CN111745446A - Flexible feeding equipment integrating material collecting bin with feeding and discharging mechanical arm - Google Patents

Flexible feeding equipment integrating material collecting bin with feeding and discharging mechanical arm Download PDF

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Publication number
CN111745446A
CN111745446A CN202010613950.7A CN202010613950A CN111745446A CN 111745446 A CN111745446 A CN 111745446A CN 202010613950 A CN202010613950 A CN 202010613950A CN 111745446 A CN111745446 A CN 111745446A
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China
Prior art keywords
axis
module
feeding
unit
manipulator
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CN202010613950.7A
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Chinese (zh)
Inventor
高霄
李肖龙
魏江
李冬艳
刘瑜
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Xi'an Jingdiao Precision Machinery Engineering Co ltd
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Xi'an Jingdiao Precision Machinery Engineering Co ltd
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Priority to CN202010613950.7A priority Critical patent/CN111745446A/en
Publication of CN111745446A publication Critical patent/CN111745446A/en
Pending legal-status Critical Current

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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
    • 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
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/08—Protective coverings for parts of machine tools; Splash guards
    • 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
    • B23Q7/008—Catching devices
    • 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 flexible feeding device integrating a material collecting bin and a feeding and discharging manipulator, which comprises: the device comprises a fixed base module, a bin module, a feeding and discharging manipulator module and a metal plate protective cover module, wherein the fixed base module is an installation base, and the bin module and the metal plate protective cover module are both installed on the fixed base; the stock bin module is of a shelf structure; the feeding and discharging manipulator module is of a four-shaft structure and comprises a Z shaft moving in the vertical direction, an X shaft moving horizontally and transversely, and two rotating shafts, namely an A shaft and a B shaft; the metal plate protective cover module protects the whole envelope of the stock bin module and the feeding and discharging mechanical arm module. The feed bin in the unit is made with the flexibility and the feeding and discharging manipulator are integrated into an integral structure, and the material storage and manipulator feeding and discharging functions are achieved, so that the relative position of the feed bin and the feeding and discharging manipulator is kept unchanged, and the stability of the equipment during feeding and discharging is enhanced.

