CN111347281A - Heavy workpiece carrying and overturning robot workstation - Google Patents
Heavy workpiece carrying and overturning robot workstation Download PDFInfo
- Publication number
- CN111347281A CN111347281A CN202010284730.4A CN202010284730A CN111347281A CN 111347281 A CN111347281 A CN 111347281A CN 202010284730 A CN202010284730 A CN 202010284730A CN 111347281 A CN111347281 A CN 111347281A
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- Prior art keywords
- carrying
- shaft
- gripper
- carrying shaft
- transfer
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Links
- 238000012546 transfer Methods 0.000 claims description 34
- 238000012545 processing Methods 0.000 claims description 28
- 238000003754 machining Methods 0.000 claims description 8
- 238000007599 discharging Methods 0.000 claims description 4
- 238000013459 approach Methods 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 239000000463 material Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a heavy workpiece carrying and overturning robot workstation which comprises two carrying robots working in cooperation, wherein each carrying robot comprises a base, a first carrying shaft, a second carrying shaft and a gripper, the first carrying shaft is rotatably arranged on the base, the second carrying shaft is rotatably arranged on the first carrying shaft, the gripper is rotatably arranged on the second carrying shaft around the axis line direction of the gripper, the gripper can be slidably arranged along the length direction of the second carrying shaft, and the rotating axes of the first carrying shaft, the second carrying shaft and the gripper are arranged in parallel and extend along the horizontal direction. According to the carrying and overturning robot workstation, the first carrying shaft, the second carrying shaft and the hand grips on the two carrying robots working cooperatively are matched, heavy workpieces can be carried efficiently, the lifting and overturning of the workpieces are realized through the sliding and rotating of the hand grips on the second carrying shaft, the problem of overlarge overturning moment caused by overhigh direct lifting of a mechanical arm is avoided, and potential safety hazards are avoided.
Description
Technical Field
The invention relates to the field of machining, in particular to a heavy workpiece carrying and overturning robot workstation.
Background
For the processing of large flanges and large bearing rings on a numerical control lathe, at present, a mechanical arm is generally used for carrying. However, the existing mechanical arm directly lifts the workpiece when carrying the workpiece, and due to the large and heavy large flange and large bearing ring, when the mechanical arm lifts and turns over the workpiece, the overturning moment is easily too large due to too high lifting, and great potential safety hazard is caused.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a robot workstation which can effectively lift heavy workpieces, carry and overturn the heavy workpieces and cannot cause overlarge overturning moment.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a heavy work piece transport and upset robot workstation for the transport and the upset of the heavy work piece on the processing equipment, it includes that two collaborative work are used for respectively carrying and upset the transfer robot of heavy work piece both sides portion, transfer robot includes the base, rotatable locating first transport axle on the base, rotatable locating second transport axle on the first transport axle, around rotatable locating of its self axial lead direction on the second transport axle and along the tongs of the length direction slidable setting of second transport axle, first transport axle the second transport axle with the rotation axis parallel arrangement of tongs just extends along the horizontal direction.
Preferably, the processing equipment comprises a processing device and a loading and unloading platform, wherein the processing device and the loading and unloading platform are respectively positioned on two sides of the robot workstation and on the rotating paths of the first carrying shaft and the second carrying shaft.
Preferably, one end of the first carrying shaft is rotatably arranged on the base, and the other end of the first carrying shaft is a free end and is positioned above the base.
Further preferably, one end of the second carrying shaft is rotatably disposed on the free end, and the other end is located below the free end.
Preferably, the grippers of the two transfer robots are respectively arranged in a direction in which the grippers approach each other.
Preferably, the transfer robot further comprises a sliding groove formed in the second transfer shaft along the length direction of the second transfer shaft, and a sliding block is arranged at the bottom of the hand grip and can be clamped and embedded in the sliding groove in a matched mode.
Further preferably, the hand grip is rotatably arranged on the sliding block.
Further preferably, the processing devices are arranged in a plurality of numbers in sequence along the horizontal direction, the robot workstation further comprises a guide rail extending along the arrangement direction of the processing devices, and the base is slidably disposed on the guide rail.
