WO2021121211A1 - 一种用于机器人研磨机构的上料装置 - Google Patents

一种用于机器人研磨机构的上料装置 Download PDF

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Publication number
WO2021121211A1
WO2021121211A1 PCT/CN2020/136437 CN2020136437W WO2021121211A1 WO 2021121211 A1 WO2021121211 A1 WO 2021121211A1 CN 2020136437 W CN2020136437 W CN 2020136437W WO 2021121211 A1 WO2021121211 A1 WO 2021121211A1
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Prior art keywords
precision module
frame
feeding device
axis
grinding mechanism
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Ceased
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PCT/CN2020/136437
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English (en)
French (fr)
Inventor
刘希浪
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Changshu Xinchangti Automobile Interior Trim Technology Co Ltd
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Changshu Xinchangti Automobile Interior Trim Technology Co Ltd
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Publication of WO2021121211A1 publication Critical patent/WO2021121211A1/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements

Definitions

  • the invention relates to the technical field of conveying equipment, in particular to a feeding device for a robotic grinding mechanism.
  • the traditional feeding device generally uses a conveyor belt.
  • the workpiece is manually placed on the conveyor belt for displacement, and then the workpiece is manually moved away from the conveyor belt. This is time-consuming and labor-intensive, and the production efficiency is low.
  • the conveyor belt is generally large in size and consumes energy. There are also more, and the production cost is higher.
  • the current robot automatic grinding mechanism does not have a universal feeding device. Due to the difference in the production line or the type of workpiece, it is necessary to design a variety of feeding devices, which wastes a lot of manpower and material resources, or uses manual feeding, which is labor-intensive. Personal safety cannot be effectively guaranteed. Based on the above technical problems, the present invention provides a feeding device that can be used for feeding most types of plates.
  • the three-axis precision module is used in conjunction to make the feeding device simple and easy to use.
  • the technical scheme is mainly used for feeding carpets in the trunk of automobiles, and has simple structure, fast feeding speed, stability and safety.
  • the present invention is a material loading device for a robot grinding mechanism, comprising a mounting support frame 1 and a loading table 2.
  • the loading table 2 is arranged on one side of the mounting support frame 1, and the top surface of the mounting support frame 1 is provided with A support plate, the support plate is provided with a precision module and a moving cylinder 5, the loading table 2 includes a frame, a driving motor and a linear guide rail, one end of the linear guide rail is provided with a screw rod, the screw rod and the driving motor Connected, the top side of the frame is provided with a sensor.
  • the precision module includes an X-axis precision module 3 and a Y-axis precision module 4, the Y-axis precision module 4 is arranged at the upper end of the X-axis precision module 3, and the movement cylinder 5 and the Y-axis precision module The group 4 is movably connected, and the lower end of the movement cylinder 5 is provided with a suction cup gripper 6.
  • the suction cup gripper 6 includes a clamping jaw support and a suction cup, and the four suction cups are symmetrically arranged.
  • the suction cups are respectively arranged at two ends of the clamping jaw support, and the suction cups are arranged opposite to each other.
  • the suction cups are respectively arranged at the four corners of the clamping jaw support, the clamping jaw support is constructed by an aluminum profile frame, the suction cups are detachably connected to the clamping jaw support, and the distance between the suction cups is adjustable.
  • the motion cylinder 5 is a Z-axis three-axis cylinder, one end of the X-axis precision module 3 and the Y-axis precision module 4 are respectively provided with a servo motor, the X-axis precision module 3 and the Y-axis precision module Group 4 is provided with a ball screw, and the servo motor is used to drive the ball screw to move.
  • the linear guide rail is installed vertically along the frame, the linear guide rail is installed inside the frame, the lower end of the screw rod is provided with a loading block, the loading block is used to support the ascent of the workpiece, and the frame is also provided with The start button is electrically connected with the driving motor.
  • the installation support frame 1 further includes two uprights 11, the two uprights 11 are arranged in parallel and symmetrically, and the bottom end of the upright 11 is provided with supporting feet, the supporting feet are rectangular plates, and the supporting feet are connected to the uprights.
  • a triangular reinforcement plate is also arranged between 11, the supporting legs are welded and fixed to the upright column 11, the supporting plate is arranged at the upper end of the upright column 11, and the supporting plate and the upright column 11 are welded and fixed.
