CN220765779U - Automatic unloading transfer chain of going up of robot - Google Patents
Automatic unloading transfer chain of going up of robot Download PDFInfo
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- CN220765779U CN220765779U CN202322426841.6U CN202322426841U CN220765779U CN 220765779 U CN220765779 U CN 220765779U CN 202322426841 U CN202322426841 U CN 202322426841U CN 220765779 U CN220765779 U CN 220765779U
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- 239000000463 material Substances 0.000 claims abstract description 92
- 238000007599 discharging Methods 0.000 claims abstract description 65
- 238000012545 processing Methods 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims description 73
- 230000000903 blocking effect Effects 0.000 claims description 10
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 description 10
- 230000006872 improvement Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005476 soldering Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Abstract
The utility model discloses a robot automatic feeding and discharging conveying line, which comprises a plurality of processing equipment, feeding equipment and discharging equipment which are arranged side by side, wherein the processing equipment is provided with a feeding end and a discharging end, the feeding ends are arranged side by side, and the discharging ends are arranged side by side; the feeding equipment comprises a feeding positioning table for positioning and placing materials and a feeding robot positioned between a plurality of feeding ends and the feeding positioning table, wherein the feeding robot is used for carrying the materials on the feeding positioning table to the plurality of feeding ends; the blanking equipment comprises a blanking positioning table used for positioning and placing materials, and a blanking robot located between the discharging ends and the blanking positioning table, wherein the blanking robot is used for carrying the materials at the discharging ends to the blanking positioning table. The utility model improves the working efficiency of the feeding robot and the discharging robot and reduces the setting quantity of the feeding equipment and the discharging equipment.
Description
Technical Field
The utility model relates to the technical field of automatic machinery, in particular to a robot automatic feeding and discharging conveying line.
Background
In the inverter carrying process in the photovoltaic industry, in order to improve production efficiency, the manual carrying overturning material is excessively consumed, the phenomenon of material collision easily occurs, and the falling material is not taken stably to cause damage to the health of staff. The existing equipment also has an automatic feeding and discharging structure, but the efficiency is lower.
Disclosure of Invention
The utility model aims to provide a robot automatic feeding and discharging conveying line, which solves one or more technical problems in the prior art and at least provides a beneficial selection or creation condition.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides a robot automatic feeding and discharging conveying line, which comprises a plurality of processing equipment, feeding equipment and discharging equipment which are arranged side by side, wherein the processing equipment is provided with a feeding end and a discharging end, the feeding ends are arranged side by side, and the discharging ends are arranged side by side; the feeding equipment comprises a feeding positioning table for positioning and placing materials and a feeding robot positioned between a plurality of feeding ends and the feeding positioning table, wherein the feeding robot is used for carrying the materials on the feeding positioning table to the plurality of feeding ends; the blanking equipment comprises a blanking positioning table used for positioning and placing materials, and a blanking robot located between the discharging ends and the blanking positioning table, wherein the blanking robot is used for carrying the materials at the discharging ends to the blanking positioning table.
The beneficial effects of the utility model are as follows:
the material is conveyed to the material feeding positioning table, the material is sequentially and respectively conveyed to different processing equipment by the material feeding robot, and the material feeding requirements of a plurality of processing equipment are met, namely, when one processing equipment does not need to be fed, the material feeding robot feeds the material for the other processing equipment, and the material feeding robot does not stop to feed the material, so that the working efficiency of the material feeding robot is improved; likewise, the work efficiency of the blanking robot is also improved. The utility model improves the working efficiency of the feeding robot and the discharging robot and reduces the setting quantity of the feeding equipment and the discharging equipment.
As a further improvement of the technical scheme, the feeding robot and the discharging robot comprise a multi-axis manipulator, a rotating base, a first rotating driving mechanism for driving the rotating base to rotate and a robot clamp arranged at the executing end of the multi-axis manipulator, and the multi-axis manipulator is arranged on the rotating base.
The robot clamp clamps the materials, the first rotary driving mechanism drives the robot clamp to rotate from the upper part of the feeding positioning table to the upper parts of different feeding ends, and the multi-shaft mechanical arm loads the materials; the robot clamp clamps the materials, the first rotary driving mechanism drives the robot clamp to rotate from the upper part of the different discharging ends to the upper part of the blanking positioning table, and the multi-shaft mechanical arm is used for blanking the materials.
