CN110683314B - Automatic loading and unloading robot unit and method for automatic processing equipment - Google Patents
Automatic loading and unloading robot unit and method for automatic processing equipment Download PDFInfo
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- CN110683314B CN110683314B CN201910810902.4A CN201910810902A CN110683314B CN 110683314 B CN110683314 B CN 110683314B CN 201910810902 A CN201910810902 A CN 201910810902A CN 110683314 B CN110683314 B CN 110683314B
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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
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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Abstract
本发明涉及一种用于自动化加工设备的自动上下料机器人单元及方法。本设备包括设备框架、货料小车、托盘伺服组件、工位托盘滚道、双三轴机器人组件、上下料传送带和总控制器；所述货料小车有两部，左右并排扣联在设备框架前侧；所述托盘伺服组件安装在设备框架前下部内；所述工位托盘滚道安装在设备框架中部内；所述双三轴机器人组件安装在设备框架后上部内；所述上下料传送带固连在设备框架后侧；所述总控制器电连接并控制托盘伺服组件、工位托盘滚道、双三轴机器人组件和上下料传送带；机加工物料放于物料托盘内，由左侧货料小车运送至设备框架前，待货料小车与设备框架扣联后，托盘伺服组件将物料托盘经托盘滚道由双三轴机器人组件提送物料到上下料传送带上；加工后的成品反向运送到右侧货料小车上，完成上下料。本发明可实现车间生产全自动化，提高生产效率。
The invention relates to an automatic loading and unloading robot unit and method for automatic processing equipment. This equipment includes equipment frame, material trolley, pallet servo assembly, station pallet raceway, double three-axis robot assembly, loading and unloading conveyor belt and general controller; the material trolley has two parts, which are connected to the equipment frame side by side. The front side; the tray servo assembly is installed in the front lower part of the equipment frame; the station pallet raceway is installed in the middle part of the equipment frame; the double three-axis robot assembly is installed in the rear upper part of the equipment frame; the loading and unloading conveyor belt It is fixedly connected to the back side of the equipment frame; the general controller is electrically connected to and controls the pallet servo assembly, the station pallet raceway, the double-three-axis robot assembly and the loading and unloading conveyor belt; the machined materials are placed in the material pallet, and the goods from the left Before the material trolley is transported to the equipment frame, after the material trolley is coupled with the equipment frame, the pallet servo assembly will carry the material pallet through the pallet raceway by the double three-axis robot assembly to the loading and unloading conveyor belt; the finished product after processing is reversed It is transported to the right cargo trolley to complete the loading and unloading. The invention can realize full automation of workshop production and improve production efficiency.
Description
Technical Field
The invention relates to a robot, in particular to an automatic loading and unloading robot unit and an automatic loading and unloading robot method for automatic processing equipment, and belongs to the technical field of application of automatic loading and unloading robots.
Background
With the continuous improvement of the living standard of people and the perfect development of the robot technology, the robot is used more and more frequently in the part processing. Go up unloading robot mainly used before parts machining, remove the material loading to the material that parts machining needs, and after parts machining, snatch the removal unloading to the part that processing was accomplished, improve the machining efficiency of part.
In the production process of most enterprises at present, the unloading process of going up of automated processing equipment still adopts artifical use driving or fork truck to carry out the material, and unloading operation is gone up to the manual work of operating personnel of this kind of mode needs, and manual operation's uncertainty and risk are very high, produce following problem easily: firstly, a large amount of operators need to be allocated to carry out simple and mechanical operation, the effective working time of a manual day is not more than 8 hours, the labor intensity of the operators is increased, 24 hours in the whole day can not be matched with automatic processing equipment for production, the feeding and discharging speed is low, the efficiency is low, and the part processing efficiency is greatly reduced; secondly, the feeding and discharging operation is carried out in a manual mode in the production process, so that the difficulty of product quality control is high, the defects of high error rate, high defective product rate, low production efficiency, high labor cost and the like are overcome, and the production pressure of enterprises is increased more and more.
Disclosure of Invention
The invention aims to solve the problems that manual feeding and discharging operation is adopted in the feeding and discharging process of the existing automatic processing equipment, a large number of operators need to be allocated, the labor intensity of the operators is too high, the production capacity of the production equipment is severely limited by the working time of 8 hours each day of manual operation, the error rate of manual feeding and discharging is high, the defective product rate is high, the product control difficulty is high, the production efficiency is low, the labor cost is high and the like. The butt joint production equipment and the material storage can be smoothly realized, the full automation of a production workshop is realized, the efficiency is improved, the cost consumption is reduced, and the production pressure of an enterprise is reduced.
In order to achieve the above purpose, the invention provides the following technical scheme:
an automatic feeding and discharging robot unit for automatic machining equipment comprises a cargo trolley, an equipment frame, a tray servo assembly, a station tray raceway, a double-triaxial robot assembly, a feeding and discharging conveyor belt and a master controller.
The method is characterized in that: the cargo trolley comprises two parts which are detachably buckled on the front side of the equipment frame side by side; the tray servo assembly is arranged in the front lower part of the equipment frame; the station tray raceway is arranged in the middle of the equipment frame; the double three-axis robot assembly is arranged in the rear upper part of the equipment frame; the feeding and discharging conveyor belt is fixedly connected to the rear side of the equipment frame; the master controller is electrically connected with and controls the material trolley, the tray servo assembly, the station tray roller path, the double-triaxial robot assembly and the feeding and discharging conveyor belt.
The left side and the right side of the material trolley are symmetrically arranged, a product to be processed is loaded on the left side of the material trolley, a processed product is loaded on the right side of the material trolley, rotary clamping cylinders are arranged on two sides of the material trolley and are respectively fixed on the front side upright posts of the equipment frame, and the material trolley is fixed by controlling the rotary clamping cylinders to clamp under the working state.