  • the present invention is a feeding device for a robot grinding mechanism, which has simple structure, convenient operation, safety and stability.
  • the workpiece is lifted to the corresponding position through the feeding table, and the suction cup gripper moves along the three-axis of the precision module to carry out picking and placing.
  • Material operation saves manual labor, high production efficiency, and saves production costs.
  • FIG. 1 is a schematic diagram of the overall structure of the present invention.
  • a feeding device for a robotic grinding mechanism includes a mounting support frame 1 and a loading table 2.
  • the loading table 2 is arranged on one side of the mounting support frame 1, and the mounting support
  • the top surface of the frame 1 is provided with a support plate, the support plate is provided with a precision module and a moving cylinder 5,
  • the loading table 2 includes a frame, a drive motor and a linear guide rail, one end of the linear guide rail is provided with a screw rod, so The screw rod is connected with the driving motor, and a sensor is arranged on the top side of the frame.
  • the precision module includes an X-axis precision module 3 and a Y-axis precision module 4, the Y-axis precision module 4 is arranged at the upper end of the X-axis precision module 3, and the movement cylinder 5 and the Y-axis precision module The group 4 is movably connected, and the lower end of the movement cylinder 5 is provided with a suction cup gripper 6.
  • the suction cup gripper 6 includes a clamping jaw support and a suction cup, and the four suction cups are symmetrically arranged.
  • the suction cups are respectively arranged at two ends of the clamping jaw support, and the suction cups are arranged opposite to each other.
  • the suction cups are respectively arranged at the four corners of the clamping jaw support, the clamping jaw support is constructed by an aluminum profile frame, the suction cups are detachably connected to the clamping jaw support, and the distance between the suction cups is adjustable.
  • the motion cylinder 5 is a Z-axis three-axis cylinder, one end of the X-axis precision module 3 and the Y-axis precision module 4 are respectively provided with a servo motor, the X-axis precision module 3 and the Y-axis precision module Group 4 is provided with a ball screw, and the servo motor is used to drive the ball screw to move.
  • the linear guide rail is installed vertically along the frame, the linear guide rail is installed inside the frame, the lower end of the screw rod is provided with a loading block, the loading block is used to support the ascent of the workpiece, and the frame is also provided with The start button is electrically connected with the driving motor.
  • the installation support frame 1 further includes two uprights 11, the two uprights 11 are arranged in parallel and symmetrically, and the bottom end of the upright 11 is provided with supporting feet, the supporting feet are rectangular plates, and the supporting feet are connected to the uprights.
  • a triangular reinforcement plate is also arranged between 11, the supporting legs are welded and fixed to the upright column 11, the supporting plate is arranged at the upper end of the upright column 11, and the supporting plate and the upright column 11 are welded and fixed.
  • the working principle of the present invention is: the workpiece and the pallet are manually stacked and pushed to the corresponding position of the loading table 2, specifically the loading block is extended into the gap of the pallet to position and support, and the start button is turned on and the loading table 2 is driven by the motor ,
  • the linear guide and the screw rod cooperate to lift the entire pallet upwards until the uppermost workpiece is lifted to the grasping position.
  • the grasping position is the parallel position of the sensor, which is detected by the sensor, and the sensor detects that the workpiece is in place.
  • the precision module components drive the suction cup gripper 6 to grab the workpiece;
  • the servo motor drives the ball screw to move the X-axis precision module 3 and the Y-axis precision module 4, and the Z-axis uses a three-axis cylinder to move up and down.
  • the workpiece is detected in place, first perform the X-axis precision module 3 to move the suction cup
  • the gripper 6 is brought to the top of the loading table 2, the Z-axis movement cylinder 5 grabs the workpiece downward, and then returns to the original position, and then the X-axis precision module 3 returns to the corresponding position at the other end, and at the same time moves along Y according to the unloading position.
  • the axis precision module 4 moves, the suction cup gripper 6 puts down the workpiece, the loading is completed, and the above steps are performed reciprocatingly for continuous loading operation.
  • the present invention is a feeding device for a robot grinding mechanism, which has simple structure, convenient operation, safety and stability.
  • the workpiece is lifted to the corresponding position through the feeding table, and the suction cup gripper moves along the three-axis of the precision module to carry out picking and placing.
  • Material operation saves manual labor, high production efficiency, and saves production costs.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

