CN220683908U - Automatic unloading equipment on following suspension chain of robot - Google Patents

Abstract

The utility model discloses automatic following suspension chain feeding and discharging equipment for a robot, which comprises a non-suspension chain conveying line, a tooling plate jacking and positioning assembly, a robot assembly, a suspension chain conveying line, a hanger following and positioning assembly and a control station; the non-suspension chain conveying line is provided with a workpiece grabbing and discharging position, and the suspension chain conveying line is provided with a hanger following station and a workpiece loading and discharging position along the conveying direction; the hanger following and positioning assembly comprises a frame, a guide assembly, an upper hanger follow-up assembly and a lower hanger positioning assembly; a follow-up position encoder is arranged in the follow-up assembly on the hanger; the lower locating component of the hanger is arranged at the middle lower part of the rack and comprises a sliding table component, a sliding table position encoder and a lower locating clamping jaw of the hanger. This application follows locating component's setting through the stores pylon, can be with big quality spare part dynamic transfer between non-suspension chain transfer chain and suspension chain transfer chain, effectively improves production safety and production efficiency.

Description

Automatic unloading equipment on following suspension chain of robot

Technical Field

The utility model relates to the field of assembly automation, in particular to automatic following suspension chain feeding and discharging equipment of a robot.

Background

During the processing or assembly of electrical home components and other industries, certain components, such as refrigeration compressors and the like, need to be transferred between the non-catenary and catenary conveyor lines. At present, the following defects exist in the manual transmission and transmission process, and the improvement is needed:

1. because the parts with fast production line beats have large weight, the labor intensity is high.

2. The manual work needs to work between two motion transfer chain, and the security risk is higher.

Disclosure of Invention

The utility model aims to solve the technical problem that the prior art is insufficient, and provides the automatic following suspension chain feeding and discharging equipment for the robot.

In order to solve the technical problems, the utility model adopts the following technical scheme:

the utility model provides a unloading equipment on automatic follow suspension chain of robot, includes non-suspension chain transfer chain, frock board jacking locating component, robot subassembly, suspension chain transfer chain, stores pylon follow locating component and control station.

The non-suspension chain conveying line is provided with a workpiece grabbing and discharging position, the non-suspension chain conveying line is uniformly provided with a plurality of tooling plates along the conveying direction, and at least one workpiece can be placed on each tooling plate; the tooling plate jacking and positioning assembly is arranged at the workpiece grabbing and placing position and can position and jack the tooling plate positioned at the workpiece grabbing and placing position.

The hanging chain conveying line is provided with hanging frames along the conveying direction to follow the station and the workpiece loading and unloading positions.

The suspension chain conveying line is further provided with a plurality of suspension bases in an equidistant manner along the conveying direction, the bottom of each suspension base is hinged with a hanging frame, and at least one group of workpiece hanging frames are arranged in the middle of each hanging frame.

The hanger following positioning assembly comprises a frame, a guide assembly, an upper hanger follow-up assembly and a lower hanger positioning assembly.

The guiding component is arranged at the bottom of the frame and can guide the bottom of the hanger, which is positioned at the position of the hanger following the station and the upper and lower material positions of the workpiece.

The upper follow-up component of the hanger is arranged at the middle upper part of the rack, and can slide, clamp and walk along the top of the hanger positioned at the following station of the hanger; a follow-up position encoder is arranged in the follow-up assembly on the hanging rack.

The lower positioning component of the hanging rack is arranged at the middle lower part of the rack and comprises a sliding table component, a sliding table position encoder and a lower positioning clamping jaw of the hanging rack;

the sliding table component can drive the lower positioning clamping jaw of the hanger to actively slide back and forth between the following station of the hanger and the upper and lower material levels of the workpiece; the slipway position encoder can detect the initiative reciprocating slippage displacement of slipway subassembly.

The locating clamping jaw sets up on the slip table subassembly under the stores pylon, can fix a position the centre gripping in the stores pylon bottom that is located the direction subassembly top.

The robot assembly is capable of transferring workpieces between a workpiece gripping position of the non-catenary chain conveyor line and a workpiece loading position of the catenary chain conveyor line.

The control station is connected with the non-suspension chain conveying line, the tooling plate jacking positioning assembly, the robot assembly, the suspension chain conveying line and the hanging rack following positioning assembly respectively.

The middle part of each hanging rack is also provided with a height positioning rod, and the lower hanging rack positioning assembly also comprises a hanging rack jacking assembly arranged on the sliding table assembly; the hanging rack jacking component can jack the height positioning rod to a set height.