Description

Flexible feeding equipment integrating material collecting bin with feeding and discharging mechanical arm
Technical Field
The invention belongs to the field of mechanical automation, and particularly relates to flexible feeding equipment integrating a material collecting bin and a feeding and discharging manipulator.
Background
Along with the popularization and application of intelligent manufacturing, in traditional manufacturing industry, the automation in workshop is reformed transform and is going on constantly, and flexible manufacturing unit also receives more favour in the market because of having the processing characteristics that adapt to many varieties few batches.
The traditional flexible manufacturing unit generally comprises a numerical control machine tool, a stock bin, a feeding and discharging manipulator and the like, can meet the requirement of processing various products within a certain size range, and in the layout mode, the stock bin and the feeding and discharging manipulator are independently arranged and respectively need a material operation space and a movement range of the feeding and discharging manipulator, so that the whole floor area of the flexible manufacturing unit is larger; and because feed bin, last unloading manipulator separation installation for the manipulator is higher to the relative position stability requirement of the two when snatching the material level material, when feed bin or last unloading manipulator position changed, all material levels in the flexible manufacturing unit all need fix a position again and check, complex operation, consuming time long.
Disclosure of Invention
The invention aims to provide a flexible feeding device integrating a material collecting bin and a feeding and discharging manipulator, which aims to solve the problems that the relative position of the material level of the bin and the feeding and discharging manipulator in a flexible manufacturing unit is unstable, and the whole floor area of the unit is large. The device has the characteristics of compact structure, lower cost, high stability and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
a flexible feeding device integrating a storage bin and a feeding and discharging manipulator comprises a fixed base module, a storage bin module, a feeding and discharging manipulator module and a metal plate protective cover module;
the bin module and the metal plate protective cover module are both arranged on the fixed base module; go up unloading manipulator module is four-axis structure, including the Z axle unit of vertical direction motion, horizontal transverse movement's X axle unit to and two rotation axis units: the storage bin comprises an A-axis unit and a B-axis unit, wherein the Z-axis unit is installed on the storage bin module, the X-axis unit is installed on the Z-axis unit, the A-axis unit is connected with the X-axis unit to realize rotation of the A-axis unit around an A axis, and the B-axis unit is connected with the A-axis unit to realize rotation of the B-axis unit around a B axis; the gripper module is arranged on the B-axis unit and used for grabbing materials by the feeding and discharging manipulator module; the metal plate protective cover module protects the whole envelope of the stock bin module and the feeding and discharging mechanical arm module.
Specifically, the feed bin module includes: the device comprises a left channel steel upright, a right channel steel upright and a material level plate module; the material level plate module is arranged in the middle of the left side channel steel stand column and the right side channel steel stand column and used for storing materials to be processed and finished after being processed.
The storage bin comprises a left channel steel column and a right channel steel column, and is characterized by further comprising a storage bin top plate, wherein the storage bin top plate is installed on the top surfaces of the left channel steel column and the right channel steel column.
Specifically, install multilayer charge level board module between left side channel-section steel stand, the right side channel-section steel stand, the interlamellar spacing of charge level board module can be adjusted according to the size of material.
Specifically, the Z axle unit of last unloading manipulator module includes: the Z-axis guide rail, the Z-direction sliding plate, the Z-axis sliding block, the Z-axis driving rack and the Z-axis driving module are arranged on the Z-axis guide rail; the Z-axis guide rail is fixedly arranged on the left channel steel upright post and the right channel steel upright post respectively, four Z-axis sliding blocks are arranged on a Z-direction sliding plate respectively, the Z-direction sliding plate is connected with the Z-axis guide rail in a sliding mode through the Z-axis sliding blocks, the Z-axis driving rack is arranged on the inner side face of the right channel steel upright post, the Z-axis driving module is arranged on the Z-direction sliding plate, and the Z-axis driving module is matched with the Z-axis driving rack to drive the Z-axis unit to move in the vertical direction;
