CN111185794A - Unloading equipment in intelligence - Google Patents
Unloading equipment in intelligence Download PDFInfo
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- CN111185794A CN111185794A CN202010149230.XA CN202010149230A CN111185794A CN 111185794 A CN111185794 A CN 111185794A CN 202010149230 A CN202010149230 A CN 202010149230A CN 111185794 A CN111185794 A CN 111185794A
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- unloading
- feeding
- assembly
- loading
- mechanical arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
- B23Q41/02—Features relating to transfer of work between machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Specific Conveyance Elements (AREA)
Abstract
本申请公开了一种智能上下料设备，包括：送料小车、物料托盘、机架、自动上下料机构、搬运机构和CCD视觉系统，自动上下料机构包括上料组件、水平移送组件和下料组件，上料组件和下料组件相邻设置于机架的底板之上，水平移送组件运行于上料组件和下料组件之间，搬运机构设置于机架的上端，搬运机构包括机械臂组件一和机械臂组件二，机械臂组件一设置于搬运机构的一侧，机械臂组件二设置于搬运机构的另一侧，CCD视觉系统设置于搬运机构的上方。本申请实现了智能上下料，可适应不同机床的加工要求，自动上下料机构和搬运机构设置于同一机架节省占地面积并且可同时完成两道加工工序，提高了工作效率。
The application discloses an intelligent loading and unloading equipment, including: a feeding trolley, a material tray, a rack, an automatic loading and unloading mechanism, a handling mechanism and a CCD vision system. The automatic loading and unloading mechanism includes a loading assembly, a horizontal transfer assembly and a blanking assembly. The feeding assembly and the unloading assembly are adjacently arranged on the bottom plate of the frame, the horizontal transfer assembly runs between the feeding assembly and the unloading assembly, the handling mechanism is arranged on the upper end of the frame, and the handling mechanism includes a mechanical arm assembly. And the second robot arm assembly, the first robot arm assembly is arranged on one side of the transport mechanism, the second robot arm assembly is arranged on the other side of the transport mechanism, and the CCD vision system is arranged above the transport mechanism. The application realizes intelligent loading and unloading, which can adapt to the processing requirements of different machine tools. The automatic loading and unloading mechanism and the handling mechanism are arranged in the same frame to save floor space, and can complete two processing procedures at the same time, thereby improving work efficiency.
Description
Technical Field
The application relates to the field of material conveying, and specifically provides an intelligent feeding and discharging device.
Background
In machining, the conveying of processing materials is an extremely important link, and the conveying efficiency of feeding and discharging determines the overall efficiency of the processing process. Most of the existing feeding and discharging equipment adopts a mode of separating a mechanical arm from a feeding and discharging mechanism, so that the equipment occupies a large area; if complex products are machined, after the feeding and discharging equipment, the mechanical arm and the machine tool cooperate to complete a first machining procedure, the feeding and discharging equipment needs to match the machined parts to another machine tool and then perform a second machining procedure, and the two procedures cannot be combined to be machined on one machine tool. The existing feeding and discharging equipment has low product conveying efficiency, and the conveying of processing materials cannot meet the existing high-efficiency production requirement.
Disclosure of Invention
The utility model provides a problem that the current automatic unloading equipment area of going up is big and the suitability is low is overcome to the aim at and can realize unloading on intelligence, can carry out the equipment of twice manufacturing procedure simultaneously, and area is little and effectively improve the production efficiency of product.
