks.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a material loading robot and material transfer system aims at adopting six robots to transport the technical problem that the material cost is high among the solution prior art.

To achieve the above object, according to one aspect of the present invention, the present invention provides a loading robot, including a base, a first driving module, a second driving module, a third driving module, and a grasping member, wherein the first driving module includes a guide rail and a slider slidably mounted on the guide rail, and the guide rail is mounted on the base; the second driving module comprises a rotating part and a rack connected with the rotating part, and the rotating part is rotatably arranged on the sliding block; the third driving module comprises a lifting driving piece arranged on the rack, the grabbing piece comprises a mounting frame, a hand grip and a distance measuring sensor, the hand grip and the distance measuring sensor are respectively arranged on the mounting frame, the mounting frame is connected with the lifting driving piece, and the distance measuring sensor is used for measuring the distance between the hand grip and a part to be grabbed.

In one embodiment, the mounting frame comprises a sliding portion and a mounting portion connected with the sliding portion, the lifting driving member comprises a sliding rail and a drag chain, the sliding portion is connected with the sliding rail in a sliding mode, the sliding portion is connected with the drag chain, and the distance measuring sensor and the hand grip are connected to the mounting portion.

In an embodiment, the installation portion comprises a cross rod and a vertical rod arranged on the cross rod at intervals, the cross rod is connected with the sliding portion, the distance measuring sensor is installed on the cross rod, and the hand grip is installed at one end, far away from the cross rod, of the vertical rod.

In one embodiment, the number of the vertical rods is three, and each vertical rod is connected with the hand grip.

In one embodiment, the gripper is provided with a vacuum chuck or an electromagnet.

In an embodiment, each of the grippers is provided with at least two vacuum chucks or at least two electromagnets.

In one embodiment, the grabbing piece is further provided with a leakage-proof sensor, and the leakage-proof sensor is used for detecting whether a part is grabbed on the grabbing hand.

In one embodiment, both ends of the guide rail along the sliding direction of the sliding block are provided with travel switches.

In an embodiment, the second driving module further includes an angle limiter, the angle limiter is mounted on the sliding block, and the angle limiter is used for limiting a rotation angle of the rotating member.

According to the utility model discloses an on the other hand, the utility model discloses still provide a material transfer system, material transfer system includes the aforesaid material loading robot, still include material feeding unit and receiving device, material feeding unit with receiving device set up respectively in the guide rail both sides.

In the above scheme, the feeding robot comprises a base, a first driving module, a second driving module, a third driving module and a grabbing piece, wherein the first driving module comprises a guide rail and a sliding block slidably mounted on the guide rail, and the guide rail is mounted on the base; the second driving module comprises a rotating piece and a rack connected with the rotating piece, and the rotating piece is rotatably arranged on the sliding block; the third drive module is including installing in the lift driving piece of frame, snatchs the piece and includes the mounting bracket and install in the tongs and the range finding sensor of mounting bracket respectively, and the mounting bracket is connected with the lift driving piece, and the range finding sensor is used for detecting the tongs and treats the distance of snatching the part. First drive module can include servo motor and ball screw, slides on the guide rail through servo motor and ball screw drive slider to make second drive module remove thereupon, specifically, can accomplish the quick travel and the accurate stopping of optional position in total stroke range 0 ~ 1800mm, it is mainly responsible for realizing that the material loading robot can remove to the material frame top of difference and accomplish and get the piece in appointed stroke range. The second rotating member can comprise a high-precision RV reducer and a servo motor, can drive the whole height extension rack to rotate 180 degrees quickly and stop precisely, and is mainly responsible for realizing the action of rotating the part 180 degrees from the grabbing point (material frame side). The third driving module can finish self-adaptive adjustment of grabbing heights of cross beams of different vehicle types, is provided with a ranging sensor, is used for overcoming the change of the heights of parts in continuous grabbing pieces, and can simulate hands to finish basic actions of picking (including distance judgment) and placing the pieces. Compared with the manual part taking and placing, the embodiment can reduce the human resource allocation of 4 workers at a single station, and the human cost of 8 workers is calculated according to two shifts per day; and the total cost of the embodiment is about 50% of that of the universal six-axis robot, the operation is stable, and the one-time investment of equipment is greatly saved. The embodiment has the advantages of saving labor cost and low manufacturing cost.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic perspective view of a feeding robot according to an embodiment of the present invention;

fig. 2 is a schematic view of a part of the structure of a feeding robot according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a material transfer system according to another embodiment of the present invention;

fig. 4 is another schematic structural diagram of a material transfer system according to another embodiment of the present invention.