the X-axis unit of the feeding and discharging manipulator comprises: the X-axis sliding plate comprises an X-axis guide rail, an X-axis driving rack, an X-axis sliding block, an X-axis driving module and an X-direction sliding plate; the X-axis guide rail is arranged on the Z-direction sliding plate, the four X-axis sliding blocks are respectively arranged on the X-direction sliding plate, and the X-direction sliding plate is connected with the Z-direction sliding plate in a sliding mode through the X-axis sliding blocks; the X-axis driving rack is arranged on the Z-direction sliding plate, the X-axis driving module is arranged on the X-direction sliding plate, and the X-axis driving module is matched with the X-axis driving rack to drive the X-axis unit to horizontally and transversely move;
the A axle unit of last unloading manipulator module includes: the A-axis driving module and the A-axis swing arm are connected with the X-direction sliding plate through a fixed flange of the A-axis driving module, and the A-axis swing arm is connected with an output rotating flange of the A-axis driving module;
the B-axis unit of the feeding and discharging manipulator module comprises: the B-axis driving module and the B-axis swing arm; the fixed flange of the B-axis driving module is connected with the tail end of the A-axis swing arm, and the B-axis swing arm is connected with the output rotating flange of the B-axis driving module; the gripper module is arranged at the tail end of the B-axis spiral arm.
Specifically, the unable adjustment base module includes: fixed lower margin, bottom plate, bottom panel beating install four fixed lower margins on four angles of bottom plate, fixed lower margin directly links firmly subaerially, the bottom panel beating is installed on the bottom plate for cutting fluid and the sweeps that go up the unloading manipulator drippage of collection.
Specifically, the panel beating protection casing module includes: a right side protection metal plate, a top metal plate and a left side protection metal plate; right side protection panel beating, top panel beating, left side protection panel beating all with left side channel-section steel stand, right side channel-section steel stand, feed bin roof are connected respectively.
Specifically, a pneumatic box door is arranged at the right lower corner of the right side protection metal plate.
Specifically, the middle parts of the left side protection metal plate and the right side protection metal plate are respectively provided with a left side mechanical arm extending opening and a right side mechanical arm extending opening.
Specifically, the top installation tristimulus designation lamp of top panel beating.
Compared with the prior art, the invention has the following technical effects:
1. according to the flexible feeding device provided by the embodiment of the invention, the material bin and the feeding and discharging manipulator in the flexible manufacturing unit are integrated into an integrated structure, so that the functions of material storage and manipulator feeding and discharging are achieved, the relative positions of the material level of the material bin and the feeding and discharging manipulator are kept unchanged, the stability of the device during feeding and discharging is enhanced, and the problems of manipulator grabbing point position deviation and the like in the traditional split structure are avoided.
2. According to the flexible feeding device provided by the embodiment of the invention, the whole floor space of the layout of the flexible manufacturing unit is greatly reduced, the production efficiency of the flexible manufacturing unit is effectively improved, the floor space of an automatic workshop is reasonably utilized, and the whole unit structure is more compact.
3. According to the flexible feeding device provided by the embodiment of the invention, the storage bin and the feeding and discharging manipulator are integrated into the integrated flexible feeding device, so that the flexible feeding device does not need to be repositioned and checked when the flexible manufacturing unit is moved, the use difficulty of field operators is greatly reduced, and the market popularization is facilitated.
4. Compared with two traditional separated independent devices, the flexible feeding device provided by the embodiment of the invention can greatly reduce the production cost, and has the characteristics of good rigidity, good assembly and the like in structure.
5. According to the flexible feeding device provided by the embodiment of the invention, the feeding and discharging manipulators can extend out from the outlets of the manipulators on the left side and the right side, so that the feeding and discharging operations of two numerical control machines can be satisfied at most, and the flexible manufacturing unit has good expandability.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a front isometric illustration of a flexible feeder apparatus provided by an embodiment of the present invention;
FIG. 2 is a rear isometric view of a flexible feeder apparatus provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic isometric view of the back side of a flexible feeding apparatus provided in accordance with an embodiment of the present invention with the sheet metal protective cover module removed;
FIG. 4 is an isometric view of a loading and unloading robot of a flexible feeder apparatus according to an embodiment of the present invention in an extended position;
