CN211615061U

CN211615061U - Material processing system based on multi-axis robot

Info

Publication number: CN211615061U
Application number: CN201922259077.1U
Authority: CN
Inventors: 王钰堃; 何俊
Original assignee: Shanghai Laien Machine Tool Parts Corp
Current assignee: Shanghai Laien Machine Tool Parts Corp
Priority date: 2019-12-13
Filing date: 2019-12-13
Publication date: 2020-10-02
Anticipated expiration: 2029-12-13

Abstract

The utility model provides a material processing system based on a multi-axis robot, which comprises a trough, a processing device and a feeding and discharging device, wherein the feeding and discharging device comprises a material taking and discharging mechanism and a multi-axis robot; the multi-axis robot includes: a base assembly and at least two robot arm assemblies; the base component comprises a base support piece and a first shaft joint; each mechanical arm assembly comprises a mechanical arm, a shaft joint connecting part and a second shaft joint; the at least two mechanical arm assemblies are sequentially and rotatably connected, wherein a shaft joint connecting part on a mechanical arm of the mechanical arm assembly connected with the base supporting part is connected with a torque output part of the first shaft joint; the material taking and discharging mechanism is assembled to a torque output part of a second shaft joint of the tail end mechanical arm component far away from the base component. The embodiment of the utility model provides a can save the processing space to the efficiency of unloading in the improvement.

Description

Material processing system based on multi-axis robot

Technical Field

The embodiment of the utility model provides a material processing technology field is related to, more specifically says, relates to a material processing system based on multiaxis robot.

Background

In the existing equipment for processing plates with the assistance of a modular robot, a sliding block type robot is generally adopted for transferring materials, and the sliding block type robot mainly comprises two sliding devices and a rotating device. In the slider robot, the two sliding devices can move the rotating device to any position in the corresponding plane, and the rotating device realizes the posture adjustment of the point position of the output shaft in the corresponding plane, namely the accurate positioning of any position in the plane and the angle adjustment and rotation of the corresponding point position are realized through the sliding and rotating combined robot.

However, in the slider robot, since the two slider devices are used to precisely position the end structure at any position in the plane (X-Y plane), it is necessary to place a precisely positioned guide rail device in the X-axis and Y-axis directions to precisely position the slider in the X-Y plane. Due to structural limitations, enough space is required for placing the slider and the rail in both the X-axis direction and the Y-axis direction, and the occupied space is large. And when the slider formula robot was out of work, because the guide rail structure can't realize the shrink and the adjustment of self gesture, still need occupy original space.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a fill for a duty to increase the space to above-mentioned slider formula robot, and the problem of the unable shrink of guide rail structure and adjustment provides a material system of processing based on multiaxis robot.

The embodiment of the utility model provides a solve above-mentioned technical problem's technical scheme is, provide a material processing system based on multiaxis robot, include:

the material groove is used for placing materials to be processed and processed materials;

the processing device is used for processing the material to be processed in the material groove and comprises a processing station;

the loading and unloading device is used for transferring the material to be processed in the material groove to the processing station and transferring the processed material on the processing station to the material groove;

the loading and unloading device comprises:

a get and put material mechanism for getting material, blowing, and

the multi-axis robot is used for driving the material taking and placing mechanism to reach a material taking position and/or a material placing position;

the multi-axis robot includes:

a base assembly and at least two robot arm assemblies;

the base assembly comprises a base support and a first shaft joint fixed on the base support;

each mechanical arm assembly comprises a mechanical arm, a shaft joint connecting part arranged at the input end of the mechanical arm and a second shaft joint arranged at the output end of the mechanical arm;

the at least two mechanical arm assemblies are sequentially and rotatably connected, and in the two mechanical arm assemblies which are mutually connected, a shaft joint connecting part on a mechanical arm in the rear-stage mechanical arm assembly is connected with a torque output part of a second shaft joint in the front-stage mechanical arm assembly;

the shaft joint connecting part on the mechanical arm of the mechanical arm assembly connected with the base support part is connected with the torque output part of the first shaft joint;

the material taking and discharging mechanism is assembled to a torque output part of a second shaft joint of the tail end mechanical arm component far away from the base component.

Preferably, the material taking and placing mechanism comprises:

a rotating lever fitted to the torque output portion of the second shaft joint of the end robot arm assembly remote from the base assembly and rotating following the torque output portion of the second shaft joint of the end robot arm assembly;

install on the dwang, and follow dwang pivoted turning block, be provided with at least a set of portion of getting that is used for getting to put the material on the turning block.

