CN218057422U - Material taking system based on mechanical arm - Google Patents

Abstract

The utility model discloses a material taking system based on mechanical arms, which is convenient for a material taking and transferring device to continuously operate batch material bearing discs and the mechanical arms to continuously operate batch workpieces by piling a plurality of material bearing discs in a holding space; the material taking plate moves to a position between the two material bearing plates to pick up the corresponding material bearing plates under the action of the first lifting mechanism and the translation mechanism, and is conveyed to the grabbing station of the mechanical arm, the material bearing plates are positioned through the material taking plate, the grabbing difficulty of the mechanical arm is reduced, and the operation efficiency is improved.

Description

Material taking system based on mechanical arm

Technical Field

The utility model relates to an intelligence manufacturing technology field, concretely relates to feeding system based on arm.

Background

When assembling spare part processing and equipment, need carry out material loading, unloading to a plurality of stations occasionally, because the degree of automation of production line is not high, the material loading needs to adopt the manual work to operate, leads to production efficiency low. Consequently, the tray that adopts the AGV dolly to load a plurality of work pieces has appeared and has been transmitted to the work or material rest on, because only can place a tray on the work or material rest, consequently often can set up a plurality of work or material rest of going up side by side, adopts the arm to snatch to the work piece on the tray of work or material rest on the difference to improve material loading efficiency, but because the arm need snatch the operation to the tray of different positions, can increase the degree of difficulty that the arm snatched.

SUMMERY OF THE UTILITY MODEL

In view of the above analysis, the utility model provides a material taking system based on arm is in order to solve the not enough of prior art.

The utility model discloses mainly realize through following technical scheme:

the utility model provides a material taking system based on mechanical arms, which comprises a feeding frame, a material taking and transferring device, a mechanical arm for grabbing workpieces and a controller;

the loading frame is provided with an accommodating space, a plurality of material bearing discs for placing a plurality of workpieces are stacked in the accommodating space, the accommodating space is provided with a channel inlet and a channel outlet, the taking and transferring device is positioned between the mechanical arm and the channel outlet, and the taking and transferring device picks up the material bearing discs from the channel outlet and transfers the material bearing discs to a grabbing station of the mechanical arm;

get material transfer device include first fixing base, a elevating system, translation mechanism, be used for the cooperation to pick up the flitch of getting of holding the charging tray, a elevating system installs on the passageway export, first fixing base is installed on an elevating system, translation mechanism installs on a fixing base, get the flitch and install on translation mechanism's output, an elevating system, translation mechanism and arm are connected with the controller electricity respectively.

The material taking and transferring device can continuously operate the batch material bearing discs conveniently by piling the plurality of material bearing discs in the accommodating space, and the mechanical arm can continuously operate the batch workpieces; the material taking plate moves to a position between the two material bearing plates to pick up the corresponding material bearing plates under the action of the first lifting mechanism and the translation mechanism, and is conveyed to the grabbing station of the mechanical arm, the material bearing plates are positioned through the material taking plate, the grabbing difficulty of the mechanical arm is reduced, and the operation efficiency is improved.

Furtherly, still include the AGV dolly and put the work or material rest, be equipped with climbing mechanism on the AGV dolly, install the jacking board on climbing mechanism's the output shaft, be equipped with the bolt on the jacking board, it cooperates the holding in the accommodation space to put the work or material rest, it is equipped with the windrow district on the work or material rest to put, hold the charging tray and pile along vertical interval and locate in the windrow district, the bottom of putting the work or material rest is equipped with the jack that is located windrow district below, bolt and jack cooperation, the first end of holding the charging tray corresponds the passageway entry, the second end of holding the charging tray corresponds the passageway export, AGV dolly, climbing mechanism are connected with the controller electricity respectively, receive its control in order to move. AGV dolly cooperation motion is to the bottom of putting the work or material rest, through AGV dolly on climbing mechanism's effect for the bolt blocks with the jack cooperation, realizes the steady transportation of opposition work or material rest.

Furthermore, get material transfer device and still include second elevating system, install the slide on translation mechanism's the output, install second elevating system on the slide, get the flitch and install on second elevating system's output, second elevating system is connected with the controller electricity.

The height of the first fixing seat is adjusted through the first lifting mechanism, the first fixing seat is stopped at the corresponding position on the channel outlet, the rough adjustment of the height of the material taking plate is achieved, the material taking plate is lifted quickly, the height of the material taking plate is finely adjusted through the second lifting mechanism, the adjusting precision is improved, and the material taking plate is guaranteed to be picked up quickly and accurately.

Preferably, a plurality of first positioning holes are correspondingly formed in the material bearing plate, and a plurality of positioning blocks matched with the first positioning holes are arranged on the material taking plate. The material bearing disc is clamped by the positioning block to be positioned, the material bearing disc is convenient to transport, and the end part of the material bearing disc can be positioned in a clamping mode.

Furthermore, get material transfer device still including being located the second guiding mechanism in the translation mechanism outside, second guiding mechanism includes the supporting seat, rotate on the supporting seat and install a plurality of first guide roller. The two sides of the material bearing disc are supported by the second guide mechanism, so that the load of the material taking plate is reduced, the service life of the material taking plate is prolonged, the picking precision of the material taking plate is improved, and the material bearing disc is guided and conveyed.