In order to achieve the above purpose, the solution of the application is:
the utility model provides a go up unloading equipment in intelligence, it includes: the automatic feeding and discharging mechanism is arranged at the front end of the frame and comprises a feeding component, a horizontal transfer component and a discharging component, the feeding component and the discharging component are adjacently arranged and mounted on a bottom plate of the frame, the horizontal transfer component runs between the feeding component and the discharging component, the feeding trolley is used for carrying a material tray to a pushing position of the feeding component, the material tray is used for loading a workpiece to be processed, the feeding component conveys the material tray to the highest position of the feeding component, the carrying mechanism is arranged at the upper end of the frame and comprises a first six-axis mechanical arm, a first mechanical arm component, a second six-axis mechanical arm and a second mechanical arm component, and the first mechanical arm component is mounted on one side of the carrying mechanism, the six-axis mechanical arm can move to clamp the workpiece to be processed on the material tray positioned at the highest position of the feeding assembly for the first process processing, the second mechanical arm assembly is arranged at the other side of the carrying mechanism, the second six-shaft mechanical arm assembly can movably clamp a workpiece to be processed on the material tray positioned at the highest position of the blanking assembly for processing in a second procedure, the horizontal transfer component transfers the material tray from the highest position of the feeding component to the highest position of the discharging component, the blanking component conveys the material tray from the highest position of the blanking component to the pushing-out position of the blanking component, the feeding trolley pushes the material tray loaded with the processed workpiece out of the automatic loading and unloading mechanism, the CCD vision system is arranged above the carrying mechanism and used for photographing and detecting the specific position of a workpiece to be processed on the material tray.
The automatic feeding device is characterized in that the rack comprises a guide block, a guide limit screw, a buffer, a proximity sensor and a lifting limit sensor, the guide block is fixedly arranged on a bottom plate of the rack, the guide limit screw and the buffer are arranged on the guide block to control the feeding trolley, the proximity sensor is arranged on the guide block to send a feeding trolley in-place signal to the feeding motor and the discharging motor, and the lifting limit sensor is arranged on two sides of the rack.
The material tray comprises tray columns, tray positioning holes and tray column positioning holes, the four tray columns are arranged at four corners of the material tray, the tray positioning holes are arranged on two sides of the material tray, the tray column positioning holes are arranged on the back of the tray columns of the material tray, and the tray columns and the tray column positioning holes are coaxially arranged.
The feeding trolley is provided with a feeding positioning upright post, a feeding bracket and a guide groove plate, wherein the feeding positioning upright post is arranged on the feeding bracket, and the guide groove plate is positioned below the feeding bracket and is provided with a groove matched with the guide block.
The feeding assembly comprises a feeding bracket, a feeding positioning upright post, a feeding motor and a feeding upright post, wherein the feeding motor and the feeding upright post are fixedly arranged on a bottom plate of the frame, the feeding upright post penetrates through the feeding bracket, the feeding positioning upright post is arranged on the feeding bracket and used for fixing a multilayer material tray sent by the feeding trolley, and the feeding motor drives the feeding bracket to lift along the feeding upright post.
The horizontal transfer assembly comprises a material arrival photoelectricity, a horizontal transfer bracket, a horizontal transfer positioning upright post, a horizontal transfer sliding rail, a horizontal transfer motor, a conveyor belt and a horizontal transfer support, the material arrival photoelectricity is installed on the left side of the horizontal transfer support, the horizontal transfer sliding rail is arranged on two sides of the horizontal transfer support, the horizontal transfer bracket is installed and fixed on the horizontal transfer sliding rail, the horizontal transfer positioning upright post is installed and fixed on the horizontal transfer bracket, the horizontal transfer motor is installed on the back of the rack, and the conveyor belt is connected with the horizontal transfer support to drive the horizontal transfer bracket to move on the horizontal transfer sliding rail.
The blanking assembly comprises a blanking bracket, a blanking positioning stand column, a blanking motor and a blanking stand column, wherein the blanking motor and the blanking stand column are fixedly arranged on a bottom plate of the frame, the blanking stand column is connected with the blanking bracket in a penetrating manner, the blanking stand column is arranged on the blanking bracket, and the blanking motor drives the blanking bracket to lift along the blanking stand column.
The first mechanical arm assembly comprises a first six-axis mechanical arm, a first six-axis transfer motor, a first mechanical arm bottom plate, a first sliding block, a first sliding rail and a first screw rod, the first six-axis mechanical arm is installed on the first mechanical arm bottom plate, the first mechanical arm bottom plate is installed and fixed on the first sliding block and the first screw rod, the first sliding block is arranged on the first sliding rail, the first sliding rail is installed on two sides of the carrying mechanism, the first screw rod and the first six-axis transfer motor are connected, the first six-axis transfer motor operates to drive the first mechanical arm bottom plate to move back and forth on the first screw rod and the first sliding block along the first sliding rail, and the first six-axis mechanical arm can flexibly move to clamp a workpiece to be machined on a material tray to.