Preferably, the material taking and placing mechanism comprises:

rotating the rod;

the input end of the eccentric component is connected with the torque output part of the second shaft joint of the tail end mechanical arm component, and the output end of the eccentric component is connected with the rotating rod and drives the rotating rod to rotate along with the torque output part of the second shaft joint of the tail end mechanical arm component; and the number of the first and second groups,

Preferably, the material taking and placing mechanism comprises two rotating rods, and the eccentric component comprises two output ends which are arranged in a back-to-back manner; the two rotating rods are respectively connected with two output ends of the eccentric component, which are arranged in a back direction, and rotate along with the eccentric component along with a torque output part of a second shaft joint of the tail end mechanical arm component.

Preferably, the rotating block comprises at least two groups of pick-and-place parts which are positioned on different sides of the rotating block, and each group of pick-and-place parts comprises one or more suckers.

Preferably, the silo includes a plurality of storage tanks, processingequipment includes a plurality of machining-position, be provided with a plurality of turning blocks on the dwang, a plurality of storage tanks a plurality of machining-position and a plurality of turning block one-to-one.

Preferably, the processing device includes:

the first driving assemblies are arranged corresponding to the processing stations one by one and used for driving the processing stations to bear the materials to be processed transferred by the material taking and placing mechanism of the feeding and discharging device or avoid the material taking and placing mechanism;

the vacuum adsorption device is arranged on the surface of the processing station and is used for adsorbing the plate to be processed placed on the processing station;

the processing heads are arranged in one-to-one correspondence to the processing stations and are used for processing the materials to be processed on the processing stations;

and the second driving assembly is arranged in one-to-one correspondence with the machining head and used for driving the machining head.

Preferably, the first shaft joint comprises a first motor, a first connecting flange and a first speed reducer, the first motor is fixed on the base support member through the first connecting flange, a torque input part of the first speed reducer is connected with a rotating shaft of the first motor, and a torque output part of the first speed reducer forms a torque output part of the first shaft joint;

the second shaft joint comprises a second motor, a second connecting flange and a second speed reducer, the second motor is fixed to one end of the mechanical arm through the second connecting flange, a torque input portion of the second speed reducer is connected with a rotating shaft of the second motor, and a torque output portion of the second speed reducer forms a torque output portion of the second shaft joint.

Preferably, one end of the mechanical arm is provided with a motor mounting hole, the second motor is fixedly mounted in the motor mounting hole through the second connecting flange, and the second speed reducer is located outside the motor mounting hole;

the shaft joint connecting part comprises a speed reducer mounting hole, the central shaft of the speed reducer mounting hole is parallel to the central shaft of the motor mounting hole, the first shaft joint is fixedly mounted on the mechanical arm in a mode that the first speed reducer is embedded into the speed reducer mounting hole of the mechanical arm connected with the first shaft joint, and the second shaft joint is fixedly mounted on the mechanical arm in a mode that the second speed reducer is embedded into the speed reducer mounting hole of the mechanical arm connected with the second shaft joint.

The utility model discloses material processing system based on multiaxis robot of embodiment, through the multiaxis robot that has modular arm component, through the angular attitude adjustment to the hub connection part of a plurality of arm components of multiaxis robot, the drive gets the drop feed mechanism and transfers the material between silo and machining-position, and not only occupation space is less, has improved the efficiency of unloading moreover greatly; because the multi-axis robot device can be contracted and extended by adjusting the angular postures of the shaft connecting components of the plurality of robot arm assemblies, the placing space of the device is saved when the multi-axis robot device is not used; in addition, due to the adoption of the modularized robot structural design, when a certain robot arm component in the multi-axis robot is damaged, the corresponding robot arm component can be directly used for replacement, the cost is low, and the maintenance is convenient. And, the embodiment of the utility model provides a can realize multichannel processing, full-automatic unloading of going up, can greatly improve material machining efficiency.