Tray servo assembly bottom is the servo assembly of x direction, and the servo assembly top of x direction is equipped with lead screw cover rail subassembly one, lead screw cover rail subassembly one is connected with the servo assembly of z direction, the servo assembly inner wall of z direction is fixed with lead screw cover rail subassembly two, just lead screw cover rail subassembly two is connected with y direction fork right side.
And 2 pairs of idler wheels are fixed on the left side of the y-direction fork, and the idler wheels are in contact with the inner wall of the z-direction servo assembly.
Two triaxial robot subassembly bottoms are provided with the square steel support of robot and are used for supporting, the square steel support of robot with equipment frame connects, robot square steel support top is fixed with two triaxial robots to two triaxial robot bilateral symmetry arrange, the product is treated in the operation of left side triaxial robot, the product that the operation processing of right side triaxial robot was accomplished.
The three-axis robot is of a gantry structure and is composed of an x-direction sliding table, a y-direction sliding table, a z-direction sliding table, an x-direction auxiliary sliding table and a robot claw, and the robot claw is fixed at the tail end of the z-direction sliding table.
And the master controller is communicated with the upper computer, controls the motor to act, opens and closes the air cylinder and collects the I/O signals of the sensor.
As a further scheme of the invention: the equipment frame main part is the square steel support, supports the whole weight of equipment for fixed tray servo assembly, station tray raceway and cargo dolly ensure that the relative position between each subassembly is fixed unchangeable, 2 pairs totally 4 rotary clamping cylinder are installed to the stand position of the fixed cargo dolly of square steel support front side for fixed cargo dolly guarantees that the dolly does not appear rocking at equipment operation in-process, and outside section bar frame and protection glass are installed to the top, protection staff's safety.
As a further scheme of the invention: the inner side of the upright post of the material loading trolley is provided with an L-shaped tray supporting plate, the L-shaped tray supporting plates are distributed in bilateral symmetry and are arranged at equal intervals from top to bottom, and the total number of the L-shaped tray supporting plates is 6 pairs for placing material loading trays; the inner side of the idler wheel centering mechanism is provided with pulleys arranged in a centering manner, a guiding and positioning effect is provided in the process of parking of the cargo trolley, the rear side of the idler wheel centering mechanism is provided with a correlation type photoelectric sensor used for sensing the in-place condition of the cargo trolley and communicating with a master controller, when the correlation type photoelectric sensor detects that the cargo trolley is in place and sends a trolley in-place signal, the master controller receives the trolley in-place signal and further controls the rotary clamping cylinder to act so as to clamp the cargo trolley.
As a further scheme of the invention: the x-direction servo assembly is supported by a foot cup and is connected with a front side bottom beam of the equipment frame (2); the Z-direction servo assembly is connected with the X-direction servo assembly through a first lead screw sleeve rail assembly, the first lead screw sleeve rail assembly is provided with a first lead screw and a first pair of slide rails, one end of the lead screw is connected with a motor and sleeved with a first lead screw nut, the first slide rails are sleeved with a first slide block, the first lead screw nut and the first slide block are both fixed at the bottom of the Z-direction servo assembly, and the first lead screw rotates under the drive of the first motor so as to drive the first lead screw nut to push the Z-direction servo assembly to move along a track of the first slide rail in the positive and negative directions of an X axis; the y-direction pallet fork is connected with the z-direction servo assembly through a second lead screw sleeve rail assembly, the second lead screw sleeve rail assembly is provided with a second lead screw and a second pair of slide rails, the end part of the second lead screw is connected with a second motor and is sleeved with a second lead screw nut, the second slide rails are sleeved with second slide blocks, the second lead screw nut and the second slide blocks are both fixed on the right side of the y-direction pallet fork, and the second lead screw rotates under the drive of the second motor so as to drive the second lead screw nut to push the y-direction pallet fork to move along the tracks of the second slide rails in the positive and negative directions of a z axis; the bottom of the y-direction fork is provided with a third motor, the third motor is connected with a gear rack transmission mechanism inside the y-direction fork, a fork plate is fixed at the top of the gear rack transmission mechanism, and the gear rack transmission mechanism drives the fork plate to freely move in the positive and negative directions of the y axis under the driving of the third motor. Under the combined action of the first motor, the second motor and the third motor, the goods fork plate can freely move in the three-coordinate direction to and fro the goods trolley and the station pallet roller path to take and deliver the goods pallet.
As a further scheme of the invention: the station tray roller path is provided with 4 tray stations, the left two tray stations are feeding stations, the right two tray stations are discharging stations, the bottom of the station tray roller path is a tray roller path square steel support, the bottom of the tray roller path square steel support is connected with the equipment frame, a transition slideway is fixed at the top of the tray roller path square steel support and used for placing a tray, universal balls are uniformly distributed and embedded in the contact surface of the transition slideway and the tray, the friction force between the tray and the transition slideway is reduced, the fixing is facilitated, the transition slideway is provided with regular stop blocks at four corners of the position for placing the tray, a guiding effect is provided in the process of placing the tray, a centering cylinder is arranged at the center of the upper side of the transition slideway, a centering block is arranged on the centering cylinder, and the centering block is pushed by the centering cylinder to clamp the tray; the tray raceway square steel support is internally provided with a tray station sensor, and the tray station sensor is over against the tray station to identify the in-place condition of the tray.
