CN217780038U

CN217780038U - Automatic unloader that goes up of manipulator

Info

Publication number: CN217780038U
Application number: CN202221623035.7U
Authority: CN
Inventors: 喻皓
Original assignee: Suzhou Bairuixing Industrial Co ltd
Current assignee: Suzhou Bairuixing Industrial Co ltd
Priority date: 2022-06-27
Filing date: 2022-06-27
Publication date: 2022-11-11
Anticipated expiration: 2032-06-27

Abstract

The utility model discloses an automatic loading and unloading device of a manipulator, which comprises a workbench and a loading and unloading device, wherein the workbench is arranged on one side of a lathe to be processed; the feeding assembly comprises a mechanical arm and a vibrating disc, the vibrating disc is arranged on one side of the mechanical arm, and the vibrating disc is provided with a mechanical arm material taking position; the blanking assembly comprises a blanking unit and a blanking conveying unit, the blanking unit comprises a first driving piece, a blanking piece and a second driving piece, the blanking piece comprises a first material tray and a second material tray, the first material tray is connected with the driving end of the first driving piece, and the second material tray is placed on the first material tray; the second driving piece is arranged on one surface of the first material tray, which is far away from the second material tray, and the driving end of the second driving piece is connected with the second material tray; the blanking conveying unit is arranged on one side of the first driving piece and is provided with at least two workpiece placing stations. The utility model discloses can improve and go up unloading efficiency, reduce the human cost, and improve the utilization ratio of device.

Description

Automatic unloader that goes up of manipulator

Technical Field

The utility model relates to a feeding technical field, concretely relates to automatic unloader that goes up of manipulator on the manipulator.

Background

The manipulator is an operating mechanism which can imitate certain action functions of human hands and is used for grabbing and carrying objects or operating tools according to a fixed program; the method has the characteristics that the heavy labor of operators can be replaced by programming to realize mechanization and automation of production, and the method can be operated in harmful environments, so that the method is widely applied to industries such as mechanical manufacturing, metallurgy, electronics, light industry and the like.

The workpiece feeding and discharging work is a conventional mechanical automation work, one or more operators are required for the traditional workpiece feeding and discharging work to perform cooperative work, but the safety of manual feeding and discharging is low, the operation efficiency is low, and the labor cost is high; therefore, some enterprises at present adopt the manipulator to carry out the unloading operation of going up of work piece, however, current manipulator unloading is the work piece that will process the completion directly usually, puts on the conveyer of transportation station fixedly, then transports by conveyer, because current conveyer is usually in motion state, the conveyer position that arrives the transportation station at every turn all has slight difference, if adopt the direct unloading of manipulator, then need optimize the unloading placement position of manipulator at every turn, there is the unloading inefficiency, and the defect that the utilization rate of device is low.

Therefore, a device capable of fixing the blanking point of the manipulator and improving the blanking efficiency is needed.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model discloses the technical problem that solve lies in overcoming the unloading placement position of manipulator among the prior art, the defect of unloading inefficiency.

In order to solve the technical problem, the utility model provides an unloader in manipulator automation, include:

the workbench is arranged on one side of the lathe to be processed;

the feeding assembly is arranged at one end of the workbench and comprises a mechanical arm and a vibrating disc, the vibrating disc is arranged on one side of the mechanical arm and is provided with a mechanical arm material taking position;

the blanking assembly is arranged at the other end of the workbench and comprises a blanking unit and a blanking conveying unit, the blanking unit comprises a first driving piece, a blanking piece and a second driving piece, the blanking piece comprises a first material tray and a second material tray, the first material tray is connected with the driving end of the first driving piece, and the second material tray is placed on the first material tray; the second driving piece is arranged on one surface of the first material tray, which is far away from the second material tray, and the driving end of the second driving piece is abutted against the second material tray; the blanking conveying unit is arranged on one side of the first driving piece and is provided with at least two workpiece placing stations.

By adopting the technical scheme, the vibration disc and the mechanical arm are arranged, so that the labor intensity of manual operation can be reduced, the operation safety of operating personnel is improved, the operation efficiency is improved, and the labor cost is reduced; through with first driving piece and workstation fixed connection, with the rigidity of first driving piece, consequently, unloading spare is at the unloading of overturning at every turn or the upset back that resets, the position of unloading spare is invariable, consequently need not to optimize the unloading placement position of manipulator at every turn, can improve unloading efficiency, and improves the utilization rate of device.

As a preferred mode of the present invention, the workbench has been provided with a first mounting groove and a second mounting groove.