Preferably, the second guiding mechanism is provided with two sets of relatively, one of them is a set of be equipped with the limiting plate that is located the first guide roller outside on the supporting seat of second guiding mechanism, the limiting plate cooperates with one side of holding the charging tray, another group be equipped with the clamping mechanism who is used for pressing from both sides tight holding the charging tray opposite side on the supporting seat of second guiding mechanism, clamping mechanism is connected with the controller electricity. Through setting up the limiting plate, the multiple spacing of holding the charging tray is realized in locating piece, limiting plate and the cooperation of first guide roller, can not take place the displacement when guaranteeing to hold the charging tray and transporting, ensures the location accuracy of holding the charging tray, when the arm snatchs the work piece on holding the charging tray, through locating piece, clamping mechanism and limiting plate cooperation, avoids holding the charging tray and takes place to remove to guarantee to snatch the precision.

Further, the first lifting mechanism comprises a driving motor, a driving gear, a rack and two opposite first sliding rails, the first sliding rails and the rack are respectively vertically installed on the channel outlet, the first fixing seat is slidably installed on the first sliding rails, the driving motor is installed on the first fixing seat, the driving gear is installed on an output shaft of the driving motor, the driving gear is meshed with the rack, and the driving motor is electrically connected with the controller. The output shaft of the driving motor drives the driving gear to rotate so as to stably move up and down on the rack under the action of the first sliding rail.

Preferably, the first lifting mechanism further comprises a guide gear, the guide gear is rotatably mounted on the first fixing seat, a rotating shaft of the guide gear is parallel to a rotating shaft of the driving gear, and the guide gear is meshed with the rack.

Through the guide gear cooperation driving gear along the rack reciprocate, improve the load capacity of first fixing base to guarantee the speed that first fixing base reciprocated.

Further, it includes first frame to put the work or material rest, the windrow district sets up on first frame, be equipped with a plurality of thing seats of putting along vertical interval in the windrow district, it is spacing with putting thing seat or first frame cooperation to hold the charging tray to arrange in on putting the thing seat and both sides, install the locking structure of at least with one of them outer end cooperation activity locking of holding the charging tray on the first frame.

Furthermore, the locking structure comprises a fixed block and a movable block, the fixed block is arranged on the first frame, the movable block is slidably arranged on the first frame and is connected with the fixed block through an elastic part, a driving part is arranged at the free end of the movable block, the movable block comprises a first plate surface and a second plate surface which are vertically connected, an inclined hole is formed in the first plate surface, a sliding hole located on the outer side of the end face of the material bearing plate is formed in the second plate surface, and a locking pin penetrating through the sliding hole is slidably arranged on the inclined hole; the locking pins, the inclined holes and the sliding holes are correspondingly provided with a plurality of groups, and the locking pins are connected through guide rods.

Through acting on the drive division for reciprocating of movable block turns into the horizontal migration of stop pin, with the realization to holding the locking or the unblock of charging tray outer end, when avoiding putting the work or material rest and moving to last work or material rest, holds the charging tray and takes place to remove, carries out the unblock when the flitch of getting picks up the holding tray, and the operation is more convenient.

Further, the device also comprises a first driving piece; the first driving part comprises a second fixing seat, a handle, a connecting rod and a pull rod, the second fixing seat is installed on the first driving part, the second fixing seat is hinged to the side face of the connecting end of the handle, one end of the connecting rod is hinged to the bottom of the connecting end of the handle, the other end of the connecting rod is hinged to the pull rod, and the pull rod is slidably arranged on the second fixing seat and connected with the driving part.

Still include the second driving piece, the second driving piece is located on first frame or the passageway export, the second driving piece is including driving actuating cylinder and briquetting, the briquetting and the output shaft who drives actuating cylinder, the briquetting supports with the drive division cooperation activity that locking structure on the first frame corresponds and supports and lean on, it is connected with the controller electricity to drive actuating cylinder.

The locking structure is provided with two groups, wherein one group is arranged at the first end of the first frame relatively, the other group is arranged at the second end of the first frame relatively, the first driving piece is arranged at the first end of the first frame relatively, and the second driving piece is arranged on the channel outlet relatively. Because when the holding tray is picked up at the channel outlet, the locking structure of the first frame corresponding to the channel inlet does not need to be unlocked, so that the first driving piece is set to be manually operated, and the second driving piece is set to be electrically operated, so that the cost is reduced and the labor intensity is reduced.

Furthermore, the feeding frame comprises a second frame, the channel inlet, the channel outlet and the accommodating space are arranged on the second frame, and a first guide mechanism for supporting the feeding frame in a matching manner is arranged on the accommodating space;

the automatic feeding device comprises a feeding frame, a first guide mechanism, a second guide mechanism, a first guide mechanism and a locking cylinder, wherein the two opposite outer sides of the feeding frame are provided with second slide rails, the second slide rails are provided with a plurality of second positioning holes, the first guide mechanism comprises a fixing plate, a plurality of supporting rollers and a plurality of locking cylinders, the fixing plate is installed on the inner side wall of a second frame, the supporting rollers are installed on the fixing plate at intervals along the horizontal direction, the second slide rails are in sliding fit with the supporting rollers, the locking cylinders are installed on the fixing plate, the output shafts of the locking cylinders are matched with the second positioning holes for locking, and the locking cylinders are electrically connected with a controller.

Through when putting the work or material rest at AGV dolly transportation, the conveying is supported to the second slide rail to supporting roller cooperation climbing mechanism, make the second slide rail place on supporting roller, make it load a plurality of material holding discs and realize a large amount of work pieces of bulk transport, the output shaft of cooperation locking cylinder locks the second guide rail simultaneously, the opposition work or material rest is fixed a position, make it be difficult to take place the displacement relative to the second frame, guarantee to get material transfer device when transporting the material holding disc, other material holding discs can stably arrange in and put on the work or material rest, and make things convenient for the opposition work or material rest to load and unload.