Two workpieces are arranged on each tooling plate in parallel, and each hanging frame comprises two vertical hanging rods which are arranged in parallel; the two vertical hanging rods are connected through a plurality of transverse rods which are arranged in parallel; one of the cross bars is formed as the height positioning bar.

Each hanger also comprises a folding line plate, the top end of the folding line plate is hinged with the corresponding hanging base, and the bottom end of the folding line plate is integrally arranged or welded with the center of the cross rod at the top end.

The follow-up assembly on the hanger comprises a follow-up bracket, a follow-up sliding table, a synchronous transmission device, a follow-up air claw and a follow-up clamping claw.

The follow-up support is arranged at the middle upper part of the rack, and the follow-up sliding table is slidably arranged on the follow-up support and is parallel to the sliding direction of the hanging frame.

The synchronous transmission device can drive the follow-up sliding table to slide in a driving or driven way.

The follow-up air claw is arranged at the top of the follow-up sliding table and can be actively opened and closed.

The follow-up clamping jaw is arranged on one side of the follow-up air jaw opposite to the follow-up air jaw and can be clamped with the top of the hanging frame or the side wall of the folding line plate in a sliding manner.

Still including setting up the stores pylon detection sensor that targets in place on follow-up slip table top, can be used for detecting whether the stores pylon follows the station and has the stores pylon.

The synchronous transmission device comprises a synchronous belt and a synchronous motor capable of driving the synchronous belt to transmit, and the top surface of the synchronous belt is connected with the bottom of the follow-up sliding table; the following position encoder is arranged in the synchronous motor.

The sliding table assembly comprises a long guide rail combination, a short guide rail combination, a long sliding driving device and a short sliding driving device.

The long guide rail combination comprises a long guide rail and a long sliding table; the long guide rail is arranged along the transmission direction of the parallel hanging frame; the long-direction sliding table can slide along the long guide rail under the drive of the long-direction sliding driving device; the sliding table position encoder is arranged in the long-direction sliding driving device.

The short guide rail combination comprises a short guide rail and a short sliding table; the short guide rail is arranged on the top surface of the long sliding table and is perpendicular to the long guide rail; the short sliding table can slide along the short guide rail under the drive of the short sliding driving device.

The robot assembly includes a robot and a robot jaw assembly.

The robotic gripper assembly includes a base plate and at least one set of workpiece clamping mechanisms.

The bottom plate sets up at the robot end, and every group work piece fixture all includes vacuum chuck and pneumatic clamping jaw.

The vacuum chuck can suck the top of the workpiece; the pneumatic clamping jaw can clamp two side walls of a workpiece.

Each group of workpiece clamping mechanisms further comprises a vacuum sensor and a laser sensor; the vacuum sensor can detect the vacuum degree of the vacuum chuck; the laser sensor can detect whether a workpiece in front of the pneumatic clamping jaw exists or not; the vacuum chuck is a spring floating chuck.

The guide assembly comprises a sliding guide section and primary guide sections symmetrically arranged on two sides of the sliding guide section.

The sliding guide section comprises two opposite blocking plates, and a plurality of guide rollers are arranged on opposite sides of the two blocking plates along the length direction.

The primary guide section is in an eight shape and comprises two inclined plates, and each inclined plate is arranged at the end part of the corresponding blocking plate.

The utility model has the following beneficial effects: this application follows locating component's setting through the stores pylon, can be with big quality spare part dynamic transfer between non-suspension chain transfer chain and suspension chain transfer chain, effectively improves production safety and production efficiency.

Drawings

Fig. 1 shows a schematic diagram of the overall structure of a robot automatic following suspension chain feeding and discharging device according to the present utility model.

Fig. 2 shows a schematic structural view of an underhung chain conveyor line according to the present utility model.

Fig. 3 shows a schematic structure of a hanger in a hanging chain conveyor line in the present utility model.

Fig. 4 shows a schematic structural view of a hanger follower positioning assembly in accordance with the present utility model.

FIG. 5 shows a schematic structural view of a follower assembly on a hanger in accordance with the present utility model.

Figure 6 shows an overall isometric view of the undershot positioning assembly of the hanger of the present utility model.

Figure 7 shows a side perspective view of the undershot hanger positioning assembly of the present utility model.

FIG. 8 shows a block diagram of the jacking jaw assembly jacking and grabbing hanger of the present utility model.

