CN218839903U - Automatic robot feeding device - Google Patents
Automatic robot feeding device Download PDFInfo
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- CN218839903U CN218839903U CN202222736495.7U CN202222736495U CN218839903U CN 218839903 U CN218839903 U CN 218839903U CN 202222736495 U CN202222736495 U CN 202222736495U CN 218839903 U CN218839903 U CN 218839903U
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Abstract
The utility model discloses a to the artifical unloading of adopting more of current steel sheet tectorial membrane process, the production process is dangerous and efficiency is lower, and has designed a robot automatic feeding device, include: the metal plate centering device comprises a hydraulic station, a six-degree-of-freedom industrial robot, a conveying belt and a centering device, wherein the hydraulic station is used for centering the metal plate and is arranged at a second working position of the six-degree-of-freedom industrial robot; the forming machine film discharging device is used for automatically providing a material film for covering, is arranged at the rear side of the hydraulic station, and is matched with the film laminating device on a film discharging plane; the film laminating device is used for automatically drawing out the material film and assisting the material film to be placed and is arranged on two sides of a working plane of the hydraulic station; and the grabbing bracket is arranged at the end part of the mechanical arm of the six-freedom-degree industrial robot and used for grabbing the metal plate.
Description
Technical Field
The utility model relates to a steel sheet processing field, concretely relates to automatic feeding device of robot.
Background
After the production of metal plates such as steel plates or metal pipes such as steel pipes, the metal plates or pipes are often stored for a long time and transported in the process. In order to avoid rusting of the metal parts before use, the metal surfaces are usually covered with an anti-rust film. When in use, the antirust film needs to be torn off. However, the metal material is not provided with the anti-rust film, and the integrated production is troublesome due to different sizes of various plate pipes. The existing solution is to complete the addition of the anti-rust film through a film coating process after the production of the metal plate is completed.
However, the existing film covering generally adopts a semi-automatic mode, namely: and (4) manually aligning the metal plates, pulling the film in place, and finally, operating a mechanical hot-pressing film covering machine. This results in low production efficiency and is prone to cause worker injury due to misoperation. For this reason, it is necessary to perform these operations by mechanical automation to improve production efficiency and production safety.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a to the artifical unloading of going up of the many adoption of current steel sheet tectorial membrane process, the production process is dangerous and efficiency is lower, and has designed a robot automatic feeding device.
A robotic automatic loading device comprising: a hydraulic station, a six-degree-of-freedom industrial robot, a conveyor belt,
the centering device is used for centering the metal plate and is arranged at a second working position of the six-degree-of-freedom industrial robot;
the forming machine film discharging device is used for automatically providing a material film for covering, is arranged at the rear side of the hydraulic station, and is matched with the film laminating device on a film discharging plane;
the film laminating device is used for automatically drawing out the material film and assisting the material film to be placed and is arranged on two sides of a working plane of the hydraulic station;
and the grabbing bracket is arranged at the end part of the mechanical arm of the six-freedom-degree industrial robot and used for grabbing the metal plate.
Preferably, the forming machine discharging film device comprises: a frame for providing a mounting location;
the material film reel is arranged on the rack and used for providing a material film, and the end part of the reel is in transmission with the output end of the first servo motor;
the first servo motor is used for operating the material film reel to output the material film and is arranged on the rack;
the fixed rolling rod group is arranged at the top end of the rack, is matched with the tensioning rolling rod group and is used for loosening the material film output by the material film reel;
the swing rod driving device is used for operating the swing action of the swing rod group and is arranged on the machine frame at the lower side of the fixed rolling rod group;
the swing rod group is arranged on the rack, and the rotating shaft is in transmission connection with the swing rod driving device;
the turning rolling rod is arranged on the rack and used for turning the material film output to the hydraulic station by the tightening rolling rod device to a proper height;
the tight roll bar device for tight material membrane sets up in the frame, includes:
the mounting groove is vertically provided with a guide groove, and the top of the guide groove is provided with a telescopic cylinder for pressing down;
two rubber rollers arranged on the same vertical surface are arranged in the guide groove, and the movable end of the telescopic cylinder is abutted to the end part of the rubber roller.