As a further improvement of the above technical solution, the robot gripper includes a base, two gripper arms and a first driving mechanism, the two gripper arms are slidably disposed on the base, the first driving mechanism is used for driving the two gripper arms to be close to or far away from each other in a lateral direction, the inner sides of the two gripper arms are all rotationally provided with gripping mechanisms, and at least one of the gripper arms is provided with a second rotation driving mechanism for driving the gripping mechanism to rotate around a laterally extending axis.
The multi-axis manipulator makes two clamp arms be located the both sides of material respectively, and first actuating mechanism drives two clamp arms respectively and draws close, makes both sides edge of material be located by fixture centre gripping simultaneously, and the rotatory action of second rotary driving mechanism drive material for the material upset 180 degrees.
As a further improvement of the above technical solution, the clamping mechanism includes a first clamping arm, a second clamping arm, and a second driving mechanism for driving the first clamping arm and the second clamping arm away from or close to each other. The second driving mechanism drives the first clamping arm and the second clamping arm to be close to each other, the edge of the material is clamped between the first clamping arm and the second clamping arm, the fixing is firmer, the material overturning is facilitated, and the material is not easy to fall in the overturning process.
As a further improvement of the technical scheme, the base is provided with a connecting seat connected with the execution end of the multi-axis manipulator, and the connecting seat is arranged between the two clamp arms, so that the stability is better.
As a further improvement of the technical scheme, the front side and the rear side of the feeding positioning table are respectively provided with a feeding side and a discharging side, the discharging side is provided with a blocking component, and the left side and the right side of the feeding positioning table are respectively provided with a first positioning component and a second positioning component. Plays roles of positioning and blocking materials.
As a further improvement of the technical scheme, the first positioning component comprises a first baffle plate, and the first baffle plate is provided with a first avoidance notch. The multi-axis mechanical arm is convenient for clamping materials.
As a further improvement of the technical scheme, the second positioning assembly comprises a second baffle plate and a positioning driving mechanism for driving the second baffle plate to move left and right, and the second baffle plate is provided with a second avoidance notch. The second baffle is driven by the positioning driving mechanism to position the material, and the first avoidance notch facilitates the multi-axis manipulator to clamp the material.
As a further improvement of the technical scheme, the feeding positioning table is provided with a plurality of rotating rollers with axes extending left and right. The material is convenient to push to the locating table.
As the further improvement of above-mentioned technical scheme, feed end and discharge end all are equipped with conveying mechanism, and conveying mechanism includes doubly quick transfer chain, is located two guide components of doubly quick transfer chain both sides, and the interval between two guide components is adjustable to be set up, can be according to the size of material through the line adjustment interval, better selective wave soldering equipment of entering.
Drawings
The utility model is further described below with reference to the drawings and examples;
FIG. 1 is a schematic structural view of an embodiment of a robot automatic feeding and discharging conveyor line according to the present utility model, wherein six arrows respectively indicate forward, backward, left, right, upward and downward directions;
FIG. 2 is a top view of an embodiment of a robotic automatic feeding and discharging conveyor line according to the present utility model, wherein the four arrows respectively indicate the forward direction, the backward direction, the left direction and the right direction;
FIG. 3 is a schematic structural view of a robotic clamp according to an embodiment of the present utility model, wherein six arrows respectively indicate a forward direction, a backward direction, a left direction, a right direction, an upward direction and a downward direction;
fig. 4 is a schematic structural diagram of a robotic automatic feeding and discharging conveyor line according to an embodiment of the present utility model, wherein six arrows respectively indicate forward, backward, left, right, upward and downward directions.
Detailed Description
Reference will now be made in detail to the present embodiments of the present utility model, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present utility model, but not to limit the scope of the present utility model.
In the description of the present utility model, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present utility model and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.
In the description of the present utility model, if there is a word description such as "a plurality" or the like, the meaning of a plurality is one or more, and the meaning of a plurality is two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number.
In the description of the present utility model, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present utility model can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
In the inverter carrying process in the photovoltaic industry, in order to improve production efficiency, the manual carrying overturning material is excessively consumed, the phenomenon of material collision easily occurs, and the falling material is not taken stably to cause damage to the health of staff. The existing equipment also has an automatic feeding and discharging structure, but the efficiency is lower. Therefore, referring to fig. 1 to 4, the present utility model provides a robot automatic feeding and discharging conveyor line and makes the following embodiments:
in some embodiments, a robot automatic feeding and discharging conveyor line includes two processing devices 100, a feeding device 200 and a discharging device 300, where the two processing devices 100 are arranged side by side, and the processing devices 100 may be various processing devices 100, for example, in this embodiment, selective wave soldering devices. The feeding ends of the processing equipment 100 are all positioned on the front side, and the discharging ends of the processing equipment 100 are all positioned on the rear side; the feeding device 200 is disposed between two feeding ends, and the discharging device 300 is disposed between two discharging ends.
