CN220297097U

CN220297097U - Dull and stereotyped class feed composite robot device

Info

Publication number: CN220297097U
Application number: CN202321903080.2U
Authority: CN
Inventors: 王洪磊; 于浩; 宋玉兵
Original assignee: Jingke Shandong Intelligent Technology Co ltd
Current assignee: Jingke Shandong Intelligent Technology Co ltd
Priority date: 2023-07-19
Filing date: 2023-07-19
Publication date: 2024-01-05
Anticipated expiration: 2033-07-19

Abstract

The application relates to a compound robot device of dull and stereotyped class feed, including removing the frame, setting up unloading mechanism, temporary storage material frame and secondary positioning mechanism on removing the CNC on the frame. The CNC feeding and discharging mechanism comprises a mechanical arm with one end connected to a composite robot body of the movable frame and a tail end jig connected to the other end of the mechanical arm, and is used for grabbing and moving flat plate materials. The temporary storage material frame can be detachably arranged on the movable frame. The secondary positioning mechanism is used for correcting the position of the tail end jig for capturing the flat plate type materials to be loaded and unloaded so as to accurately place the flat plate type materials into a CNC machine tool or a temporary storage material frame. The utility model provides a compound robot device carries the temporary storage material frame that is loaded with the material with the removal frame and follows the semi-manufactured goods district of material to the assigned position of CNC lathe, and the arm snatchs the material and realizes accurate last unloading through secondary positioning mechanism, has replaced manual operation and location accurate, has reduced processing cost, has improved the material installation accuracy, and then has improved the yields of product.

Description

Dull and stereotyped class feed composite robot device

Technical Field

The application relates to the field of compound robots, in particular to a flat plate type feeding compound robot device.

Background

At present, working procedure operation of loading and unloading flat plate materials requires workers to use a trolley to convey a material frame filled with the materials to a position appointed by a CNC machine tool. Then, the worker needs to take out the flat plate type material to be processed from the material frame and install it on the machine tool jig. After the processing is completed, the workers also need to take off the finished product from the jig and put the finished product into a material frame. CNC (numerical control machine) is particularly suitable for machining products with small-batch precision requirements.

Because the process time of dull and stereotyped material is shorter, the workman needs to be constantly with the material frame transportation that is equipped with the dull and stereotyped class material of waiting to process to the CNC lathe is next to, and will process dull and stereotyped class finished product dismouting to the material frame, this leads to workman intensity of labour big, labour intensive to the control degree of difficulty of yields is higher.

Patent publication number CN114654291a discloses a CNC automatic processing system and a CNC processing method of automatic loading and unloading, the CNC automatic processing system includes a ground rail, a plurality of CNC numerical control machine tools, loading and unloading mechanism and AGV dolly. The CNC numerical control machines are arranged on two sides of the ground rail along the length direction of the ground rail; the material taking robot, the material feeding frame and the material discharging frame are arranged on the base, the material feeding and discharging mechanisms are respectively transferred to each CNC numerical control machine tool through ground rails, and the AGV trolley is used for transferring materials in a designated area to the material feeding frame or transporting the materials in the material discharging frame to a designated place. The six-axis robot can automatically feed and discharge materials in the process of moving to each CNC numerical control machine tool on the ground rail respectively through the AGV trolley. In the related prior art, a plurality of material frames and a plurality of secondary positioning mechanisms are immovably fixed on the CNC automatic processing system, but the flexibility is low, the equipment installation space requirement is large, the construction cost is high, and the device is especially not suitable for customized small-scale production.

To the above-mentioned related art, during dull and stereotyped material processing, the processing cost that the manual handling was waited to process the material and the manual work goes up the unloading and brings is high, the yields control degree of difficulty is high and the technical problem that can not dynamic nimble adjustment production line of equipment installation space greatly, this application provides a dull and stereotyped class feed compound robot device.