Fig. 9 shows a schematic structural view of a robotic jaw assembly of the present utility model.

Fig. 10 is a schematic view showing the structure of the robot jaw assembly for gripping a workpiece according to the present utility model.

The method comprises the following steps:

1. a non-hanging chain conveyor line;

11. the tooling plate jacking and positioning assembly; 12. a blocker assembly; 13. an anti-rebound assembly; 14. a tooling plate in-place detection assembly; 15. detecting whether a workpiece has a component or not;

2. the hanging rack follows the positioning component;

21. a frame; 22. a shield; 23. a guide assembly; 231. a sliding guide section; 232. a primary guide section;

24. a follow-up component on the hanger;

241. a follow-up bracket; 242. a follow-up sliding table; 243. a synchronous belt; 244. a servo position encoder; 245. a follow-up air claw; 246. follow-up clamping jaw; 247. resetting the cylinder by the sliding table; 248. a hanger in-place detection sensor;

25. a slipway assembly;

251. a long-direction sliding table; 251a, a longitudinal guide rail; 252. the screw rod drives a servo motor; 253. a screw rod; 254. a slipway position encoder; 255. a short sliding table; 255a, short guide rail; 256. a short direction sliding table cylinder;

26. jacking the clamping jaw assembly;

261. a lifting cylinder; 262. a guide fork; 263. positioning clamping jaws of a hanger; 264. a workpiece presence/absence detecting sensor; 265. a hanging rack air claw; 266. a hanger supporting plate;

3. a robotic assembly;

31. a robot;

32. a robotic jaw assembly; 321. a bottom plate; 322. a vacuum chuck; 323. a vacuum sensor; 324. robot gas claw; 325. a laser sensor; 326. pneumatic clamping jaws;

4. a protective net member; 41. a protective net; 42. a safety door;

5. a hanging chain conveyor line;

51. a hanging base; 52. a suspension; 521. a fold line plate; 522. a vertical hanging rod; 523. a cross bar; 524. a workpiece hanger;

6. and a control station.

Detailed Description

The utility model will be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

In the description of the present utility model, it should be understood that the terms "left", "right", "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and "first", "second", etc. do not indicate the importance of the components, and thus are not to be construed as limiting the present utility model. The specific dimensions adopted in the present embodiment are only for illustrating the technical solution, and do not limit the protection scope of the present utility model.

As shown in fig. 1, the automatic feeding and discharging equipment with the suspension chain following robot comprises a non-suspension chain conveying line 1, a tooling plate jacking and positioning assembly 11, a hanger following and positioning assembly 2, a robot assembly 3, a suspension chain conveying line 5 and a control station 6.

Be provided with the work piece on the non-suspension chain conveying line and grab the material level of putting, non-suspension chain conveying line has a plurality of frock board along transmission direction evenly arranged, all can place at least one work piece on every frock board, in this embodiment, all prefers two work pieces of parallel placement on every frock board.

The tooling plate jacking and positioning assembly is arranged at the workpiece grabbing and placing position and can position and jack the tooling plate positioned at the workpiece grabbing and placing position.

As shown in fig. 2, a blocker assembly 12 is provided on the non-overhead chain conveyor line upstream of the workpiece handling station for upstream blocking of tooling plates transferred onto the workpiece handling station.

An anti-rebound assembly 13 is arranged on the non-suspension chain conveying line at the downstream of the workpiece grabbing and placing position and is used for carrying out downstream limiting on the tooling plate conveyed to the workpiece grabbing and placing position.

The workpiece grabbing and placing position is also provided with a workpiece plate in-place detection assembly 14 and a workpiece presence/absence detection assembly 15, which are all preferably existing photoelectric sensors. Wherein the tooling plate in-place detection assembly 14 is used to detect whether a tooling plate on a workpiece gripping and placing level is transferred in place. The workpiece presence/absence detecting unit 15 is used for detecting whether the workpiece is present on the tooling plate transferred in place on the workpiece gripping/discharging position.

The hanging chain conveying line is provided with hanging frames along the conveying direction to follow the station and the workpiece loading and unloading positions.

As shown in fig. 3, the robot assembly 3 is capable of transferring a workpiece 7 between a workpiece gripping position of a non-catenary conveyor line and a workpiece loading position of a catenary conveyor line.

The suspension chain conveyor line 5 is suspended with a plurality of suspension bases 51 at equal intervals along the conveying direction, and the bottom of each suspension base is hinged with a hanging frame 52.