As a further scheme of the invention: the stroke of the left three-axis robot covers two feeding stations and two feeding conveyor belts, and the stroke of the right three-axis robot covers two blanking stations and two blanking conveyor belts; the x-direction sliding table is provided with an x-direction sliding block and a motor x, and the x-direction sliding block is in transmission connection with the motor x through a lead screw guide rail in the x-direction sliding table; the x-direction auxiliary sliding table is provided with an x-direction auxiliary sliding block, the y-direction sliding table is fixed on the upper side of the x-direction sliding block, the side surface of the y-direction sliding table is provided with a y-direction sliding block and a motor y, and the y-direction sliding block is in transmission connection with the motor y through a lead screw guide rail in the y-direction sliding table; the z-direction sliding table is fixed on the side surface of the y-direction sliding block, the z-direction sliding block and the motor z are arranged on the side surface of the z-direction sliding table, the z-direction sliding block is in transmission connection with the motor z through a lead screw guide rail in the z-direction sliding table, and a paw connecting plate is mounted on the side surface of the z-direction sliding block; the robot gripper main part is die clamping cylinder, die clamping cylinder fixes in gripper connecting plate bottom, die clamping cylinder installs the tongs in both sides and is used for snatching the product, and the size, the model that are based on the product of snatching in process of production are different, and adjustment gripper mounted position can the different products of adaptation.
1. As a further scheme of the invention: the feeding and discharging conveyor belt is provided with a feeding conveyor belt and a discharging conveyor belt, the feeding conveyor belt is used for conveying products to be processed to enter processing equipment for processing, and the discharging conveyor belt is used for conveying the processed products to return to the automatic feeding and discharging robot unit to complete discharging.
The working method of the loading and unloading robot unit specifically comprises the following steps:
the method comprises the following steps: the master controller receives a tray station sensor signal (detects whether a tray of a feeding station is in place), controls a first motor, a second motor and a third motor to drive a tray servo assembly to adjust the pose, extends a fork plate into a left material trolley (for loading a product to be processed), takes out the material trays from top to bottom, and then puts the material trays into the feeding station without the trays;
step two: the master controller controls a motor x, a motor y and a motor z to drive a left three-axis robot (to operate a product to be processed) to act, a robot claw is aligned to the product to be processed, the master controller controls a clamping cylinder of the robot claw to open and close to drive a gripper to grip the product to be processed, the gripper finishes gripping the product, the master controller controls the left three-axis robot to move the gripper to a feeding conveyor belt, then the robot claw is controlled to place the product to be processed into the feeding conveyor belt, and the feeding conveyor belt conveys the product to be processed into processing equipment for processing; after the product is processed, the blanking conveyor belt conveys the product to the right three-axis robot (the product which is processed is operated), and the right three-axis robot takes back the processed product from the blanking conveyor belt and puts the processed product into a material tray of a blanking station;
step three: when the left three-axis robot finishes gear grabbing work of a loading station tray, the master controller receives a tray station sensor signal (detects whether a blanking station tray is in place), and controls the tray servo assembly to take out an empty tray of the loading station and place the empty tray into a blanking station;
step four: waiting that the gear of unloading station tray is accomplished to right side triaxial robot and piling up the work, tray servo assembly will be fully loaded with the tray and take out, puts back the goods dolly with the tray according to from the order up down, accomplishes one set of unloading flow back, and unloading robot unit does not have a rest on one set of unloading flow of going up, gets back to step one and continues to begin one set of unloading flow of going up, and the working condition of press is followed up in real time to the course of working, guarantees that the unloading supply is sufficient on press during operation, satisfies the requirement of making the beat.
Compared with the prior art, the invention has the following obvious prominent substantive characteristics and remarkable technical progress:
1. the invention provides an automatic loading and unloading robot unit for automatic processing equipment, which is clear in innovation and novel in structure; by adopting the technical scheme, the automatic material loading and unloading device can smoothly butt production equipment and material storage, supplies automatic material loading and unloading for the automatic production equipment, realizes full automation of a production workshop, greatly saves manpower and material resources required in the material loading and unloading process of automatic processing equipment, realizes automatic and intelligent material loading and unloading, simultaneously improves efficiency, saves a large amount of manpower and material resources, reduces cost consumption and reduces production pressure of enterprises.
2. Through adjusting the layer height of the cargo trolley, the paw distance and the cladding material of the double-triaxial robot can adapt to transporting different materials, and the adaptability is ensured.
3. The sensor is arranged to ensure that the equipment runs accurately and reliably, the error rate is greatly reduced, the automatic operation of the equipment is realized, and the production efficiency is greatly improved in 24-hour uninterrupted production.
Drawings
FIG. 1 is a schematic perspective view of an automatic loading and unloading robot unit according to the present invention;
FIG. 2 is an exploded perspective view of the automatic loading and unloading robot unit of the present invention;
FIG. 3 is a schematic perspective view of the cargo cart of the present invention;
FIG. 4 is a schematic perspective view of the frame of the apparatus of the present invention;
FIG. 5 is a schematic perspective view of a tray servo assembly according to the present invention;
FIG. 6 is an exploded perspective view of a tray servo assembly according to the present invention;
FIG. 7 is a schematic perspective view of a station pallet raceway of the present invention;
FIG. 8 is a perspective view of a dual three axis robot assembly of the present invention;
FIG. 9 is an exploded perspective view of a dual three-axis robot assembly of the present invention;
fig. 10 is a schematic perspective view of the feeding and discharging conveyor belt according to the present invention.
Detailed Description
The technical solution of the present invention will be described in detail and fully with reference to the following detailed description, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1-10, the automatic loading and unloading robot unit for the automated processing equipment includes an equipment frame 2, a material cart 1, a tray servo assembly 3, a station tray raceway 4, a double-triaxial robot assembly 5, an loading and unloading conveyor belt 6, and a main controller 7.
