CN110834218A - Automatic feeding and discharging industrial robot for machining of multiple CNC (computer numerical control) machines - Google Patents
Automatic feeding and discharging industrial robot for machining of multiple CNC (computer numerical control) machines Download PDFInfo
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- CN110834218A CN110834218A CN201911239680.1A CN201911239680A CN110834218A CN 110834218 A CN110834218 A CN 110834218A CN 201911239680 A CN201911239680 A CN 201911239680A CN 110834218 A CN110834218 A CN 110834218A
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- 238000007599 discharging Methods 0.000 title claims abstract description 22
- 238000003754 machining Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 3
- 230000006378 damage Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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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
- B23Q7/043—Construction of the grippers
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Abstract
The invention discloses an automatic feeding and discharging industrial robot for multiple CNC machining, which comprises an AGV trolley, a supporting platform, a multi-shaft mechanical arm, a conveying mechanism and an electric clamping jaw mechanism, wherein the AGV trolley is arranged on the supporting platform; the supporting platform is fixed above the AGV trolley, the conveying mechanism and the multi-shaft mechanical arm are fixed on the upper surface of the supporting platform, and the electric clamping jaw mechanism is connected to the outermost end of the multi-shaft mechanical arm; when the tooling plate flows into the conveying mechanism through the assembly line, the multi-shaft mechanical arm controls the electric clamping jaw mechanism to grab the product to be processed and then place the product into the CNC tooling, and then the finished product is grabbed and placed into the tooling plate. According to the invention, the industrial robot can flexibly move by the aid of the AGV trolley, and the laying of ground rails is omitted, so that the damage to the field is avoided, the number of CNC machine tables can be increased or reduced, the use is more flexible, and the application range is wider.
Description
Technical Field
The invention relates to an industrial robot, in particular to an automatic feeding and discharging industrial robot for multiple CNC machining.
Background
With the automatic transformation and upgrading of the manufacturing industry in China, a large number of suitable loading and unloading robots are urgently needed to replace manpower in the production and manufacturing process to improve the production efficiency and quality and reduce the production cost. The automatic feeding and discharging mechanical arm on the numerical control machine tool equipment on the market is various, but the existing feeding and discharging robot needs to lay a special ground rail when in use, so that a large amount of fields need to be occupied, the use is not flexible enough, and the use range is narrow.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic feeding and discharging industrial robot for multiple CNC machining.
In order to achieve the purpose, the invention adopts the following technical scheme: an automatic feeding and discharging industrial robot for multiple CNC machining comprises an AGV trolley, a supporting platform, a multi-shaft mechanical arm, a conveying mechanism and an electric clamping jaw mechanism; the supporting platform is fixed above the AGV trolley, the conveying mechanism and the multi-shaft mechanical arm are both fixed on the upper surface of the supporting platform, and the electric clamping jaw mechanism is connected to the outermost end of the multi-shaft mechanical arm; when the tooling plate flows into the conveying mechanism through the assembly line, the multi-shaft mechanical arm controls the electric clamping jaw mechanism to grab the product to be processed and then place the product into the CNC tooling, and then the finished product is grabbed and placed into the tooling plate.
The further technical scheme is as follows: the AGV comprises a body, an electric cabinet, a servo motor, power wheels, universal wheels and a laser radar for positioning; the driving motor and the laser radar are electrically connected with the electric cabinet, and the power wheel is controlled by the servo motor; the power wheel and the universal wheel are arranged at the bottom of the body, the electric cabinet and the servo motor are fixed in the body, and the laser radar is located on the side face of the body.
The further technical scheme is as follows: the number of the universal wheels is four, the universal wheels are respectively a first universal wheel, a second universal wheel, a third universal wheel and a fourth universal wheel, and the first universal wheel, the second universal wheel, the third universal wheel and the fourth universal wheel are respectively arranged at four corners of the bottom of the body; the two power wheels are respectively a first power wheel and a second power wheel, the first power wheel is positioned between the first universal wheel and the second universal wheel, and the second power wheel is positioned between the third universal wheel and the fourth universal wheel.