Disclosure of Invention

In order to overcome the technical defects that the production line can not be dynamically and flexibly adjusted due to the need of manual carrying, manual loading and unloading and large equipment installation space during the processing of flat plate type materials, the application provides a flat plate type material feeding composite robot device.

The application provides a dull and stereotyped class feed composite robot device adopts following technical scheme:

a plate-like feed compound robot apparatus comprising:

a moving frame;

the CNC feeding and discharging mechanism is arranged on the movable frame and comprises a mechanical arm with one end connected to a composite robot body of the movable frame and a tail end jig connected to the other end of the mechanical arm, and the tail end jig is used for grabbing and moving flat plate materials;

the temporary storage material frame is detachably arranged on the movable frame and is used for temporarily accommodating flat-plate materials;

the secondary positioning mechanism is arranged on the movable frame and used for correcting the position where the tail end jig grabs the flat plate type materials to be fed and discharged so as to accurately place the flat plate type materials into a CNC machine tool or a temporary material storage frame;

through adopting above-mentioned technical scheme, compound robot device has accomplished the dull and stereotyped class material from carrying to the whole flow of unloading of waiting to process, has replaced manual operation, greatly reduced processing cost. Meanwhile, the error rate of manual operation is reduced, and the yield of products is improved.

Preferably, the secondary positioning mechanism comprises a supporting part and a positioning part, the bottom of the supporting part is connected to the composite robot body, the positioning part comprises a vertical adjusting plate and an inclined plane positioning plate arranged on the vertical adjusting plate for adjusting the inclination angle, a positioning groove corresponding to the flat plate type material is arranged on the inclined plane positioning plate, and a plurality of positioning blocks are arranged at the edge of the positioning groove.

Through adopting above-mentioned technical scheme, compound robot device is before last unloading, through the secondary positioning to the article to in the CNC lathe or the temporary storage material frame is placed with the material to the accuracy.

Preferably, the inclined plane locating plate comprises a first locating plate and a second locating plate, the middle side edge of the locating groove of the first locating plate is parallel to the horizontal plane, and two adjacent side edges of the second locating plate are inclined at an angle to the horizontal plane.

Through adopting above-mentioned technical scheme, the constant head tank of two different positions can provide different locating angle, satisfies the different location demands of unloading on the compound robot device.

Preferably, the end fixture comprises a connecting part at one end, and the connecting part is detachably connected with the mechanical arm.

Through adopting above-mentioned technical scheme, the mode that terminal tool is connected on the arm is through connecting portion detachable connection, and the unloading is gone up to different types of materials such as dull and stereotyped class material, axle class work piece to accessible change terminal tool.

Preferably, the moving frame further comprises an AGV trolley arranged at the bottom of the composite robot body and used for moving the composite robot body.

By adopting the technical scheme, the AGV trolley can drive the whole composite robot device to travel along a specified guide path.

Preferably, the shape of the composite robot car body is a cuboid car body, detachable side doors are respectively arranged on the advancing side surface and the retreating side surface of the car body, and detachable double doors are respectively arranged on the other two side surfaces of the car body.

Through adopting above-mentioned technical scheme, when installing compound robot or maintaining compound robot, through dismantling four door frames in side, can conveniently install and maintain the spare part of automobile body inside.

Preferably, the plate-type feeding composite robot device further comprises an airbag which is arranged on the advancing side and the retreating side of the composite robot body and extends to corners of other two adjacent sides of the body.

Through adopting above-mentioned technical scheme, air bag can effectively play the effect of protection to robot device, and robot device is in the motion in-process promptly, if bump with other robot device or other objects, plays the cushioning effect, and then plays the guard action.

Preferably, the inner cavity side of the composite robot body is provided with a mounting strip, the inner cavity of the composite robot body is divided into a first inner cavity and a second inner cavity which are communicated, and an electric element and a pneumatic element are respectively mounted in the first inner cavity and the second inner cavity.