Each hanger preferably includes a fold line panel 521 and a hanger frame.

The top end of the folding line plate 521 is hinged with the corresponding hanging base, and the bottom end of the folding line plate is integrally arranged or welded with the center of the top end of the hanging frame (preferably the center of the cross bar at the top end).

Each hanging frame comprises a plurality of vertical hanging rods 522 and a plurality of horizontal rods 523 which are horizontally arranged and are connected with the hanging rods. In this embodiment, the number of the vertical hanging rods is preferably two, that is, two workpieces 7 can be fed in parallel at a time.

At least one set of workpiece hangers 524 is preferably provided on each vertical hanger bar. In this embodiment, the workpiece is preferably a refrigeration compressor, and the weight is preferably 7Kg; the side wall of each workpiece is provided with a hook hole and a rod hole.

Thus, each set of workpiece hangers 524 includes a hanger and a T-plate; wherein, the couple cooperates with the hook hole of work piece, and T template cooperates with the pole hole of work piece, realizes the suspension location of work piece.

The transverse rod can form a height positioning rod, so that the subsequent positioning of the height of the hanging frame is facilitated, and the height error in the hanging process of the hanging frame is prevented.

As shown in fig. 3 and 4, the hanger follower positioning assembly includes a frame 21, a shroud 22, a guide assembly 23, an upper hanger follower assembly 24, and a lower hanger positioning assembly.

The guiding component is arranged at the bottom of the frame and can guide the bottom of the hanger, which is positioned at the position of the hanger following the station and the upper and lower material positions of the workpiece.

The guide assembly preferably includes a sliding guide section 231 and preliminary guide sections 232 symmetrically disposed on both sides of the sliding guide section.

The sliding guide section comprises two opposite blocking plates, and a plurality of guide rollers are arranged on opposite sides of the two blocking plates along the length direction.

The primary guide section is in an eight shape and comprises two inclined plates, and each inclined plate is arranged at the end part of the corresponding blocking plate.

The shield is preferably used for protection of the hanger upper follower assembly 24 and the hanger lower locating assembly.

The follow-up assembly on the hanger is arranged on the upper middle part of the rack, and can slide, clamp and walk along the top of the hanger located at the following station of the hanger.

As shown in fig. 5, the on-hanger follower assembly includes a follower bracket 241, a follower slide 242, a synchronous drive, a follower air jaw 245, a follower jaw 246, a slide reset cylinder 247, and a hanger in-place detection sensor 248.

The follow-up bracket is arranged at the middle upper part of the frame.

The follow-up sliding table is slidably mounted on the follow-up support and is parallel to the sliding direction of the hanger, and the follow-up sliding table can be reset under the driving of the sliding table reset cylinder 247, namely, the follow-up sliding table is restored to the following station of the hanger.

The synchronous transmission device can drive the follow-up sliding table to slide in a driving or driven way. In this embodiment, the synchronous transmission device preferably includes a synchronous belt 243 and a synchronous motor capable of driving the synchronous belt to transmit, and the top surface of the synchronous belt is connected with the bottom of the follow-up sliding table; the synchronous motor has a follower position encoder 244 built therein.

The follow-up air claw is arranged at the top of the follow-up sliding table and can be actively opened and closed.

The follow-up clamping jaw is arranged on one side of the follow-up air jaw, which is opposite to the follow-up air jaw, and can be slidably clamped with the top of the hanging frame or the side wall of the folding line plate, and the structure diagram after clamping is shown in the figure 4.

The in-place detection sensor for the hanging frame can be used for detecting whether the hanging frame following station is provided with the hanging frame or not. In this embodiment, similar in-place detection sensors and sensors such as workpiece sensors are all existing photoelectric sensors, and will not be described later.

As shown in fig. 4, 6, 7 and 8, the lower hanger positioning assembly is disposed at the lower middle portion of the frame and includes a slide assembly 25 and a lifting jaw assembly 26.

The sliding table component can drive the locating clamping jaw under the hanging frame to actively and reciprocally slide between the following station of the hanging frame and the upper and lower material levels of the workpiece.

The sliding table assembly comprises a long guide rail combination, a short guide rail combination, a long sliding driving device and a short sliding driving device.

The long guide rail combination comprises a long guide rail 251a and a long sliding table 251; the long guide rail is arranged along the transmission direction of the parallel hanging frame; the long-direction sliding table can slide along the long-direction guide rail under the drive of the long-direction sliding driving device.