Drawings

Fig. 1 is a schematic structural diagram of a multi-axis robot-based material processing system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a multi-axis robot in a multi-axis robot-based material processing system according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a base assembly of a multi-axis robot in a multi-axis robot-based material processing system according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a mechanical arm assembly of a multi-axis robot in a multi-axis robot-based material processing system according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a multi-axis robot in a multi-axis robot-based material processing system according to a second embodiment of the present invention;

fig. 6 is a schematic structural diagram of a multi-axis robot in a multi-axis robot-based material processing system according to a third embodiment of the present invention;

fig. 7 is a schematic structural diagram of a mechanical arm assembly of a multi-axis robot in a multi-axis robot-based material processing system according to a third embodiment of the present invention;

fig. 8 is a schematic structural view of an upper feeding and discharging device in a material processing system based on a multi-axis robot according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of an upper and lower discharging device and a material groove in a material processing system based on a multi-axis robot according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a processing device in a multi-axis robot-based material processing system according to an embodiment of the present invention;

fig. 11 is a schematic view of an upper and lower discharging device at a starting point position in a material processing system based on a multi-axis robot according to an embodiment of the present invention;

fig. 12 is a schematic diagram of an upper and lower discharging device acquiring a plate to be processed from a trough in a multi-axis robot-based material processing system according to an embodiment of the present invention;

fig. 13 is a schematic view of the feeding and discharging device placing the plate to be processed to the processing station in the material processing system based on the multi-axis robot according to the embodiment of the present invention;

fig. 14 is a schematic view illustrating a loading and unloading device in a multi-axis robot-based material processing system according to an embodiment of the present invention turning over above a processing station;

fig. 15 is a schematic diagram of a feeding and discharging device in a multi-axis robot for a material processing system based on a multi-axis robot, which is provided by the embodiment of the present invention, placing processed plates in a trough.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in FIG. 1, it is the embodiment of the utility model provides a machine is based on the material processing system's of multiaxis robot structural schematic diagram, this material processing system can be applied to in the automated production to realize getting of material and put. The material processing system based on the multi-axis robot of this embodiment includes unloader, processingequipment and silo, and wherein the silo is used for placing waiting to process material and processed material, and processingequipment includes machining-position 21, and this processingequipment is used for processing (for example glass carving mills sculpture etc.) waiting to process material (coming from the silo) on machining-position 21, and unloader then is arranged in transferring the material of waiting to process in the silo to machining-position 21 on to the processed material on will machining-position 21 transfers to the silo in. Through above-mentioned processingequipment, unloader and silo and mutually support, realize the processing of material and store. Specifically, unloader, processingequipment and silo can be fixed respectively on base 50, and this base 50 can be located the frame to for silo, unloader and processingequipment provide the support, and be convenient for transport and installation.

The feeding and discharging device comprises a taking and discharging mechanism and a multi-axis robot, wherein the taking and discharging mechanism is used for taking and discharging materials, and the multi-axis robot can drive the taking and discharging mechanism to reach a taking position and a discharging position.

Referring to fig. 2, the multi-axis robot includes a base assembly and at least two robot arm assemblies, wherein the base assembly includes a base support 11 and a first axis joint 12, and the first axis joint 12 is fixed on the base support 11; each mechanical arm assembly comprises a mechanical arm 14, a second shaft joint 13 and a shaft joint connecting part (the shaft joint connecting part can be a part of the mechanical arm 14), in each mechanical arm assembly, the second shaft joint 13 is fixed at one end of the mechanical arm 14, the shaft joint connecting part is arranged at the other end of the mechanical arm 14, namely the second shaft joint 13 and the shaft joint connecting part are respectively arranged at two ends of the mechanical arm 14; get drop feed mechanism and pass through base subassembly and a plurality of arm subassembly drive to realize that the material snatchs and transfers.

The base support member 11 is mainly used for providing fixed support for the whole multi-joint robot, the multiple mechanical arm assemblies are sequentially and rotatably connected, namely, the rotating arm assembly at the first stage in the multiple mechanical arm assemblies is rotatably connected with the base assembly, and the second-stage rotating arm assembly is rotatably connected with the first-stage rotating arm assembly (namely, the first rotating arm assembly is the front stage of the second rotating arm assembly, and the second rotating arm assembly is the rear stage of the first rotating arm assembly), and according to the sequence, the rotating arm assemblies reach the tail end (namely, the last-stage rotating arm assembly).

Specifically, in two robot arm assemblies rotatably connected to each other, the shaft joint connection portion of the robot arm 14 of the rear robot arm assembly is connected to the torque output portion of the second shaft joint 13 of the front robot arm assembly, and the shaft joint connection portion of the robot arm 14 of the robot arm assembly connected to the base support (the shaft joint connection portion of the robot arm 14 is not connected to the torque output portion of the second shaft joint 13 of the other robot arm assembly) is connected to the torque output portion of the first shaft joint 12, thereby forming a structure in which the base support 11 and the plurality of robot arms 14 are sequentially rotatably connected, and moving the second shaft joint 13 at any point in a predetermined planar region in the end robot arm assembly away from the base assembly (i.e., the robot arm assembly in which the torque output portion of the second shaft joint 13 is not connected to the other robot arm 14).