By adopting the technical scheme, when the electric element and the pneumatic element are arranged on the car body of the composite robot device, the electric separation is realized, and the safety of the composite robot device is improved.

Preferably, the material frame is detachably connected to the composite robot body through a plurality of material frame fixing pieces.

Through adopting above-mentioned technical scheme, make things convenient for the change of material frame.

Preferably, the top surface of compound robot automobile body is provided with a plurality of mounting holes to supply installation arm, secondary positioning mechanism and material frame mounting.

Through adopting above-mentioned technical scheme, make things convenient for dismantlement and change such as arm, secondary positioning mechanism and material frame mounting.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the composite robot device conveys the temporary storage material frame loaded with the materials from a semi-finished product area of the materials to a designated position of the CNC machine tool through the moving frame, the mechanical arm grabs the materials to realize accurate feeding and discharging through the secondary positioning mechanism, manual operation is replaced, positioning is accurate, processing cost is reduced, material installation precision is improved, and the yield of products is improved;

2. the tail end jig of the composite robot device for grabbing materials is detachably arranged on the mechanical arm, and different types of materials such as flat plate materials, shaft workpieces and the like can be fed and discharged by replacing the tail end jig;

3. the material frame is detachably arranged on the top surface of the composite robot device, and when the processed flat plate type material is stored to be full of the material frame, the material frame is convenient to replace;

4. the top surface of the composite robot device is provided with a secondary positioning mechanism, and a secondary positioning procedure is added before feeding and discharging, so that the positioning of the flat plate type materials is more accurate.

Drawings

FIG. 1 is a schematic view of a plate-type feeding composite robot device according to the present application;

FIG. 2 is a schematic diagram of a secondary positioning mechanism according to the present application;

FIG. 3 is a schematic view showing the internal structure of a composite robot body according to the present application;

fig. 4 is a schematic structural diagram of a mechanical arm of the present application.

Reference numerals illustrate: 10. a moving frame; 11. AGV trolley; 12. a composite robot body; 121. a side door; 122. double door; 123. a mounting hole; 20. CNC feeding and discharging mechanisms; 21. a mechanical arm; 22. an end jig; 221. a connection part; 222, suction plate structure; 223. a cover opening structure; 30. a secondary positioning mechanism; 31. a support part; 32. a positioning part; 321. a vertical adjustment plate; 32a, a first positioning plate; 32b, a second positioning plate; 323. a positioning groove; 324. a positioning block; 40. a temporary storage material frame; 41. a material frame fixing piece; 50. an electrical component; 60. a pneumatic element; 70. an airbag; 80. and (5) mounting the strip.

Detailed Description

The present application is described in further detail below in conjunction with figures 1-4.

Referring to fig. 1, a flat panel type feeding composite robot apparatus includes: the device comprises a movable frame 10, a CNC feeding and discharging mechanism 20, a temporary storage material frame 40 and a secondary positioning mechanism 30. The CNC feeding and discharging mechanism 20 is arranged on the movable frame 10, and the CNC feeding and discharging mechanism 20 comprises a mechanical arm 21 with one end connected to the composite robot body 12 of the movable frame 10 and a tail end jig 22 connected to the other end of the mechanical arm 21, and is used for grabbing and moving flat plate materials. The temporary storage material frames 40 are detachably arranged on the movable frame 10 and used for temporarily storing flat-plate materials, and the number of the temporary storage material frames 40 is not lower than two so as to ensure that unprocessed materials are placed separately from processed materials. The secondary positioning mechanism 30 is disposed on the moving frame 10, and is used for correcting the position where the end fixture 22 grabs the flat plate material to be loaded and unloaded, so as to accurately place the flat plate material into the CNC machine or the temporary storage material frame 40. The composite robot device has the advantages that the material conveying, feeding and discharging of the composite robot device replace manual operation, the mounting precision of feeding is improved, and the yield of products is improved. In this example, the flat-panel material is specifically a tablet computer housing, and the corresponding CNC processing is specifically drilling and bending the tablet computer housing.