The second mechanical arm assembly comprises a second six-axis mechanical arm, a second six-axis transfer motor, a second mechanical arm bottom plate, a second sliding block, a second sliding rail and a second screw rod, the second six-axis mechanical arm is installed on the second mechanical arm bottom plate, the second mechanical arm bottom plate is installed and fixed on the second sliding block and the second screw rod, the second sliding block is arranged on the second sliding rail, the second sliding rail is installed on two sides of the carrying mechanism, the second screw rod is connected with the second six-axis transfer motor, the second six-axis transfer motor operates to drive the second mechanical arm bottom plate to move back and forth on the second screw rod and the second sliding block along the first sliding rail, the second six-axis mechanical arm can flexibly move to clamp a workpiece to be machined on the material tray to be machined to perform second-procedure machining, and the positions of the first six-.
The CCD visual system comprises a CCD visual system stand column, a CCD lens and a light source, the CCD visual system stand column is arranged above the carrying mechanism, the CCD lens is arranged on the CCD visual system stand column, the light source is arranged below the CCD lens, and the CCD lens can conveniently penetrate through the light source to carry out clear photographing detection.
The structure of the feeding positioning upright post of the feeding trolley is the same as that of the horizontal transfer positioning upright post of the horizontal transfer bracket, and the feeding positioning upright post of the feeding trolley is matched with the structure of the horizontal transfer positioning upright post of the horizontal transfer bracket; the structure of the tray upright post of the material tray, the structure of the feeding positioning upright post of the feeding bracket and the structure of the discharging positioning upright post of the discharging bracket are the same and are matched with the tray upright post positioning holes on the back surface of the material tray, and the tray upright post positioning holes on the back surface of the material tray are matched with the tray upright post of the material tray, the feeding positioning upright post of the feeding bracket and the discharging positioning upright post of the discharging bracket.
Compared with the prior art, the beneficial effects of the application are that:
the utility model provides a unloading equipment in intelligence, the highest position that will place the material tray that remains the processing work piece and deliver to material subassembly through the pay-off dolly is got by the arm clamp and is put back the former department of material tray after processing, the horizontal transfer subassembly transports the material tray to the highest position of unloading subassembly again, the arm clamp is got and is put back the former department of material tray after carrying out the secondary processing and deliver to the pay-off dolly by the material tray that the unloading subassembly will accomplish processing again, the material tray that will accomplish twice process is released by the pay-off dolly. The unloading equipment transport mechanism on intelligence and unloading mechanism area is little in same frame with last unloading mechanism, can cooperate two lathe to accomplish twice manufacturing procedure simultaneously, and the suitability is strong, is applicable to many money product processing, and supporting CCD visual system detects, the material position of accurate location processing.
Drawings
FIG. 1 is a schematic view of an intelligent loading and unloading apparatus of the present application;
FIG. 2 is a schematic view of a feeding trolley of the intelligent loading and unloading device;
FIG. 3 is a tray perspective view of a material tray of an intelligent loading and unloading device of the present application;
FIG. 4 is a schematic structural diagram of a feeding assembly of an automatic feeding and discharging mechanism of an intelligent feeding and discharging device according to the present application;
FIG. 5 is a schematic structural view of a horizontal transfer assembly of an automatic loading and unloading mechanism of an intelligent loading and unloading device according to the present application;
FIG. 6 is a schematic structural diagram of a handling mechanism of an intelligent loading and unloading device according to the present application;
FIG. 7 is a schematic view of a handling mechanism of an intelligent loading and unloading apparatus according to the present application;
FIG. 8 is a schematic structural view of a blanking assembly of the automatic feeding and discharging mechanism of the intelligent feeding and discharging device of the present application;
FIG. 9 is a drawing showing a feeding trolley with a tray of the intelligent loading and unloading device of the present application;
fig. 10 is a schematic diagram of a position of a horizontal transfer motor of the intelligent loading and unloading device according to the present application.