Through adopting above-mentioned technical scheme, can restrict the mounted position of vibration dish through first mounting groove, can restrict the mounted position of unloading transportation unit through the second mounting groove.

As an optimized mode of the utility model, the material loading subassembly still includes the shaking table, the shaking table is placed in the workstation, just the vibration dish is installed on the shaking table.

As an optimized mode of the utility model, the one end and the shaking table fixed connection of vibration dish, the other end of vibration dish passes first mounting groove.

As an optimized mode of the utility model, unloading transportation unit includes third driving piece, rotating member, the third driving piece is installed in one side of first driving piece, the rotating member is connected with third driving piece drive end, and has seted up two at least work pieces and has place the station.

As a preferred mode of the utility model, unloading transportation unit still includes the mounting bracket, the one end and the workstation fixed connection of mounting bracket, the other end and the third driving piece fixed connection of mounting bracket.

As an optimal mode of the present invention, the third driving member driving end passes through the second mounting groove, and is connected to the rotating member.

By adopting the technical scheme, the vibration table can bear the vibration disc and provide placement for the vibration disc; the mounting bracket can install the third driving piece in the second mounting groove of workstation.

As an optimized mode of the utility model, the unloading transportation unit further comprises a workpiece placing disc, and the workpiece placing disc is placed in the workpiece placing station.

Through adopting above-mentioned technical scheme, the setting of work piece tray can provide the operation personnel quick replacement, and then provides the operating efficiency.

As an optimized mode of the utility model, the unloading unit still includes the piece of keeping out, the one end and the second charging tray fixed connection of piece of keeping out, the other end of piece of keeping out is followed direction of height salient in second charging tray, and at least part and second driving piece drive end are contradicted.

As the utility model discloses an optimal mode, first charging tray has been seted up first and has been put the hole, the second charging tray has been seted up the second and has been put the hole, the first downthehole all dimensions of putting the hole are the same with the downthehole all dimensions that the hole was put to the second, and are greater than the peripheral dimension of the work piece of treating the unloading.

By adopting the technical scheme, the abutting part can be driven to move by the second driving part, and then the second material tray is driven to synchronously move by the movement of the abutting part, so that the second placing hole and the first placing hole are staggered, and when the second placing hole and the first placing hole are staggered, a clamping force is generated to fix the placed workpiece.

Compared with the prior art, the technical scheme of the utility model have following advantage:

1. the automatic loading and unloading device of the manipulator, provided by the utility model, can reduce the labor intensity of operators, improve the loading efficiency and reduce the labor cost by adopting the manipulator and the vibration disc to cooperate to load the workpiece to be processed;

2. through set up the first driving piece of rigidity between manipulator and rotating member, and then through manipulator and unloading cooperation, and because unloading position is invariable, is about to the unloading placement position of manipulator fixed, consequently need not to optimize the unloading placement position of manipulator at every turn, improves unloading efficiency, and then improves the utilization rate of device.

3. Through the cooperation of second driving piece and touch piece, drive the second charging tray and remove, put the hole with the second and put the hole dislocation with first, and then through the second put the dislocation in hole and first putting the hole, produce the clamp force and fix the work piece of putting, can save the required cost of the fixed work piece of batch.

Drawings

In order to make the content of the present invention more clearly understood, the present invention will be described in further detail with reference to the following specific embodiments of the present invention in conjunction with the accompanying drawings.

Fig. 1 is a schematic view of the automatic loading and unloading device of the manipulator of the present invention.

Fig. 2 is a schematic diagram of the automatic loading and unloading device for the manipulator of the present invention.

Fig. 3 is a schematic diagram of the blanking unit of the present invention.

Fig. 4 is an explosion diagram of the blanking unit of the present invention.

Fig. 5 is a schematic view of the vibration plate and the vibration table of the present invention.

Fig. 6 is a schematic view of the blanking transport unit of the present invention.

Fig. 7 is a schematic top view of the rotating member according to the present invention after rotation.

Description reference numbers indicate: 1. the machine tool comprises a machine tool body, 2, a workbench, 10, a machine tool chuck, 20, a first mounting groove, 21, a second mounting groove, 30, a manipulator, 31, a vibration disc, 32, a vibration table, 40, a blanking unit, 41, a blanking conveying unit, 42, a mounting frame, 310, a manipulator material taking position, 400, a first driving piece, 401, a first material disc, 402, a second material disc, 403, a second driving piece, 404, a first driving piece, 405, a second driving piece driving end, 406, a first placing hole, 407, a second placing hole, 408, a contact piece, 410, a third driving piece, 411, a rotating piece, 412, a third driving piece driving end, 413, workpiece station placing, 414, a workpiece placing disc, 415 and a third placing hole.