wherein: 1-fixed foot margin, 2-right side glass door, 3-tricolor indicator light, 4-right side protection sheet metal, 5-top sheet metal, 6-left side protection sheet metal, 7-left side manipulator extension opening, 8-left side glass door, 9-left side back maintenance door, 10-right side back maintenance door, 11-left side control cabinet door, 12-right side control cabinet door, 13-right side manipulator extension opening, 14-pneumatic cabinet door, 15-left channel steel upright post, 16-Z axis guide rail, 17-X axis guide rail, 18-X axis drive rack, 19-Z direction sliding plate, 20-Z axis sliding block, 21-bin top plate, 22-material, 23-material level plate module, 24-right side channel steel upright post, 25-Z axis drive rack, 26-Z axis drive module, 27-X axis slide block, 28-X axis drive module, 29-A axis drive module, 30-X direction slide plate, 31-A axis swing arm, 32-B axis drive module, 33-B axis swing arm, 34-gripper module, 35-bottom metal plate and 36-bottom plate.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The following detailed description is exemplary in nature and is intended to provide further details of the invention. Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention.
According to the technical scheme, as shown in fig. 1 to 4, the embodiment provides the flexible feeding device integrating the storage bin and the feeding and discharging manipulator into a whole, so that the problems that the relative positions of the storage bin and the feeding and discharging manipulator in the flexible manufacturing unit are unstable and the whole occupied area of the unit is large are solved, and the flexible feeding device has the characteristics of compact structure, low cost, high stability and the like.
The embodiment of the invention provides a flexible feeding device integrating a material collecting bin and a feeding and discharging manipulator, which comprises: the feeding and discharging device comprises a fixed base module, a bin module, a feeding and discharging manipulator module and a metal plate protective cover module, wherein the fixed base module is an installation base of the integrated flexible feeding device, and the bin module and the metal plate protective cover module are both installed on the fixed base; the storage bin module is of a goods shelf type structure, the upright columns on the two sides are of channel steel structures, and the two upright column channel steel structures are connected through the top plate, so that the storage bin main body structure has higher rigidity; go up unloading manipulator module is four-axis structure, including the Z axle unit of vertical direction motion, horizontal transverse movement's X axle unit to and two rotation axis units: the device comprises an A-axis unit and a B-axis unit, wherein a Z-axis unit moving in the vertical direction is in gear and rack transmission, a linear guide rail slider is guided and supported, a guide rail structure is arranged on channel steel upright posts on the left side and the right side of a stock bin module, an X-direction sliding plate of the X-axis unit is arranged on a Z-direction sliding plate of the Z-axis unit through a guide rail slider structure, a rotating shaft A of the A-axis unit is connected with the X-direction sliding plate through a driving module flange, a rotating shaft B of the B-axis unit is arranged at the tail end of a rotating arm of a rotating shaft A, and a gripper module 34 is arranged on; thereby make go up unloading manipulator module and feed bin module combination formula structure as an organic whole, relative position is fixed, and it is higher to grasp the material level precision. The metal plate protective cover module protects the whole envelope of the stock bin module and the feeding and discharging mechanical arm module.
The fixed base module includes fixed lower margin 1, bottom plate 36, bottom panel beating 35 etc. installs four fixed lower margins 1 on four angles of bottom plate 36, and fixed lower margin 1 directly links firmly subaerially, ensures the stability of flexible feeder equipment position in the automated production unit, and bottom panel beating 35 is installed on bottom plate 36 for collect cutting fluid and the sweeps that go up the dripping of unloading manipulator.
The feed bin module is the goods posture structure, mainly includes: left side channel-section steel stand 15, right side channel-section steel stand 24, feed bin roof 21, material 22, charge level board module 23 etc.. Left side channel-section steel stand 15, right side channel-section steel stand 24 install respectively on being fixed in base module's bottom plate 36, feed bin roof 21 is installed in left side channel-section steel stand 15 and right side channel-section steel stand 24 top surface, strengthens both sides channel-section steel column mouting rigidity, material level board module 23 is installed in the middle of left side channel-section steel stand 15 and right side channel-section steel stand 24 for deposit treat processing and the material 22 of processing completion, mountable multilayer material level board module 23, and 23 interlamellar spacings of material level board module can be adjusted according to material 22 size, have strengthened integral type feeding equipment's flexibility greatly.