The long-direction sliding driving device is preferably driven by a screw rod transmission mechanism; the screw transmission mechanism comprises a screw 253 and a screw driving servo motor 252; a sliding table position encoder 254 is installed on the screw rod and is used for detecting the active reciprocating sliding displacement of the sliding table assembly. Alternatively, the long-slip drive may be another drive mechanism known in the art.

The short guide rail combination comprises a short guide rail 255a and a short sliding table 255; the short guide rail is arranged on the top surface of the long sliding table and is perpendicular to the long guide rail; the short sliding table can slide along the short guide rail under the drive of the short sliding driving device. The short-direction sliding driving device is preferably a short-direction sliding table cylinder 256.

The jacking jaw assembly 26, also referred to as the hanger lower locating jaw, preferably includes a hanger jacking assembly and a hanger bottom locating assembly.

The pylon jack assembly preferably includes a lift cylinder 261 and a pylon support plate 266. Wherein the lift cylinder 261 is preferably mounted on the top surface of the short slipway 255 of the slipway assembly.

The bottom locating component of the hanging rack is preferably arranged at the top of the lifting cylinder, and in the embodiment, two groups of hanging racks are preferably arranged, so that two vertical hanging rods of the hanging rack can be respectively located. Each set of hanger bottom positioning assemblies preferably includes a guide fork 266, a hanger positioning jaw 263, and a workpiece presence sensor 264.

The short-direction sliding table drives the lower positioning clamping jaw of the hanger to slide in the Y direction towards the direction of the hanger; wherein the Y direction is a horizontal direction perpendicular to the X direction; the X direction is the transmission direction of the suspension chain conveying line. The guide fork is preferably Y-shaped, and can conduct Y-direction guiding on the hanging frame, so that initial positioning of the bottom of the hanging frame is achieved.

The hanger positioning clamping jaw 263 can be driven by the corresponding hanger air claw 265 to realize positioning clamping of the bottom of the hanger above the guide assembly. In this embodiment, the hanger positioning jaw 263 has three V-shaped structures with opposite openings, wherein two V-shaped structures are arranged in parallel and driven by the same hanger air jaw, and the other V-shaped structure is located at the other side and higher than the middle of the two V-shaped structures at the corresponding sides.

The hanger bracket 266 is preferably disposed above the top of the hanger positioning jaw 263, and can be attached to the bottom of the height positioning rod in the hanger, so as to lift the height positioning rod, thereby realizing the height positioning and lifting of the hanger.

As shown in fig. 1, 9 and 10, the robot assembly includes a robot 31 and a robot jaw assembly 32.

The robotic gripper assembly includes a base plate 341 and at least one set of workpiece clamping mechanisms.

The base plate is disposed at the end of the robot and each set of workpiece clamping mechanisms includes a vacuum chuck 342, a vacuum sensor 343, a laser sensor 345, and a pneumatic jaw 346.

The vacuum chuck is a spring floating chuck, the top of a workpiece can be sucked, and the vacuum sensor can detect the vacuum degree of the vacuum chuck.

The pneumatic clamping jaw is preferably driven by the robot air claw 344 to clamp two side walls of the workpiece.

The laser sensor can detect whether a workpiece in front of the pneumatic clamping jaw exists or not;

the control station 6 is connected with the non-suspension chain conveying line, the tooling plate jacking positioning assembly, the robot assembly, the suspension chain conveying line and the hanging rack following positioning assembly respectively.

A method for automatically following a suspension chain to feed and discharge by a robot comprises the steps of suspension chain feeding and suspension chain discharging.

The suspension chain feeding is to dynamically feed the workpiece which is grabbed from the workpiece grabbing and discharging position of the non-suspension chain conveying line to a hanging frame which is positioned on the suspension chain conveying line and is empty in the unloading position.

A feeding method of a suspension chain comprises the following steps.

Step A1, conveying a workpiece: the non-suspension chain conveying line conveys the workpiece to the workpiece grabbing and placing position, and the workpiece positioned at the workpiece grabbing and placing position is positioned and lifted by the tooling plate lifting and positioning assembly.

Step A2, grabbing a workpiece: the robot is used for grabbing the workpiece after positioning and jacking, and the method for specifically grabbing the workpiece preferably comprises the following steps.

Step A21, detecting whether a workpiece exists or not: the robot moves to the workpiece grabbing and placing position, and a laser sensor is used for detecting whether the workpiece positioned on the workpiece grabbing and placing position exists or not.