The reference numbers illustrate:

100. a feeding robot; 200. a material transfer system; 1. a base; 2. a guide rail; 3. a slider; 4. a rotating member; 5. a frame; 6. a mounting frame; 61. a sliding part; 62. an installation part; 621. a cross bar; 622. a vertical rod; 7. a gripper; 8. a ranging sensor; 9. a slide rail; 10. a drag chain; 11. a leak-proof sensor; 12. an angle limiter; 13. a feeding device; 14. a material receiving device; 15. a travel switch.

The purpose of the present invention, its functional features and advantages will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as the upper and lower … …) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Moreover, the technical solutions of the embodiments of the present invention can be combined with each other, but it is necessary to use a person skilled in the art to realize the basis, and when the technical solutions are combined and contradictory or impossible to realize, the combination of the technical solutions should not exist, and the combination is not within the protection scope of the present invention.

Referring to fig. 1 and 2, according to an aspect of the present invention, the present invention provides a feeding robot 100, including a base 1, a first driving module, a second driving module, a third driving module and a grasping element, wherein the first driving module includes a guide rail 2 and a slider 3 slidably mounted on the guide rail 2, and the guide rail 2 is mounted on the base 1; the second driving module comprises a rotating part 4 and a frame 5 connected with the rotating part 4, and the rotating part 4 is rotatably arranged on the sliding block 3; the third drive module is including installing in the lift driving piece of frame 5, and the piece of snatching includes mounting bracket 6 and installs 7 and the range sensor 8 in the tongs of mounting bracket 6 respectively, and mounting bracket 6 is connected with the lift driving piece, and range sensor 8 is used for detecting 7 and the distance of waiting to snatch the part of tongs. The distance measuring sensor 8 may be a laser distance measuring sensor 8.

In the above embodiment, the first driving module may include a servo motor and a ball screw, and the sliding block 3 is driven by the servo motor and the ball screw to slide on the guide rail 2, so that the second driving module moves along with the sliding block, specifically, the second driving module can complete the rapid movement and the accurate stop of any position within the total stroke range of 0-1800 mm, and the first driving module is mainly responsible for realizing that the feeding robot 100 can move to different material frames within the specified stroke range to complete the picking. The second rotating member 4, which may comprise a high precision RV reducer and a servo motor, may drive the entire height-extending frame 5 to rotate 180 ° fast and stop precisely, and is mainly responsible for achieving 180 ° rotation of the part from the pick-up point (the material frame side). The third driving module can finish self-adaptive adjustment of the grabbing height of the cross beams of different vehicle types, is provided with the distance measuring sensor 8, is used for overcoming the change of the height of parts in a continuous grabbing piece, and can simulate hands to finish basic actions of taking (including distance judgment) and placing the piece. Compared with the manual part taking and placing, the embodiment can reduce the human resource allocation of 4 workers at a single station, and the human cost of 8 workers is calculated according to two shifts per day; and the total cost of the embodiment is about 50% of that of the universal six-axis robot, the operation is stable, and the one-time investment of equipment is greatly saved. The embodiment has the advantages of saving labor cost and low manufacturing cost.