Furthermore, a plurality of second guide rollers are arranged at intervals on one end of the fixing plate corresponding to the channel inlet, and the height of the second guide rollers on the fixing plate is lower than that of the support rollers on the fixing plate. And the fixed plate is provided with a limiting strip positioned above the supporting roller. Through setting up second direction gyro wheel for when putting the work or material rest and transferring to supporting roller, steady more, convenient, spacing carries on spacingly, direction to the top of second slide rail.

Preferably, still include the workstation, the arm is installed on the workstation, the workstation is connected with last work or material rest.

The bottom of putting work or material rest, material loading frame and workstation all is equipped with the pulley, the bottom of material loading frame and workstation still is equipped with a plurality of adjustable stabilizer blades. Make things convenient for manual work or machine opposition work or material rest, go up work or material rest and workstation and remove, restrict the use of pulley through adjustable stabilizer blade simultaneously to prevent to take place to remove when normal use.

Compared with the prior art the utility model discloses technical scheme's beneficial effect does:

the utility model provides a material taking system based on arm, the continuous operation of the batch work piece of being convenient for, material taking and transferring device realizes picking up and transporting the material holding disc to realize reducing the degree of difficulty that the arm snatched through getting the flitch to the location of material holding disc, promote operating efficiency, the cooperation sensor uses, can improve the control accuracy of getting the material by a wide margin.

Drawings

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

Fig. 1 is a schematic structural diagram (one) of a robot-based reclaiming system provided by an embodiment of the present invention;

fig. 2 is a schematic structural diagram (two) of a material taking system based on a robot arm according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a material rack and an AGV according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a feeding frame according to an embodiment of the present invention;

fig. 5 is a partial schematic view of a feeding frame according to an embodiment of the present invention;

FIG. 6 is an enlarged view of portion A of FIG. 3;

FIG. 7 is an enlarged view of the portion B of FIG. 3;

FIG. 8 is an enlarged view of section C of FIG. 3;

fig. 9 is an enlarged view of a portion D of fig. 5.

The reference numbers are as follows:

1. a feeding frame, 1a, a channel inlet, 1b, a channel outlet, 11, a first guide mechanism, 111, a fixing plate, 112, a support roller, 113, a locking cylinder, 114, a second guide roller, 115, a limit strip, 12, a second driving member, 121, a driving cylinder, 122, a pressing block, 13, a second frame, 2, a material taking and transferring device, 21, a first fixing seat, 22, a first lifting mechanism, 221, a driving motor, 222, a driving gear, 223, a rack, 224, a first sliding rail, 225, a guide gear, 23, a translation mechanism, 231, a sliding plate, 24, a material taking plate, 241, a positioning block, 25, a second lifting mechanism, 26, a second guide mechanism, 261, a supporting seat, 262, a first guide roller, 263, a limit plate, 27 and a clamping mechanism, 3, a mechanical arm, 4, a controller, 5, an AGV cart, 51, a lifting plate, 511, a bolt, 6, a material placing frame, 6a, a jack, 61, a first frame, 611, a material placing seat, 612, a second slide rail, 612a, a second positioning hole, 62, a locking structure, 621, a fixing block, 622, a movable block, 622a, a driving part, 6221, a first plate surface, 6222, a second plate surface, 6223, an inclined hole, 6224, a slide hole, 6225, a locking pin, 623, an elastic member, 624, a guide rod, 63, a first driving member, 631, a second fixing seat, 632, a handle, 633, a connecting rod, 634, a pull rod, 7, a workbench, 8, a pulley, 9, an adjustable support leg, 10, a material bearing disc, 10a, a first positioning hole, 10b, a first end, 10c and a second end.

Detailed Description

In order to better understand the invention for those skilled in the art and to define the scope of the invention more clearly, the invention will be described in detail below with respect to certain specific embodiments of the invention. It should be noted that the following description is only a few examples of the present invention, and the specific and direct descriptions of the related structures are only for the convenience of understanding the present invention, and the specific features do not naturally and directly limit the scope of the present invention. Conventional alternatives and substitutions made by those skilled in the art in light of the teachings of the present disclosure should be considered as within the scope of the present disclosure.

The invention will be further explained with reference to the drawings and the specific embodiments.

Example 1

As shown in fig. 1-2, the utility model provides a get material system based on arm, including last work or material rest 1, get material transfer device 2, be used for snatching the arm 3 and the controller 4 of work piece, still include AGV dolly 5 and put work or material rest 6.

It is used for piling a plurality of vertical material supporting discs 10 of placing of edge to put work or material rest 6, material supporting discs 10 are used for placing a plurality of work pieces of treating processing in batches, through AGV dolly 5, will put work or material rest 6 and transport to last work or material rest 1, get material transfer device 2 and handle material supporting discs 10 on work or material rest 6 at last work or material rest 1 and pick up and transport to grabbing the station, arm 3 will hold work piece on the material disc 10 and snatch to processing the station, for raising the efficiency, can set up a plurality of clamps on arm 3 and get the mechanism, when the work piece unloading of treating processing is being got in the mechanism of getting to the realization of getting, another vacant clamp is got the mechanism and is got the work piece after the processing, in order to simplify the process flow. Fig. 1-2 are schematic diagrams of the material placing rack 6 not being placed in the material loading rack 1 and a material receiving tray 10 being picked up by the material taking and transferring device 2.