Still further preferably, the number of the guide rails is two, and the guide rails are arranged on the guide rail bracket side by side along a direction perpendicular to the arrangement direction of the processing devices.
Still further preferably, the bottom of the base is provided with a clamping groove, and the guide rail can be clamped and embedded in the clamping groove in a matched manner.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: according to the carrying and overturning robot workstation, the first carrying shaft, the second carrying shaft and the hand grips on the two carrying robots working cooperatively are matched, heavy workpieces can be carried efficiently, the lifting and overturning of the workpieces are realized through the sliding and rotating of the hand grips on the second carrying shaft, the problem of overlarge overturning moment caused by overhigh direct lifting of a mechanical arm is avoided, and potential safety hazards are avoided.
Drawings
FIG. 1 is a front view of a roll-over handling apparatus in an embodiment of the invention;
FIG. 2 is a side view of the invert handling apparatus in an embodiment of the present invention;
FIG. 3 is an enlarged schematic view of A of FIG. 1;
FIG. 4 is an enlarged schematic view of FIG. 1 at B; a
FIG. 5 is an enlarged schematic view of FIG. 1 at C;
fig. 6 is an enlarged schematic view at D in fig. 2.
Wherein: 1. a base; 2. a first carrying shaft; 3. a second carrying shaft; 4. a gripper; 5. a chute; 6. a slider; 7. a guide rail; 8. a rail bracket; 9. a card slot; 10. a motor; 11. a speed reducer; 12. a slider;
101. a processing device; 102. and a loading and unloading platform.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
The invention relates to innovations in heavy workpiece handling devices. The invention provides a heavy workpiece carrying and overturning robot workstation, aiming at solving the problems that the overturning moment is too large and potential safety hazards exist when a mechanical arm for carrying heavy workpieces is lifted too high at present. The invention can replace sliding lifting without directly lifting when carrying the workpiece, has smart structure, avoids potential safety hazard, and is particularly suitable for carrying large-scale bearing rings or flange rings.
In particular, with reference to fig. 1, there is shown a heavy workpiece handling and turning robot station for handling and turning heavy workpieces on a processing plant, comprising two cooperating handling robots for handling and turning two sides of a heavy workpiece, respectively. The workpiece is a large flange ring or a bearing ring, two conveying robots are respectively positioned on two radial sides of the flange ring or the bearing ring and synchronously act under the control of the same controller to form a robot workstation for cooperatively and efficiently grabbing two sides of the workpiece and carrying and overturning the workpiece. The controller here is a conventional PLC controller, and details are not repeated.
As shown in fig. 1-2, each of the transfer robots includes a base 1, a first transfer shaft 2 rotatably disposed on the base 1, a second transfer shaft 3 rotatably disposed on the first transfer shaft 2, and a gripper 4 rotatably disposed on the second transfer shaft 3 around its own axial line direction and slidably disposed along the length direction of the second transfer shaft 3, wherein the rotation axes of the first transfer shaft 2, the second transfer shaft 3, and the gripper 4 are disposed in parallel and extend along the horizontal direction. Here, the processing apparatus includes a processing device 101 and an upper and lower material loading platform 102, the processing device 101 and the upper and lower material loading platform 102 are respectively located at two sides of the robot workstation and located on the rotation path of the first carrying shaft 2 and the second carrying shaft 3, the first carrying shaft 2 and the second carrying shaft 3 rotate synchronously, and the first carrying shaft 2 and the second carrying shaft 3 cooperatively drive the gripper 4 to move to the processing device 101 and the upper and lower material loading platform 102. The feeding and discharging table 102 includes a feeding table and a discharging table, and is respectively located at two opposite sides of the processing device 101.
One end of the first carrying shaft 2 is rotatably arranged on the base 1, and the other end is a free end and is positioned above the base 1; one end of the second carrying shaft 3 is rotatably arranged on the free end, and the other end is positioned below the free end; the grippers 4 of the two transfer robots are arranged in a direction in which they approach each other.