As shown in fig. 8, the pick-and-place mechanism is installed at the torque output part of the second shaft joint 13 of the end robot arm assembly far from the base assembly, thereby forming a structure in which the base support 11, the plurality of robot arms 14, and the pick-and-place mechanism are sequentially rotatably connected, and moving the pick-and-place mechanism at the end (i.e., the end far from the base assembly) at any point within a predetermined planar area.

The rotation axes of the torque output parts of the first shaft joint 12 and the plurality of second shaft joints 13 are parallel, the first shaft joint 12 and the second shaft joint 13 (except the second shaft joint 13 of the tail end mechanical arm assembly) can respectively drive the mechanical arm 14 mounted on the torque output part to rotate, and the second shaft joint 13 of the tail end mechanical arm assembly can drive the material taking and placing mechanism connected with the second shaft joint to rotate so as to adjust the posture of the material taking and placing mechanism (including the posture of the material taken by the material taking and placing mechanism), so that the material is transferred and taken and placed between different stations.

Above-mentioned material processing system based on multiaxis robot, get to drive through the last unloading robot that has modular arm assembly and get the material component and carry out the material transfer (transfer the material of treating in the silo to processing station 21 on to with processing station 21 on the processed material transfer to the silo), need not to set up fixed slide rail between silo and the processing station 21, not only occupation space is less, easily installs the debugging moreover, and easily expands. In addition, the efficiency of loading and unloading is greatly improved due to the synergistic effect of the first shaft joint 12 and the second shaft joint 13. In addition, when the operation is stopped, the loading and unloading device can be retracted through the first shaft joint 12 and the second shaft joint 13, and the space is not occupied any more.

In an embodiment of the invention, as shown in fig. 3, the base support 11 of the base assembly comprises a mounting cavity for receiving the first axle joint 12. Specifically, the base support 11 includes a first fixing portion 111 and a second fixing portion 112, and the mounting surfaces of the first fixing portion 111 and the second fixing portion 112 are perpendicular to each other, that is, the base can be mounted and fixed by the first fixing portion 111, and the base assembly can also be mounted and fixed by the second fixing portion 112, so that mounting applications of different end surfaces can be realized, and mounting flexibility is improved.

The fixed part of the first shaft joint 12 is fixedly connected with the base support 11, and the torque output part is fixedly connected with the mechanical arm 14 at the rear end. Specifically, the first axle joint 12 includes a first motor 121, a first connecting flange 122 and a first reducer 123, wherein the first motor 121 may be a servo motor, a direct drive servo or a pneumatic motor, etc., the first motor 121 is mounted and fixed on the base support 11 of the base assembly through the first connecting flange 122, a torque input portion of the first reducer 123 is connected to an output end of the first motor 121, and a torque output portion of the first reducer 123 is fixedly connected to an axle joint connecting portion of the mechanical arm 14, that is, an end far away from the second axle joint 13.

By adding the first speed reducer 123 to the output end of the first motor 121, the output speed of the first shaft joint 12 can be made lower, and the output torque can be made larger, so that the performance of the tail end output can be improved, and the mechanical arm assembly with the rear end as an execution part can drive more expansion modules. Of course, the first reducer 123 may be omitted in certain applications, but this would result in a higher power first motor 121 being required to meet the torque output requirement.

Specifically, as shown in fig. 4, the second shaft joint includes a second motor 131, a second connecting flange, and a second reducer 133. One end of the mechanical arm 14, which is equipped with the second shaft joint 13, is provided with a motor mounting hole perpendicular to the length direction of the mechanical arm 14, the diameter of the motor mounting hole is matched with the diameter of the outer periphery of the second motor 131, the second motor 131 passes through the motor mounting hole and is fixed with the mechanical arm 14 through a second connecting flange, and the second speed reducer 133 is positioned outside the motor mounting hole. The second motor 131 is mainly used for providing kinetic energy, and may be a servo motor, a direct-drive servo motor, a pneumatic motor, or the like. The second reducer 133 is used to convert the torque output from the second motor 131, and thus the output speed is reduced and the torque is increased, thereby improving the performance of the end output. In addition to the main components for realizing the functions, the second shaft joint 13 may further include auxiliary components such as a motor cover, a reducer cover, and a mechanical arm end cover, which are mainly used to protect the corresponding motor, reducer, and mechanical arm shaft ends and provide a clean working environment for the internal module.