Step A22, adsorbing a workpiece: the spring floating sucker elastically adsorbs the top of the workpiece; and the vacuum sensor is adopted to detect the adsorption vacuum degree, so that the vacuum degree is ensured to be within a set range.

Step A23, clamping a workpiece: when the workpiece is adsorbed, the pneumatic clamping jaw is closed to clamp the side wall of the workpiece.

Step A3, following a hanging frame: the hanging frame following positioning assembly positions and follows an empty hanging frame entering the hanging frame following station.

The hanging rack following positioning assembly is arranged on the hanging chain conveying line, so that the empty hanging rack entering the hanging rack following station or the workpiece hanging rack is positioned and followed; the positioning following method of the hanger following positioning assembly comprises the following steps:

step 1, guiding a hanging frame: the guiding component in the hanger following positioning component conducts X-direction on the hanger entering the hanger following station; wherein, X is the suspension chain transfer chain direction of transmission.

Step 2, following the follow-up assembly on the hanger: when the hanging frame enters the hanging frame following station, the hanging frame upper follow-up assembly in the hanging frame following positioning assembly slides and clamps the top of the hanging frame located at the hanging frame following station and follows the walking.

Step 3, monitoring following walking displacement: the follow-up assembly on the hanger is internally provided with a follow-up position encoder, and the follow-up position encoder monitors the following walking displacement of the follow-up assembly on the hanger in real time and feeds back the following walking displacement to the control cabinet in real time.

Step 4, actively sliding the lower locating component of the hanging rack: when the follow-up assembly on the hanging rack walks along, the hanging rack follows the sliding table assembly of the lower hanging rack locating assembly in the locating assembly, and the sliding table assembly actively slides along the X direction according to the follow-up walking displacement monitored by the follow-up position encoder.

Step 5, monitoring active sliding displacement: the positioning component is internally provided with a sliding table position encoder under the hanging frame, and the sliding table position encoder monitors the active sliding displacement of the sliding table component in real time and feeds back the active sliding displacement to the control cabinet in real time.

Step 6, positioning a hanging frame: when the active sliding displacement monitored by the sliding table position encoder is equal to the following walking speed monitored by the follow-up position encoder, the lower positioning clamping jaw of the hanger in the lower positioning assembly of the hanger is used for positioning and clamping the bottom of the hanger, so that the hanger is kept vertical and does not shake.

The robot assembly dynamically follows according to the active sliding displacement fed back by the sliding table position encoder and synchronously reaches the workpiece loading and unloading positions with the hanger transmitted from the hanger following station, so that the dynamic accurate loading and unloading is realized.

The method for positioning the hanging rack in the step 6 specifically comprises the following steps:

step 6-1, detecting whether the hanging frame exists or not: and a lower locating clamping jaw of the hanging rack is arranged on the sliding table component, and a detecting sensor for detecting whether the hanging rack is arranged in front of the lower locating clamping jaw of the hanging rack or not is arranged on the lower locating clamping jaw of the hanging rack.

Step 6-2, primary positioning of the bottom of the hanging rack: the sliding table assembly comprises a long-direction sliding table and a short-direction sliding table; the long-direction sliding table is used for actively sliding along the X direction, and the short-direction sliding table is used for actively sliding along the Y direction; the Y direction is a horizontal direction perpendicular to the X direction; the lower positioning clamping jaw of the hanger comprises a hanger jacking component and a hanger bottom positioning component; the bottom positioning assembly of the hanging rack comprises a guide fork and a hanging rack positioning clamping jaw which are arranged in parallel; the short-direction sliding table drives the lower positioning clamping jaw of the hanger to slide in the Y direction towards the direction of the hanger; the guide fork is used for guiding the Y direction of the hanging frame, so that the primary positioning of the bottom of the hanging frame is realized.

Step 6-3, positioning the height of the hanging frame: the hanging rack jacking component drives the hanging rack to ascend to a set height, and the fixed hanging rack is positioned at the height.

Step 6-4, secondary positioning of the bottom of the hanging rack: the hanging rack positioning clamping jaw is closed to clamp the bottom of the hanging rack, so that the secondary positioning of the bottom of the hanging rack is realized.

Step A4, following by a robot: and C, the robot in the robot assembly dynamically follows according to the active sliding displacement fed back by the sliding table position encoder in the step A3 and synchronously reaches the workpiece loading and unloading positions with the hanger transmitted from the hanger following station.