一种用于机器人研磨机构的上料装置，包括安装支撑架（1）以及上料台（2），所述上料台（2）设置在安装支撑架（1）一侧，所述安装支撑架（1）顶端表面设置有支撑板，所述支撑板上设置有精密模组以及运动气缸（5），所述上料台（2）包括框架、驱动电机以及直线导轨，所述直线导轨一端设置有丝杆，所述丝杆与驱动电机连接，所述框架顶端边侧设置有传感器。所述上料装置结构简单，操作方便，安全稳定，通过上料台将工件顶起到相应位置，吸盘抓手沿精密模组三轴运动，进行取料放料操作，节约了人工劳动力，生产效率高，节约了生产成本。

Description

一种用于机器人研磨机构的上料装置 技术领域
本发明涉及输送设备技术领域，尤其涉及一种用于机器人研磨机构的上料装置。
 背景技术
传统的上料装置，一般采用传送带输送，由人工将工件放到传送带上进行位移，然后再由人工将工件搬离传送带，费时费力，成产效率低，而且传送带一般体积比较大，消耗的能量也较多，生产成本较高。
目前的机器人自动打磨机构，还没有通用的上料装置，由于生产线或者工件类型的差别，需要设计多种上料装置，浪费了大量的人力物力，或者采用人工上料，上料劳动强度大，人身安全无法得到有效保证，基于上述技术问题，本发明提供了一种可用于大多数板材类上料的上料装置，采用三轴精密模组配合使用，使上料装置简单易用。
本技术方案主要用于汽车行李箱地毯的上料，其结构简单，上料速度快，稳定安全。
 技术解决方案
本发明一种用于机器人研磨机构的上料装置，包括安装支撑架1以及上料台2，所述上料台2设置在安装支撑架1一侧，所述安装支撑架1顶端表面设置有支撑板，所述支撑板上设置有精密模组以及运动气缸5，所述上料台2包括框架、驱动电机以及直线导轨，所述直线导轨一端设置有丝杆，所述丝杆与驱动电机连接，所述框架顶端边侧设置有传感器。
进一步，所述精密模组包括X轴精密模组3以及Y轴精密模组4，所述Y轴精密模组4设置在X轴精密模组3上端，所述运动气缸5与Y轴精密模组4活动连接，所述运动气缸5下端设置有吸盘抓手6。
进一步，所述吸盘抓手6包括夹爪支架和吸盘，所述吸盘对称设置有四个，所述吸盘分别设置在夹爪支架两端，所述吸盘相对设置。
进一步，所述吸盘分别设置在夹爪支架四角，所述夹爪支架采用铝型材架搭建，所述吸盘与夹爪支架可拆卸连接，所述吸盘之间间距可调节。
进一步，所述运动气缸5为Z轴三轴气缸，所述X轴精密模组3以及Y轴精密模组4其一端分别设置有伺服电机，所述X轴精密模组3以及Y轴精密模组4设置有滚珠丝杆，所述伺服电机用于带动滚珠丝杆运动。
进一步，所述直线导轨沿框架竖直安装，所述直线导轨安装在框架内侧，所述丝杆下端设置有上料块，所述上料块用于支撑工件的上升，所述框架还设置有启动按钮，所述启动按钮与驱动电机电连接。
进一步，所述安装支撑架1还包括两根立柱11，两根所述立柱11平行对称设置，所述立柱11底端设置有支撑脚，所述支撑脚为矩形板，所述支撑脚与立柱11之间还设置有三角形加强板，所述支撑脚与立柱11焊接固定，所述支撑板设置在立柱11上端，所述支撑板与立柱11焊接固定。
进一步，所述加强板设置有八块，八块所述加强板分别设置在两根立柱11，每四快加强板设置在其中一根立柱11的四角。
 有益效果
本发明一种用于机器人研磨机构的上料装置，结构简单，操作方便，安全稳定，通过上料台将工件顶起到相应位置，吸盘抓手沿精密模组三轴运动，进行取料放料操作，节约了人工劳动力，生产效率高，节约了生产成本。