Referring to fig. 2, the secondary positioning mechanism 30 includes a supporting portion 31 and a positioning portion 32, and the bottom of the supporting portion 31 is connected to the composite robot body 12 and is detachably connected. The positioning part 32 comprises a vertical adjusting plate 321 and an inclined plane positioning plate, wherein a positioning groove 323 corresponding to the flat plate type material is arranged on the inclined plane positioning plate, and a plurality of positioning blocks 324 are arranged at the edge of the positioning groove 323. During positioning, the plate material is placed in the positioning groove 323, slides to be overlapped with the positioning groove 323 by means of self gravity, and the positioning block 324 at the edge of the positioning groove 323 is used for placing the plate material to fall out of the inclined plane positioning plate.

Referring to fig. 2, the inclined plane locating plate includes a first locating plate 32a and a second locating plate 32b, wherein the middle side of the locating groove 323 of the first locating plate 32a is disposed parallel to the horizontal plane, and the two adjacent sides of the second locating plate 32b are inclined at an angle to the horizontal plane. Specifically, two adjacent sides of the second positioning plate 32b are inclined at 45 ° with respect to the horizontal plane, and by using the positioning grooves 323 in the two different directions, different positioning angles can be provided, so as to meet different positioning requirements of loading and unloading of the composite robot device.

Referring to fig. 4, the end fixture 22 includes a connection portion 221, and the connection portion 221 is located at one end of the end fixture 22 and is used for connecting with the mechanical arm 21. The mode that terminal tool 22 is connected on arm 21 specifically is through connecting portion 221 reaching the effect of dismantling the connection, and the unloading is gone up to different kinds of materials such as dull and stereotyped class material, axle class work piece to accessible change terminal tool 22.

Referring to fig. 1, the mobile carriage 10 further includes an AGV car 11 disposed at the bottom of the composite robot car body 12. The AGV carriage 11 can drive the entire composite robot device to travel along a prescribed guide path.

Referring to fig. 2, the composite robot body 12 has a rectangular parallelepiped shape, and has a detachable side door 121 on each of the forward side and the backward side of the body, and a detachable double door 122 on each of the other two sides of the body. The four side doors 121 are each provided in a detachable structure, and after being detached, the components inside the vehicle body can be conveniently installed and maintained.

Referring to fig. 1, the compound robot device further includes an airbag 70 provided on the vehicle body advancing side and retracting side of the compound robot vehicle body 12 and extending to corners of the other two sides of the vehicle body adjacent thereto. The airbag 70 can effectively protect the robot device. In the example, the airbag 70 is a plastic tube filled with gas inside.

Referring to fig. 2, a mounting bar 80 is disposed on the inner cavity side of the composite robot body 12 to divide the inner cavity of the composite robot body 12 into a first inner cavity and a second inner cavity which are communicated, and the first inner cavity and the second inner cavity are respectively provided with the electric element 50 and the pneumatic element 60, thereby realizing electrical separation and increasing the safety of the composite robot device.

Referring to fig. 1, the temporary storage material frame 40 is detachably connected to the composite robot body 12 through a plurality of material frame fixing members 41, so that the replacement of the material frame is facilitated. The top surface of the composite robot body 12 is provided with a plurality of mounting holes 123 for mounting the mechanical arm 21, the secondary positioning mechanism 30 and the material frame fixing member 41.