The feeding device 200 comprises a feeding robot 210 and a feeding positioning table 220, the discharging device 300 comprises a discharging robot 310 and a discharging positioning table 320, materials enter the feeding positioning table 220, and the feeding robot 210 can convey the materials from the feeding positioning table 220 to two feeding ends; the discharging robot 310 may transport the material from the plurality of discharging ends to the discharging positioning table 320, and then transport the material away from the discharging positioning table 320.
The material is conveyed to the material loading positioning table 220, and the material loading robot 210 sequentially and respectively conveys the material to the two processing devices 100, so that the material loading requirements of the two processing devices 100 are met.
That is, when one of the processing apparatuses 100 does not need to be fed, the feeding robot 210 does not stop feeding for feeding the other processing apparatus 100, so that the working efficiency of the feeding robot 210 is improved;
similarly, the working efficiency of the discharging robot 310 is also improved. The utility model improves the working efficiency of the feeding robot 210 and the discharging robot 310 and reduces the setting quantity of the feeding equipment 200 and the discharging equipment 300.
The feeding robot 210 and the discharging robot 310 each comprise a multi-axis manipulator 211, a robot clamp 230, a rotating base and a first rotating driving mechanism, and the multi-axis manipulator 211 is installed on the rotating base. The robot clamp 230 is mounted at the execution end of the multi-axis manipulator 211, and the first rotation driving mechanism is provided with a rotation driving end which is in transmission connection with the rotation base and drives the rotation base to rotate.
The robot clamp 230 clamps the materials, the first rotary driving mechanism drives the robot clamp 230 to rotate from the upper part of the feeding positioning table 220 to the upper parts of different feeding ends, and the multi-shaft mechanical arm 211 loads the materials; the robot clamp 230 clamps the materials, the first rotary driving mechanism drives the robot clamp 230 to rotate from the upper parts of different discharging ends to the upper part of the blanking locating table 320, and the multi-shaft mechanical arm 211 performs blanking on the materials. The multi-axis manipulator 211 has a wide range of motion, and can perform loading and unloading on a plurality of positions better.
The robot gripper 230 includes a base 231, two gripper arms 232, and a first drive mechanism 233. The top of base 231 is provided with connecting seat 290, and connecting seat 290 is located multiaxis manipulator 211 execution end, connecting seat 290 sets up in two the centre of anchor clamps arm 232, and when removing, robot anchor clamps 230 are more stable.
The two clamp arms 232 are slidably disposed on the base 231, the first driving mechanism 233 includes a screw rod rotatably disposed on the base 231 and a clamping driving unit, sliding blocks are disposed at the upper ends of the two clamp arms 232 and slidably connected with the screw rod in a threaded manner, the clamping driving unit is connected with the screw rod in a transmission manner, the clamping driving unit drives the screw rod to rotate, and the two clamp arms 232 are close to or far away from each other, so that materials can be clamped or loosened.
In other embodiments, one clamp arm 232 is stationary and the other clamp arm 232 is moved toward and away from the stationary clamp arm 232 by the first drive mechanism 233 to clamp or unclamp material.
The clamping mechanisms are arranged on the inner sides of the two clamping arms 232 in a rotating mode, the clamping arms 232 on the right side are provided with second rotary driving mechanisms, the second rotary driving mechanisms are used for driving the clamping mechanisms to rotate around the transverse extending axes, the clamping mechanisms of the clamping arms 232 on the front side are driven structures, when materials are overturned, the clamping mechanisms on the front side and the rear side are respectively clamped at the front end and the rear end of the materials, and when the second rotary driving mechanisms drive the clamping mechanisms on the right side to rotate, the clamping mechanisms on the left side correspondingly rotate.
The multi-axis manipulator 211 makes the two clamp arms 232 located at two sides of the material respectively, the first driving mechanism 233 drives the two clamp arms 232 to be close together respectively, meanwhile, two side edges of the material are located to be clamped by the clamping mechanism, and the second rotary driving mechanism drives the material to rotate, so that the material is turned 180 degrees.
In other embodiments, both of the clamp arms 232 may be provided with a second rotational drive mechanism.
The clamping mechanism comprises a first clamping arm 241, a second clamping arm 242, and a second driving mechanism 243. The second driving mechanism 243 is used to drive the first clamping arm 241 and the second clamping arm 242 away from or towards each other.