Preferably, the rocking lever driving device includes:
a limit plate for limiting the swing amplitude and mounting the table top, which is semicircular and is provided with two arc grooves along the circular edge, a limit rod is arranged in each arc groove, a through hole is arranged at the center of each arc groove, and a rotating shaft of the swing rod group
The limiting rod is used for limiting the swing amplitude of the rolling rod group bracket and is detachably connected with the limiting plate;
the balance rod is arranged concentrically with the through hole and fixedly connected with the rotating shaft of the swing rod group, the first end of the balance rod is matched with the limiting rod to work, and the second end of the balance rod is provided with a balancing weight;
the second servo motor is arranged on the back of the limiting plate and is in transmission connection with the rotating shaft of the swing rod group;
and the micro switch is electrically connected with the second servo motor, is arranged at the first end of the balancing rod and is matched with the limiting rod to work.
Preferably, the film covering device comprises a pair of clamping devices which are symmetrically arranged; the clamping device comprises:
the linear guide rail is used for enabling the material film clamped by the clamping device to cover the working plane;
the telescopic cylinder is arranged on the slide rail of the linear guide rail, the telescopic end is vertically upward, and the finger cylinder is arranged on the telescopic end;
the finger cylinder is used for clamping the material film, and the finger end is matched with the discharge end of the material film discharging device of the forming machine to work.
Preferably, the centering device comprises:
the top of the device table-board is provided with four through grooves in an array manner, and working rods are arranged in the through grooves;
a sliding rail is arranged on the bottom surface of the table top of the device, the sliding direction of the sliding rail is parallel to the through groove, a working bottom plate is arranged on the sliding rail, and a working rod is arranged on the working bottom plate;
the two working bottom plates are connected through a transmission device;
the bottom surface of the table-board of the device is provided with a cylinder, the moving direction of the cylinder is parallel to the sliding direction of the sliding rail, and the moving end of the cylinder is fixedly connected with a working bottom plate;
the working rod is wrapped with a rubber layer.
Preferably, the grabbing support comprises a # -shaped support, a plurality of suckers are arranged at the bottom of the support at equal intervals, and the suckers are pneumatic negative-pressure suckers.
The beneficial effects of the utility model reside in that: the need for material position placement by the feeder can be reduced by the use of a centering device.
Drawings
FIG. 1 is a front combination view of the device of the present invention;
FIG. 2 is a back view of the device of the present invention;
FIG. 3 is a side view of the centering device of the present invention;
FIG. 4 is a bottom transmission relationship connection diagram of the centering device of the present invention;
FIG. 5 is a view showing the installation of the film covering device of the present invention;
FIG. 6 is a combination view of the discharge film device of the forming machine of the present invention;
FIG. 7 is an enlarged view of the rocking beam driving device of the present invention;
FIG. 8 is a single-sided enlarged view of the tightening roll bar device of the present invention;
in the figure: 1. the automatic film forming machine comprises a six-degree-of-freedom industrial robot, a hydraulic station, a centering device, a working rod, a working bottom plate, a working cylinder, a working base plate, a working bottom plate 33, a working cylinder 34, a sliding rail 35, a transmission device 4, a forming machine discharging film device 41, a film reel 42, a tightening rolling rod device 42-1, a mounting groove 43, a steering rolling rod 44, a swinging rod group 45, a fixed rolling rod group 46, a balancing rod 47, a second servo motor 48, a limiting plate 5, a conveying belt 61, a linear guide rail 62, a sliding table 63, a telescopic cylinder of a clamping device 64 and a finger cylinder.
Detailed Description
The technical solution of the present invention is further specifically described below by way of specific embodiments and with reference to the accompanying drawings.