The device is characterized in that the cargo trolley comprises two parts which are detachably buckled on the front side of the equipment frame 2 side by side; the tray servo assembly 3 is arranged in the front lower part of the equipment frame 2; the station tray roller path 4 is arranged in the middle of the equipment frame 2; the double three-axis robot assembly 5 is mounted in the rear upper part of the equipment frame 2; the feeding and discharging conveyor belt 6 is fixedly connected to the rear side of the equipment frame 2; the master controller 7 is electrically connected with and controls the material trolley 1, the tray servo assembly 3, the station tray roller path 4, the double-triaxial robot assembly 5 and the feeding and discharging conveyor belt 6.
The standby processing materials are placed in the material tray and are conveyed to the front of the equipment frame 2 by the left material trolley 1, and after the material trolley 1 is buckled with the equipment frame 2, the material tray is lifted by the tray servo assembly 3 to the feeding and discharging conveyor belt 6 by the double-triaxial robot assembly 5 through the tray roller path 4; and conveying the processed finished product to the right goods trolley 1 in a reverse direction to finish feeding and discharging.
Example two:
referring to fig. 1-10, an automatic loading and unloading robot unit for an automated processing equipment includes a material cart 1, an equipment frame 2, a tray servo assembly 3, a station tray roller path 4, a double-triaxial robot assembly 5, and an loading and unloading conveyor belt 6.
The automatic loading and unloading device is characterized in that the cargo trolley 1 is placed at the forefront of the equipment and used for containing a cargo tray and conveying a product to be processed, a depended wheel centering mechanism 30 is arranged below the cargo trolley 1, the depended wheel centering mechanism 30 is connected with the equipment frame 2, a bottom cross beam at the front side of the equipment frame 2 is connected with the tray servo assembly 3, the bottom of a station tray roller path 4 is connected with a bottom cross beam of the equipment frame 2, the bottom of a double-triaxial robot assembly 5 is connected with a stand column at the rear side of the equipment frame 2, and a loading and unloading conveyor belt 6 is connected with the cross beam at the rear side of the equipment frame 2 and used for conveying production materials.
The left and right sides of the material trolley 1 are symmetrically placed, the left material trolley 1 is used for loading products to be processed, the right material trolley 1 is used for loading the processed products, the two sides of the material trolley 1 are provided with rotary clamping cylinders 41 which are respectively fixed on upright columns on the front side of the equipment frame 2, and the main controller 7 is used for controlling the rotary clamping cylinders 41 to clamp and fix the material trolley 1 in a working state.
The tray servo assembly 3 bottom is the servo assembly 50 of x direction, and the servo assembly 50 top of x direction is equipped with lead screw cover rail subassembly 51, lead screw cover rail subassembly 51 is connected with z direction servo assembly 52, z direction servo assembly 52 inner wall is fixed with lead screw cover rail subassembly two 53, just lead screw cover rail subassembly two 53 is connected with y direction fork 54 right side.
Wherein, the left side of the y-direction fork 54 is fixed with 2 pairs of idler wheels 55, and the idler wheels 55 are contacted with the inner wall of the z-direction servo assembly 52.
Two three-axis robot subassembly 5 bottoms are provided with robot square steel support 80 and are used for supporting, robot square steel support 80 with equipment frame 2 connects, robot square steel support 80 top is fixed with two three-axis robot 81 to two three-axis robot 81 bilateral symmetry arrange, the product of processing is treated in the operation of left side three-axis robot 81, the product of processing completion is operated to right side three-axis robot 81.
The three-axis robot 81 is of a gantry structure and is composed of an x-direction sliding table 82, a y-direction sliding table 83, a z-direction sliding table 84, an x-direction auxiliary sliding table 89 and a robot paw 88, wherein the robot paw 88 is fixed at the tail end of the z-direction sliding table 84.
And the master controller 7 is communicated with an upper computer, controls the action of the motor, opens and closes the air cylinder and collects the I/O signals of the sensor.
As shown in fig. 4, the apparatus frame 2 of the present invention specifically includes: a square steel bracket 40 for supporting the whole weight of the equipment, a rotary clamping cylinder 41 for clamping the cargo trolley, an external profile frame 42 and a protective glass 43 above the equipment for protecting the equipment and workers.
As a preferred embodiment of the present invention: the main body of the equipment frame 2 is a square steel support 40, supports the whole weight of the equipment, is used for fixing a tray servo assembly 3, a station tray roller path 4 and a cargo trolley 1, ensures that the relative positions between the assemblies are fixed, 2 pairs of 4 rotary clamping cylinders 41 are installed at the position of an upright post of the square steel support 40, which is used for fixing the cargo trolley 1, ensures that the trolley does not shake in the operation process of the equipment, and an external section bar frame 42 and protective glass 43 are installed above the upright post, so that the safety of workers is protected.
As shown in fig. 3, the cargo cart 1 of the present invention specifically includes: the device comprises a wheel-leaning centering mechanism 30 for providing a guiding and positioning effect for the cargo trolley 1, a pulley 31 for reducing friction and collision in the parking process of the cargo trolley 1, a facility photoelectric sensor 32 for measuring the in-place condition of the cargo trolley 1 and an L-shaped tray supporting plate 33 for supporting a cargo tray by Chinese.
As a preferred embodiment of the present invention: the inner sides of the upright columns of the material loading trolley 1 are provided with L-shaped tray supporting plates 33, the L-shaped tray supporting plates 33 are symmetrically distributed from left to right and are arranged at equal intervals from top to bottom, and the total number of the L-shaped tray supporting plates 33 is 6 pairs for placing material loading trays; the inner side of the idler wheel centering mechanism 30 is provided with pulleys 31 arranged in a centering manner, guiding and positioning effects are provided in the process of parking of the cargo trolley 1, the rear side of the idler wheel centering mechanism 30 is provided with a correlation photoelectric sensor 32 used for sensing the in-place condition of the cargo trolley and communicating with the master controller 7, when the correlation photoelectric sensor 32 detects that the cargo trolley is in place and sends a trolley in-place signal, the master controller 7 receives the trolley in-place signal and controls the rotary clamping cylinder 41 to act so as to clamp the cargo trolley 1.