The further technical scheme is as follows: the multi-axis mechanical arm is electrically connected with the electric cabinet; the multi-axis mechanical arm is a six-axis mechanical arm; the six-axis mechanical arm comprises a base, a first rotating arm, a second rotating arm, a third rotating arm, a fourth rotating arm, a fifth rotating arm and a sixth rotating arm which are fixedly connected with the supporting platform; a first driving motor is arranged between the first rotating arm and the base so as to drive the first rotating arm to rotate relative to the base; a second driving motor is arranged between the second rotating arm and the first rotating arm so as to drive the second rotating arm to rotate relative to the first rotating arm; a third driving motor is arranged between the third rotating arm and the second rotating arm so as to drive the third rotating arm to rotate relative to the second rotating arm; a fourth driving motor is arranged between the fourth rotating arm and the third rotating arm so as to drive the fourth rotating arm to rotate relative to the third rotating arm; a fifth driving motor is arranged between the fifth rotating arm and the fourth rotating arm so as to drive the fifth rotating arm to rotate relative to the fourth rotating arm; and a sixth rotating arm is arranged between the sixth rotating arm and the fifth rotating arm so as to drive the sixth rotating arm to rotate relative to the fifth rotating arm.
The further technical scheme is as follows: the electric clamping jaw mechanism comprises a connecting rod, a fixed seat, a first clamping plate and a second clamping plate; one end of the connecting rod is connected with the fifth rotating arm, and a seventh driving motor is arranged between the connecting rod and the fifth rotating arm so as to drive the connecting rod to rotate relative to the fifth rotating arm; the fixing base is fixedly connected with the other end of the connecting rod, and the first clamping plate and the second clamping plate are symmetrically arranged on two sides of the fixing base.
The further technical scheme is as follows: the visual component is used for judging the position and the appearance shape of the product; the visual component is electrically connected with the electric cabinet; the vision assembly comprises a fixing plate fixedly connected with the fixing seat and a camera fixed on the fixing plate.
The further technical scheme is as follows: the conveying mechanism comprises a bracket, a conveying belt arranged on the bracket and a speed reducing motor used for driving the conveying belt to rotate; the speed reducing motor is electrically connected with the electric cabinet.
Compared with the prior art, the invention has the beneficial effects that: according to the automatic feeding and discharging industrial robot for the CNC machining, the industrial robot can move flexibly through the AGV trolley, the laying of ground rails is omitted, the damage to the field is avoided, the number of CNC machine tables can be increased or reduced, the use is more flexible, and the application range is wider.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more apparent, the following detailed description will be given of preferred embodiments.
Drawings
FIG. 1 is an assembly drawing of an embodiment of an automatic feeding and discharging industrial robot for multiple CNC machining according to the present invention;
FIG. 2 is a schematic diagram of an AGV configuration in an exemplary embodiment of an automatic loading and unloading industrial robot for CNC machining according to the present invention;
FIG. 3 is a schematic diagram of the combination of the support platform and the conveying mechanism of an embodiment of an automatic feeding and discharging industrial robot for multiple CNC machining according to the present invention;
FIG. 4 is a schematic diagram of a multi-axis robotic arm in an embodiment of an automatic feeding and discharging industrial robot for multiple CNC processes according to the present invention;
fig. 5 is a schematic structural diagram of an electric clamping jaw mechanism in an embodiment of the automatic feeding and discharging industrial robot for multiple CNC machining.
Reference numerals
1. An AGV trolley; 11. a first universal wheel; 12. a second universal wheel; 13. a third universal wheel; 14. a fourth universal wheel; 15. a first power wheel; 16. a second power wheel; 2. a support platform; 3. a conveying mechanism; 31. a support; 32. a conveyor belt; 33. a reduction motor; 4. a six-axis mechanical arm; 41. a base; 42. a first rotation arm; 43. a second rotating arm; 44. a third rotating arm; 45. a fourth rotating arm; 46. a fifth rotating arm; 47. a sixth rotating arm; 5. an electric gripper mechanism; 51. a fixed seat; 52. a first clamping plate; 53. a second clamping plate; 54. a connecting rod; 6. a visual component.