In order to realize the fixed mounting of the robot arm 14 and the torque output portion of the first shaft joint 12 or the torque output portion of the second shaft joint 13, in each robot arm assembly, the shaft joint connecting portion of the robot arm 14 may include a reducer mounting hole and a reducer fixing portion 141 corresponding to the reducer mounting hole, wherein a central axis of the reducer mounting hole is parallel to a central axis of the motor mounting hole, the reducer fixing portion 141 protrudes out of the surface of the robot arm 14 at the reducer mounting hole, the first shaft joint 12 is fixed to the reducer fixing portion 141 of the robot arm 14 in such a manner that the first reducer 123 is fitted into the reducer mounting hole of the connected robot arm 14, and the second shaft joint 13 is fixed to the robot arm in such a manner that the second reducer 133 is fitted into the reducer mounting hole of the connected. Through the structure, the modularization of the speed reducer component can be realized, and the expansion of the multi-joint robot is facilitated.

Specifically, the shaft joint connecting portion of the mechanical arm 14 may be connected and fixed to the torque output portion of the first shaft joint 12 or the second shaft joint 13 by a screw, and of course, in practical applications, the shaft joint connecting portion of the mechanical arm 14 may also be connected by a transmission device such as a timing belt or a gear. In addition, the shaft joint connecting portion of the robot arm 14 and the torque output portion of the first shaft joint 12 or the second shaft joint 13 may be connected concentrically or eccentrically, depending on the actual application.

In a specific application, as shown in fig. 2, the multi-joint robot may include two arm assemblies, that is, two mechanical arms 14 and two second shaft joints 13, and one end of one mechanical arm 14 is connected to the other mechanical arm 14 through the second shaft joint 13. The multi-joint robot with the structure can be applied to occasions with small distance between stations.

Since the robot arm 14 itself has a certain weight, the robot arm 14 connected to the first axis joint 12 is required to bear more weight, and accordingly, in the above-described multi-joint robot, the structural strength of the robot arm 14 of the robot arm assembly connected to the first axis joint 12 may be made greater than that of the robot arm 14 of the other robot arm assembly (i.e., the two robot arms 14 may differ in size, material, and/or reinforcing structure, for example, the size of the robot arm 14 connected to the first axis joint 12 may be made greater than that of the other robot arm 14). Moreover, the output power of the first shaft joint 12 can be made larger than the output power of the second shaft joint 13, that is, the first shaft joint 12 and the second shaft joint 13 have different output powers, so that energy consumption and materials can be saved, and the cost can be saved. Of course, in practical applications, the first shaft joint 12 and the second shaft joint 13 may have the same output power, and the two mechanical arms 14 may also have the same structural strength.

As shown in fig. 5, in another embodiment of the present invention, the loading and unloading device includes a base assembly and three mechanical arm assemblies to realize the loading and unloading mechanism and the material transfer in a wider range. Of course, in practical applications, the multi-joint robot in the loading and unloading device may further include more than three robot arm assemblies to extend the material transfer range.

In the multi-joint robot, the torque output part of the first shaft joint 12 and the torque output part of each second shaft joint 13 are in the same or opposite directions, and the directions of the second shaft joints 13 are the same, so that the mechanical arms 14 are sequentially overlapped, and the mutual interference of the mechanical arms 14 can be avoided when the multi-joint robot works.

In practical application, each mechanical arm assembly of the multi-joint robot can have the same shape and structure, so that the production, the manufacture and the assembly are convenient. However, in consideration of cost and the like, the structural strength of the robot arm 14 connected to the first axis joint 12 may be made greater than that of the robot arm 14 in the robot arm assembly at the intermediate position, and the structural strength of the robot arm 14 of the end arm assembly (i.e., the robot arm 14 of the arm assembly at the last stage of the swing arm assembly in which the torque output portion of the second axis joint 13 of the robot arm assembly is not connected to the other robot arm 14) far from the base assembly may be made smaller than that of the robot arm 14 at the intermediate position. Moreover, the output power of the first shaft joint 12 can be made larger than that of the second shaft joint 13, and the output power of the second shaft joint 13 of the end mechanical arm assembly far away from the base assembly can be made smaller than that of the other second shaft joints 13. Wherein an intermediate robot arm assembly refers to at least one robot arm assembly located between the robot arm assembly connected to the base assembly and the end robot arm assembly.