Specifically, as shown in fig. 3 to 5, the first carrying shaft 2, the second carrying shaft 3 and the hand grip 4 are respectively rotated by the cooperation of the motor 10 and the joint reducer 11. The motor 10 and the reducer 11 are purchased from other places, and the detailed driving principle is not described again.
As shown in fig. 5, the transfer robot further includes a sliding slot 5 disposed on the second transfer shaft 3 along the length direction of the second transfer shaft 3, a sliding block 6 is disposed at the bottom of the hand grip 4, the sliding block 6 can be engaged with the sliding slot 5, and the hand grip 4 is rotatably disposed on the sliding block 6. Here, the speed reducer 11 is arranged in the slide block 6, the motor 10 is located on the upper portion of the slide block 6 and connected with the speed reducer 11, and the output end of the speed reducer 11 extends out towards one side of the slide block 6 and is connected with the hand grip 4 to drive the hand grip 4 to rotate. The gripper 4 can slide on the second carrying shaft 3 through the cooperation of the sliding block 6 and the sliding groove 5, and the lifting of the workpiece is completed. Here, be provided with ball screw in the spout 5, ball screw is outsourcing, and not shown in the figure, and specific principle is not repeated. The slide block 6 slides under the driving of the ball screw.
In this embodiment, the processing devices 101 are provided in plural and arranged in order along the horizontal direction. As shown in fig. 1-2, the robot workstation further includes a guide rail 7 extending along the arrangement direction of the processing device 101, and the base 1 is slidably disposed on the guide rail 7. Two of the guide rails 7 are arranged on the guide rail bracket 8 side by side along the arrangement direction perpendicular to the processing device 101. As shown in fig. 6, a clamping groove 9 is formed at the bottom of the base 1, and the guide rail 7 can be fittingly clamped in the clamping groove 9. The bottom of the base 1 is detachably connected with a sliding part 12, the clamping groove 9 is formed in the sliding part 12, and the sliding part 12 can slide on the guide rail 7. Through the arrangement of the guide rail 7, the robot workstation can move among a plurality of processing devices 101, meanwhile, the overturning and conveying of workpieces on the plurality of processing devices 101 are considered, and the working efficiency is improved. Here, the base 1 slides on the guide rail 7 through the cooperation of the motor, the gear and the rack, wherein the motor, the gear and the rack are purchased and not shown in the figure, and the detailed driving principle is not described again.
The following specifically explains the working process of this embodiment:
during carrying, the two carrying robots act cooperatively, the first carrying shaft 2 on each carrying robot rotates towards the direction of the feeding table, and the second carrying shaft 3 is driven to reach the upper part of the feeding table; the second transfer shaft 3 is then rotated about the free end of the first transfer shaft 2, the end of which reaches the side of the workpiece; at the moment, the gripper 4 slides downwards to the workpiece along the length direction of the second carrying shaft 3 and grips the workpiece; after grabbing, the gripper 4 slides upwards to lift the workpiece, at the moment, the second carrying shaft 3 and the first carrying shaft 2 rotate reversely to drive the gripper 4 to reach the upper part of the processing device 101, the gripper 4 slides downwards to place the workpiece on the processing device 101 for processing, and then the first carrying shaft 2, the second carrying shaft 3 and the gripper 4 reset;
after one surface of the workpiece is machined, the first conveying shaft 2 and the second conveying shaft 3 rotate towards the machining device 101 to drive the gripper 4 to reach the upper part of the machining device 101, the gripper 4 slides downwards to grip the workpiece and then slides upwards, and then the gripper 4 rotates around the axis line direction of the gripper 4 and drives the workpiece to turn over; after the turning is finished, the workpiece is sent back to the other side of the workpiece processed on the processing device 101;
after the other side of the workpiece is machined, the first conveying shaft 2 and the second conveying shaft 3 rotate towards the machining device 101 again to drive the gripper 4 to reach the upper side of the machining device 101, the gripper 4 slides downwards to grab the workpiece and then slides upwards, then the first conveying shaft 2 and the second conveying shaft 3 rotate reversely to drive the gripper 4 to reach the upper side of the blanking table, and the gripper 4 slides downwards to place the workpiece on the blanking table.
The above-mentioned embodiments are merely illustrative of the technical idea and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the scope of the present invention.
