CN113059390A

CN113059390A - Automatic feeding and discharging system and machining center production line comprising same

Info

Publication number: CN113059390A
Application number: CN202110474580.8A
Authority: CN
Inventors: 崔裕翔; 罗朝政
Original assignee: Suzhou Best Assembling Automation Technology Co ltd
Current assignee: Suzhou Best Assembling Automation Technology Co ltd
Priority date: 2021-04-29
Filing date: 2021-04-29
Publication date: 2021-07-02

Abstract

The utility model provides an automatic unloading system and contain machining center production line of this system for unloading in the automation of material loading window department work piece in the machining center, including installation base, slide rail, robot assembly, the installation base sets up in machining center one side, robot assembly includes first, second, third, fourth robot arm and first, second, third robot joint, first robot arm seat is on the installation base, each robot arm, the rotational degree of freedom of each joint is the rotation on making the Y-Z plane with center pin X axle separately. This scheme is designed to the automatic unloading of work piece in the machining center, can let end effector accomplish material loading and unloading action fast in limited space, and end effector's translation degree of freedom and rotational degree of freedom must satisfy its actual operation demand, have that occupation of land space is little, the precision is accurate, efficient, advantage such as with low costs for the enterprise can realize the purpose of intelligent workshop flexible production and the benefit of input cost retrieves the cycle and shortens.

Description

Automatic feeding and discharging system and machining center production line comprising same

Technical Field

The invention relates to the technical field of automatic robots, in particular to an automatic loading and unloading system for loading and unloading workpieces and a machining center production line comprising the same.

Background

Aiming at the problems of high labor intensity, low production efficiency, easy error, unstable product quality and the like caused by manual operation of loading, transporting, loading and unloading of workpieces in most of original enterprise production, the existing enterprises can introduce robots (six-axis joint robots) to assist the automatic production of a machining center (CNC), the machining center is a high-efficiency automatic machine tool which is composed of mechanical equipment and a numerical control system and is suitable for machining complex parts, and the numerical control machining center is one of numerical control machines with highest yield and most extensive application in the world at present. Therefore, robots used by enterprises in cooperation with machining centers need to be arranged according to original space and places.

In the process of implementing the invention, the inventor finds that the robots introduced by enterprises at present have at least the following technical problems:

1. the occupied space is large, the empty space between the two original processing centers can be 100mm, in order to meet the use requirement of the traditional robot, a space of 1000mm-3000mm needs to be reserved between the two processing centers for placing the robot and related corollary equipment, so that an enterprise can reduce the number of the processing centers or enlarge a plant in order to meet the requirement of placing the robot, the reduction of the number of the processing centers means that the yield cannot be kept up with the yield, the enlargement of the plant means that the investment is greatly increased, and the unit cost of part processing is uniformly shared and becomes high;

2. the automatic feeding and discharging device has the advantages that the efficiency is low, the precision is poor, an original robot can provide the feeding and discharging function for a plurality of machining centers, a sliding rail is arranged on one side of each machining center, the robot can feed and discharge materials back and forth on the sliding rail, the round-trip distance and the time for taking and discharging materials are long, the time for feeding and discharging the workpieces is increased, the efficiency of the machining centers is reduced, and the robot cannot accurately move and feed materials for a long distance, so that poor clamping or improper clamping can cause machining failure or poor machining precision;

3. the cost is high, the benefit recovery period is long, because the length of the workpiece processing worker of the processing center is long or short, the number of the processing centers corresponding to one robot needs to be configured according to the processing man-hour of the workpiece, the cost of the robot is high, when the processing man-hour of the workpiece produced by the processing center changes, the originally matched robot can not meet the use requirement, needs to spend a large amount of modification cost and a long modification period to be reconfigured, or the performance is excessive, and the high-value and high-performance robot can not be timely converted into enterprise benefits.

In view of this, how to solve the problems of large occupied space, low efficiency, poor precision, high cost, long benefit recovery period and the like existing in the existing enterprise for the robot matched with the machining center becomes a subject to be researched and solved by the invention.

Disclosure of Invention

The invention provides an automatic loading and unloading system and a processing center production line comprising the same, and aims to solve the problems of large occupied space, low efficiency, poor precision, high cost, long benefit recovery period and the like of a robot matched with a processing center in an enterprise at present so as to provide a system and a production line which have small occupied space, high efficiency, high precision, economy, cheapness and quick benefit recovery.