Example 1
As shown in fig. 1 and 2, the robot automatic feeding device includes: a hydraulic station 2, a six-degree-of-freedom industrial robot 1, a conveyor belt 5,
the centering device 3 is used for centering the metal plate and is arranged at a second working position of the six-degree-of-freedom industrial robot 1;
the forming machine discharging film device 4 is used for automatically providing a material film for covering, is arranged at the rear side of the hydraulic station 2, and is matched with the film covering device in a film discharging plane;
the film laminating device is used for automatically drawing out the material film and assisting the material film to be placed, and is arranged on two sides of the working plane of the hydraulic station 2;
and the grabbing bracket is arranged at the end part of the mechanical arm of the six-freedom-degree industrial robot 1 and used for grabbing the metal plate.
Wherein hydraulic pressure station 2, six degree of freedom industrial robot 1, conveyer belt 5 all adopt current device, and hydraulic pressure station 2 is former hydraulic pressure station 2 that uses of tectorial membrane usefulness.
In operation, the metal sheet to be coated is first placed on the same feeder frame, which in this embodiment is located on the side of the centering device 3 as shown in fig. 3. The six-degree-of-freedom industrial robot 1 adsorbs the sheet material on the top end of the feeding frame through the grabbing bracket and places the sheet material on the centering device 3.
The cylinder in centering device 3 is received the cable, drives the action bars 31 on the work bottom plate 32 and gathers together toward centering device 3 center, and the metal sheet that needs the tectorial membrane in this embodiment is circular, through this step, the mid point of panel can with center device 3's mid point coincidence, so can make when the feed every time, the position that the robot snatched is fixed, has avoided because the feed shelf material position deviation leads to the problem of processing production error.
After centering, the cylinder resets, and the six-freedom-degree industrial robot 1 grabs the plate and conveys the plate to the hydraulic station 2 and waits for the hydraulic station 2 to finish machining.
When the six-degree-of-freedom industrial robot 1 grabs a plate, the film discharging reel 41 in the forming machine film discharging device 4 continuously rolls and discharges a film, and the curling force is eliminated through the cooperation of the fixed roller group and the swing rod group 44. The output plane is then brought flush with the working plane of the hydraulic station 2 by tightening the roller bar arrangement 42 and the turning roller bars, which facilitates accurate positioning during working.
Simultaneously with the previous step, the film laminating device works, and the steps are as follows: firstly, the material film is clamped by the finger cylinder 64 in the film laminating device, and then the telescopic cylinder extends, so that the material film clamped by the finger cylinder 64 is larger than the working plane of the hydraulic station 2 in the vertical height, and the material film is prevented from being rubbed with the working plane.
Then the material film is covered on the working plane by the working finger cylinder 64 of the linear guide rail 61, and the telescopic cylinder is reset at the same time. At this point, the preparation of the material film is completed, and the plate is waited to be in place.
After the material film and the plate are in place, the hydraulic station 2 finishes film covering, and the six-degree-of-freedom industrial robot 1 extends into the hydraulic station 2 to take out the plate which finishes film covering and is placed on the conveyor belt 5 to finish blanking.
The make-up machine blanking film device 4 shown in fig. 6, 7 and 8 includes: a frame for providing a mounting location;
a film reel 41, which is arranged on the frame for providing a film, and the end part of the reel is in transmission with the output end of the first servo motor;
the first servo motor is used for operating the material film reel 41 to output the material film and is arranged on the rack;
the fixed rolling rod group 45 is arranged at the top end of the rack, is matched with the tensioning rolling rod group and is used for loosening the material film output by the material film reel 41;
a swing lever driving device for operating the swing action of the swing lever group 44, which is arranged on the frame below the fixed rolling lever group;
the swing rod group 44 is arranged on the frame, and the rotating shaft is in transmission connection with the swing rod driving device;
the steering rolling rod 43 is arranged on the frame and used for turning the material film output to the hydraulic station 2 by the tightening rolling rod device 42 to a proper height;
tightening rolling rod device 42 for tightening material film, which is arranged on the frame and comprises:
the mounting groove 42-1 is vertically provided with a guide groove, and the top of the guide groove is provided with a telescopic cylinder for pressing;
two rubber rollers arranged on the same vertical surface are arranged in the guide groove, and the movable end of the telescopic cylinder is abutted to the end part of the rubber roller.