 附图说明
[0006] 图1为本发明整体结构示意图。
其中：1、安装支撑架；11、立柱；2、上料台；3、X轴精密模组；4、Y轴精密模组；5、运动气缸；6、吸盘抓手。
 本发明的实施方式
下面结合附图对本发明作进一步说明。
根据图1所示的本发明一种用于机器人研磨机构的上料装置，包括安装支撑架1以及上料台2，所述上料台2设置在安装支撑架1一侧，所述安装支撑架1顶端表面设置有支撑板，所述支撑板上设置有精密模组以及运动气缸5，所述上料台2包括框架、驱动电机以及直线导轨，所述直线导轨一端设置有丝杆，所述丝杆与驱动电机连接，所述框架顶端边侧设置有传感器。
进一步，所述精密模组包括X轴精密模组3以及Y轴精密模组4，所述Y轴精密模组4设置在X轴精密模组3上端，所述运动气缸5与Y轴精密模组4活动连接，所述运动气缸5下端设置有吸盘抓手6。
进一步，所述吸盘抓手6包括夹爪支架和吸盘，所述吸盘对称设置有四个，所述吸盘分别设置在夹爪支架两端，所述吸盘相对设置。
进一步，所述吸盘分别设置在夹爪支架四角，所述夹爪支架采用铝型材架搭建，所述吸盘与夹爪支架可拆卸连接，所述吸盘之间间距可调节。
进一步，所述运动气缸5为Z轴三轴气缸，所述X轴精密模组3以及Y轴精密模组4其一端分别设置有伺服电机，所述X轴精密模组3以及Y轴精密模组4设置有滚珠丝杆，所述伺服电机用于带动滚珠丝杆运动。
进一步，所述直线导轨沿框架竖直安装，所述直线导轨安装在框架内侧，所述丝杆下端设置有上料块，所述上料块用于支撑工件的上升，所述框架还设置有启动按钮，所述启动按钮与驱动电机电连接。
进一步，所述安装支撑架1还包括两根立柱11，两根所述立柱11平行对称设置，所述立柱11底端设置有支撑脚，所述支撑脚为矩形板，所述支撑脚与立柱11之间还设置有三角形加强板，所述支撑脚与立柱11焊接固定，所述支撑板设置在立柱11上端，所述支撑板与立柱11焊接固定。
进一步，所述加强板设置有八块，八块所述加强板分别设置在两根立柱11，每四快加强板设置在其中一根立柱11的四角。
本发明的工作原理为：由人工将工件与栈板码垛后推至上料台2相应位置，具体为将上料块伸入栈板的空隙定位支撑，开启启动按钮上料台2通过驱动电机、直线导轨以及丝杆的相互配合将整个栈板抬升向上运动，直至将最上方工件抬升至抓取位，其抓取位即为传感器平行位置，由传感器进行检测，传感器检测到工件到位后通知精密模组组件带动吸盘抓手6来抓取工件；
所述伺服电机带动滚珠丝杆进行X轴精密模组3以及Y轴精密模组4运动，Z轴采用三轴气缸进行上下运动，当工件检测到位后，先进行X轴精密模组3行进吸盘抓手6被带到上料台2上方，Z轴运动气缸5向下抓取工件，然后恢复原位，再由X轴精密模组3回到另一端相应位置，同时根据下料位置沿Y轴精密模组4运动，吸盘抓手6将工件放下，上料完成，往复进行上述步骤进行不间断上料操作。
本发明一种用于机器人研磨机构的上料装置，结构简单，操作方便，安全稳定，通过上料台将工件顶起到相应位置，吸盘抓手沿精密模组三轴运动，进行取料放料操作，节约了人工劳动力，生产效率高，节约了生产成本。             
以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明。对于本发明所述技术领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本发明的保护范围。