In order to achieve the purpose, the invention provides an automatic loading and unloading system, which is arranged aiming at a machining center and used for automatically loading and unloading workpieces at a loading window in the machining center, and comprises an installation base, a sliding rail, a robot assembly and an end effector, wherein the innovation points are as follows:

the mounting base is arranged on one side of a feeding window of the machining center along the length extension direction of the slide rail, the horizontal length extension direction of the slide rail is defined as the X direction, the vertical extension direction which is vertical to the horizontal surface of the slide rail is defined as the Z direction, and the direction which is vertical to the X, Z direction is defined as the Y direction;

a linear driving mechanism for driving the robot assembly or the mounting base to reciprocate along the X direction is arranged on the mounting base, one end of the linear driving mechanism is relatively and fixedly connected with the slide rail, and the other end of the linear driving mechanism is connected with the mounting base or the robot assembly;

the robot assembly comprises a first robot arm, a first robot joint, a second robot arm, a second robot joint, a third robot arm, a third rotary joint and a fourth robot arm; wherein the content of the first and second substances,

the first machine arm is located above the mounting base and is driven by the linear driving mechanism to reciprocate in the X direction; one end of the first robot joint is connected with the first robot arm, the other end of the first robot joint is connected with the second robot arm, a first X-axis center arranged along the X direction is arranged in the first robot joint, and the first X-axis center is a geometric center of the first robot arm and the second robot arm rotating on a Y-Z plane;

one end of the second robot joint is connected with the second robot arm, the other end of the second robot joint is connected with the third robot arm, a second X-axis center arranged along the X direction is arranged in the second robot joint, and the second X-axis center is a geometric center of the second robot arm and the third robot arm rotating on the Y-Z plane;

one end of the third robot joint is connected with the third robot arm, the other end of the third robot joint is connected with the fourth robot arm, a third X-axis center arranged along the X direction is arranged in the third robot joint, and the third X-axis center is a geometric center of the third robot arm and the fourth robot arm rotating on a Y-Z plane;

the end effector is arranged on one side of the fourth robot arm and is connected with the fourth robot arm in a positioning mode, and the end effector does linear reciprocating motion in the X direction and rotation and translation of the Y-Z plane under the driving of the linear driving mechanism and the robot assembly.

The invention also discloses a production line of the machining center, which comprises the automatic loading and unloading system.

Furthermore, the production line of the processing centers comprises at least two processing centers, and the feeding windows of the at least two processing centers are arranged in the middle or in a straight line; when the feeding windows of the at least two machining centers are arranged in the middle positions, the automatic feeding and discharging robot is positioned in the middle positions of the at least two machining centers; when the feeding windows of at least two machining centers are arranged linearly, the automatic feeding and discharging robot is arranged on one side of the feeding windows of the machining centers along the length direction of the sliding rails.

The invention is explained below:

1. in the technical scheme of the invention, the mounting base, the slide rail, the robot assembly and the end effector which are matched with the robot assembly are designed for automatic feeding and discharging of workpieces in the machining center, wherein the robot assembly linearly reciprocates at one side or in front of a feeding window of the machining center by a linear driving mechanism; meanwhile, the robot assembly is composed of a first robot arm, a first robot joint, a second robot arm, a second robot joint, a third robot arm, a third rotary joint and a fourth robot arm, wherein the rotational freedom degrees of the robot arms and the joints are rotation on a Y-Z plane by respective central axis X axes, the robot assembly structure can enable the end effector to rapidly complete feeding and discharging actions in a limited space, and the translational freedom degree and the rotational freedom degree of the end effector can meet the actual operation requirements, so that the size of the whole automatic feeding and discharging system can be simplified and reduced, the occupied space is reduced, the cost is saved, meanwhile, the robot joint and a linear driving mechanism are used for controlling rapid feeding and discharging of workpieces, and the precision is accurate and the efficiency is high.

2. In the technical scheme, the automatic feeding and discharging system further comprises a feeding table, the feeding table 5 is located beside the Y direction of the installation base, a plurality of feeding tables can be arranged beside or beside the automatic feeding and discharging system side by side, the feeding tables can be flexibly changed according to different use scenes or do not have the feeding tables, the feeding tables can take materials on a production line, the flexible application of the production line of a machining center containing the automatic feeding and discharging system can be achieved, and the feeding tables are provided with a discharging frame, a discharging disc and a charging disc lifting mechanism, so that the occupied positions of the discharging tables are installed along with the positions of the installation base, and the occupied space of the discharging tables is reduced.

3. In the above technical solution, the slide rail is a linear slide rail, the slide rail is located on the ground on one side of the machining center, the mounting base is mounted on the slide rail, the linear driving mechanism and the slide rail are relatively fixed, the output end of the linear driving mechanism is connected with the mounting base, the linear driving mechanism drives the mounting base to make a reciprocating linear motion along the length direction of the slide rail, the linear driving mechanism and the robot component part are separately arranged, the slide rail and the linear driving mechanism can be arranged on the part close to the ground, so that the linear reciprocating motion in the X direction and the driving of the respective X-axis center to make a rotation on the Y-Z plane are designed to be spatially separated (if the slide rail is arranged along the Y direction, the linear motion in the Y direction can be performed, and the other directions are correspondingly adjusted), thereby avoiding the swelling of the robot component part, the volume can be reduced and the cost can be saved.