In this embodiment, taking a right side clamping mechanism as an example, the clamping mechanism is disposed on a rotating seat of the second rotary driving mechanism, the first clamping arm 241 and the second driving mechanism 243 are fixedly disposed on the rotating seat, and the second clamping arm 242 is in transmission connection with a conveying end of the second driving mechanism 243.
The second driving mechanism 243 is an air cylinder, and the air cylinder drives the second clamping arm 242 to move up and down. When the material is clamped, the air cylinder drives the second clamping arm 242 to move upwards, and when the end part of the material enters between the first clamping arm 241 and the second clamping arm 242, the air cylinder drives the second clamping arm 242 to move downwards, so that the material is clamped.
The second driving mechanism 243 drives the second clamping arms to close to the first clamping arms, clamps the edges of the materials between the first clamping arms 241 and the second clamping arms 242, is fixed more firmly, is favorable for overturning the materials, and is not easy to fall off in the overturning process.
In other embodiments, the first clamping arm 241 and the second clamping arm 242 may be driven by the second driving mechanism 243 to approach each other simultaneously to clamp the material.
In other embodiments, the second rotary drive mechanism may not be provided, and the material robot 210 and the blanking robot 310 need not transport the material to the feed end of the processing apparatus 100 after being flipped. In yet another alternative embodiment, the multi-axis robot 211 rotates the material 90 degrees horizontally before it is transported to the feed end of the processing tool 100.
Further improved, the front and rear sides of the feeding positioning table 220 are respectively a feeding side and a discharging side, the discharging side is provided with a blocking component 250, and the left and right sides of the feeding positioning table 220 are respectively provided with a first positioning component and a second positioning component. Plays roles of positioning and blocking materials.
The material blocking assembly 250 comprises a material blocking plate and a material blocking driving mechanism, and the material blocking driving mechanism drives the material blocking plate to move back and forth to adjust the material position. In other embodiments, the first positioning component may be a striker plate fixedly disposed on the front side of the loading station 220.
The first positioning component comprises a first baffle 261, the first baffle 261 extends forwards and backwards, the first baffle 261 is arranged on the right side of the feeding positioning table 220, and the first baffle 261 is provided with a first avoiding notch 262. The multi-axis robot 211 is convenient to grip materials.
The second positioning assembly comprises a second baffle 271 and a positioning driving mechanism 273, and the second baffle 271 is provided with a second avoidance gap 272. The second baffle 271 is disposed on the left side of the loading positioning table 220, and the positioning driving mechanism 273 is used for driving the second baffle 271 to move left and right. The second baffle 271 is driven by the positioning driving mechanism 273 to position the material, the first avoidance gap 262 facilitates the multi-axis manipulator 211 to clamp the material,
the feeding positioning table 220 is provided with a plurality of rotating rollers 280, the axes of the rotating rollers 280 extend left and right, and the rotating rollers 280 are arranged at intervals in front and back. The material is in rolling friction between the plurality of rotating rollers 280, so that the material is conveniently pushed to the positioning table. And a conveying mechanism 110 is provided at the feed side. The conveying mechanism 110 automatically feeds materials to the feeding positioning table 220, which is more convenient.
In other embodiments, the feeding positioning table 220 may not be provided with the rotating roller 280, and may be provided with other transmission modes such as belt transmission, chain transmission, gear transmission or worm and gear transmission. Or no transmission mechanism is arranged.
The blanking locating stage 320 is mainly composed of a slope and a main body frame. After the material is carried by the robot to the blanking positioning table 320, the material is positioned by a slope and waiting for the worker to unload.
The feeding end and the discharging end are both provided with a conveying mechanism 110, and materials are automatically conveyed to a processing station.
The conveying mechanism 110 comprises a double-speed conveying line and two guide assemblies positioned on two sides of the double-speed conveying line, wherein the distance between the two guide assemblies is adjustable, and the feeding and discharging are automatically performed.
In other embodiments, the conveying mechanism 110 may specifically employ a double speed chain conveying line, where the double speed chain conveying line is mainly composed of a movable position double speed chain, a fixed position double speed chain, and a main body frame. The movable position double speed chain can be adjusted according to the size of the material, and the selective wave soldering equipment can be better fed in.
It should be noted that the driving mechanisms of the driving units of the present utility model are all of the prior art, and the above-mentioned rotation motion, lifting motion and moving motion can all use the transmission of air cylinder, electric push rod and motor screw as the driving units. In the linear motion, corresponding sliding rails are arranged, so that the motion precision is improved, and in the rotary motion, corresponding rotary shafts are arranged, so that the rotary precision and stability can be improved.