As shown in fig. 5 and 6, the tray servo unit 3 of the present invention specifically includes: a bottom mounted x-direction servo assembly 50 for smooth movement of a z-direction servo assembly 53 in the x-direction of the apparatus, a z-direction servo assembly 53 for smooth movement of a y-direction fork 54 in the y-direction of the apparatus, the y-direction fork 54 being capable of picking and delivering a pallet between the pallet car 1 and the station pallet track 4.
As a preferred embodiment of the present invention: the x-direction servo assembly 50 is supported by a foot cup and connected with a front side bottom beam of the equipment frame (2); the z-direction servo assembly 52 is connected with the x-direction servo assembly 50 through a first lead screw sleeve rail assembly 51, the first lead screw sleeve rail assembly 51 is provided with a first lead screw 61 and a pair of first slide rails 66, the end part of the first lead screw 61 is connected with a first motor 60 and sleeved with a first lead screw nut 62, the first slide rails 66 are sleeved with a first sliding block 67, the first lead screw nut 62 and the first sliding block 67 are both fixed at the bottom of the z-direction servo assembly 52, the first lead screw 61 is driven by the first motor 60 to rotate, and then the first lead screw nut 62 is driven to push the z-direction servo assembly 52 to move along a first slide rail 66 in the positive and negative directions of an x axis; the y-direction pallet fork 54 is connected with the z-direction servo assembly 52 through a second lead screw sleeve rail assembly 53, the second lead screw sleeve rail assembly 53 is provided with a second lead screw 64 and a pair of second slide rails 68, the end part of the second lead screw 64 is connected with a second motor 63 and sleeved with a second lead screw nut 65, the second slide rails 68 are sleeved with a second slide block 69, the second lead screw nut 65 and the second slide block 69 are both fixed on the right side of the y-direction pallet fork 54, the second lead screw 64 rotates under the driving of the second motor 63, and then the second lead screw nut 65 is driven to push the y-direction pallet fork 54 to move along the tracks of the second slide rails 68 in the positive and negative directions of the z axis; the bottom of the y-direction fork 54 is provided with a third motor 56, the third motor 56 is connected with a rack-and-pinion transmission mechanism 57 inside the y-direction fork 54, the top of the rack-and-pinion transmission mechanism 57 is fixed with a fork plate 58, and the rack-and-pinion transmission mechanism 57 drives the fork plate 58 to freely move in the positive and negative directions of the y-axis under the driving of the third motor 56. Under the combined action of the first motor 60, the second motor 63 and the third motor 56, the pallet fork plate 58 can freely move in the three-coordinate direction to and fro take and send pallet pallets to and from the pallet trolley 1 and the station pallet roller path 4.
As shown in fig. 7, the station tray raceway 4 of the present invention specifically includes: the tray raceway square steel support 70 at the bottom, transition slide 71, universal ball 72 embedded in the surface, regular stop 73, centering cylinder 74 are provided with centering block 75 and tray station sensor 76.
As a preferred embodiment of the present invention: the station tray roller path 4 provides 4 tray stations, the two stations on the left side are feeding stations, the two stations on the right side are blanking stations, the bottom of the station tray roller path 4 is a tray roller path square steel bracket 70, the bottom of the tray raceway square steel support 70 is connected with the equipment frame 2, the top of the tray raceway square steel support 70 is fixed with a transition slideway 71, used for placing a tray, universal balls 72 are uniformly distributed and embedded in the transition slide ways 71 at the contact surface with the tray, is used for reducing the friction force between the tray and the transition slideway 71 and is convenient for fixing, regular stop blocks 73 are arranged at the four corners of the position of the tray where the transition slideway 71 is arranged, provides guiding function in the process of placing the tray, a centering cylinder 74 is arranged at the center of the upper side of the transition slideway 71, the centering cylinder 74 is provided with a centering block 75, and the centering block 75 is pushed by the centering cylinder 74 to clamp the tray; a tray station sensor 76 is arranged on the inner side of the tray raceway square steel support 70, and the tray station sensor 76 is over against a tray station to identify the in-place condition of the tray.
As shown in fig. 8 and 9, the dual three-axis robot assembly 5 of the present invention specifically includes: the robot square steel support 80 of bottom is directly connected with equipment frame 2, and three-axis robot 81 is fixed in robot square steel support 80, and robot hand claw 88 is installed to every three-axis robot action end for snatch the material.
As a preferred embodiment of the present invention: the stroke of the left three-axis robot 81 covers two feeding stations and a feeding conveyor belt 97, and the stroke of the right three-axis robot 81 covers two blanking stations and a blanking conveyor belt 98; the x-direction sliding table 82 is provided with an x-direction sliding block 90 and a motor x85, and the x-direction sliding block 90 is in transmission connection with a motor x85 through a lead screw guide rail inside the x-direction sliding table 82; the x-direction auxiliary sliding table 89 is provided with an x-direction auxiliary sliding block 93, the y-direction sliding table 83 is fixed on the upper side of the x-direction sliding block 90, the side surface of the y-direction sliding table 83 is provided with a y-direction sliding block 91 and a motor y86, and the y-direction sliding block 91 is in transmission connection with a motor y86 through a lead screw guide rail in the y-direction sliding table 83; the z-direction sliding table 84 is fixed on the side surface of the y-direction sliding block 91, the z-direction sliding block 92 and the motor z87 are arranged on the side surface of the z-direction sliding table 84, the z-direction sliding block 92 is in transmission connection with the motor z87 through a lead screw guide rail in the z-direction sliding table 84, and a paw connecting plate 94 is arranged on the side surface of the z-direction sliding block 92; robot hand claw 88 main part is die clamping cylinder 95, die clamping cylinder 95 is fixed in hand claw connecting plate 94 bottom, die clamping cylinder 95 both sides are installed tongs 96 and are used for snatching the product, and according to the size, the model difference of snatching the product in process of production, the adjustment tongs mounted position can the different products of adaptation.