4. In the technical scheme, the loading table is provided with the workpiece placement area to be processed and the processed workpiece placement area, the material tray lifting mechanism is arranged in the workpiece placement area to be processed and the processed workpiece placement area, the material tray is driven by the material tray lifting mechanism to lift, the material tray is respectively located in the workpiece placement area to be processed and the processed workpiece placement area, the end effector takes off the processed workpiece and then grabs the processed workpiece, the stroke of the section is very short, the end effector can complete in a very short time, the loading and unloading time of the workpiece is shortened, and the processing efficiency of a processing center is improved.

5. In the technical scheme, charging tray elevating system includes lift cylinder, the axle goes up and down, the guiding axle, a supporting plate, the layer board, the backup pad is fixed on the blowing frame, wear to establish guiding axle and axle goes up and down in the backup pad, the axle goes up and down to be connected with the flexible end of lift cylinder, at the top installation layer board of guiding axle and axle, the layer board is used for supporting the blowing dish, the lift cylinder drives the axle that goes up and down to go up and down the action along the direction of guiding axle, it can pile up and place more to make the blowing dish on the tray, reduce the work load that the blowing dish was placed to the outside, shorten the time that whole production line consumed because of needing to change the blowing dish, further improve machining.

6. In the above technical solution, a first rotation shaft is installed at the end of the fourth robot arm, the first rotating shaft having a first rotation center perpendicular to the third X center, the end effector being mounted on an end of the first rotating shaft, the end effector does linear reciprocating motion in the X direction and rotation and translation of the Y-Z plane under the drive of the linear driving mechanism and the robot assembly, and the end effector does axial motion around a first rotation central axis, namely, a shaft is added at the tail end of a fourth robot arm of the robot assembly, the original 3 shafts do radial motion, the added first rotation shaft does axial motion, when in actual use, the position requirement of material taking and material placing in the coaxial direction is greatly reduced, the material taking and material placing device is not limited by a space position angle during use, the moving range is wider, and the application space is more free.

7. In the above technical solution, a second rotating shaft is installed below the first robot arm, the second rotating shaft is located above the installation base, the second rotating shaft has a second rotating center perpendicular to the X-Y plane, the first robot arm is driven by the second rotating shaft to rotate axially around the second rotating center, which is equivalent to that the second rotating shaft is added in front of the first robot arm in the second embodiment, during actual use, the position requirements for material taking and placing in different axial directions are greatly reduced, and during use, the second robot arm is not constrained by the axial spatial position angle.

8. In the technical scheme, a traveling shaft is arranged below the first robot arm or the second rotating shaft, the traveling shaft is provided with a double-layer guide rail structure, the traveling shaft is driven by a motor component to move in the same direction along the double-layer guide rail structure, and the stroke can be increased as much as possible under the condition that excessive space is not occupied.

9. In the above technical scheme, double-deck guide rail structure has a casing, install the upper guideway and the lower guideway that set up from top to bottom in the casing, be provided with in upper guideway department be used for with second rotation axis fixed connection's mounting flange, be provided with in lower guideway department be used for with base fixed connection's mounting flange, have the transmission assembly who is connected with upper guideway and lower guideway transmission between upper guideway and lower guideway, transmission assembly's one end is connected with motor element and is driven by motor element, when motor drive transmission assembly moved, transmission assembly drove the upper guideway, the lower guideway syntropy, synchronous motion.

10. 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 fixedly connected, detachably connected, or integrally formed; they may be mechanically coupled, directly coupled, indirectly coupled through intervening media, coupled between two elements, or coupled in any other manner that does not materially affect the operation of the device, unless otherwise specifically limited. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

11. In the present invention, the terms "center", "upper", "lower", "axial", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional arrangements shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

12. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, a feature defined as "first," "second," "third," or "fourth" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Due to the application of the scheme, compared with the prior art, the invention has the following advantages and effects:

1. according to the scheme, the mounting base, the sliding rail, the robot assembly and the end effector which are matched with the robot assembly are designed for automatic feeding and discharging of workpieces in a machining center, wherein the robot assembly is in linear reciprocating motion at one side of a feeding window of the machining center through a linear driving mechanism; meanwhile, a robot component is composed of a first robot arm, a first robot joint, a second robot arm, a second robot joint, a third robot arm, a third rotary joint and a fourth robot arm, wherein the rotational freedom degrees of each robot arm and each joint are rotation on the Y-Z plane by the respective X-axis center, the robot assembly structure can lead the end effector to rapidly finish feeding and discharging actions in a limited space, the translational freedom degree and the rotational freedom degree of the end effector can meet the actual operation requirements, therefore, the volume of the whole automatic loading and unloading system can be simplified and reduced, the occupied space is reduced, the distance between the two original processing centers is 100mm, the distance between every two original processing centers is only increased to 250mm (every 2 original processing centers), the occupied space for installing the robot is far smaller than the space of 1000-2000 mm of a conventional robot.