While the preferred embodiments of the present utility model have been illustrated and described, the present utility model is not limited to the examples, and various equivalent modifications and substitutions can be made by one skilled in the art without departing from the spirit of the present utility model, and these equivalent modifications and substitutions are intended to be included in the scope of the present utility model as defined in the appended claims.
Claims (10)
1. Automatic unloading transfer chain of going up of robot, its characterized in that includes:
the processing equipment is provided with a plurality of feeding ends and discharging ends, the plurality of feeding ends are arranged side by side, and the plurality of discharging ends are arranged side by side;
the feeding equipment comprises a feeding positioning table for positioning and placing materials and a feeding robot positioned between a plurality of feeding ends and the feeding positioning table, wherein the feeding robot is used for carrying the materials on the feeding positioning table to the plurality of feeding ends;
the blanking equipment comprises a blanking positioning table used for positioning and placing materials, and a blanking robot located between the discharging ends and the blanking positioning table, wherein the blanking robot is used for carrying the materials at the discharging ends to the blanking positioning table.
2. The robotic automatic feeding and discharging conveyor line according to claim 1, wherein:
the feeding robot and the discharging robot comprise a multi-axis manipulator, a rotating base, a first rotary driving mechanism for driving the rotating base to rotate and a robot clamp arranged at the execution end of the multi-axis manipulator, and the multi-axis manipulator is arranged on the rotating base.
3. The robotic automatic feeding and discharging conveyor line according to claim 2, wherein:
the robot clamp comprises a base, two clamp arms and a first driving mechanism, wherein the two clamp arms are slidably arranged on the base, the first driving mechanism is used for driving the two clamp arms to be close to or far away from each other in the transverse direction, the inner sides of the two clamp arms are respectively provided with a clamping mechanism in a rotating mode, and at least one clamp arm is provided with a second rotary driving mechanism used for driving the clamping mechanism to rotate around a transverse extending axis.
4. A robotic automatic loading and unloading conveyor line as defined in claim 3, wherein:
the clamping mechanism comprises a first clamping arm, a second clamping arm and a second driving mechanism, wherein the first clamping arm and the second clamping arm are oppositely arranged along the direction perpendicular to the transverse extending axis, and the second driving mechanism is used for driving the first clamping arm and the second clamping arm to be far away from or close to each other.
5. The robotic automatic feeding and discharging conveyor line according to claim 4, wherein:
the base is provided with the connecting seat that is connected with multiaxis manipulator execution end, the connecting seat sets up in two the centre of anchor clamps arm.
6. The robotic automatic feeding and discharging conveyor line according to claim 1, wherein:
the feeding positioning table is characterized in that the front side and the rear side of the feeding positioning table are respectively provided with a feeding side and a discharging side, the discharging side is provided with a blocking component, and the left side and the right side of the feeding positioning table are respectively provided with a first positioning component and a second positioning component.
7. The robotic automatic feeding and discharging conveyor line according to claim 6, wherein:
the first positioning component comprises a first baffle plate, and the first baffle plate is provided with a first avoidance notch.
8. The robotic automatic feeding and discharging conveyor line according to claim 6, wherein:
the second positioning assembly comprises a second baffle and a positioning driving mechanism for driving the second baffle to move left and right, and the second baffle is provided with a second avoidance notch.
9. The robotic automatic feeding and discharging conveyor line according to claim 6, wherein: the feeding positioning table is provided with a plurality of rotating rollers with axes extending left and right.
10. The robotic automatic feeding and discharging conveyor line according to claim 1, wherein:
the feeding end and the discharging end are both provided with conveying mechanisms, each conveying mechanism comprises a double-speed conveying line and two guide assemblies positioned on two sides of the double-speed conveying line, and the distance between the two guide assemblies is adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322426841.6U CN220765779U (en) | 2023-09-06 | 2023-09-06 | Automatic unloading transfer chain of going up of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322426841.6U CN220765779U (en) | 2023-09-06 | 2023-09-06 | Automatic unloading transfer chain of going up of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220765779U true CN220765779U (en) | 2024-04-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322426841.6U Active CN220765779U (en) | 2023-09-06 | 2023-09-06 | Automatic unloading transfer chain of going up of robot |
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| Country | Link |
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| CN (1) | CN220765779U (en) |
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2023
- 2023-09-06 CN CN202322426841.6U patent/CN220765779U/en active Active
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