The feeding and discharging manipulator module is of a four-axis structure and mainly comprises a Z-axis guide rail 16, an X-axis guide rail 17, an X-axis driving rack 18, a Z-axis sliding plate 19, a Z-axis sliding block 20, a Z-axis driving rack 25, a Z-axis driving module 26, an X-axis sliding block 27, an X-axis driving module 28, an A-axis driving module 29, an X-axis sliding plate 30, an A-axis swing arm 31, a B-axis driving module 32, a B-axis swing arm 33, a gripper module 34 and the like. A Z-axis unit of the loading and unloading manipulator is driven by a gear rack, a linear guide rail slide block is used for guiding and supporting, and a Z-direction slide plate 19 is connected with a stock bin module through a guide rail slide block structure; install respectively on left side channel-section steel stand 15, the right side channel-section steel stand 24 and be fixed with Z axle guide rail 16, four Z axle sliders 20 are installed respectively on Z is to slide 19, and Z is to slide 19 through Z axle slider 20 and Z axle guide rail 16 sliding connection, Z axle drive rack 25 installs in the medial surface of right side channel-section steel stand 25, Z axle drive module 26 installs on Z is to slide 19, Z axle drive module 26 with Z axle drive rack 25 cooperation drives the vertical direction motion of Z axle unit. The X axis of the feeding and discharging manipulator is also driven by a gear rack, a linear guide rail sliding block is guided and supported, and the X-direction sliding plate 30 is connected with the Z-direction sliding plate 19 through a guide rail sliding block structure; the X-axis guide rail 17 is arranged on the Z-direction sliding plate 19, the four X-axis sliding blocks 27 are respectively arranged on the X-direction sliding plate 30, and the X-direction sliding plate 30 is connected with the Z-direction sliding plate 19 in a sliding mode through the X-axis sliding blocks 27; the X-axis driving rack 18 is arranged on the Z-direction sliding plate 19, the X-axis driving module 28 is arranged on the X-direction sliding plate 30, and the X-axis driving module 28 is matched with the X-axis driving rack 18 to drive the X-axis unit to horizontally and transversely move. The rotating A shaft of the feeding and discharging manipulator is driven by a servo motor and is connected with an X-direction sliding plate 30 through a fixed flange of an A shaft driving module 29, and an A shaft rotating arm 31 is connected with an output rotating flange of the A shaft driving module 29. The rotary B shaft of the feeding and discharging manipulator is driven by a hollow direct drive motor, a fixed flange of a B shaft driving module 32 is connected with the tail end of an A shaft rotating arm 31, and a B shaft rotating arm 33 is connected with an output rotating flange of the B shaft driving module 32. The gripper module 34 is mounted at the tail end of the B-axis spiral arm 33 and used for material grabbing of the feeding and discharging manipulator.
Panel beating protection casing module mainly by right side glass door 2, tristimulus designation lamp 3, right side protection panel beating 4, top panel beating 5, left side protection panel beating 6, left side manipulator stretch out mouthful 7, left side glass door 8, left side back maintenance door 9, right side back maintenance door 10, left side switch board door 11, right side switch board door 12, right side manipulator stretch out mouthful 13, pneumatic chamber door 14 etc. and constitute. Wherein, right side glass door 2 and left side glass door 8 are installed on left side channel-section steel stand 15 and right side channel-section steel stand 24 of feed bin module, and left side protection panel beating 6 and right side protection panel beating 4 all link to each other with left side channel-section steel stand 15, right side channel-section steel stand 24, feed bin roof 21 of feed bin module respectively, and pneumatic chamber door 14 is installed in the lower right corner of right side protection panel beating 4, the flexible feeding equipment's of formula as an organic whole entry air supply, left side manipulator stretches out mouthful 7 and right side manipulator and stretches out mouthful 13 and open respectively at the middle part of left side protection panel beating 6 and right side protection panel beating 4 for go up the unloading manipulator and can follow left side manipulator and stretch out mouthful 7 and right side manipulator and stretch out mouthful 13 and stretch out. And a tricolor indicator lamp 3 is arranged at the top of the top metal plate 5.
According to the flexible feeding device integrating the storage bin and the feeding and discharging manipulator provided by the embodiment of the invention, the material storage device and the feeding and discharging manipulator are integrally designed and integrated, so that the relative positions of the material level of the storage bin and the feeding and discharging manipulator are kept unchanged, and the stability of the device during feeding and discharging is enhanced; the integrated flexible feeding equipment provided by the invention can meet the feeding and discharging operation of a flexible manufacturing unit consisting of one numerical control machine or two numerical control machines, and can adapt to more application occasions.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.