In addition, in the multi-joint robot, the robot arm assemblies in the middle positions can have the same shape and structure, namely, the robot arms 14 of the robot arm assemblies in the middle positions have the same shape, size and the like, and the second shaft joints 13 of the robot arm assemblies in the middle positions have the same output power, so that the multi-joint robot is beneficial to standardized manufacture and installation and expansion of the multi-joint robot.

In order to further save space, as shown in fig. 6-7, in another embodiment of the present invention, the orientation of the torque output of each second shaft joint 13 in the multi-joint robot may not be the same, i.e. the orientation of the torque output of the first shaft joint 12 is opposite to the orientation of the torque output of the second shaft joint 13 in the connected robot arm assembly, and the orientation of the torque output of the second shaft joint 13 in each robot arm assembly is opposite to the orientation of the torque output of the second shaft joint 13 in the connected robot arm assembly. So that alternate robotic arms 14 are in the same plane. The above configuration, while potentially affecting the range of motion of the robotic arm 14, may provide space savings, particularly when the multi-joint robot includes a greater number of robotic arm assemblies.

In an embodiment of the present invention, as shown in fig. 8, the material processing system based on the multi-axis robot can be applied to processing a plate (e.g. glass), and accordingly, the material taking and placing mechanism in the multi-axis robot includes a rotating rod 16 and at least one rotating block 17. A turning lever 16 is fitted to the torque output portion of the second shaft joint 13 of the end arm assembly remote from the base assembly, and this turning lever 16 is parallel to the rotation axis of the torque output portion of the above-mentioned second shaft joint 13 and can follow the rotation of the torque output portion of the second shaft joint 13. The rotating blocks 17 are respectively installed on the rotating rods 16 and can rotate along with the rotating rods 16, and each rotating block 17 is provided with at least one group of pick-and-place parts. In this way, when the torque output portion of the second shaft joint 13 of the end arm assembly away from the base assembly outputs torque, the rotating levers 16 can rotate synchronously and drive the respective rotating blocks 17 to rotate together, thereby adjusting the posture of the pick-and-place portion (including the picked sheet when the sheet is picked on the pick-and-place portion) on the rotating blocks 17. The rotating rod 16 can be provided with a plurality of rotating blocks 17, so the loading and unloading device can realize the transfer and the taking and placing of a plurality of plates.

In another embodiment of the present invention, for expanding the moving range of the rotating block 17, the above discharging mechanism further includes an eccentric member 18 besides the rotating rod 16 and the rotating block 17, an input end of the eccentric member 18 is connected to the torque output portion of the second shaft joint 13 of the terminal arm assembly far away from the base assembly, an output end of the eccentric member is connected to the rotating rod 16, and the rotating rod 16 is driven by the eccentric member to rotate along with the torque output portion of the second shaft joint 13 (the rotating shaft of the torque output portion of the second shaft joint 13 of the terminal arm assembly far away from the base assembly is not coaxial with the rotating rod 16). Through the structure, the movable range of the rotating rod 16 exceeds the movable range of the second shaft joint 13 connected with the rotating rod, and the requirement of special stations is met.

In order to further increase the number of the plates to be transferred and taken in and out, the material taking and placing mechanism can comprise two rotating rods 16, and each rotating rod 16 is provided with at least one rotating block 17. The eccentric member 18 comprises two oppositely disposed outputs and two rotatable levers 16 are connected to the two oppositely disposed outputs of the eccentric member 18, respectively, and together with the eccentric member 18 follow the torque output of the second shaft joint 13 of the end-effector assembly. The above structure can improve the balance performance of the structure while increasing the number of the rotating blocks 17.

In the above material taking and placing mechanism, each rotating block 17 may have two sets of taking and placing portions, and the two sets of taking and placing portions are located on different sides of the rotating block 17 (i.e. the directions of the two sets of taking and placing portions are different, and the direction of each set of taking and placing portion changes along with the rotation of the rotating rod 16), so that each rotating block can simultaneously grab two sheets of plates, for example, plate material changing operation at a certain station can be realized. Each group of the taking and placing parts comprises one or more suckers, so that the glass and other plates can be grabbed by a vacuumizing mode.