In one embodiment, the mounting frame 6 comprises a sliding part 61 and a mounting part 62 connected with the sliding part 61, the lifting driving part comprises a sliding rail 9 and a drag chain 10, the sliding part 61 is connected with the sliding rail 9 in a sliding manner, the sliding part 61 is connected with the drag chain 10, and the mounting part 62 is connected with the distance measuring sensor 8 and the hand grip 7. The drag chain 10 can be driven to move through the servo motor, and then the sliding part 61 is driven to move in the vertical direction along the sliding rail 9, so that the position of the grabbing piece in the Z direction can be adjusted, and the grabbing piece is expressed as a part grabbing action or a part placing action. The installation part 62 includes that horizontal pole 621 and interval set up in the montant 622 of horizontal pole 621, and horizontal pole 621 is connected with sliding part 61, and range sensor 8 installs in horizontal pole 621, and tongs 7 installs the one end of keeping away from horizontal pole 621 in montant 622, and the quantity of montant 622 is three, all is connected with tongs 7 on each montant 622. A plurality of grippers 7 can be provided by providing a plurality of vertical bars 622 spaced apart for gripping different positions of the part. For example, when the part is the crossbeam, the length of crossbeam is longer, snatchs a point position and emptys easily or appear snatching unstable phenomenon, consequently sets up a plurality of tongs 7 and snatchs from a plurality of positions, improves the fastness that the part snatched, prevents that the part from dropping in the transfer process.

In an embodiment the hand grip 7 is provided with a vacuum chuck or an electromagnet. The gripper 7 selected and installed by the feeding robot 100 adopts two completely different physical principles of 'sponge vacuum chuck or electromagnet' end execution elements and forms different element arrays, so that the influences of basic materials of different beams and beam adsorption effects of concave-convex and open hole pairs on the surfaces can be effectively solved.

In one embodiment, each gripper 7 is provided with at least two vacuum chucks or electromagnets. Each hand grip 7 is provided with at least two vacuum chucks or magnets, so that the part grabbing stability and firmness can be improved.

In one embodiment, the gripping member is further provided with a leakage-proof sensor 11, and the leakage-proof sensor 11 is used for detecting whether the gripping member 7 grips a part. Set up leak protection sensor 11 and be used for detecting whether have the part on the tongs 7, prevent to have the phenomenon of hourglass, falling a, can realize independently judging and grab a state to the precision and the reliability of grabbing a have been guaranteed. The embodiment greatly reduces the probability of the occurrence of manual operation problems such as neglected loading, wrong loading and the like of the beam upper part, and reduces the line stop time and the yield loss caused by repair. In addition, the feeding robot 100 forms a closed loop response in a mode of servo feedback and electric control interpolation, so that the end precision tolerance of the whole system is controlled within a range of +/-0.5 mm. Furthermore, the utility model discloses material loading robot 100 can be through selecting prefabricated procedure direct switch and producing the motorcycle type, independently changes and snatchs orbit and release point, other motorcycle types of reprinting fast. Therefore, the small-batch flexible production mode of a workshop can be met, and the time for carrying out new vehicle type importing training on workers can be saved.

In one embodiment, both ends of the guide rail 2 in the sliding direction of the slider 3 are provided with a travel switch 15. When the sliding block 3 is contacted with the formed switch, the sliding block automatically stops moving, and the sliding rail 9 is prevented from sliding out of the sliding rail 9.

In an embodiment, the second driving module further includes an angle limiter 12, the angle limiter 12 is mounted on the sliding block 3, and the angle limiter 12 is used for limiting the rotation angle of the rotating member 4. The angle limiter 12 can play a role in limiting the rotation angle of the rotating member 4 and also can play a role in positioning, so that the rotating member 4 stops when rotating by just 180 degrees.

Referring to fig. 3 and 4, according to the utility model discloses an on the other hand, the utility model discloses still provide a material transfer system 200, material transfer system 200 includes foretell material loading robot 100, still includes material feeding unit 13 and receiving device 14, and material feeding unit 13 and receiving device 14 set up respectively in guide rail 2 both sides, snatch a material and say that the material transports to receiving device 14 from material feeding unit 13. Since the material transfer system 200 includes all technical solutions of all embodiments of the feeding robot 100, at least all beneficial effects brought by all technical solutions are obtained, and are not described in detail herein.