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.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "second" or "first" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Unless expressly stated or limited otherwise, a first feature "on" or "under" a second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements does not include a limitation to the listed steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Referring to fig. 1-7, the present invention provides an embodiment of an automatic loading and unloading device for a manipulator, including:

the workbench 2 is arranged on one side of the machine tool 1 to be processed;

the feeding assembly is arranged at one end of the workbench 2 and comprises a manipulator 30 and a vibration disc 31, the vibration disc 31 is arranged at one side of the manipulator 30, and a manipulator material taking position 310 is arranged on the vibration disc 31;

the blanking assembly is arranged at the other end of the workbench 2 and comprises a blanking unit 40 and a blanking conveying unit 41, the blanking unit 40 comprises a first driving piece 400, a blanking piece and a second driving piece 403, the blanking piece comprises a first material tray 401 and a second material tray 402, the first material tray 401 is connected with the driving end 404 of the first driving piece, and the second material tray 402 is placed on the first material tray 401; the second driving piece 403 is installed on one surface of the first tray 401 far away from the second tray 402, and the driving end 405 of the second driving piece is abutted against the second tray 402; the blanking conveying unit 41 comprises a third driving element 410 and a rotating element 411, wherein the third driving element 410 is arranged on one side of the first driving element 400; the rotating member 411 is connected to the driving end 412 of the third driving member, and has at least two workpiece placing stations 413.

The machine tool 1 may be any type of machine tool 1 as long as it can machine a workpiece, and from the viewpoint of structural style, for example: a horizontal machine tool 1, a vertical machine tool 1, a brick tower machine tool 1, a single-shaft machine tool 1, a multi-shaft machine tool 1 and the like; from the viewpoint of processing accuracy, for example: a general machine tool 1, a precision machine tool 1, a high-precision machine tool 1 and the like; specifically, an operator selects the type of the existing machine tool 1 and a circuit diagram, a control system and a connection relation thereof according to actual production requirements and cost; the working platform 2 can be any type of working platform 2 frame as long as it can carry the feeding assembly and the discharging assembly, and from the material point of view, for example: a workbench 2 frame welded by using a section bar, a workbench 2 frame built by using an aluminum section bar, or a workbench 2 frame combined by the section bar welding and the aluminum section bar, and the like; from a structural point of view, for example: the structure, the material and the size of the workbench 2 are set by an operator according to actual production requirements and cost; and the workbench 2 is provided with a first mounting groove 20 and a second mounting groove 21.

The robot 30 may be any type of robot 30 as long as the robot 30 can grasp a workpiece to be processed and a processed workpiece, and from the viewpoint of a driving manner, for example: a hydraulic robot 30, a pneumatic robot 30, an electric robot 30, a mechanical robot 30, and the like; from the viewpoint of the applicable range, for example: a dedicated robot 30, a universal robot 30, and the like; from the viewpoint of motion trajectory control, for example: a point location control manipulator 30, a continuous track control manipulator 30 and the like, wherein operators select the existing manipulator 30 models and circuit diagrams, control systems and connection relations thereof according to actual production requirements and cost; referring to fig. 1 and 2, the robot 30 is mounted on the table 2, and the vibration plate 31 is mounted in the first mounting groove 20; vibration dish 31 chooses current vibration dish model and circuit diagram, control system, relation of connection for use according to actual production demand, cost by the operating personnel, through vibration dish 31 will treat that the work piece vibration of processing is carried to the manipulator and is got material level 310, and then provides manipulator 30 snatchs, places on the lathe frock chuck 10 of treating processing.

Wherein, referring to fig. 2, the first driving member 400 is mounted on the worktable 2; the first driving member 400 includes, but is not limited to, a rotary cylinder and an electric rotary driver, and the specific model is set by an operator according to actual production requirements and cost, and in this embodiment, the rotary cylinder is referred to; the first driving piece 400 drives the first material tray 401 to rotate, and the rotation angle of the first material tray 401 is set by an operator according to the position of the blanking conveying unit 41; the first tray 401 is provided with a first placing hole 406, the second tray 402 is provided with a second placing hole 407, the inner and outer circumference of the first placing hole 406 is the same as that of the second placing hole 407, and the inner and outer circumference is larger than the outer circumference of the workpiece to be blanked; when the second tray 402 is normally placed on the first tray 401, the second placing hole 407 and the first placing hole 406 are coaxial; when the manipulator 30 places the processed workpiece in the second placing hole 407 and the first placing hole 406 and the processed workpiece needs to be placed in the workpiece placing station 413, the second driving member 403 pushes the second tray 402 to move laterally, the second placing hole 407 and the first placing hole 406 are dislocated, and a clamping force is formed by the dislocating to fix the processed workpiece; the driving end 405 of the second driving member is fixedly connected to one end of the second tray 402, and the second driving member 403 includes, but is not limited to, a hydraulic device, a pneumatic device, and a device for providing power for reciprocating linear motion by a servo motor, and the specific model is set by an operator according to actual production requirements and cost, in this embodiment, a TN double-rod double-shaft cylinder is referred to;