Based on the above structure of the present invention, the operation principle of the present invention will be described below.
Under the normal work starting state, the whole equipment is ready to work, the cargo trolley 1 is parked in a working area and fixed by the rotary clamping cylinder 41, the tray servo assembly 3 returns to the initial state, the y-direction fork 54, the z-direction servo assembly 52 and the x-direction servo assembly 50 sequentially return to the original positions, the centering cylinder 74 performs opening and closing actions to adjust the position of the cargo tray and then keeps in a clamping state to fix the tray, the 2 three-axis robots 81 return to the initial state, the robot claws 88 always keep in the clamping state in the process and prevent materials from falling off, and the feeding and discharging conveyor belt 6 keeps in standby. In the preparation work, the in-place signal of the cargo trolley 1 is detected by the correlation type photoelectric sensor 32, and when the trolley is confirmed to be in place, the rotary clamping cylinder 41 starts to act to clamp the cargo trolley 1; the tray servo assembly 3 restores the original state to sequentially detect a y-direction fork 54 in-place signal, a z-direction servo assembly 52 in-place signal and an x-direction servo assembly 50 in-place signal, and then the next action is carried out; in the action process that the tray servo assembly 2 restores to the original state, the station tray roller path 4 can simultaneously carry out preparation work, the in-place signal of the tray is detected by a tray station sensor 76 arranged on the lower side of the tray station, if the tray station sensor 76 does not detect that the tray is in place, the centering cylinder 74 is opened, the tray is waited to be in place, the tray station sensor 76 detects that the tray is in place, and the centering cylinder 74 clamps and fixes the tray; the double-triaxial robot assembly 5 can return to the original state and can act together with the tray servo assembly 2 and the station tray roller path 4, and the three-axis z, y and x of the three-coordinate robot sequentially returns to the original position to serve as a signal for completing preparation work.
After the preparation work of the robot unit is confirmed, the loading and unloading operation is started, firstly, the master controller 7 receives signals of the tray station sensor 76 to detect whether the tray of the loading station is in place or not, the first motor 60, the second motor 63 and the third motor 56 are controlled to drive the tray servo assembly 3 to adjust the pose, the cargo fork plate 58 is stretched into the left cargo trolley 1 (loaded with products to be processed) to take out the cargo trays from top to bottom, and then the cargo trays are placed into the loading station where the trays are not placed; then the master controller 7 controls the motor x85, the motor y86 and the motor z87 to drive the left three-axis robot 81 (to operate a product to be processed) to move, the robot claw 88 is aligned with the product to be processed, the master controller 7 controls the clamping cylinder 95 of the robot claw 88 to open and close to drive the gripper 96 to grip the product to be processed, when the product gripping is completed, the master controller 7 controls the left three-axis robot 81 to move the robot claw to the feeding conveyor belt 97, then the robot claw 88 is controlled to place the product to be processed into the feeding conveyor belt 97, and the feeding conveyor belt 97 conveys the product to be processed into a processing device for processing; after the product is processed, the blanking conveyor belt 98 conveys the product back to the right three-axis robot 81 (the processed product is operated), and the right three-axis robot 81 retrieves the processed product from the blanking conveyor belt 98 and puts the product into a material tray of a blanking station; when the left three-axis robot 81 finishes gear grabbing work of a loading station tray, the master controller 7 receives a signal of the tray station sensor 76 (detects whether a blanking station tray is in place), and controls the tray servo assembly 3 to take out an empty tray of the loading station and place the empty tray into a blanking station; treat that right side triaxial robot 81 accomplishes the gear stacking work of unloading station tray, tray servo assembly 3 will be full loaded with the tray and take out, put back goods dolly 1 with the tray according to from the order up down, accomplish one set of unloading flow back of going up, go up unloading robot unit and do not have a rest, continue to begin one set of unloading flow of going up of next, the working process is real-time to follow up press operating condition, guarantees that the unloading supply is sufficient in press during operation, satisfies the requirement of making the beat.
In summary, the advantages of the invention are as follows:
the biggest bright point of the automatic material loading and unloading device is that the automatic material loading and unloading device can be smoothly butted with production equipment and material storage, automatic material loading and unloading of the automatic production equipment are supplied, full automation of a production workshop is realized, manpower and material resources required in the process of loading and unloading of automatic processing equipment are greatly saved, automatic and intelligent material loading and unloading are realized, meanwhile, the efficiency is improved, the cost consumption is reduced, and the production pressure of enterprises is reduced.
Through adjusting the layer height of the cargo trolley, the paw distance and the cladding material of the double-triaxial robot can adapt to transporting different materials, and the adaptability is ensured.
The sensor is arranged to ensure that the equipment runs accurately and reliably, the error rate is greatly reduced, the automatic operation of the equipment is realized, and the production efficiency is greatly improved in 24-hour uninterrupted production.
The bottom square steel support is designed, and each component is fixedly supported, so that the stability of equipment operation and the safety of workers are ensured.
A guide pulley of a roller path of the trolley is designed, and the trolley is matched with an in-place sensor to further ensure that the trolley is accurately in place and the running of equipment is stable and reliable.