The implementation principle of the plate type feeding composite robot device provided by the embodiment of the application is as follows: after the temporary storage material frame 40 for the materials to be processed is arranged on the semi-finished product material area, the AGV trolley 11 at the bottom moves to the designated position of the machine tool according to a preset track, the position of the clamp in the machine tool is judged through a camera carried on the tool, the cover opening structure 223 opens the gland of the clamp of the machine tool, the suction plate structure 222 takes out the processed flat plate materials from the clamp of the machine tool and puts the flat plate materials into the secondary positioning mechanism 30, and after positioning, the flat plate materials are put into the temporary storage material frame 40. Then, taking out the material to be processed from a semi-finished product area in a temporary material storage frame 40 positioned on the top surface of the composite robot car body 12, placing the material into a secondary positioning mechanism 30 for positioning the flat plate type material, installing the material into a CNC machine tool jig after positioning, putting down a machine tool cover plate, and closing a door of the CNC machine tool; and the compound robot device moves to the next CNC machine tool, the above actions are repeated until all materials are replaced, and the actions are finished.

The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims

1. A plate-like feed compound robot device, comprising:

a moving frame (10);

the CNC feeding and discharging mechanism (20) is arranged on the movable frame (10), and the CNC feeding and discharging mechanism (20) comprises a mechanical arm (21) with one end connected to a composite robot car body (12) of the movable frame (10) and a tail end jig (22) connected to the other end of the mechanical arm (21) and is used for grabbing and moving flat materials;

the temporary storage material frame (40) is detachably arranged on the movable frame (10) and is used for temporarily accommodating flat-plate materials;

the secondary positioning mechanism (30) is arranged on the movable frame (10) and used for correcting the position where the tail end jig (22) grabs the flat plate type materials to be fed and discharged so as to accurately place the flat plate type materials into the CNC machine tool or the temporary storage material frame (40).

2. The plate type feeding composite robot device according to claim 1, wherein the secondary positioning mechanism (30) comprises a supporting part (31) and a positioning part (32), the bottom of the supporting part (31) is connected to the composite robot car body (12), the positioning part (32) comprises a vertical adjusting plate (321) and an inclined plane positioning plate arranged on the vertical adjusting plate (321) to adjust the inclination angle, a positioning groove (323) corresponding to the plate type material is arranged on the inclined plane positioning plate, and a plurality of positioning blocks (324) are arranged at the edge of the positioning groove (323).

3. The plate-like feeding composite robot device according to claim 2, wherein the inclined positioning plate comprises a first positioning plate (32 a) and a second positioning plate (32 b), the middle side of the positioning groove (323) of the first positioning plate (32 a) is arranged parallel to the horizontal plane, and two adjacent sides of the second positioning plate (32 b) are inclined at an angle to the horizontal plane.

4. The plate-like feeding composite robot device according to claim 1, wherein the end jig (22) comprises a connecting portion (221) at one end, and is detachably connected to the mechanical arm (21).

5. The flat panel type feeding composite robot device according to claim 1, wherein the moving frame (10) further comprises an AGV car (11) provided at the bottom of the composite robot car body (12) for moving the composite robot car body (12).

6. The plate-like feeding composite robot device according to claim 1, wherein the composite robot body (12) has a rectangular parallelepiped shape, detachable side doors (121) are provided on the forward side and the backward side of the body, and detachable double doors (122) are provided on the other two sides of the body.

7. The plate-like feeding composite robot device according to claim 6, further comprising an airbag (70) provided on a vehicle body advancing side and a vehicle body retreating side of the composite robot vehicle body (12) and extending to corners of other two sides of the vehicle body adjacent thereto.

8. The plate-like feeding composite robot device according to claim 1, wherein a mounting bar (80) is provided on an inner cavity side of the composite robot body (12), the inner cavity of the composite robot body (12) is partitioned into a first inner cavity and a second inner cavity which are communicated, and an electric element (50) and a pneumatic element (60) are respectively mounted in the first inner cavity and the second inner cavity.

9. The plate-like feeding composite robot device according to claim 1, wherein the temporary storage material frame (40) is detachably connected to the composite robot body (12) through a plurality of material frame fixing members (41).

10. The plate-like feeding composite robot device according to claim 9, wherein the top surface of the composite robot body (12) is provided with a plurality of mounting holes (123) for mounting the mechanical arm (21), the secondary positioning mechanism (30) and the material frame fixing member (41).