Specifically, the specific operation steps of each part in the material transfer system 200 are as follows:

firstly, after receiving an action instruction, a first driving module of the feeding robot 100 drives an upper-layer main body to start from an initial zero point, quickly move to a first grabbing point preset by a program, and accurately stop (the first grabbing point defaults to be a first stacked part of a first material frame of the feeding device);

and secondly, the third driving module of the feeding robot 100 drives the grabbing piece to move downwards, in the moving downwards process, the distance measuring sensor 8 can give the distance of the part with the highest height, then the grabbing piece is guided to fall to a proper height through program calculation, and the electromagnet is electrified to complete grabbing of the first piece. Then, the third driving module works again, and is lifted to the initial translation safety height again, and then the first driving module acts to rapidly move to a program preset 'turn-around position';

and thirdly, the second driving module operates, and the high-precision RV reducer drives the highly-extended frame 5 to rotate 180 degrees together and stop accurately, so that the important action that the part rotates 180 degrees from the grabbing point (feeding device) to reach the receiving device 14 on the working side of the centering table is realized. In the whole process after the workpiece is grabbed, the leakage-proof sensor 11 works all the time, if the workpiece is dropped, the system can immediately recognize the workpiece and give an alarm, and meanwhile, the next action is automatically stopped;

and fourthly, after turning, the third driving module of the feeding robot 100 drives the grabbing part to move downwards, in the downward moving process, the distance measuring sensor 8 guides the grabbing part to fall to a proper height, the electromagnet is demagnetized, and the part automatically falls into the centering table through coarse guiding. Thus, the part placing action of the first part is completed;

then the feeding robot 100 repeats the program actions of the third driving module, the second driving module turning, the first driving module moving in the X direction, and the like, and finally returns to the "initial zero point" position, and a standard work cycle is completed.

Starting from the second working cycle, the distance measuring sensor 8 on the grabbing part can adapt to the change of the height of the highest point of the stacked parts in real time, the height of the grabbing point in the continuous grabbing process is continuously adjusted until the first stacked material is grabbed empty, and the upper mechanism of the whole feeding robot 100 can automatically translate to the first stacked material position to grab the first stacked material.

Above only be the utility model discloses an optional embodiment to do not consequently restrict the utility model discloses a patent range, all be in the utility model discloses a technical idea down, utilize the equivalent structure transform of doing of the contents of description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection scope.

Claims

1. A loading robot is characterized by comprising a base, a first driving module, a second driving module, a third driving module and a grabbing piece, wherein the first driving module comprises a guide rail and a sliding block which is slidably installed on the guide rail, and the guide rail is installed on the base; the second driving module comprises a rotating part and a rack connected with the rotating part, and the rotating part is rotatably arranged on the sliding block; the third driving module comprises a lifting driving piece arranged on the rack, the grabbing piece comprises a mounting frame, a hand grip and a distance measuring sensor, the hand grip and the distance measuring sensor are respectively arranged on the mounting frame, the mounting frame is connected with the lifting driving piece, and the distance measuring sensor is used for measuring the distance between the hand grip and a part to be grabbed.

2. The loading robot as claimed in claim 1, wherein the mounting rack includes a sliding portion and a mounting portion connected to the sliding portion, the lifting driving member includes a slide rail and a drag chain, the sliding portion is slidably connected to the slide rail, the sliding portion is connected to the drag chain, and the distance measuring sensor and the hand grip are connected to the mounting portion.

3. The loading robot as claimed in claim 2, wherein the mounting portion includes a cross bar and vertical bars spaced apart from the cross bar, the cross bar is connected to the sliding portion, the distance measuring sensor is mounted on the cross bar, and the hand grip is mounted on one end of the vertical bar away from the cross bar.

4. The loading robot as claimed in claim 3, wherein the number of the vertical rods is three, and the hand grip is connected to each vertical rod.

5. The feeder robot as claimed in claim 4, wherein the gripper is provided with a vacuum chuck or an electromagnet.

6. The feeder robot as claimed in claim 5, wherein each gripper is provided with at least two vacuum cups or at least two electromagnets.

7. The loader robot of any one of claims 1-6, wherein a leak-proof sensor is further mounted on the gripper for detecting whether a part is gripped on the gripper.

8. The loading robot as claimed in any one of claims 1 to 6, wherein both ends of the guide rail in the sliding direction of the slider are provided with a travel switch.

9. The loader robot of any one of claims 1-6, wherein the second drive module further comprises an angle stop mounted to the slide for limiting the angle of rotation of the rotating member.

10. A material transfer system, characterized in that the material transfer system comprises the loading robot of any one of claims 1-9, and further comprises a feeding device and a receiving device, wherein the feeding device and the receiving device are respectively arranged on two sides of the guide rail.