Claims (10)
1. The utility model provides a heavy work piece transport and upset robot workstation for the transport and the upset of heavy work piece on the processing equipment, it includes that two collaborative work are used for respectively carrying and upset the transfer robot of heavy work piece both sides portion which characterized in that: the transfer robot comprises a base (1), a first transfer shaft (2) rotatably arranged on the base (1), a second transfer shaft (3) rotatably arranged on the first transfer shaft (2) and a gripper (4) rotatably arranged around the axis direction of the second transfer shaft (3) and arranged on the second transfer shaft (3) along the length direction of the second transfer shaft (3) in a sliding mode, wherein the first transfer shaft (2), the second transfer shaft (3) and the rotation axis of the gripper (4) are arranged in parallel and extend along the horizontal direction.
2. The heavy work handling and upending robotic workstation of claim 1, wherein: the machining equipment comprises a machining device (101) and a feeding and discharging platform (102), wherein the machining device (101) and the feeding and discharging platform (102) are respectively located on two sides of the robot workstation and located on rotating paths of the first carrying shaft (2) and the second carrying shaft (3).
3. The heavy work handling and upending robotic workstation of claim 1, wherein: one end of the first carrying shaft (2) is rotatably arranged on the base (1), and the other end of the first carrying shaft is a free end and is positioned above the base (1).
4. A heavy workpiece handling and overturning robotic workstation as claimed in claim 3 wherein: one end of the second carrying shaft (3) is rotatably arranged on the free end, and the other end of the second carrying shaft is positioned below the free end.
5. The heavy work handling and upending robotic workstation of claim 1, wherein: the grippers (4) of the two transfer robots are arranged in a direction in which the grippers approach each other.
6. The heavy work handling and upending robotic workstation of claim 1, wherein: the transfer robot further comprises a sliding groove (5) formed in the second transfer shaft (3) along the length direction of the second transfer shaft (3), a sliding block (6) is arranged at the bottom of the gripper (4), and the sliding block (6) can be embedded into the sliding groove (5) in a matched mode.
7. The heavy work handling and turning robot workstation of claim 6, wherein: the gripper (4) is rotatably arranged on the sliding block (6).
8. A heavy workpiece handling and overturning robotic workstation as claimed in claim 2 wherein: the processing devices (101) are arranged in sequence along the horizontal direction, the robot workstation further comprises guide rails (7) extending along the arrangement direction of the processing devices (101), and the base (1) is arranged on the guide rails (7) in a sliding mode.
9. A heavy work handling and upending robotic workstation as claimed in claim 8, wherein: the number of the guide rails (7) is two, and the guide rails are arranged on the guide rail bracket (8) side by side along the arrangement direction perpendicular to the processing device (101).
10. A heavy work handling and upending robotic workstation as claimed in claim 8, wherein: the bottom of the base (1) is provided with a clamping groove (9), and the guide rail (7) can be clamped and embedded in the clamping groove (9) in a matched mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010284730.4A CN111347281A (en) | 2020-04-13 | 2020-04-13 | Heavy workpiece carrying and overturning robot workstation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010284730.4A CN111347281A (en) | 2020-04-13 | 2020-04-13 | Heavy workpiece carrying and overturning robot workstation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111347281A true CN111347281A (en) | 2020-06-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010284730.4A Pending CN111347281A (en) | 2020-04-13 | 2020-04-13 | Heavy workpiece carrying and overturning robot workstation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111347281A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07204973A (en) * | 1994-01-18 | 1995-08-08 | Sankyo Alum Ind Co Ltd | Processing device |