The loading frame 1 is provided with an accommodating space, the accommodating space is used for placing the loading frame 6 to stack a plurality of material bearing discs 10, the accommodating space is provided with a channel inlet 1a and a channel outlet 1b, the material taking and transferring device 2 is located between the mechanical arm 3 and the channel outlet 1b, the AGV trolley 5 is used for placing the loading frame 6 in the accommodating space from the channel inlet 1a, and the material taking and transferring device 2 is used for picking up the material bearing discs 1 from the channel outlet 1b and transferring the material bearing discs to the grabbing stations of the mechanical arm 3.

As shown in fig. 4 and 5, the material taking and transferring device 2 includes a first fixing seat 21, a first lifting mechanism 22, a translating mechanism 23, and a material taking plate 24 for cooperatively taking the material bearing plate 10, the first lifting mechanism 22 is installed on the outer wall of the passage outlet 1b, the first fixing seat 21 is installed on the first lifting mechanism 22, the translating mechanism 23 is installed on the first fixing seat 21, the material taking plate 24 is installed on the output end of the translating mechanism 23, and the first lifting mechanism 22, the translating mechanism 23, and the mechanical arm 3 are electrically connected to the controller 4 respectively. The first fixed seat 21 is lifted to the corresponding height of the channel outlet 1b through the first lifting mechanism 22 so as to be matched with the corresponding material bearing disc 10 quickly, the material taking plate 24 is transferred to the channel outlet 1b through the translation mechanism 23 so as to prepare for picking up the material bearing disc 10, and the translation mechanism 23 adopts a rodless cylinder.

The first lifting mechanism 22 includes a driving motor 221, a driving gear 222, a rack 223 and two opposite first slide rails 224, the first slide rails 224 and the rack 223 are respectively vertically installed on the channel outlet 1b, the first fixing seat 21 is slidably installed on the two first slide rails 224 through a bracket, the driving motor 221 is installed on the bracket of the first fixing seat 21, an output shaft of the driving motor 221 penetrates through the bracket and is installed with the driving gear 222, the driving gear 222 is engaged with the rack 223, and the driving motor 221 is electrically connected with the controller 4.

As shown in fig. 9, in the present embodiment, a driving motor 221, a pinion gear 222 and a rack 223 are correspondingly provided in one set, and a first slide rail 224 is installed on a side surface of the rack 223. The first lifting mechanism 22 further includes a guide gear 225 rotatably mounted on the first fixing base 21, a rotation shaft of the guide gear 225 is parallel to a rotation shaft of the pinion gear 222, and the guide gear 225 is engaged with the rack 223.

The material taking and transferring device 2 further comprises a second guide mechanism 26 located outside the translation mechanism 23, the second guide mechanism 26 comprises a supporting seat 261 extending in the same direction as the translation mechanism 23, and a plurality of spaced first guide rollers 262 are rotatably mounted on the supporting seat 261.

Two sets of second guiding mechanisms 26 are oppositely arranged, a limiting plate 263 positioned outside the first guiding roller 262 is arranged on the supporting seat 261 of one set of second guiding mechanisms 26, the limiting plate 263 is matched with one side of the material bearing disc 10, a clamping mechanism 27 for clamping the other side of the material bearing disc 10 is arranged on the supporting seat 261 of the other set of second guiding mechanisms 26, and the clamping mechanism 27 is electrically connected with the controller 4.

In this embodiment, the clamping mechanism 27 includes a clamping cylinder horizontally mounted on the supporting base 261 and located outside the second guide roller 114, and a clamping block mounted on an output shaft of the clamping cylinder.

The material holding tray 10 is correspondingly provided with a plurality of first positioning holes 10a, the first positioning holes are specifically arranged at the second end of the material holding tray 10, and the material holding tray 10 is provided with a handle which is convenient to grasp. The material taking plate 24 is vertically provided with a plurality of positioning blocks 241 matched with the first positioning holes 10 a. When the material taking plate 24 moves to the channel outlet 1b, it is inserted between the two material receiving plates 10, so that the positioning block 241 is engaged with the first positioning hole 10 a.

The material taking and transferring device 2 further comprises a second lifting mechanism 25, a sliding plate 231 is mounted on the output end of the translation mechanism 23, a second lifting mechanism 25 is mounted on the sliding plate 231, the material taking plate 24 is horizontally mounted on the output end of the second lifting mechanism 25, the second lifting mechanism 25 is electrically connected with the controller 4, and the second lifting mechanism 25 adopts a double-shaft cylinder.

As shown in fig. 3, a lifting mechanism is arranged on the AGV cart 5, a lifting plate 51 is mounted on an output shaft of the lifting mechanism, a plug 511 is arranged on the lifting plate 51, the material placing frame 6 is accommodated in the accommodating space in a matching manner, a material stacking area is arranged on the material placing frame 6, the material bearing plates 10 are stacked in the material stacking area along the vertical direction at intervals, a jack 6a located below the material stacking area is arranged at the bottom of the material placing frame 6, and the jack 6a is matched with the plug 511. The first end of the material bearing disc 10 corresponds to the channel inlet 1a, the second end of the material bearing disc 10 corresponds to the channel outlet 1b, and the AGV trolley 5 and the jacking mechanism are respectively and electrically connected with the controller 4 and controlled by the controller to act. AGV dolly 5 cooperation motion is to putting the bottom of work or material rest 6, and climbing mechanism drive jacking board 51 rebound for bolt 511 and jack 6a cooperation are blocked, and AGV dolly 5 drives the unsettled setting in the accommodation space of bottom of putting work or material rest 6, enters into the accommodation space from passageway entry 1a, will put work or material rest 6 and place on last work or material rest 1, and climbing mechanism drive jacking board 51 rebound is in order to leave to put work or material rest 6.