The tray servo assembly is designed, the accuracy of positioning of the tray servo assembly is improved by using a sleeve rail and lead screw transmission mode after a braking scheme is improved by referring to a common stacker, the working range of the tray servo assembly is increased by adopting a bidirectional working forklift, the working efficiency of equipment is improved, and the space occupancy rate of the equipment is reduced.
The station tray raceway is designed, the positioning accuracy of the tray placed at the station is ensured, a temporary transfer cache space is provided for materials, the feeding and discharging beat is ensured, and the stability of the equipment is improved.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (8)
1. The utility model provides a go up unloading robot cell in automation for automatic processing equipment, includes equipment frame (2), goods material dolly (1), tray servo component (3), station tray raceway (4), two triaxial robot subassembly (5), goes up unloading conveyer belt (6) and total controller (7), its characterized in that:
1) the cargo trolley comprises two parts which are detachably buckled on the front side of the equipment frame (2) side by side;
2) the tray servo assembly (3) is arranged in the front lower part of the equipment frame (2); the station tray roller path (4) is arranged in the middle of the equipment frame (2); the double three-axis robot assembly (5) is arranged in the rear upper part of the equipment frame (2); the feeding and discharging conveyor belt (6) is fixedly connected to the rear side of the equipment frame (2);
3) the master controller (7) is electrically connected with and controls the material trolley (1), the tray servo assembly (3), the station tray roller path (4), the double-triaxial robot assembly (5) and the feeding and discharging conveyor belt (6);
the standby processing materials are placed in a material tray and are conveyed to the front of an equipment frame (2) by a left material trolley (1), and after the material trolley (1) is buckled with the equipment frame (2), the material tray is lifted by a tray servo assembly (3) to a feeding and discharging conveyor belt (6) by a double-triaxial robot assembly (5) through a tray roller path (4); the processed finished product is reversely conveyed to a right goods trolley (1) to finish feeding and discharging;
the goods trolley (1) is placed at the forefront of an equipment frame (2), a depended wheel centering mechanism (30) is arranged below the goods trolley, the depended wheel centering mechanism (30) is connected with the equipment frame (2), a bottom cross beam at the front side of the equipment frame (2) is connected with the tray servo assembly (3), the bottom of a station tray raceway (4) is connected with a bottom cross beam of the equipment frame (2), the bottom of the double-triaxial robot assembly (5) is connected with an upright post at the rear side of the equipment frame (2), and the feeding and discharging conveyor belt (6) is connected with the rear cross beam of the equipment frame (2);
the material trolleys (1) are symmetrically arranged at the left and right sides, and rotary clamping cylinders (41) are respectively arranged at the two sides of the two material trolleys (1) and respectively fixed on upright columns at the front side of the equipment frame (2);
the tray servo assembly (3) is characterized in that an x-direction servo assembly (50) is arranged at the bottom of the tray servo assembly (3), a first lead screw sleeve rail assembly (51) is arranged at the top of the x-direction servo assembly (50), the first lead screw sleeve rail assembly (51) is connected with a y-direction servo assembly (52), a second lead screw sleeve rail assembly (53) is fixed on the inner wall of the y-direction servo assembly (52), and the second lead screw sleeve rail assembly (53) is connected with the right side of a fork (54) in the z direction;
2 pairs of idler wheels (55) are fixed on the left side of the z-direction pallet fork (54), and the idler wheels (55) are in contact with the inner wall of the y-direction servo assembly (52);
a robot square steel support (80) is arranged at the bottom of the double-triaxial robot assembly (5), the robot square steel support (80) is connected with the equipment frame (2), two triaxial robots (81) are fixed above the robot square steel support (80) and are symmetrically arranged in the left-right direction, the left triaxial robot (81) operates a product to be processed, and the right triaxial robot (81) operates a processed product;
the three-axis robot (81) is of a gantry type structure and is composed of an x-direction sliding table (82), a y-direction sliding table (83), a z-direction sliding table (84), an x-direction auxiliary sliding table (89) and a robot paw (88), wherein the robot paw (88) is fixed at the tail end of the z-direction sliding table (84);
and the master controller (7) is communicated with an upper computer, controls the motor to act, opens and closes the air cylinder and collects the I/O signals of the sensor.
2. The automated loading and unloading robot unit for automated processing equipment of claim 1, wherein: the main body of the equipment frame (2) is a square steel support (40), 2 pairs of 4 rotary clamping cylinders (41) are arranged at the position of an upright column of the square steel support (40) at the front side of the fixed cargo trolley (1), and an external section frame (42) and protective glass (43) are arranged above the fixed cargo trolley.
3. The automated loading and unloading robot unit for automated processing equipment of claim 1, wherein: an L-shaped tray supporting plate (33) is installed on the inner side of an upright column of the cargo trolley (1), the L-shaped tray supporting plates (33) are distributed in bilateral symmetry and are arranged at equal intervals from top to bottom, and 6 pairs are provided; the inner side of the idler wheel centering mechanism (30) is provided with pulleys (31) arranged in a centering way, and the rear side of the idler wheel centering mechanism (30) is provided with a correlation type photoelectric sensor (32).