referring to fig. 2, the third driving element 410 is installed in the second installation groove 21, and the driving end 412 of the third driving element protrudes from the workbench 2 along the height direction; the third driving component 410 includes, but is not limited to, a rotary cylinder and a rotary stepping motor, and the specific model is set by an operator according to actual production requirements and cost, and in this embodiment, the rotary stepping motor is referred to; referring to fig. 6 and 7, in the present embodiment, the rotating member 411 refers to a rotating tray, which is driven by the third driving member 410 to rotate; the rotating member 411 is provided with a plurality of workpiece placing stations 413, a workpiece placing tray 414 is arranged in the workpiece placing stations 413, and the workpiece placing tray 414 is provided with a plurality of third placing holes 415 for placing the processed workpieces.

By adopting the technical scheme, the working principle of the automatic feeding and discharging device of the mechanical arm is as follows:

during feeding, conveying the workpiece to be processed to the manipulator material taking position 310 through the vibration disc 31 in a vibration mode, grabbing the workpiece to be processed at the manipulator material taking position 310 through the manipulator 30, further placing the workpiece to be processed on the machine tool chuck 10 to be processed through the manipulator 30, and processing the workpiece to be processed through the machine tool 1 to be processed;

during blanking, the machined workpiece on the tool chuck is grabbed by the manipulator 30, and the machined workpiece is placed on the blanking part by the manipulator 30;

after the blanking member is fully loaded, the second tray 402 is driven by the second driving member 403 to move laterally, so that the second placing hole 407 of the second tray 402 is dislocated from the first placing hole 406 of the first tray 401, and a clamping force is formed to fix the machined workpiece; then the first tray 401 and the second tray 402 are driven by the first driving member 400 to rotate towards the rotating member 411, then the second tray 402 is driven by the second driving member 403 to contract and reset, the second placing hole 407 and the first placing hole 406 are not in dislocation, and at the moment, the processed workpiece is naturally discharged into the workpiece placing tray 414 of the workpiece placing station 413; then the first tray 401 and the second tray 402 are driven by the first driving element 400 to rotate and reset towards the manipulator 30, meanwhile, the rotating element 411 is driven by the third driving element 410 to rotate by a preset angle, the vacant workpiece placing station 413 is close to the first driving element 400, and then the workpiece placing tray 414 with the workpiece placed thereon is taken out by the operator and is replaced by the vacant workpiece placing tray 414;

the preset angle is set by an operator according to the number of the actual workpiece placing stations 413, namely if the number of the workpiece placing stations 413 is 2, the preset angle is 180 degrees, if the number of the workpiece placing stations 413 is 3, the preset angle is 120 degrees, and the like; after the first tray 401 and the second tray 402 rotate towards the rotating member 411, the first placing hole 406 of the first tray 401 and the third placing hole 415 of the workpiece placing tray 414 are coaxial, and the processed workpiece naturally falls into the third placing hole 415 after the second placing hole 407 and the first placing hole 406 are not dislocated any more; wherein, because first driving piece 400 adopts fixed connection with workstation 2, its position is fixed, consequently, unloading piece is after upset unloading or upset are reset at every turn, unloading piece position is invariable, consequently need not to optimize the unloading placement position of manipulator 30 at every turn, is about to the unloading placement position of manipulator 30 is fixed, and then improves unloading efficiency, and improves the utilization of device.

Referring to fig. 2 and 5, the feeding assembly further comprises a vibrating table 32;

the vibration table 32 is placed in the workbench 2 and used for bearing the vibration disc 31, and the structure, the material and the size of the vibration table 32 are set by an operator according to actual production requirements and cost; the vibration plate 31 is mounted on the vibration table 32, one end of the vibration plate 31 is fixedly connected with the vibration table 32, and the other end of the vibration plate 31 passes through the first mounting groove 20.