In order to facilitate the movement of the material placing frame 6, the bottom of the material placing frame 6 is provided with a pulley 8, the material placing frame 6 is placed on the material loading frame 6 in a suspended manner, and the material placing frame can be prevented from moving relative to the material loading frame 6.

As shown in fig. 6-8, in order to facilitate the limiting and fixing of the material receiving tray 10 and release the material receiving tray during picking, the material placing frame 6 includes a first frame 61 vertically disposed, the material stacking area is disposed on the first frame 61, a plurality of material placing seats 611 are disposed on the material stacking area along the vertical direction at intervals, each material placing seat 611 includes L-shaped plates disposed on two opposite inner side walls of the first frame and is separately disposed from the first frame 61, the material receiving tray 10 is disposed on the bottom surface of the material placing seat 611, two sides of the material receiving tray are matched and limited with the side walls of the material placing seats 611, the side walls of the material receiving tray 10 can also be matched and limited with the first frame 61, and the first frame 61 is mounted with a locking structure 62 movably locked with at least one of the outer ends of the material receiving tray 10.

In this embodiment, two sets of locking structures 62 are vertically disposed, one set being disposed at a first end of the first frame 61 and the other set being disposed at a second end of the first frame 61.

Locking structure 62 includes fixed block 621, movable block 622, fixed block 621 is along vertical installation on first frame 61, movable block 622 is along vertical slidable mounting on first frame 61, and be connected through elastic component 623 between with fixed block 621, movable block 622 is located fixed block 621's top, can dismantle on the first frame 61 and be equipped with the setting element, be equipped with waist shape hole on the movable block 622, the bottom of setting element is the boss, be equipped with on the boss along transversely wearing to locate the smooth axle on the waist shape hole, be equipped with on the smooth axle with the spacing pad of waist shape hole cooperation, make movable block 622 under the guide effect of boss and spacing pad, be limited in order to reciprocate by waist shape hole on the smooth axle.

A driving part 622a is arranged at the free end of the movable block 622, the movable block 622 comprises a first board surface 6221 and a second board surface 6222 which are vertically connected, an inclined hole 6223 is arranged on the first board surface 6221, the inclined hole 6223 is correspondingly positioned below the waist-shaped hole, a sliding hole 6224 positioned at the outer side of the end face of the material bearing tray 10 is arranged on the second board surface 6222, the side wall of the L-shaped plate is positioned between the material bearing tray 10 and the sliding hole 6224, and a locking pin 6225 penetrating through the sliding hole 6224 and the L-shaped plate is slidably arranged on the inclined hole 6223; the locking pins 6225, the inclined holes 6223 and the sliding holes 6224 are correspondingly provided with a plurality of groups, the locking pins 6225 are connected through the guide rod 624, the driving part 622a acts on the locking pins 6225 to synchronously move so as to limit the outer ends of the material containing discs 10, the elastic piece 623 realizes the reset of the movable block 622 after the acting force disappears, the outer ends of the material containing discs 10 are unlocked, and the elastic piece 623 is a spring.

The movable block 622 includes two first faces 6221 and two second faces 6222 to enclose and establish the deckle board structure that has the cavity, guide arm 624 is located the outer end of movable block 622, follows transversely to link up on the locking pin 6225 and is equipped with the mounting hole, and demountable installation has the locating part that the slip was located on two relative inclined holes 6223 on the mounting hole, realizes the installation to locking pin 6225.

The driving portion 622a is acted by a force, which can be controlled manually or electrically, as follows:

as shown in fig. 6, the device further includes a first driving member 63 mounted at a first end of the first frame 61, the first driving member 63 includes a second fixing seat 631, a handle 632, a connecting rod 633 and a pull rod 634, the second fixing seat 631 is mounted at an end of the first frame 61 corresponding to the channel inlet 1a and located above the driving portion 622a, the second fixing seat 631 is hinged to a side surface of a connecting end of the handle 632, one end of the connecting rod 633 is hinged to a bottom of the connecting end of the handle 632, a middle portion of the connecting rod 634 is bent, another end of the connecting rod 633 is hinged to the pull rod 634, and the pull rod 634 is slidably disposed on the second fixing seat 631 and connected to the driving portion 622 a. When the handle 632 is rotated downward, the locking pin 6225 is extended, and when the handle 632 is rotated upward, the locking pin 6225 is retracted.

As shown in fig. 4-5, the device further includes a second driving member 12 installed on the channel outlet 1b, the second driving member 12 is installed on the channel outlet 1b, the second driving member 12 includes a driving cylinder 121 and a pressing block 122, the driving cylinder 121 is installed on the channel outlet 1b, the pressing block 122 is connected to an output shaft of the driving cylinder 121, the pressing block 122 is in fit and movable abutting contact with a driving portion 622a corresponding to the locking structure 62 at the second end of the first frame 61, and the driving cylinder 121 is electrically connected to the controller 4.