In the figure: 1. a feeding trolley; 11. feeding and positioning the upright post; 12. a feed carriage; 13. a guide groove plate; 2. a material tray; 21. a tray positioning hole; 22. a tray column; 23. a pallet column positioning hole; 3. an automatic loading and unloading mechanism; 311. a feeding bracket; 312. loading and positioning the upright post; 313. a feeding motor; 314 feeding upright posts; 321. photoelectric material feeding; 322. a horizontal transfer carriage; 323. horizontally transferring and positioning the upright post; 324. a horizontal transfer motor; 325. a conveyor belt; 326. horizontally transferring the bracket; 327. a horizontal transfer slide rail; 331. a blanking bracket; 332. blanking positioning columns; 333. a blanking motor; 334. blanking the upright post; 4. a frame; 5. a carrying mechanism; 51. a first mechanical arm assembly; 511. a six-axis mechanical arm I; 512. a six-shaft transfer motor I; 513. a first sliding block; 514. a first slide rail; 515. a first screw rod; 516. a first mechanical arm bottom plate; 52. a second mechanical arm assembly; 521. a six-axis mechanical arm II; 522. a six-shaft transfer motor II; 523. a second sliding block; 524. a second slide rail; 525. a second screw rod; 526. a second mechanical arm bottom plate; 6, CCD visual system; 61.CCD visual system column; 62, a CCD lens; 63. a light source; 7. a guide block; 71. a guide limit screw; 72. a buffer; 73. a proximity sensor; 8. lifting limit inductor.
Detailed Description
Preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings so that the advantages and features of the application can be more readily understood by those skilled in the art, and thus the scope of the application will be more clearly and clearly defined.
The attached drawings show, the application provides an intelligent automatic loading and unloading device, which is characterized by comprising a feeding trolley 1, a material tray 2, an automatic loading and unloading mechanism 3, a frame 4, a carrying mechanism 5 and a CCD visual system 6, wherein the automatic loading and unloading mechanism 3 is arranged at the front end of the frame 4, the automatic loading and unloading mechanism 3 comprises a loading assembly, a horizontal transfer assembly and an unloading assembly, the loading assembly and the unloading assembly are adjacently arranged, the horizontal transfer assembly runs between the loading assembly and the unloading assembly, the carrying mechanism 5 is arranged at the upper end of the frame 4, the carrying mechanism 5 comprises a first mechanical arm assembly 51 and a second mechanical arm assembly 52, the first mechanical arm assembly 51 is arranged at one side of the carrying mechanism, the second mechanical arm assembly 52 is arranged at the other side of the carrying mechanism, the feeding trolley 1 conveys the material tray 2 loaded with a workpiece to be processed to the propelling position of the loading assembly (such as the propelling position of the first mechanical arm assembly), the second mechanical arm assembly is arranged at the other As shown in fig. 4), the feeding assembly sends the material tray 2 to the highest position of the feeding assembly, the six-axis mechanical arm assembly one 51 clamps the workpiece to be processed on the material tray 2 for the first process processing, the mechanical arm assembly one 51 returns the workpiece to the original position of the material tray 2 after the processing is finished, the material tray 2 which finishes the first process processing is sent to the highest position of the discharging assembly by the horizontal transfer assembly, the workpiece on the material tray 2 is clamped by the six-axis mechanical arm assembly two 52 for the second process processing, the discharging assembly receives the material tray 2 which finishes the two processes processing, after the workpiece to be processed on the material tray 2 finishes the two processes, the discharging assembly drives the material tray 2 to descend to the pushing-out position of the discharging assembly (as shown in fig. 9), the feeding trolley 1 is accurately positioned, and then the material tray 2 sent by the discharging assembly is received by the feeding trolley 1 to be pushed out by the automatic mechanism 3, the positions of the first six-axis mechanical arm and the second six-axis mechanical arm are adjustable.
The utility model provides a pay-off dolly 1 of unloading equipment on intelligence, including pay-off location stand 11, pay-off bracket 12 and deflector 13, pay-off bracket 12 on have four pay-off location stands 11 and be used for accepting a plurality of superimposed material trays 2 steadily, material tray 2 four tray locating holes 21 and four tray stands 22 have, the back of material tray 2 still have tray stand locating hole 23 and guarantee that material tray 2 stacks steadily, tray stand 22 and the coaxial setting of tray stand locating hole 23.