| CN101890709A (en) * | 2009-05-20 | 2010-11-24 | 怡锋工业设备（深圳）有限公司 | Double-cutter head assembly mechanical hand of four-wheeled grass cutter |
| CN102975078A (en) * | 2012-12-06 | 2013-03-20 | 爱马特（江苏）自动化有限公司 | Fixture replacing device for industrial workpiece conveying device |
| CN104084945A (en) * | 2014-07-16 | 2014-10-08 | 王典超 | Novel multi-joint robot |
| CN104526478A (en) * | 2014-12-24 | 2015-04-22 | 宁波沃特美逊机器人科技有限公司 | Cylindrical grinding swing arm manipulator |
| US20170348931A1 (en) * | 2014-12-25 | 2017-12-07 | Lang Yuzer Otomotiv Yan Sanayi Ve Ticaret Anonim Sirketi | Cleaning Robot for Tire Curing Mold |
| CN107499927A (en) * | 2017-08-14 | 2017-12-22 | 怀宁县中坚竹胶板制造有限公司 | A kind of automatic unloading equipment of bamboo slab rubber hot press |
| CN107555144A (en) * | 2017-10-19 | 2018-01-09 | 德清德凯电子有限公司 | A kind of automatic material receiving system |
| CN107840145A (en) * | 2017-11-30 | 2018-03-27 | 苏州弘瀚自动化科技有限公司 | A kind of automatic turning device |
| CN108466854A (en) * | 2018-05-24 | 2018-08-31 | 武汉京山轻机智能装备有限公司 | A kind of corrugated board turnover panel mistake shut-down system |
| CN109108706A (en) * | 2018-10-26 | 2019-01-01 | 广州蓝海自动化设备科技有限公司 | A kind of fixture of CNC milling machine |
| CN211867250U (en) * | 2020-04-13 | 2020-11-06 | 江苏梵爵科技有限公司 | Heavy workpiece carrying and overturning robot workstation |
-
2020
- 2020-04-13 CN CN202010284730.4A patent/CN111347281A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07204973A (en) * | 1994-01-18 | 1995-08-08 | Sankyo Alum Ind Co Ltd | Processing device |
| CN101890709A (en) * | 2009-05-20 | 2010-11-24 | 怡锋工业设备（深圳）有限公司 | Double-cutter head assembly mechanical hand of four-wheeled grass cutter |
| CN102975078A (en) * | 2012-12-06 | 2013-03-20 | 爱马特（江苏）自动化有限公司 | Fixture replacing device for industrial workpiece conveying device |
| CN104084945A (en) * | 2014-07-16 | 2014-10-08 | 王典超 | Novel multi-joint robot |
| CN104526478A (en) * | 2014-12-24 | 2015-04-22 | 宁波沃特美逊机器人科技有限公司 | Cylindrical grinding swing arm manipulator |
| US20170348931A1 (en) * | 2014-12-25 | 2017-12-07 | Lang Yuzer Otomotiv Yan Sanayi Ve Ticaret Anonim Sirketi | Cleaning Robot for Tire Curing Mold |
| CN107499927A (en) * | 2017-08-14 | 2017-12-22 | 怀宁县中坚竹胶板制造有限公司 | A kind of automatic unloading equipment of bamboo slab rubber hot press |
| CN107555144A (en) * | 2017-10-19 | 2018-01-09 | 德清德凯电子有限公司 | A kind of automatic material receiving system |
| CN107840145A (en) * | 2017-11-30 | 2018-03-27 | 苏州弘瀚自动化科技有限公司 | A kind of automatic turning device |
| CN108466854A (en) * | 2018-05-24 | 2018-08-31 | 武汉京山轻机智能装备有限公司 | A kind of corrugated board turnover panel mistake shut-down system |
| CN109108706A (en) * | 2018-10-26 | 2019-01-01 | 广州蓝海自动化设备科技有限公司 | A kind of fixture of CNC milling machine |
| CN211867250U (en) * | 2020-04-13 | 2020-11-06 | 江苏梵爵科技有限公司 | Heavy workpiece carrying and overturning robot workstation |
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Address after: Workshop No. 1 (Vanjue Machinery), Building 1, Nanshagang West Village (east side of Tianhai Road), Jingang Town, Zhangjiagang City, Suzhou City, Jiangsu Province, 215000 Applicant after: Jiangsu Fanjue Machinery Manufacturing Co.,Ltd. Address before: 320b, building a, emerging industry development center, Zhangjiagang Free Trade Zone, Suzhou City, Jiangsu Province (fanjue Technology) Applicant before: Jiangsu fanjue Technology Co.,Ltd. |