The first driving member 63 may be provided also at the second end of the first frame 61, but since it is not necessary to unlock the second end of the first frame 61 when the tray 10 is loaded on the first frame 61, it is not necessary to provide a driving member at the driving portion 622a at the second end of the first frame 61. The second driving member 12 may be provided at the first end of the first frame 61, but the driving portion 622a at the first end of the first frame 61 needs to be controlled to move only before the loading of the tray 10 and after the loading of the tray 10 is completed, so that the manual operation is sufficient.

After the first frame 61 is placed in the loading frame 1, when the material taking plate 24 picks up the material receiving tray 10, the driving part 622a on the second end of the first frame 61 needs to be adjusted to unlock the material receiving tray 10.

As shown in fig. 5, the feeding frame 1 includes a second frame 13, the channel inlet 1a, the channel outlet 1b and the accommodating space are disposed on the second frame 13, the accommodating space is relatively provided with a first guiding mechanism 11 for supporting the feeding frame 6, two opposite sides of the first frame 61 of the feeding frame 6 are provided with second sliding rails 612, the second sliding rails 612 are provided with a plurality of second positioning holes 612a, specifically, a plurality of second positioning blocks are disposed at intervals at the bottom of the second sliding rails 612, and the second positioning holes 612a are disposed on the second positioning blocks. The first guiding mechanism 11 includes a fixing plate 111, a plurality of supporting rollers 112 and a plurality of locking cylinders 113, the fixing plate 111 is mounted on the inner side wall of the second frame 13, the supporting rollers 112 are mounted on the fixing plate 111 at intervals along the horizontal direction, the second slide rails 612 are in sliding fit with the supporting rollers 112, the locking cylinders 113 are mounted on the fixing plate 111, the output shafts of the locking cylinders 113 are in locking fit with the second positioning holes 612a, and the locking cylinders 113 are electrically connected with the controller 4.

For protecting the material placing frame 6 in the second frame 13, or preventing the locking structure 62 of the first end of the first frame 61 from being unlocked manually by mistake through the first driving part 63, the top, two sides and the channel inlet 1a of the second frame 13 are all provided with sealing plates, the sealing plates at the channel inlet 1a are locked with the second frame 13 through a lock body, and the second frame is opened when needed.

A plurality of second guide rollers 114 are arranged at intervals on one end of the fixing plate 111 corresponding to the channel inlet 1a, and the height of the second guide rollers 114 on the fixing plate 111 is lower than that of the support rollers 112 on the fixing plate 111; the fixing plate 111 is provided with a limiting strip 115 positioned above the supporting roller 112, and the entrance end of the limiting strip 115 is provided with a downward guide inclined plane. The movement of the first frame 61 from the second guide roller 114 onto the support roller 112 is accomplished by the cooperation of the lift mechanism of the AGV cart 5 with the second guide roller 114. The support roller 112 and the second guide roller 114 may be replaced with bearings.

The mechanical arm 3 further comprises a workbench 7 and a control console, the mechanical arm 3 is installed on the workbench 7, the workbench 7 is connected with the feeding frame 1, the controller 4 is installed on the control console, and a pulley is arranged at the bottom of the control console. The workbench 7 is provided with a holding cavity with an opening at the top, and the material taking and transferring device 2 is positioned in the holding cavity. Go up the bottom of work or material rest 1 and workstation 7 and all be equipped with pulley 8, the bottom of going up work or material rest 1 and workstation 7 still is equipped with a plurality of adjustable stabilizer blades 9.

The utility model provides a reclaiming system based on arm, its operating procedure is as follows:

1. the material bearing disc 10 is locked on the material placing frame 6

In the initial state, the handle 632 is horizontally placed, and the locking pin 6225 of the locking structure 62 of the second end of the first frame 61 is extended to pass through the stand 611. When the handle 632 is rotated, the pull rod 634 drives the movable block 622 to move downward, and the locking pin 6225 on the guide rod 624 synchronously moves upward along the sliding hole 6224 and retracts backward along the inclined hole 6223 along with the downward movement of the sliding hole 6224 and the inclined hole 6223, so as to unlock the locking structure 62 at the first end of the first frame 61. The workpieces are placed on the material containing discs 10, the material containing discs 10 with the workpieces placed thereon are sequentially stacked on the material placing frame 6, the second ends of the material containing discs 10 are limited by the locking pins 6225 at the second ends of the first frames 61, the handles 632 are rotated in the reverse direction, the movable blocks 622 are driven by the pull rods 634 to move upwards, the locking pins 6225 on the guide rods 6226 synchronously move downwards along the sliding holes 6224 and extend forwards along the inclined holes 6223 along the sliding holes 6224 along with the upward movement of the sliding holes 6224 and the inclined holes 6223, so that the first ends of the material containing discs 10 are limited, and each material containing disc 10 is locked.

2. AGV dolly 5 is loaded and is put work or material rest 6 and place on last work or material rest 1

The AGV carriage 5 is controlled to move to the bottom of the first frame 61 and the lift mechanism controls the lift plate 51 to move upward so that the latch 511 is inserted into the insertion hole 6a on the floor. The AGV 5 drives the first frame 61 to move the passage entrance 1a of the second frame 13, and the bottom of the second slide rail 612 slides onto the support roller 112 along the first guide roller 114, after reaching the position, the locking cylinder 113 acts, the output shaft of the locking cylinder extends into the second positioning hole 612a of the second slide rail 612, and meanwhile, the output shaft of the driving cylinder 121 abuts against the driving portion 622a at the second end of the first frame 61, so as to lock the first frame 61.