In addition, the feeding and discharging device can further comprise an atomizing device, and the atomizing device comprises an atomizing control device, an atomizing water pipe connected with the atomizing control device and an atomizing nozzle arranged on the rotating block 17 and connected with the atomizing water pipe. Get drop feed mechanism accessible atomizing control device and open atomizer when snatching panel, make atomizer blowout water smoke wash wait to process or processed panel, not only be favorable to panel adsorbed, be favorable to improving panel processingquality simultaneously.

As shown in fig. 9, the trough is disposed below the material taking and feeding mechanism in the loading and unloading device, i.e., below the rotating block 17 (hereinafter, the vertical direction is the Z direction), and includes a plurality of storage tanks 41 for storing the to-be-processed sheet material 31 and the processed sheet material 32, and each storage tank 41 has a plurality of storage locations for storing the to-be-processed sheet material 31 and the processed sheet material 32, i.e., the same storage tank 41 can store the to-be-processed sheet material 31 and the processed sheet material 32 at the same time. In the same tank 41, a plurality of storage positions are arranged in the Y direction in the horizontal plane, and the trough and the processing device are also arranged in the Y direction.

The plurality of pockets 41 are arranged in the direction of the rotary rod 16 in the material take-and-feed mechanism (i.e., the X direction in the horizontal plane) (the Y direction is perpendicular to the X direction). Accordingly, as shown in fig. 10, the processing device may include a plurality of processing stations 21, a plurality of turning blocks 17 are disposed on the turning rod 16, and a plurality of storage tanks 41, a plurality of processing stations 21, and a plurality of turning blocks 17 correspond to one another. Therefore, the material feeding and discharging device can simultaneously transfer a plurality of materials, the processing device can simultaneously process a plurality of materials, and the material processing efficiency is greatly improved.

In the trough, the plates are placed vertically (in the Z direction) and arranged in the Y direction. Specifically, each of the pockets 41 may have a rectangular box shape, and a plurality of storage locations in the same pocket 41 may be formed by zigzag grooves on rack bars arranged in the Y direction. In practical applications, a plurality of storage tanks may be disposed on one tank support 42, and the tank support 42 is a flat plate, which is located below the storage tank 41 and provides support for the storage tank 41, so that the storage tank can be a modular device for carrying materials as a whole. In addition, a guide rail may be fixed to an upper surface of the trough bracket 42, and a guide position may be provided for replacement and placement of the trough 41 by the guide rail, thereby ensuring a lateral (X-direction) position of the trough 41 and preventing the trough 41 from being positionally displaced during a machining process. In addition, a front end baffle arranged transversely (in the X direction) may be added to the front end of the trough support 42, and the front end baffle can ensure the longitudinal (Y direction) positioning of the storage tank 41 and prevent the storage tank from slipping off the trough support 42.

In particular, a whirl-stop, which may be an eccentric block-like structure and is located outside the edge of the trough support 42, may be added to the base 50 for holding the trough. In practice, there may be two or more whirl stops on the base 50. The above-mentioned dog of circling round can rotate along the rotation axis, can compress tightly the edge of silo support 42 (or the front end baffle of silo support 42) simultaneously to realize the fixed of silo. When the plates in the trough are completely processed, the rotary stop block can be rotated, and then the trough bracket 42 is taken out to replace the storage tank 41.

As shown in fig. 10, the processing apparatus may further include a plurality of first driving assemblies 22, a plurality of vacuum suction devices, a plurality of processing heads 23, and a plurality of second driving assemblies 24 in addition to the plurality of processing stations 21. Specifically, the plurality of first driving assemblies 22 are arranged in one-to-one correspondence with the plurality of processing stations 21, and are respectively used for driving one processing station 21 to move along the Y direction so as to receive the material to be processed transferred by the material taking and placing mechanism of the loading and unloading device or avoid the material taking and placing mechanism; the vacuum adsorption devices are respectively arranged on the surfaces of the processing stations 21 and are respectively used for adsorbing the plate to be processed placed on the processing stations 21 so as to prevent the plate to be processed from moving in the processing process; the processing heads 23 are arranged in one-to-one correspondence with the processing stations 21 and are respectively used for processing the materials to be processed on the processing stations 21; the plurality of second driving assemblies 25 are arranged in one-to-one correspondence with the plurality of processing heads 23 and are respectively used for driving the processing heads 23 to move along the direction X, Y, Z, so that the processing heads 23 can process the materials to be processed on the processing stations 21 conveniently.