Claims (8)

  1. 一种用于机器人研磨机构的上料装置，其特征在于：包括安装支撑架以及上料台，所述上料台设置在安装支撑架一侧，所述安装支撑架顶端表面设置有支撑板，所述支撑板上设置有精密模组以及运动气缸，所述上料台包括框架、驱动电机以及直线导轨，所述直线导轨一端设置有丝杆，所述丝杆与驱动电机连接，所述框架顶端边侧设置有传感器。
  2. 根据权利要求1所述的用于机器人研磨机构的上料装置，其特征在于：所述精密模组包括X轴精密模组以及Y轴精密模组，所述Y轴精密模组设置在X轴精密模组上端，所述运动气缸与Y轴精密模组活动连接，所述运动气缸下端设置有吸盘抓手。
  3. 根据权利要求2所述的用于机器人研磨机构的上料装置，其特征在于：所述吸盘抓手包括夹爪支架和吸盘，所述吸盘对称设置有四个，所述吸盘分别设置在夹爪支架两端，所述吸盘相对设置。
  4. 根据权利要求3所述的用于机器人研磨机构的上料装置，其特征在于：所述吸盘分别设置在夹爪支架四角，所述夹爪支架采用铝型材架搭建，所述吸盘与夹爪支架可拆卸连接，所述吸盘之间间距可调节。
  5. 根据权利要求1所述的用于机器人研磨机构的上料装置，其特征在于：所述运动气缸为Z轴三轴气缸，所述X轴精密模组以及Y轴精密模组其一端分别设置有伺服电机，所述X轴精密模组以及Y轴精密模组设置有滚珠丝杆，所述伺服电机用于带动滚珠丝杆运动。
  6. 根据权利要求1所述的用于机器人研磨机构的上料装置，其特征在于：所述直线导轨沿框架竖直安装，所述直线导轨安装在框架内侧，所述丝杆下端设置有上料块，所述上料块用于支撑工件的上升，所述框架还设置有启动按钮，所述启动按钮与驱动电机电连接。
  7. 根据权利要求1所述的用于机器人研磨机构的上料装置，其特征在于：所述安装支撑架还包括两根立柱，两根所述立柱平行对称设置，所述立柱底端设置有支撑脚，所述支撑脚为矩形板，所述支撑脚与立柱之间还设置有三角形加强板，所述支撑脚与立柱焊接固定，所述支撑板设置在立柱上端，所述支撑板与立柱焊接固定。
  8. 根据权利要求7所述的用于机器人研磨机构的上料装置，其特征在于：所述加强板设置有八块，八块所述加强板分别设置在两根立柱，每四快加强板设置在其中一根立柱的四角。
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CN113526123A (zh) * 2021-07-20 2021-10-22 格力电器（武汉）有限公司 供料工装以及供料方法
CN114368620A (zh) * 2021-12-20 2022-04-19 苏州得奥自动化科技有限公司 一种指推线自动上料设备

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