3. The material taking and transferring device 2 picks up the material bearing disc 10

Under the action of the first lifting mechanism 22 and the translation mechanism 23, the material taking plate 24 moves to the second end corresponding to the material bearing disc 10, the second lifting mechanism 25 drives the material taking plate 24 to move downwards to the position below the first positioning hole 10a of the material bearing disc 10, meanwhile, the air cylinder 121 is driven to act, the output shaft of the air cylinder 121 drives the pressing block 122 to move downwards, the locking pin 6225 at the second end of the material bearing disc 10 retracts, and the second end of the material bearing disc 10 is unlocked; the second lifting mechanism 25 drives the material taking plate 24 to move upwards until the output shaft of the double-shaft cylinder is inserted into the first positioning hole 10a, so that the second end of the material bearing plate 10 is locked. Under the action of the translation mechanism 23, the material taking plate 24 drives the material receiving tray 10 to translate along the first guiding roller 262 under the action of the limiting plate 263, and the air cylinder 121 is driven to move, so that the locking pin 6215 at the second end of the material receiving tray 10 is reset, and the locking of the rest material receiving trays 10 is recovered.

4. Mechanical arm 3 grabbing workpiece

The clamping cylinder acts to drive the clamping block to be matched with the limiting plate 263 to clamp the material bearing disc 10, so that the side surface of the material bearing disc 10 is positioned; the mechanical arm 3 controls the action of the clamping jaw to clamp the workpiece on the material bearing disc 10, move the workpiece to a processing position for processing, grab the previously processed workpiece, and then place the workpiece on the material bearing disc 10.

5. Loading the material bearing disc 10 loaded with the processed workpiece to the material placing frame 6

When the material receiving tray 10 is filled with the processed workpieces, the material taking plate 24 moves to the corresponding material placing seat 611 of the channel outlet 1b under the action of the first lifting mechanism 22 and the translation mechanism 23, and the air cylinder 121 is driven to operate, so that the locking pin 6215 of the channel outlet 1b retracts. Under the action of the translation mechanism 23, the material loading tray 10 is pushed into the material placing seat 611, the output shaft of the double-shaft cylinder descends to release the material loading tray 10, under the action of the first lifting mechanism 22, the material loading tray 10 loaded with the workpiece to be processed is picked up, the cylinder 121 is driven to act, the locking pin 6215 of the channel outlet 1b extends out, and the material loading tray 10 is locked.

6. The material placing rack 6 of the material bearing disc 10 loaded with the processed workpiece is transferred

When all the workpieces on the material placing rack 6 are processed, the AGV trolley 5 moves to the lower part of the first frame 61 in the second frame 13, so that the latch 511 is inserted into the insertion hole 6a on the bottom plate, the lock cylinder 113 acts, the output shaft retracts to unlock the first frame 61, and the AGV trolley 5 drives the first frame 61 to move towards the passage entrance 1a of the second frame 13, so as to slide from the support roller 112 to the second guide roller 114, and finally separate from the second frame 13.

It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the fan belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that modifications and embellishments within the scope of the present disclosure may be made by those skilled in the art without departing from the principles of the present disclosure.

Claims (11)

1. The utility model provides a material taking system based on arm which characterized in that: the automatic feeding and taking device comprises a feeding frame (1), a taking and transferring device (2), a mechanical arm (3) for grabbing workpieces and a controller (4);

the feeding frame (1) is provided with an accommodating space, a plurality of material bearing discs (10) with a plurality of workpieces are placed in the accommodating space in a stacking mode, the accommodating space is provided with a channel inlet (1 a) and a channel outlet (1 b), the material taking and transferring device (2) is located between the mechanical arm (3) and the channel outlet (1 b), and the material taking and transferring device (2) picks up the material bearing discs (10) from the channel outlet (1 b) and transfers the material bearing discs to a grabbing station of the mechanical arm (3);

get material transfer device (2) including first fixing base (21), first elevating system (22), translation mechanism (23), be used for the cooperation to pick up flitch (24) of getting of holding material dish (10), first elevating system (22) are installed on passageway export (1 b), first fixing base (21) are installed on first elevating system (22), translation mechanism (23) are installed on first fixing base (21), get flitch (24) and install on the output of translation mechanism (23), first elevating system (22), translation mechanism (23) and arm (3) are connected with controller (4) electricity respectively.

2. The robotic arm based reclaiming system as claimed in claim 1 wherein: still include AGV dolly (5) and put work or material rest (6), be equipped with climbing mechanism on AGV dolly (5), install jacking plate (51) on climbing mechanism's the output shaft, be equipped with bolt (511) on jacking plate (51), put work or material rest (6) cooperation holding in the accommodation space, be equipped with the windrow district on putting work or material rest (6), hold charging tray (10) and pile in the windrow district along vertical interval, the bottom of putting work or material rest (6) is equipped with jack (6 a) that are located windrow district below, bolt (511) and jack (6 a) cooperation, the first end of holding charging tray (10) corresponds passageway entry (1 a), the second end of holding charging tray (10) corresponds passageway export (1 b), AGV dolly (5), climbing mechanism are connected with controller (4) electricity respectively, receive its control in order to move.

3. The robotic arm based reclaiming system as claimed in claim 1 wherein: the material taking and transferring device (2) further comprises a second lifting mechanism (25), a sliding plate (231) is installed on the output end of the translation mechanism (23), the second lifting mechanism (25) is installed on the sliding plate (231), the material taking plate (24) is installed on the output end of the second lifting mechanism (25), and the second lifting mechanism (25) is electrically connected with the controller (4);

the material taking plate (24) is provided with a plurality of positioning blocks (241) matched with the first positioning holes (10 a).