4. The automated loading and unloading robot unit for automated processing equipment of claim 1, wherein: the x-direction servo assembly (50) is supported by a foot cup and connected with a front side bottom beam of the equipment frame (2); the y-direction servo assembly (52) is connected with the x-direction servo assembly (50) through a first lead screw sleeve rail assembly (51), the first lead screw sleeve rail assembly (51) is provided with a first lead screw (61) and a first pair of slide rails (66), the end part of the first lead screw (61) is connected with a first motor (60) and sleeved with a first lead screw nut (62), the first slide rail (66) is sleeved with a first slide block (67), and the first lead screw nut (62) and the first slide block (67) are both fixed at the bottom of the y-direction servo assembly (52); the z-direction pallet fork (54) is connected with the y-direction servo assembly (52) through a second lead screw sleeve rail assembly (53), the second lead screw sleeve rail assembly (53) is provided with a second lead screw (64) and a pair of second slide rails (68), the end part of the second lead screw (64) is connected with a second motor (63) and sleeved with a second lead screw nut (65), the second slide rails (68) are sleeved with a second sliding block (69), and the second lead screw nut (65) and the second sliding block (69) are both fixed on the right side of the z-direction pallet fork (54); the bottom of the z-direction pallet fork (54) is provided with a motor III (56), the motor III (56) is connected with a gear rack transmission mechanism (57) inside the z-direction pallet fork (54), and a pallet fork plate (58) is fixed to the top of the gear rack transmission mechanism (57).
5. The automated loading and unloading robot unit for automated processing equipment of claim 1, wherein: the station tray roller path (4) provides 4 tray stations, the left two tray stations are feeding stations, the right two tray stations are discharging stations, the bottom of the station tray roller path (4) is a tray roller path square steel support (70), the bottom of the tray roller path square steel support (70) is connected with the equipment frame (2), transition sliding ways (71) are fixed at the top of the tray roller path square steel support (70), universal balls (72) are uniformly distributed and embedded in the positions of contact surfaces of the transition sliding ways (71) and the tray, regular stop blocks (73) are installed at four corners of the position where the tray is placed on the transition sliding ways (71), centering cylinders (74) are installed at the center positions of the upper sides of the transition sliding ways (71), and centering blocks (75) are installed on the centering cylinders (74); and a tray station sensor (76) is arranged on the inner side of the tray raceway square steel support (70), and the tray station sensor (76) is over against a tray station to identify the in-place condition of the tray.
6. The automated loading and unloading robot unit for automated processing equipment of claim 1, wherein: the stroke of the left three-axis robot (81) covers two feeding stations and two feeding conveyor belts (97), and the stroke of the right three-axis robot (81) covers two blanking stations and two blanking conveyor belts (98); the x-direction sliding table (82) is provided with an x-direction sliding block (90) and a motor x (85), and the x-direction sliding block (90) is in transmission connection with the motor x (85) through a lead screw guide rail in the x-direction sliding table (82); the x-direction auxiliary sliding table (89) is provided with an x-direction auxiliary sliding block (93), the y-direction sliding table (83) is fixed on the upper side of the x-direction sliding block (90), a y-direction sliding block (91) and a motor y (86) are arranged on the side surface of the y-direction sliding table (83), and the y-direction sliding block (91) is in transmission connection with the motor y (86) through a lead screw guide rail in the y-direction sliding table (83); the z-direction sliding table (84) is fixed on the side surface of the y-direction sliding block (91), the z-direction sliding block (92) and the motor z (87) are arranged on the side surface of the z-direction sliding table (84), the z-direction sliding block (92) is in transmission connection with the motor z (87) through a lead screw guide rail in the z-direction sliding table (84), and a paw connecting plate (94) is installed on the side surface of the z-direction sliding block (92); the robot gripper (88) main part is die clamping cylinder (95), die clamping cylinder (95) are fixed in gripper connecting plate (94) bottom, gripper (96) are installed to die clamping cylinder (95) both sides.
7. The automated loading and unloading robot unit for automated processing equipment of claim 1, wherein: the feeding and discharging conveyor belt (6) is provided with a feeding conveyor belt (97) and a discharging conveyor belt (98).
8. An automatic loading and unloading method for an automatic processing device, which is operated by the automatic loading and unloading robot unit for the automatic processing device as claimed in claim 1, and is characterized by comprising the following operation steps:
the method comprises the following steps: the main controller (7) receives signals of the tray station sensor (76) (detects whether a tray of a feeding station is in place), controls the motor I (60), the motor II (63) and the motor III (56) to drive the tray servo assembly (3) to adjust the pose, extends the cargo fork plate (58) into the left cargo trolley (1) (for loading products to be processed) to take out the cargo trays according to the sequence from top to bottom, and then puts the cargo trays into the feeding station where the trays are not placed;
step two: the master controller (7) controls a motor x (85), a motor y (86) and a motor z (87) to drive a left three-axis robot (81) (operating a product to be processed) to act, a robot claw (88) is aligned to the product to be processed, the master controller (7) controls a clamping cylinder (95) of the robot claw (88) to open and close to drive a gripper (96) to grip the product to be processed, the product is gripped completely, the master controller (7) controls the left three-axis robot (81) to move the robot claw to a feeding conveyor belt (97), then the robot claw (88) is controlled to place the product to be processed into the feeding conveyor belt (97), and the feeding conveyor belt (97) conveys the product to be processed into processing equipment for processing; after the product is processed, the blanking conveyor belt (98) conveys the product to the right three-axis robot (81) (the processed product is operated), and the right three-axis robot (81) takes back the processed product from the blanking conveyor belt (98) and puts the processed product into a material tray of a blanking station;
step three: when the left three-axis robot (81) finishes gear grabbing work of a loading station tray, a master controller (7) receives a tray station sensor (76) signal (detects whether a blanking station tray is in place), and controls a tray servo assembly (3) to take out an empty tray of the loading station and place the empty tray into a blanking station;
step four: and (3) after the right three-axis robot (81) finishes gear stacking work of the blanking station tray, taking out the full-load tray by the tray servo assembly (3), putting the tray back to the material trolley (1) according to the sequence from bottom to top, and continuing to start the work of the first step.
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