The utility model provides an installation is provided with guide block 7, direction limit screw 71, buffer 72, is close inductor 73 and the spacing inductor 8 that goes up and down on the frame 4 of unloading equipment on intelligence, feeding trolley 1 under the guide of guide block 7 and direction limit screw 71, send a plurality of superimposed material trays 2 to automatic unloading mechanism 3 of going up and down accurately, feeding trolley 1's guide way board 13 arrive behind guide block 7, buffer 72 guarantee the stability of material tray 2 to the power that the dolly has a buffering, the spacing inductor 8 that goes up and down install in the both sides of frame 4, the height that material tray 2 rose is injectd to the data that the spacing inductor 8 that goes up and down was adjusted in the setting of accessible display screen.
The feeding component of the automatic feeding and discharging mechanism 3 comprises a feeding bracket 311, a feeding positioning upright column 312, a feeding motor 313 and a feeding upright column 314, wherein the feeding upright column 314 is installed on a bottom plate of the rack 4 and is fixedly connected with the feeding bracket 311, after the feeding trolley 1 sends a material tray 2 to the feeding bracket 311, the material tray 2 falls into the feeding bracket 311, the feeding positioning upright column 312 props against a tray upright column positioning hole 23 of the material tray 2, the approach sensor 73 sends an instruction to the feeding motor 313 after receiving a feeding trolley 1 in-place signal, the feeding motor 313 is started to enable the feeding bracket 311 to drive the material tray 2 to ascend to the highest position of the feeding component along the feeding upright column 314, and the feeding trolley 1 is pushed out immediately.
The horizontal transfer component of the automatic loading and unloading mechanism 3 comprises a material arrival photoelectric device 321, a horizontal transfer bracket 322, a horizontal transfer positioning upright column 323, a horizontal transfer motor 324, a conveyor belt 325 and a horizontal transfer support 326, the first mechanical arm component 51 comprises a first six-shaft mechanical arm 511, a first six-shaft transfer motor 512, a first slider 513, a first slide rail 514, a first lead screw 515 and a first mechanical arm bottom plate 516, the second mechanical arm component 52 comprises a second six-shaft mechanical arm 521, a second six-shaft transfer motor 522, a second slider 523, a second slide rail 524, a second lead screw 525 and a second mechanical arm bottom plate 526, the unloading component comprises an unloading bracket 331, an unloading positioning upright column 332, an unloading motor 333 and an unloading upright column 334, the first mechanical arm bottom plate 516 is fixed on the first lead screw 515 and the first slider 514, the first slider 514 is installed on two sides of the conveying mechanism 5, the first six-shaft mechanical arm 511 is installed and fixed on the first mechanical arm bottom plate, the first screw 515 is connected with a six-shaft transfer motor 512, the first six-shaft transfer motor 512 is started to drive a first six-shaft mechanical arm 511 to move along a first sliding rail 514, a second six-shaft mechanical arm 521 is fixedly arranged on a second mechanical arm bottom plate 526, the second mechanical arm bottom plate 526 is fixedly arranged on a second screw 525 and a second sliding block 523, the second sliding rail 523 is arranged on two sides of the carrying mechanism 5, the second screw 525 is connected with a six-shaft transfer motor 522, the second six-shaft transfer motor 522 is started to drive the second six-shaft mechanical arm 521 to move along a second sliding rail 524, the CCD visual system comprises a CCD visual system upright post 61, a CCD lens 62 and a light source 63, the CCD visual system is fixedly arranged above the carrying mechanism, when the uppermost material tray 2 reaches the highest position of the feeding assembly along with the feeding bracket 311, a signal is sent to the material photoelectric 321, and the light source 63 is started, the CCD lens 62 starts photographing to detect the position of the workpiece to be processed. After the detection of the CCD vision system is completed, the first six-axis mechanical arm 511 grips the workpiece to be processed on the uppermost layer material tray 2 to the processing device under the action of the six-axis transfer motor 512 to perform the first process processing, and after the processing is completed, the workpiece is placed back to the original position of the material tray 2 until the workpiece to be processed on the uppermost layer material tray 2 completely completes the first process processing, the first six-axis mechanical arm 511 sends an instruction to the horizontal transfer motor 324, and the horizontal transfer motor 324 starts to drive the horizontal transfer bracket 322 to be transferred to the lower side of the uppermost layer material tray 2 along the horizontal transfer slide rail 327 through the conveyor belt 325, so that the horizontal transfer positioning upright 323 on the horizontal transfer bracket 322 is placed under the tray positioning hole 21. At this time, the feeding motor 313 drives the feeding bracket 311 to descend by the height of one material tray 2, so that the uppermost material tray 2 falls on the horizontal transfer bracket 322 and is dragged by the horizontal