The swing lever group 44 includes: and the end part of the rotating shaft is provided with a gear, and the second servo motor is also provided with a gear, so that the rotating shaft of the swing rod group 44 is in transmission with the second servo motor. Meanwhile, the swing rod set 44 includes a bracket and two roller shafts arranged on the bracket.
The fixed roller group is three roller shafts which are arranged in parallel and are hinged with the frame.
The tightening roller device 42 is characterized in that two rubber rollers are pressed down by the cylinder through the roller rod on the upper side, so that the two rubber rollers are mutually extruded, and at the moment, the material film passing through the pressing part can be subjected to a pulling force, so that the material film can keep tension when being clamped by the finger cylinder 64.
The swing lever driving device includes:
a limit plate 48 for limiting the swing amplitude and mounting the table top, which is semicircular, and is provided with two arc grooves along the circular edge, a limit rod in the arc groove, a through hole at the center of the circle, and a rotating shaft of the swing rod set 44
The limiting rod is used for limiting the swing amplitude of the rolling rod group bracket and is detachably connected with the limiting plate;
the balancing rod 46 is arranged concentrically with the through hole and fixedly connected with the rotating shaft of the swinging rod set 44, the first end of the balancing rod is matched with the limiting rod for working, and the second end of the balancing rod is provided with a balancing weight;
the second servo motor 47 is arranged on the back of the limiting plate and is in transmission connection with the rotating shaft of the swing rod group 44;
and the micro switch is electrically connected with the second servo motor, is arranged at the first end of the balancing rod and is matched with the limiting rod to work.
The film covering device shown in FIG. 5 includes a pair of symmetrically arranged clamping devices; the clamping device comprises:
the linear guide rail 61 is used for enabling the material film clamped by the clamping device to cover the working plane;
the telescopic cylinder 63 is arranged on the sliding table 62 of the linear guide rail 61 through an L-shaped bracket, the telescopic end is vertically upward, and the finger cylinder 64 is arranged on the telescopic end;
and the finger cylinder 64 is used for clamping the material film, and the finger end is matched with the discharge end of the material film discharging device 4 of the forming machine for work.
The centering device 3 shown in fig. 3 and 4 comprises:
the top of the device table-board is provided with four through grooves in an array manner, and working rods 31 are arranged in the through grooves;
a sliding rail 34 is arranged on the bottom surface of the table top of the device, the sliding direction of the sliding rail is parallel to the through groove, a working bottom plate 32 is arranged on the sliding rail, and the working rod 31 is arranged on the working bottom plate 32;
the two working bottom plates 32 are connected through a transmission device 35;
the bottom surface of the table-board of the device is provided with a cylinder 33, the moving direction of the cylinder is parallel to the sliding direction of the slide rail, and the moving end of the cylinder is fixedly connected with a working bottom plate 32;
the working rod 31 is wrapped with a rubber layer.
The grabbing support comprises a # -shaped support, a plurality of suckers are arranged at the bottom of the support at equal intervals, and the suckers are pneumatic negative-pressure suckers.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A robotic automatic loading device comprising: hydraulic pressure station, six degree of freedom industrial robot and conveyer belt, its characterized in that still includes:
the centering device is used for centering the metal plate and is arranged at a second working position of the six-degree-of-freedom industrial robot;
the forming machine discharging film device is used for automatically providing a material film for covering, is arranged at the rear side of the hydraulic station, and is matched with the film covering device in a film discharging plane;
the film laminating device is used for automatically drawing out the material film and assisting the material film to be placed and is arranged on two sides of a working plane of the hydraulic station;
and the grabbing bracket is arranged at the end part of the mechanical arm of the six-freedom-degree industrial robot and used for grabbing the metal plate.