Claims (10)

1. A flexible feeding device integrating a storage bin and a feeding and discharging manipulator is characterized by comprising a fixed base module, a storage bin module, a feeding and discharging manipulator module and a metal plate protective cover module;
the bin module and the metal plate protective cover module are both arranged on the fixed base module; go up unloading manipulator module is four-axis structure, including the Z axle unit of vertical direction motion, horizontal transverse movement's X axle unit to and two rotation axis units: the storage bin comprises an A-axis unit and a B-axis unit, wherein the Z-axis unit is installed on the storage bin module, the X-axis unit is installed on the Z-axis unit, the A-axis unit is connected with the X-axis unit to realize rotation of the A-axis unit around an A axis, and the B-axis unit is connected with the A-axis unit to realize rotation of the B-axis unit around a B axis; the gripper module (34) is arranged on the B-axis unit and used for grabbing materials by the feeding and discharging manipulator module; the metal plate protective cover module protects the whole envelope of the stock bin module and the feeding and discharging mechanical arm module.
2. The flexible feeding device integrating the storage bin and the feeding and discharging manipulator as claimed in claim 1, wherein the storage bin module comprises: the device comprises a left channel steel upright (15), a right channel steel upright (24) and a material level plate module (23); left side channel-section steel stand (15), right side channel-section steel stand (24) install respectively and are fixed in on bottom plate (36) of unable adjustment base module, material level board module (23) are installed in the middle of left side channel-section steel stand (15), right side channel-section steel stand (24) for deposit wait to process and material (22) that the processing has been accomplished.
3. The flexible feeding device integrating the storage bin and the feeding and discharging manipulator as claimed in claim 2, further comprising a storage bin top plate (21), wherein the storage bin top plate (21) is mounted on the top surfaces of the left channel steel upright (15) and the right channel steel upright (24).
4. The flexible feeding device integrating the material collecting bin and the feeding and discharging manipulator as claimed in claim 2, wherein a plurality of layers of material level plate modules (23) are mounted between the left channel steel upright (15) and the right channel steel upright (24), and the interlayer spacing of the material level plate modules (23) can be adjusted according to the size of materials.
5. The flexible feeding device integrating the material collecting bin and the feeding and discharging manipulator as claimed in claim 2, wherein the Z-axis unit of the feeding and discharging manipulator module comprises: the device comprises a Z-axis guide rail (16), a Z-direction sliding plate (19), a Z-axis sliding block (20), a Z-axis driving rack (25) and a Z-axis driving module (26); the Z-axis guide rail (16) is fixedly mounted on each of the left channel steel upright (15) and the right channel steel upright (24), four Z-axis sliders (20) are respectively mounted on a Z-axis sliding plate (19), the Z-axis sliding plate (19) is in sliding connection with the Z-axis guide rail (16) through the Z-axis sliders (20), the Z-axis driving rack (25) is mounted on the inner side surface of the right channel steel upright (25), the Z-axis driving module (26) is mounted on the Z-axis sliding plate (19), and the Z-axis driving module (26) is matched with the Z-axis driving rack (25) to drive the Z-axis unit to move in the vertical direction;
the X-axis unit of the feeding and discharging manipulator comprises: the X-axis sliding mechanism comprises an X-axis guide rail (17), an X-axis driving rack (18), an X-axis sliding block (27), an X-axis driving module (28) and an X-direction sliding plate (30); the X-axis guide rail (17) is arranged on a Z-direction sliding plate (19), four X-axis sliding blocks (27) are respectively arranged on the X-direction sliding plate (30), and the X-direction sliding plate (30) is connected with the Z-direction sliding plate (19) in a sliding mode through the X-axis sliding blocks (27); the X-axis driving rack (18) is arranged on the Z-direction sliding plate (19), the X-axis driving module (28) is arranged on the X-direction sliding plate (30), and the X-axis driving module (28) is matched with the X-axis driving rack (18) to drive the X-axis unit to horizontally and transversely move;
the A axle unit of last unloading manipulator module includes: the A-axis driving module (29) and the A-axis swing arm (31) are connected with the X-direction sliding plate (30) through a fixed flange of the A-axis driving module (29), and the A-axis swing arm (31) is connected with an output rotating flange of the A-axis driving module (29);
the B-axis unit of the feeding and discharging manipulator module comprises: a B-axis driving module (32) and a B-axis swing arm (33); the fixed flange of the B-axis driving module (32) is connected with the tail end of the A-axis swing arm (31), and the B-axis swing arm (33) is connected with the output rotating flange of the B-axis driving module (32); the gripper module (34) is arranged at the tail end of the B-axis radial arm (33).
6. The flexible feeding device integrating the material collecting bin and the feeding and discharging manipulator as claimed in claim 1, wherein the fixed base module comprises: the novel ground plate comprises fixed ground feet (1), a bottom plate (36) and a bottom metal plate (35), wherein four fixed ground feet (1) are arranged at four corners of the bottom plate (36), and the fixed ground feet (1) are directly and fixedly connected to the ground; the bottom metal plate (35) is arranged on the bottom plate (36) and used for collecting cutting fluid and waste chips dropped by the feeding and discharging manipulator.
7. The flexible feeding device integrating the material collecting bin and the feeding and discharging manipulator as claimed in claim 3, wherein the metal plate protective cover module comprises: a right side protection metal plate (4), a top metal plate (5) and a left side protection metal plate (6); the right side protection panel beating (4), top panel beating (5), left side protection panel beating (6) all with left side channel-section steel stand (15), right side channel-section steel stand (24), feed bin roof (21) are connected respectively.
8. The flexible feeding device integrating the material collecting bin and the feeding and discharging manipulator as claimed in claim 7 is characterized in that a pneumatic box door (14) is arranged at the lower right corner of the right side protective metal plate (4).
9. The flexible feeding device integrating the material collecting bin and the feeding and discharging manipulator as claimed in claim 7, wherein a left manipulator extension opening (7) and a right manipulator extension opening (13) are respectively formed in the middle of the left protective metal plate (6) and the right protective metal plate (4).
10. The flexible feeding device integrating the material collecting bin and the feeding and discharging manipulator as claimed in claim 7 is characterized in that a three-color indicator lamp (3) is mounted at the top of the top metal plate (5).
CN202010613950.7A 2020-06-30 2020-06-30 Flexible feeding equipment integrating material collecting bin with feeding and discharging mechanical arm Pending CN111745446A (en)

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Application Number Priority Date Filing Date Title
CN202010613950.7A CN111745446A (en) 2020-06-30 2020-06-30 Flexible feeding equipment integrating material collecting bin with feeding and discharging mechanical arm

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Application Number Priority Date Filing Date Title
CN202010613950.7A CN111745446A (en) 2020-06-30 2020-06-30 Flexible feeding equipment integrating material collecting bin with feeding and discharging mechanical arm

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CN111745446A true CN111745446A (en) 2020-10-09

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CN206445590U (en) * 2017-01-19 2017-08-29 江苏博尚工业装备有限公司 Heavy-load type truss all-in-one
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117566309A (en) * 2024-01-17 2024-02-20 西安精雕精密机械工程有限公司 Automatic feeding device integrating loading station, material warehouse and four-axis robot

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