Detailed Description
In order to more fully understand the technical content of the present invention, the technical solution of the present invention will be further described and illustrated with reference to the following specific embodiments, but not limited thereto.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.
The invention provides an automatic feeding and discharging industrial robot for multiple CNC machining, and please refer to fig. 1, the industrial robot comprises an AGV trolley 1, a supporting platform 2, a multi-axis mechanical arm, a conveying mechanism 3 and an electric clamping jaw mechanism 5; the supporting platform 2 is fixed above the AGV trolley 1, the conveying mechanism 3 and the multi-axis mechanical arm are both fixed on the upper surface of the supporting platform 2, and the electric clamping jaw mechanism 5 is connected to the outermost end of the multi-axis mechanical arm; when the tooling plate flows into the conveying mechanism 3 through the assembly line, the multi-shaft mechanical arm control electric clamping jaw mechanism 5 grabs the product to be processed and puts into the CNC tooling (the CNC tooling is used for processing the product to be processed), and then grabs the finished product and puts into the tooling plate, when the CNC is finished on one platform, the AGV trolley 1 moves to the next CNC and continuously loads and unloads. Can accomplish many CNC's last unloading automatically through this industrial robot, through the AGV dolly 1 that is equipped with moreover for industrial robot can remove in a flexible way, has saved laying of ground rail, thereby avoids the destruction and can increase or reduce the quantity of CNC board to the place, uses more in a flexible way, and the range of application is more extensive.
Referring to fig. 2, an AGV cart 1 includes a body, an electric cabinet, a servo motor, a power wheel, a universal wheel, and a laser radar for positioning; the driving motor and the laser radar are electrically connected with the electric cabinet, and the power wheel is controlled by the servo motor; the bottom of body is located to power wheel and universal wheel, and electric cabinet and servo motor are all fixed in this internally, and laser radar is located the side of body. AGV dolly 1 guarantees AGV dolly 1's operation precision through laser radar location and servo motor's encoder ODO, and laser radar's scanning frequency is 20HZ, through higher scanning frequency, confirms the position of oneself in the environment in real time, and the data that simultaneously feeds back through the ODO assists the correction, guarantees that final AGV dolly 1's process precision is at 30mm, and the website stops the precision within 10 mm. In this embodiment, the number of the universal wheels is four, and the four universal wheels are respectively a first universal wheel 11, a second universal wheel 12, a third universal wheel 13 and a fourth universal wheel 14, and the first universal wheel 11, the second universal wheel 12, the third universal wheel 13 and the fourth universal wheel 14 are respectively arranged at four corners of the bottom of the body; the number of the power wheels is two, namely a first power wheel 15 and a second power wheel 16, the first power wheel 15 is positioned between the first universal wheel 11 and the second universal wheel 12, and the second power wheel 16 is positioned between the third universal wheel 13 and the fourth universal wheel 14. Can drive AGV dolly 1 through the power wheel and remove, can change AGV dolly 1's moving direction through the universal wheel that sets up.