2. The robotic automatic loading device of claim 1, wherein the former discharge film device comprises: a frame for providing a mounting location;
the film feeding reel is arranged on the frame and used for feeding a film, and the end part of the reel is in transmission with the output end of the first servo motor;
the first servo motor is used for operating the film feeding reel to output the film and is arranged on the rack;
the fixed rolling rod group is arranged at the top end of the rack, is matched with the tensioning rolling rod group and is used for loosening the material film output by the material film reel;
the swing rod driving device is used for operating the swing action of the swing rod group and is arranged on the rack on the lower side of the fixed rolling rod group;
the swing rod group is arranged on the rack, and the rotating shaft is in transmission connection with the swing rod driving device;
the turning rolling rod is arranged on the rack and used for turning the material film output to the hydraulic station by the tightening rolling rod device to a proper height;
tight rolling rod device for tighten the material membrane, set up in the frame, include:
the mounting groove is vertically provided with a guide groove, and the top of the guide groove is provided with a telescopic cylinder for pressing down;
two rubber rollers arranged on the same vertical surface are arranged in the guide groove, and the movable end of the telescopic cylinder is abutted to the end part of the rubber roller.
3. The robotic automatic loading device of claim 1 wherein the sway bar drive comprises:
a limit plate for limiting the swing amplitude and mounting the table top, which is semicircular and is provided with two arc grooves along the circular edge, a limit rod is arranged in each arc groove, a through hole is arranged at the center of each arc groove, and a rotating shaft of the swing rod group
The limiting rod is used for limiting the swing amplitude of the rolling rod group bracket and is detachably connected with the limiting plate;
the balance rod is arranged concentrically with the through hole and fixedly connected with the rotating shaft of the swing rod group, the first end of the balance rod is matched with the limiting rod to work, and the second end of the balance rod is provided with a balancing weight;
the second servo motor is arranged on the back of the limiting plate and is in transmission connection with the rotating shaft of the swing rod group;
and the micro switch is electrically connected with the second servo motor, is arranged at the first end of the balancing rod and is matched with the limiting rod to work.
4. The robot automatic feeding device according to claim 1, wherein the film covering device comprises a pair of symmetrically arranged clamping devices; the clamping device includes:
the linear guide rail is used for enabling the material film clamped by the clamping device to cover the working plane;
the telescopic cylinder is arranged on the slide rail of the linear guide rail, the telescopic end is vertically upward, and the finger cylinder is arranged on the telescopic end;
the finger cylinder is used for clamping the material film, and the finger end is matched with the discharge end of the material film discharging device of the forming machine to work.
5. The robotic automatic loading device of claim 1, wherein the centering device comprises:
four through grooves are arranged on the top of the device table board in an array manner, and working rods are arranged in the through grooves;
a sliding rail is arranged on the bottom surface of the table top of the device, the sliding direction of the sliding rail is parallel to the through groove, a working bottom plate is arranged on the sliding rail, and a working rod is arranged on the working bottom plate;
the two working bottom plates are connected through a transmission device;
the bottom surface of the table-board of the device is provided with a cylinder, the moving direction of the cylinder is parallel to the sliding direction of the sliding rail, and the moving end of the cylinder is fixedly connected with a working bottom plate;
the working rod is wrapped with a rubber layer.
6. The automatic robot feeding device according to claim 1, wherein the grabbing bracket comprises a # -shaped bracket, a plurality of suckers are arranged at the bottom of the bracket at equal intervals, and the suckers are all pneumatic negative pressure type suckers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222736495.7U CN218839903U (en) | 2022-10-18 | 2022-10-18 | Automatic robot feeding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222736495.7U CN218839903U (en) | 2022-10-18 | 2022-10-18 | Automatic robot feeding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218839903U true CN218839903U (en) | 2023-04-11 |
Family
ID=87309279
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222736495.7U Active CN218839903U (en) | 2022-10-18 | 2022-10-18 | Automatic robot feeding device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218839903U (en) |
-
2022
- 2022-10-18 CN CN202222736495.7U patent/CN218839903U/en active Active
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