4. A robotic-based material extracting system as claimed in claim 1 or 3 wherein: the material taking and transferring device (2) further comprises a second guide mechanism (26) positioned on the outer side of the translation mechanism (23), the second guide mechanism (26) comprises a supporting seat (261), and a plurality of first guide rollers (262) are rotatably mounted on the supporting seat (261);

second guiding mechanism (26) are equipped with two sets ofly relatively, and one of them is a set of be equipped with limiting plate (263) that are located the first guide roller (262) outside on supporting seat (261) of second guiding mechanism (26), limiting plate (263) and the one side cooperation of holding material dish (10), another group be equipped with clamping mechanism (27) that are used for pressing from both sides tight holding material dish (10) opposite side on supporting seat (261) of second guiding mechanism (26), clamping mechanism (27) are connected with controller (4) electricity.

5. The robotic arm based reclaiming system as claimed in claim 1 wherein: the first lifting mechanism (22) comprises a driving motor (221), a driving gear (222), a rack (223) and two opposite first sliding rails (224), the first sliding rails (224) and the rack (223) are respectively vertically mounted on a channel outlet (1 b), the first fixed seat (21) is slidably mounted on the first sliding rails (224), the driving motor (221) is mounted on the first fixed seat (21), the driving gear (222) is mounted on an output shaft of the driving motor (221), the driving gear (222) is meshed with the rack (223), and the driving motor (221) is electrically connected with the controller (4).

6. The robotic arm based reclaiming system as in claim 2 wherein: put work or material rest (6) and include first frame (61), the windrow district sets up on first frame (61), be equipped with a plurality of thing seats (611) of putting along vertical interval in the windrow district, it is spacing with putting thing seat (611) or first frame (61) cooperation in just both sides on putting thing seat (611) and to hold charging tray (10) to place, install on first frame (61) at least with one of them outer end cooperation activity locking structure (62) of holding charging tray (10).

7. The robotic arm based reclaiming system as claimed in claim 6 wherein: the locking structure (62) comprises a fixed block (621) and a movable block (622), the fixed block (621) is mounted on a first frame (61), the movable block (622) is mounted on the first frame (61) in a sliding mode and connected with the fixed block (621) through an elastic piece (623), a driving portion (622 a) is arranged at the free end of the movable block (622), the movable block (622) comprises a first plate surface (6221) and a second plate surface (6222) which are vertically connected, an inclined hole (6223) is formed in the first plate surface (6221), a sliding hole (6224) located on the outer side of the end face of the material bearing plate (10) is formed in the second plate surface (6222), and a locking pin (6225) penetrating through the sliding hole (6224) is mounted on the inclined hole (6223) in a sliding mode; a plurality of groups of locking pins (6225), inclined holes (6223) and sliding holes (6224) are correspondingly arranged, and the locking pins (6225) are connected through guide rods (624).

8. The robotic arm based reclaiming system as claimed in claim 7 wherein: further comprising a first drive member (63);

first driving piece (63) includes second fixing base (631), handle (632), connecting rod (633) and pull rod (634), second fixing base (631) is installed on first frame (61), second fixing base (631) articulates with the link side of handle (632), the one end of connecting rod (633) articulates with the link bottom of handle (632), the other end and the pull rod (634) of connecting rod (633) articulate, pull rod (634) slide locate on second fixing base (631) and be connected with driver part (622 a).

9. The robotic arm based reclaiming system as claimed in claim 7 or 8 wherein: further comprising a second driver (12); the second driving part (12) is arranged on the first frame (61) or the channel outlet (1 b), the second driving part (12) comprises a driving cylinder (121) and a pressing block (122), the pressing block (122) is connected with an output shaft of the driving cylinder (121), the pressing block (122) is matched and movably abutted with a driving part (622 a) corresponding to the locking structure (62) on the first frame (61), and the driving cylinder (121) is electrically connected with the controller (4).

10. The robotic arm based reclaiming system as claimed in claim 2 wherein: the feeding frame (1) comprises a second frame (13), the channel inlet (1 a), the channel outlet (1 b) and the accommodating space are arranged on the second frame (13), and a first guide mechanism (11) used for supporting the feeding frame (6) in a matching mode is arranged on the accommodating space in an opposite mode;

the two opposite sides of the material placing frame (6) are provided with second slide rails (612), the second slide rails (612) are provided with a plurality of second positioning holes (612 a), the first guide mechanism (11) comprises a fixing plate (111), a plurality of supporting rollers (112) and a plurality of locking cylinders (113), the fixing plate (111) is installed on the inner side wall of the second frame (13), the supporting rollers (112) are installed on the fixing plate (111) at intervals horizontally, the second slide rails (612) are in sliding fit with the supporting rollers (112), the locking cylinders (113) are installed on the fixing plate (111), the output shafts of the locking cylinders (113) are matched with the second positioning holes (612 a) for locking, and the locking cylinders (113) are electrically connected with the controller (4).

11. The robotic arm based reclaiming system as claimed in claim 10 wherein: a plurality of second guide rollers (114) are arranged at intervals on one end of the fixing plate (111) corresponding to the channel inlet (1 a), and the height of the second guide rollers (114) on the fixing plate (111) is lower than that of the support rollers (112) on the fixing plate (111); and a limiting strip (115) positioned above the supporting roller (112) is arranged on the fixing plate (111).

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