The first driving assembly 22 may specifically include a slide rail and a slide block assembled in the slide rail, and the processing station 21 is located on the slide block. In order to realize rapid positioning of the sheet material when it is placed in the processing station 21, a workpiece positioning device may be added. Above-mentioned machining-position 21 can be square platform, and correspondingly, work piece positioner can include first right angle setting element and second right angle setting element, and first right angle setting element sets up the one corner of keeping away from the silo at machining-position 21 to two right-angle sides along machining-position 21 are upwards protruding, and second right angle setting element then is the diagonal angle setting with first right angle setting element. The right-angle structures of the first right-angle positioning piece and the second right-angle positioning piece are matched with the right angle of the plate, so that the plate can be quickly positioned.

Specifically, the processing head 23 may include a processing head, a cutting fluid nozzle, and the like, wherein the processing head is used for processing the plate at the processing station 21, and may be a carving machine head, a milling machine head, a cutting machine head, and the like, which may be selected according to the processing requirement. When the processed plate is mobile phone glass, the processing machine head can adopt a milling machine head.

The second driving assembly 25 may specifically include a first-stage connecting device, and the first-stage connecting device includes a fixing base, a cleaning and blowing device (air knife), a Z-direction sliding table, a Z-direction driving device, and the like. Wherein, the fixing seat is used for fixing the processing head 23, the cleaning and blowing device is arranged below the fixing seat, and the opening of the cleaning and blowing device faces to the workpiece platform (specifically, the cleaning and blowing device can comprise a transverse slotted hole with a linear shape, and the width of the slotted hole is matched with that of the workpiece platform so as to achieve the best cleaning effect). The cleaning and blowing device can clean the table board of the processing station by air through the linear slot hole before processing the plate. The Z-direction sliding table provides support for the fixed seat, and the Z-direction driving device provides power for the Z-direction movement of the fixed seat, so that the movement of the machining head 23 in the Z direction is realized.

The second drive assembly 25 further includes a secondary connection device, and the secondary connection device includes an X-direction slide table and an X-direction drive device. The X-direction sliding table is used for supporting the primary connecting device, and the X-direction driving device provides power for the X-direction movement of the primary connecting device, so that the movement of the machining head 23 in the X direction is realized.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A material processing system based on a multi-axis robot, comprising:

the loading and unloading device comprises:

a get and put material mechanism for getting material, blowing, and

the multi-axis robot includes:

a base assembly and at least two robot arm assemblies;

2. The multi-axis robot based material processing system as recited in claim 1, wherein: get and put material mechanism and include:

3. The multi-axis robot-based material processing system as claimed in claim 1, wherein the pick-and-place mechanism comprises:

rotating the rod;

4. The multi-axis robot-based material processing system as recited in claim 3, wherein the drop and pick mechanism comprises two rotating rods, and the eccentric member comprises two oppositely disposed outputs; the two rotating rods are respectively connected with two output ends of the eccentric component, which are arranged in a back direction, and rotate along with the eccentric component along with a torque output part of a second shaft joint of the tail end mechanical arm component.

5. Multi-axis robot-based material processing system according to any of claims 2 to 4, characterized in that: the rotating block comprises at least two groups of taking and placing parts which are positioned on different side surfaces of the rotating block, and each group of taking and placing parts comprises one or more suckers.

6. The multi-axis robot-based material processing system as claimed in any one of claims 2 to 4, wherein the chute comprises a plurality of storage tanks, the processing device comprises a plurality of processing stations, a plurality of turning blocks are arranged on the turning rod, and the plurality of storage tanks, the plurality of processing stations and the plurality of turning blocks are in one-to-one correspondence.

7. The multi-axis robot based material processing system as recited in claim 6, wherein the processing device comprises:

8. The multi-axis robot based material processing system as recited in claim 1, wherein: the first shaft joint comprises a first motor, a first connecting flange and a first speed reducer, the first motor is fixed on the base support piece through the first connecting flange, a torque input part of the first speed reducer is connected with a rotating shaft of the first motor, and a torque output part of the first speed reducer forms a torque output part of the first shaft joint;

9. The multi-axis robot based material handling system of claim 8, wherein: one end of the mechanical arm is provided with a motor mounting hole, the second motor is fixedly mounted in the motor mounting hole through the second connecting flange, and the second speed reducer is positioned outside the motor mounting hole;