Step A5, workpiece feeding: and at the loading and unloading positions of the workpieces, the robot dynamically places the grabbed workpieces on a workpiece hanger on the hanger.

And A6, resetting the robot assembly and the hanger following positioning assembly, and repeating the feeding of the next workpiece.

The suspension chain blanking is that a robot component grabs and places the workpiece on a workpiece feeding and discharging position hanging frame of a suspension chain conveying line to a workpiece grabbing and discharging position of a non-suspension chain conveying line dynamically.

The blanking method of the suspension chain comprises the following steps:

step B1, conveying a tooling plate: the non-suspension chain conveying line conveys the tooling plate of the hole to the workpiece grabbing and placing position, and the tooling plate jacking positioning assembly positions and jacks the tooling plate positioned at the workpiece grabbing and placing position.

And B2, moving the robot assembly to an upper and lower waiting position.

Step B3, following a hanging frame: the hanger following positioning assembly positions and follows the hanger which enters the hanger following station and is hung with the workpiece. The following method is specifically referred to as step A3, and will not be described herein.

Step B4, following by a robot: and B3, the robot in the robot assembly dynamically follows according to the active sliding displacement fed back by the sliding table position encoder in the step B3 and synchronously reaches the workpiece loading and unloading positions with the hanger transmitted from the hanger following station.

Step B5, workpiece blanking: and B1, loading and unloading the workpiece, dynamically grabbing the workpiece hung on the workpiece hanging frame by a robot, and placing the workpiece on a tooling plate positioned and lifted in the step B1.

And B6, resetting the robot assembly and the hanger following positioning assembly, and repeating the blanking of the next workpiece.

The utility model can control the relative position positioning precision of the workpiece to +/-0.2 mm, and the automatic following speed difference is less than or equal to 0.2mm/s.

The preferred embodiments of the present utility model have been described in detail above, but the present utility model is not limited to the specific details of the above embodiments, and various equivalent changes can be made to the technical solution of the present utility model within the scope of the technical concept of the present utility model, and all the equivalent changes belong to the protection scope of the present utility model.

Claims (10)

1. Automatic unloading equipment on following suspension chain of robot, its characterized in that: the device comprises a non-suspension chain conveying line, a tooling plate jacking and positioning assembly, a robot assembly, a suspension chain conveying line, a hanger following and positioning assembly and a control station;

the non-suspension chain conveying line is provided with a workpiece grabbing and discharging position, the non-suspension chain conveying line is uniformly provided with a plurality of tooling plates along the conveying direction, and at least one workpiece can be placed on each tooling plate; the tooling plate jacking and positioning assembly is arranged at the workpiece grabbing and placing position and can position and jack the tooling plate positioned at the workpiece grabbing and placing position;

the hanging chain conveying line is provided with a hanging rack following station and a workpiece loading and unloading position along the conveying direction;

the suspension chain conveying line is also provided with a plurality of suspension bases at equal intervals along the conveying direction, the bottom of each suspension base is hinged with a hanging frame, and the middle part of each hanging frame is provided with at least one group of workpiece hanging frames;

the hanger following and positioning assembly comprises a frame, a guide assembly, an upper hanger follow-up assembly and a lower hanger positioning assembly;

the guide component is arranged at the bottom of the frame and can guide the bottom of the hanger positioned at the following station of the hanger and the upper and lower material positions of the workpiece;

the upper follow-up component of the hanger is arranged at the middle upper part of the rack, and can slide, clamp and walk along the top of the hanger positioned at the following station of the hanger; a follow-up position encoder is arranged in the follow-up assembly on the hanger;

the lower positioning component of the hanging rack is arranged at the middle lower part of the rack and comprises a sliding table component, a sliding table position encoder and a lower positioning clamping jaw of the hanging rack;

the sliding table component can drive the lower positioning clamping jaw of the hanger to actively slide back and forth between the following station of the hanger and the upper and lower material levels of the workpiece; the sliding table position encoder can detect the active reciprocating sliding displacement of the sliding table assembly;

the lower positioning clamping jaw of the hanging rack is arranged on the sliding table assembly, and can position and clamp the bottom of the hanging rack above the guide assembly;

the robot assembly can transfer the workpiece between a workpiece grabbing and placing position of the non-hanging chain conveying line and a workpiece loading and unloading position of the hanging chain conveying line;

the control station is connected with the non-suspension chain conveying line, the tooling plate jacking positioning assembly, the robot assembly, the suspension chain conveying line and the hanging rack following positioning assembly respectively.