transfer positioning upright 323, the horizontal transfer bracket 322 drives the uppermost material tray 2 to be transferred to the highest position of the blanking component under the action of the horizontal transfer motor 324, the six-axis second mechanical arm 521 clamps the workpiece on the uppermost material tray 2 of the blanking component to the device to be processed under the action of the six-axis transfer motor 522 to perform the second process, after the process is completed, the workpiece is put back to the original position until all the workpieces to be processed complete the second process, the six-axis second mechanical arm 521 sends an instruction to the blanking motor 333, the blanking motor drives the blanking bracket 331 to ascend to the highest position 333 of the blanking component along the blanking upright 334, and the blanking positioning upright 332 is used for jacking the material tray 2 to separate from the horizontal transfer bracket 322, the horizontal transfer bracket 322 moves left to transfer the next material tray 2, and the blanking motor 333 drives the blanking bracket 331 to descend. After all workpieces to be machined on the material tray 2 complete two machining processes, the feeding trolley 1 is guided to be accurately in place through the guide block 7 and the guide limiting screws 71, the proximity sensor 73 receives a signal of the feeding trolley 1 in place and then sends a signal to the blanking motor 333, the blanking motor 333 is started to drive the blanking bracket 331 to descend so that the material tray 2 completely falls on the feeding positioning upright post 11 of the feeding trolley 1, after the blanking positioning upright post 332 of the blanking bracket 331 completely breaks away from the material tray 2, the blanking motor 333 stops working, and the feeding trolley 1 drives the material tray 2 to be pushed out to complete the work.
If the machining process needs, the six-shaft mechanical arm I511 can use the gripping clamp to turn the machined part into the original position on the material tray 2 after the first machining procedure is completed, and waits for the second machining procedure.
The feeding positioning upright post 11 of the feeding trolley 1 and the horizontal transfer positioning upright post 324 of the horizontal transfer bracket 322 have the same structure and are matched with the tray positioning hole 21, and the tray positioning hole 21 is matched with the feeding positioning upright post 11 of the feeding trolley 1 and the horizontal transfer positioning upright post 324 of the horizontal transfer bracket 322; the structure of the tray column 22 of the material tray 2, the feeding positioning column 312 of the feeding bracket 311 and the blanking positioning column 332 of the blanking bracket 331 is the same and matched with the tray column positioning hole 23 on the back of the material tray, and the tray column positioning hole 23 on the back of the material tray 2 is matched with the tray column 22 of the material tray 2, the feeding positioning column 312 of the feeding bracket 311 and the blanking positioning column 332 of the blanking bracket 331.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. The utility model provides a unloading equipment in intelligence which characterized in that includes: the automatic feeding and discharging mechanism is arranged at the front end of the frame and comprises a feeding assembly, a horizontal transfer assembly and a discharging assembly, the feeding assembly and the discharging assembly are adjacently arranged on a bottom plate of the frame, the horizontal transfer assembly runs between the feeding assembly and the discharging assembly, the feeding trolley is used for carrying the material tray to a pushing position of the feeding assembly, the material tray is used for loading workpieces to be processed, the feeding assembly conveys the material tray to the highest position of the feeding assembly, the carrying mechanism is arranged at the upper end of the frame and comprises a first six-axis mechanical arm, a first mechanical arm assembly, a second six-axis mechanical arm and a second mechanical arm assembly, and the first mechanical arm assembly is arranged at one side of the carrying mechanism, the six-shaft mechanical arm I can movably clamp a workpiece to be machined on a material tray positioned at the highest position of the feeding assembly to perform first-process machining, the horizontal transfer assembly transfers the material tray from the highest position of the feeding assembly to the highest position of the discharging assembly, the mechanical arm assembly II is arranged at the other side of the carrying mechanism, the six-shaft mechanical arm II can movably clamp the workpiece to be machined on the material tray positioned at the highest position of the discharging assembly to perform second-process machining, the positions of the six-shaft mechanical arm I and the six-shaft mechanical arm II can be adjusted, the discharging assembly conveys the material tray from the highest position of the discharging assembly to a pushing position of the discharging assembly, the feeding trolley pushes the material tray loaded with the machined workpiece out of the automatic feeding and discharging mechanism, and the CCD vision system is arranged above the carrying mechanism, and photographing to detect the specific position of the workpiece to be processed on the material tray.