Referring to fig. 2 and 6, the blanking conveying unit 41 further includes a mounting frame 42;

wherein, the one end and the workstation 2 fixed connection of mounting bracket 42, the other end and the third driving piece 410 fixed connection of mounting bracket 42, concrete mounting bracket 42's structure, material, size are set for by operating personnel according to actual production demand, cost.

By adopting the technical scheme, the vibration table 32 can bear the vibration disc 31 and provide a placing space for the vibration disc 31; the mounting bracket 42 is configured to mount the third driving member 410 in the second mounting groove 21 of the worktable 2.

Referring to fig. 3 and 4, the blanking unit 40 further includes a contact 408;

one end of the contact 408 is fixedly connected to the second tray 402, and the other end of the contact 408 protrudes from the second tray 402 along the height direction and is at least partially fixedly connected to the driving end 405 of the second driving member.

By adopting the above technical scheme, the abutting piece 408 is arranged to drive the abutting piece 408 to move through the second driving piece 403, and then the second tray 402 is driven to move synchronously through the movement of the abutting piece 408, so that the second placing hole 407 and the first placing hole 406 are dislocated, and when the second placing hole 407 and the first placing hole 406 are dislocated, a clamping force is generated to fix the placed workpiece.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious changes and modifications can be made without departing from the scope of the invention.

Claims

1. The utility model provides a unloader in manipulator automation which characterized in that includes:

the workbench (2) is arranged on one side of the machine tool (1) to be processed;

the feeding assembly is arranged at one end of the workbench (2) and comprises a manipulator (30) and a vibration disc (31), the vibration disc (31) is arranged on one side of the manipulator (30) and is provided with a manipulator material taking position (310);

the blanking assembly is arranged at the other end of the workbench (2) and comprises a blanking unit (40) and a blanking conveying unit (41), the blanking unit (40) comprises a first driving piece (400), a blanking piece and a second driving piece (403), the blanking piece comprises a first material tray (401) and a second material tray (402), the first material tray (401) is connected with a driving end (404) of the first driving piece, and the second material tray (402) is placed on the first material tray (401); the second driving piece (403) is arranged on one surface, away from the second material disc (402), of the first material disc (401), and the driving end (405) of the second driving piece is connected with the second material disc (402); the blanking conveying unit (41) is arranged on one side of the first driving piece (400) and is provided with at least two workpiece placing stations (413).

2. The automatic loading and unloading device of manipulator according to claim 1, wherein the workbench (2) is provided with a first mounting groove (20) and a second mounting groove (21).

3. The automatic loading and unloading device of manipulator according to claim 2, wherein the loading assembly further comprises a vibration table (32), the vibration table (32) is placed in the workbench (2), and the vibration disc (31) is installed on the vibration table (32).

4. The automatic loading and unloading device of manipulator according to claim 3, characterized in that one end of the vibration disk (31) is fixedly connected with the vibration table (32), and the other end of the vibration disk (31) passes through the first mounting groove (20).

5. The automatic loading and unloading device of manipulator according to claim 2, wherein the unloading transportation unit (41) includes a third driving element (410) and a rotating element (411), the third driving element (410) is installed on one side of the first driving element (400), the rotating element (411) is connected to the driving end (412) of the third driving element, and at least one workpiece placing station (413) is formed.

6. The automatic loading and unloading device of mechanical arm according to claim 5, wherein the unloading transportation unit (41) further comprises a mounting frame (42), one end of the mounting frame (42) is fixedly connected with the workbench (2), and the other end of the mounting frame (42) is fixedly connected with the third driving member (410).

7. The automatic loading and unloading device of manipulator according to claim 6, wherein the third driving member driving end (412) passes through the second mounting groove (21) and is connected with the rotating member (411).

8. The automatic loading and unloading device of mechanical arm according to claim 1, wherein the unloading unit (40) further comprises a contact element (408), one end of the contact element (408) is fixedly connected with the second tray (402), and the other end of the contact element (408) protrudes from the second tray (402) along the height direction and is at least partially fixedly connected with the driving end (405) of the second driving element.

9. The automatic loading and unloading device of manipulator according to claim 1, wherein the first tray (401) has a first hole (406) and the second tray (402) has a second hole (407), and the inner circumference of the first hole (406) is the same as the inner circumference of the second hole (407) and is larger than the outer circumference of the workpiece to be unloaded.

10. The robotic automatic loading and unloading device according to claim 1, wherein said unloading transport unit (41) further comprises a workpiece placing tray (414), said workpiece placing tray (414) being placed in a workpiece placing station (413).