2. The robotic auto-follower suspension chain loading and unloading device of claim 1, wherein: the middle part of each hanging rack is also provided with a height positioning rod, and the lower hanging rack positioning assembly also comprises a hanging rack jacking assembly arranged on the sliding table assembly; the hanging rack jacking component can jack the height positioning rod to a set height.

3. The robotic auto-follower suspension chain loading and unloading device of claim 2, wherein: two workpieces are arranged on each tooling plate in parallel, and each hanging frame comprises two vertical hanging rods which are arranged in parallel; the two vertical hanging rods are connected through a plurality of transverse rods which are arranged in parallel; one of the cross bars is formed as the height positioning bar.

4. A robotic auto-follower suspension chain loading and unloading device as defined in claim 3, wherein: each hanger also comprises a folding line plate, the top end of the folding line plate is hinged with the corresponding hanging base, and the bottom end of the folding line plate is integrally arranged or welded with the center of the cross rod at the top end.

5. The robotic auto-following suspension chain feeding and discharging apparatus of claim 1 or 4, wherein: the follow-up assembly on the hanger comprises a follow-up bracket, a follow-up sliding table, a synchronous transmission device, a follow-up air claw and a follow-up clamping claw;

the follow-up support is arranged at the middle upper part of the rack, and the follow-up sliding table is slidably arranged on the follow-up support and is parallel to the sliding direction of the hanging frame; the synchronous transmission device can drive the follow-up sliding table to slide actively or passively;

the follow-up air claw is arranged at the top of the follow-up sliding table and can be actively opened and closed;

the follow-up clamping jaw is arranged on one side of the follow-up air jaw opposite to the follow-up air jaw and can be clamped with the top of the hanging frame or the side wall of the folding line plate in a sliding manner.

6. The robotic auto-follower suspension chain loading and unloading device of claim 5, wherein: the device also comprises a rack in-place detection sensor arranged at the top end of the follow-up sliding table, and the sensor can be used for detecting whether a rack following station is provided with a rack or not;

the synchronous transmission device comprises a synchronous belt and a synchronous motor capable of driving the synchronous belt to transmit, and the top surface of the synchronous belt is connected with the bottom of the follow-up sliding table; the following position encoder is arranged in the synchronous motor.

7. The robotic auto-following suspension chain loading and unloading device of claim 1 or 2, wherein: the sliding table assembly comprises a long guide rail combination, a short guide rail combination, a long sliding driving device and a short sliding driving device;

the long guide rail combination comprises a long guide rail and a long sliding table; the long guide rail is arranged along the transmission direction of the parallel hanging frame; the long-direction sliding table can slide along the long guide rail under the drive of the long-direction sliding driving device; the sliding table position encoder is arranged in the long-direction sliding driving device;

the short guide rail combination comprises a short guide rail and a short sliding table; the short guide rail is arranged on the top surface of the long sliding table and is perpendicular to the long guide rail; the short sliding table can slide along the short guide rail under the drive of the short sliding driving device.

8. The robotic auto-follower suspension chain loading and unloading device of claim 1, wherein: the robot assembly includes a robot and a robot jaw assembly;

the robot clamping jaw assembly comprises a bottom plate and at least one group of workpiece clamping mechanisms;

the bottom plate is arranged at the tail end of the robot, and each group of workpiece clamping mechanisms comprises a vacuum chuck and a pneumatic clamping jaw;

the vacuum chuck can suck the top of the workpiece; the pneumatic clamping jaw can clamp two side walls of a workpiece.

9. The robotic auto-follower suspension chain loading and unloading device of claim 8, wherein: each group of workpiece clamping mechanisms further comprises a vacuum sensor and a laser sensor; the vacuum sensor can detect the vacuum degree of the vacuum chuck; the laser sensor can detect whether a workpiece in front of the pneumatic clamping jaw exists or not; the vacuum chuck is a spring floating chuck.

10. The robotic auto-follower suspension chain loading and unloading device of claim 1, wherein: the guide assembly comprises a sliding guide section and primary guide sections symmetrically arranged at two sides of the sliding guide section;

the sliding guide section comprises two opposite blocking plates, and a plurality of guide rollers are arranged on one opposite sides of the two blocking plates along the length direction;

the primary guide section is in an eight shape and comprises two inclined plates, and each inclined plate is arranged at the end part of the corresponding blocking plate.