2. The intelligent loading and unloading device as claimed in claim 1, wherein the frame comprises a guide block, a guide limit screw, a buffer, a proximity sensor and a lifting limit sensor, the guide block is fixedly installed on a bottom plate of the frame, the guide limit screw and the buffer are installed at the upper end of the guide block, the lifting limit sensor is installed on two sides of the frame, and the proximity sensor is installed on the guide block and sends an in-place signal of the feeding trolley to the loading motor and the unloading motor.
3. The intelligent loading and unloading device as claimed in claim 1, wherein the material tray comprises tray columns, tray positioning holes and tray column positioning holes, the four tray columns are arranged at four corners of the material tray, the four tray positioning holes are arranged at the upper end and the lower end of the material tray, the tray column positioning holes are arranged at the back of the tray columns of the material tray, and the tray columns and the tray column positioning holes are coaxially arranged.
4. The intelligent loading and unloading device as claimed in claim 1, wherein the feeding trolley is provided with a feeding positioning column, a feeding bracket and a guide groove plate, the feeding positioning column is arranged on the feeding bracket, and the guide groove plate is provided with a groove below the feeding bracket to match with the guide block.
5. The intelligent loading and unloading device as claimed in claim 1, wherein the loading assembly comprises a loading bracket, a loading positioning column, a loading motor and a loading column, the loading motor and the loading column are mounted and fixed on a bottom plate of the frame, the loading column penetrates through the loading bracket, the loading positioning column is mounted on the loading bracket and used for fixing a plurality of layers of material trays sent by the feeding trolley, and the loading motor drives the loading bracket to ascend and descend along the loading column.
6. The intelligent loading and unloading device as claimed in claim 1, wherein the horizontal transfer assembly comprises a material arrival photoelectricity, a horizontal transfer bracket, a horizontal transfer positioning column, a horizontal transfer slide rail, a horizontal transfer motor, a conveyor belt and a horizontal transfer bracket, the material arrival photoelectricity is mounted on the left side of the horizontal transfer bracket, the horizontal transfer slide rail is arranged on two sides of the horizontal transfer bracket, the horizontal transfer bracket is mounted and fixed on the horizontal transfer slide rail, the horizontal transfer positioning column is mounted and fixed on the horizontal transfer bracket, the horizontal transfer motor is mounted on the back of the rack, and the conveyor belt is connected with the horizontal transfer bracket to drive the horizontal transfer bracket to move on the horizontal transfer slide rail.
7. The intelligent loading and unloading device as claimed in claim 1, wherein the unloading assembly comprises an unloading bracket, an unloading positioning column, an unloading motor and an unloading column, the unloading motor and the unloading column are fixed on a bottom plate of the frame, the unloading column is connected with the unloading bracket in a penetrating manner, the unloading column is installed on the unloading bracket, and the unloading motor drives the unloading bracket to lift along the unloading column.
8. The intelligent loading and unloading device as claimed in claim 1, wherein the first mechanical arm assembly comprises a first six-axis mechanical arm, a first six-axis transfer motor, a first mechanical arm bottom plate, a first slider, a first slide rail and a first screw rod, the first six-axis mechanical arm is mounted on the first mechanical arm bottom plate, the first mechanical arm bottom plate is mounted and fixed on the first slider and the first screw rod, the first slider is arranged on the first slide rail, the first slide rail is mounted on two sides of the handling mechanism, the first screw rod is connected with the first six-axis transfer motor, the first six-axis transfer motor operates to drive the first mechanical arm bottom plate to move back and forth on the first screw rod and the first slider along the first slide rail, the second mechanical arm assembly comprises a second six-axis mechanical arm, a second six-axis transfer motor, a second mechanical arm bottom plate, a second slider, a second slide rail and a second screw rod, and the second six-axis mechanical arm, the second mechanical arm bottom plate is fixedly arranged on the second sliding block and the second screw rod, the second sliding block is arranged on the second sliding rail, the second sliding rail is arranged on two sides of the carrying mechanism, the second screw rod is connected with the second six-shaft transfer motor, and the second six-shaft transfer motor operates to drive the second mechanical arm bottom plate to move back and forth on the second screw rod and the second sliding block along the first sliding rail.