Referring to fig. 4, the multi-axis mechanical arm is electrically connected to the electric cabinet; preferably, the multi-axis mechanical arm is a six-axis mechanical arm 4; the six-axis mechanical arm 4 comprises a base 41, a first rotating arm 42, a second rotating arm 43, a third rotating arm 44, a fourth rotating arm 45, a fifth rotating arm 46 and a sixth rotating arm 47 which are fixedly connected with the supporting platform 2; a first driving motor is arranged between the first rotating arm 42 and the base 41 to drive the first rotating arm 42 to rotate relative to the base 41; a second driving motor is arranged between the second rotating arm 43 and the first rotating arm 42 to drive the second rotating arm 43 to rotate relative to the first rotating arm 42; a third driving motor is arranged between the third rotating arm 44 and the second rotating arm 43 to drive the third rotating arm 44 to rotate relative to the second rotating arm 43; a fourth driving motor is arranged between the fourth rotating arm 45 and the third rotating arm 44 to drive the fourth rotating arm 45 to rotate relative to the third rotating arm 44; a fifth driving motor is arranged between the fifth rotating arm 46 and the fourth rotating arm 45 so as to drive the fifth rotating arm 46 to rotate relative to the fourth rotating arm 45; a sixth rotating arm 47 is disposed between the sixth rotating arm 47 and the fifth rotating arm 46 to drive the sixth rotating arm 47 to rotate relative to the fifth rotating arm 46. The six-shaft mechanical arm 4 is selected to realize rotation in any range, so that a larger grabbing range is provided for the electric clamping jaw mechanism 5, and grabbing is more convenient.
Referring to fig. 5, the electric clamping jaw mechanism 5 includes a connecting rod 54, a fixing seat 51, a first clamping plate 52 and a second clamping plate 53; one end of the connecting rod 54 is connected with the fifth rotating arm, and a seventh driving motor is arranged between the connecting rod 54 and the fifth rotating arm to drive the connecting rod 54 to rotate relative to the fifth rotating arm; the fixed seat 51 is fixedly connected with the other end of the connecting rod 54, and the first clamping plate 52 and the second clamping plate 53 are symmetrically arranged on two sides of the fixed seat 51. Finished products can be clamped and placed into the product tooling through the electric clamping jaw mechanism 5.
Further, referring to fig. 1 and 5, the industrial robot further includes a vision component 6 for determining the position and the appearance shape of the product; the vision component 6 is electrically connected with the electric cabinet; the vision assembly 6 includes a fixing plate fixedly connected to the fixing base 51, and a camera fixed to the fixing plate. The visual component 6 can replace human eyes to judge the position and the appearance shape of a product, converts a shot target into an image signal through a camera, transmits the image signal to an image processing module in the visual component 6, and converts the image signal into a digital signal according to information such as pixel distribution, brightness, color and the like; the image processing module performs various operations on the signals to extract the characteristics of the target, and feeds the judgment result back to the electric cabinet, so that the position and the direction of the product are judged, and the accurate feeding and discharging of the industrial robot are ensured.
Referring to fig. 3, the conveying mechanism 3 includes a bracket 31, a conveyor belt 32 disposed on the bracket 31, and a speed reduction motor 33 for driving the conveyor belt 32 to rotate; the speed reducing motor 33 is electrically connected with the electric cabinet.
Under the effect of electric cabinet, each part synergism that can make industrial robot has guaranteed industrial robot's accurate unloading of going up.
The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.
Claims (7)
1. An automatic feeding and discharging industrial robot for multiple CNC machining is characterized by comprising an AGV trolley, a supporting platform, a multi-shaft mechanical arm, a conveying mechanism and an electric clamping jaw mechanism; the supporting platform is fixed above the AGV trolley, the conveying mechanism and the multi-shaft mechanical arm are both fixed on the upper surface of the supporting platform, and the electric clamping jaw mechanism is connected to the outermost end of the multi-shaft mechanical arm; when the tooling plate flows into the conveying mechanism through the assembly line, the multi-shaft mechanical arm controls the electric clamping jaw mechanism to grab the product to be processed and then place the product into the CNC tooling, and then the finished product is grabbed and placed into the tooling plate.
2. The automatic feeding and discharging industrial robot for the CNC machining is characterized in that the AGV comprises a body, an electric cabinet, a servo motor, power wheels, universal wheels and a laser radar for positioning; the driving motor and the laser radar are electrically connected with the electric cabinet, and the power wheel is controlled by the servo motor; the power wheel and the universal wheel are arranged at the bottom of the body, the electric cabinet and the servo motor are fixed in the body, and the laser radar is located on the side face of the body.