9. The intelligent loading and unloading device as claimed in claim 1, wherein the CCD vision system comprises a CCD vision system column, a CCD lens and a light source, the CCD vision system column is mounted above the carrying mechanism, the CCD lens is mounted on the CCD vision system column, and the light source is mounted below the CCD lens, so that the CCD lens can conveniently take a picture clearly through the light source.
10. The intelligent loading and unloading device as claimed in claim 3, wherein the tray positioning holes are matched with the feeding positioning columns of the feeding trolley and the horizontal transfer positioning columns of the horizontal transfer bracket, the feeding positioning columns of the feeding trolley and the horizontal transfer positioning columns of the horizontal transfer bracket have the same structure, the tray column positioning holes on the back of the material tray are matched with the tray columns of the material tray, the loading positioning columns of the loading bracket and the unloading positioning columns of the unloading bracket, and the tray columns of the material tray, the loading positioning columns of the loading bracket and the unloading positioning columns of the unloading bracket have the same structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010149230.XA CN111185794A (en) | 2020-03-06 | 2020-03-06 | Unloading equipment in intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010149230.XA CN111185794A (en) | 2020-03-06 | 2020-03-06 | Unloading equipment in intelligence |
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| CN111185794A true CN111185794A (en) | 2020-05-22 |
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| CN202010149230.XA Withdrawn CN111185794A (en) | 2020-03-06 | 2020-03-06 | Unloading equipment in intelligence |
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| CN (1) | CN111185794A (en) |
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| CN111791080A (en) * | 2020-07-28 | 2020-10-20 | 邵东智能制造技术研究院有限公司 | Feeding and discharging equipment and method for machining oil pump shell |
| CN111843586A (en) * | 2020-08-18 | 2020-10-30 | 苏州麻雀智能科技有限公司 | Intelligent manufacturing unit of machine tool |
| CN111872729A (en) * | 2020-08-18 | 2020-11-03 | 苏州麻雀智能科技有限公司 | A material automatic loading and unloading mechanism |
| CN111922795A (en) * | 2020-06-24 | 2020-11-13 | 广东利迅达机器人系统股份有限公司 | Material frame type feeding and discharging mechanism for water milling of cutter |
| CN111975429A (en) * | 2020-07-29 | 2020-11-24 | 湖南中大创远数控装备有限公司 | Automatic feeding and discharging mechanism and numerical control machine tool |
| CN112589510A (en) * | 2020-11-26 | 2021-04-02 | 毛享君 | Automatic digit control machine tool of ejection of compact storage |
| CN113086478A (en) * | 2021-04-21 | 2021-07-09 | 上海运城制版有限公司 | Automatic intelligent production line for machining of gravure printing roller machine and control method of automatic intelligent production line |
| CN114368607A (en) * | 2021-12-01 | 2022-04-19 | 联钢精密科技(中国)有限公司 | Automatic feeding and discharging device with rotary pitch changing function |
| CN114473610A (en) * | 2022-04-13 | 2022-05-13 | 深圳博尚精密制造有限公司 | Digit control machine tool based on thing networking remote control feeding |
| CN114988060A (en) * | 2022-06-30 | 2022-09-02 | 北京金晟达生物电子科技有限公司 | Herbage planting disc tower loading system |
| CN116100092A (en) * | 2023-04-13 | 2023-05-12 | 常州宇拓工业装备有限公司 | Automatic feeding and discharging equipment for gear milling machine |
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| CN114473610A (en) * | 2022-04-13 | 2022-05-13 | 深圳博尚精密制造有限公司 | Digit control machine tool based on thing networking remote control feeding |
| CN114988060A (en) * | 2022-06-30 | 2022-09-02 | 北京金晟达生物电子科技有限公司 | Herbage planting disc tower loading system |
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Application publication date: 20200522 |