3. The automatic feeding and discharging industrial robot for multiple CNC machining according to claim 2, characterized in that the universal wheels are four, namely a first universal wheel, a second universal wheel, a third universal wheel and a fourth universal wheel, and the first universal wheel, the second universal wheel, the third universal wheel and the fourth universal wheel are respectively arranged at four corners of the bottom of the body; the two power wheels are respectively a first power wheel and a second power wheel, the first power wheel is positioned between the first universal wheel and the second universal wheel, and the second power wheel is positioned between the third universal wheel and the fourth universal wheel.
4. The automatic feeding and discharging industrial robot for multiple CNC machining according to claim 2, characterized in that the multi-axis mechanical arm is electrically connected with an electric cabinet; the multi-axis mechanical arm is a six-axis mechanical arm; the six-axis mechanical arm comprises a base, a first rotating arm, a second rotating arm, a third rotating arm, a fourth rotating arm, a fifth rotating arm and a sixth rotating arm which are fixedly connected with the supporting platform; a first driving motor is arranged between the first rotating arm and the base so as to drive the first rotating arm to rotate relative to the base; a second driving motor is arranged between the second rotating arm and the first rotating arm so as to drive the second rotating arm to rotate relative to the first rotating arm; a third driving motor is arranged between the third rotating arm and the second rotating arm so as to drive the third rotating arm to rotate relative to the second rotating arm; a fourth driving motor is arranged between the fourth rotating arm and the third rotating arm so as to drive the fourth rotating arm to rotate relative to the third rotating arm; a fifth driving motor is arranged between the fifth rotating arm and the fourth rotating arm so as to drive the fifth rotating arm to rotate relative to the fourth rotating arm; and a sixth rotating arm is arranged between the sixth rotating arm and the fifth rotating arm so as to drive the sixth rotating arm to rotate relative to the fifth rotating arm.
5. The automatic feeding and discharging industrial robot for multiple CNC machining according to claim 4, characterized in that the electric clamping jaw mechanism comprises a connecting rod, a fixed seat, a first clamping plate and a second clamping plate; one end of the connecting rod is connected with the fifth rotating arm, and a seventh driving motor is arranged between the connecting rod and the fifth rotating arm so as to drive the connecting rod to rotate relative to the fifth rotating arm; the fixing base is fixedly connected with the other end of the connecting rod, and the first clamping plate and the second clamping plate are symmetrically arranged on two sides of the fixing base.
6. The automatic feeding and discharging industrial robot for multiple CNC machining according to claim 5, characterized by further comprising a vision component for judging product position and appearance shape; the visual component is electrically connected with the electric cabinet; the vision assembly comprises a fixing plate fixedly connected with the fixing seat and a camera fixed on the fixing plate.
7. The automatic feeding and discharging industrial robot for the plurality of CNC machining according to claim 2, characterized in that the conveying mechanism comprises a support, a conveyor belt arranged on the support, and a speed reduction motor for driving the conveyor belt to rotate; the speed reducing motor is electrically connected with the electric cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911239680.1A CN110834218A (en) | 2019-12-06 | 2019-12-06 | Automatic feeding and discharging industrial robot for machining of multiple CNC (computer numerical control) machines |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911239680.1A CN110834218A (en) | 2019-12-06 | 2019-12-06 | Automatic feeding and discharging industrial robot for machining of multiple CNC (computer numerical control) machines |
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| CN201911239680.1A Pending CN110834218A (en) | 2019-12-06 | 2019-12-06 | Automatic feeding and discharging industrial robot for machining of multiple CNC (computer numerical control) machines |
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| CN114850947A (en) * | 2022-06-15 | 2022-08-05 | 深圳市富士杰智能技术有限公司 | Automatic material turning numerical control equipment joint robot |
| CN115108259A (en) * | 2022-07-27 | 2022-09-27 | 歌尔股份有限公司 | Composite transportation equipment control method, device, equipment and storage medium |
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