2. According to the scheme, the linear movement range of the robot assembly is not large, the stroke is short, the movement stroke of the end effector is reasonable in design, the rotational freedom degrees of each robot arm and each joint are rotation on the Y-Z plane by the X axis of the central shaft, the end effector can quickly complete feeding and discharging actions in a limited space, and the time for feeding and discharging the end effector during working is shortened, so that the automatic feeding and discharging robot has higher efficiency compared with a conventional robot, can be used for production of products with long processing working hours and short processing working hours, and has a wider application range; the automatic loading and unloading system is reasonable in structure, the driving of the action structure part is precise, the clamping precision of a product can be improved, the processing precision of the product is improved, the rotation and the translation of the end effector are formed by each mechanical arm and each joint, the action of material taking and material placing of the end effector is accurate, and the processing precision requirement in automatic production of a processing center can be met. Particularly, the scheme of the invention can be better applied to small workpieces in consideration of the characteristics of the automatic loading and unloading system, and the advantages of the scheme can be better embodied when the scheme is applied to the small workpieces.

3. In the scheme of the invention, the adopted structure is compact and reasonable, the size is smaller, the number of parts is less compared with that of a conventional robot, and the number of robot joints required by the robot is reduced, so that the production cost, the purchasing cost and the refitting cost are lower, and the application is more economic and cheaper compared with that of the conventional robot; because the automatic loading and unloading system is suitable for production of products with different processing working hours, a processing center does not need to perform subsequent adjustment and modification due to the change of the processing working hours after the products are changed after the automatic loading and unloading system is used in a matched mode, the modification time caused by the change of the products is saved, the production can be changed quickly, the requirement of flexible production of an intelligent workshop is met, the benefit recovery period of the investment cost of an enterprise is shortened, the power of the automatic loading and unloading system used by the enterprise is improved, the application of the automatic loading and unloading system in the market is wider, and the development of automation, intelligent production and intelligent manufacturing is promoted.

Drawings

FIG. 1 is a schematic diagram of an embodiment of an automatic loading and unloading system according to the present invention;

FIG. 2 is a schematic perspective view of an automatic loading and unloading system according to an embodiment of the present invention;

FIG. 3 is a right side view of an automatic loading and unloading system according to an embodiment of the present invention;

FIG. 4 is a front view of an automatic loading and unloading system according to an embodiment of the present invention;

FIG. 5 is a top view of an automatic loading and unloading system according to an embodiment of the present invention;

FIG. 6 is a schematic perspective view of a loading table in an automatic loading and unloading system according to an embodiment of the present invention;

FIG. 7 is a front view of a loading table in an automatic loading and unloading system according to an embodiment of the present invention;

FIG. 8 is a schematic perspective view of a production line of a general machining center according to an embodiment of the present invention;

FIG. 9 is a right side view of a manufacturing line of a general machining center according to an embodiment of the present invention;

FIG. 10 is a front view of a production line of a general machining center according to an embodiment of the present invention;

FIG. 11 is a top view of a manufacturing line of a center for acanthopanax according to an embodiment of the present invention;

FIG. 12 is a schematic perspective view of a robot assembly in an automatic loading and unloading system according to a second embodiment of the present invention;

FIG. 13 is a schematic perspective view of a robot assembly in a third automatic loading and unloading system according to an embodiment of the present invention;

FIG. 14 is a schematic perspective view of a robot assembly in the automatic loading and unloading system according to the fourth embodiment of the present invention;

FIG. 15 is a schematic top view of a traveling shaft in the automatic loading and unloading system according to the embodiment of the present invention;

FIG. 16 is a schematic front view of a traveling shaft in the automatic loading and unloading system according to the embodiment of the present invention;

fig. 17 is a schematic view of a walking shaft of the automatic loading and unloading system of the embodiment of the invention with one side of the housing and the motor assembly removed;

fig. 18 is a schematic perspective view of a walking shaft of the automatic loading and unloading system of the embodiment of the invention with one side of the housing and the motor assembly removed;

FIG. 19 is a schematic diagram of a motion trajectory of an end effector in the automatic loading and unloading system according to the second embodiment of the present invention;

FIG. 20 is a schematic diagram of a motion trajectory of an end effector in a third automatic loading and unloading system according to an embodiment of the present invention;

fig. 21 is a first schematic diagram of a motion trajectory of an end effector in the automatic loading and unloading system according to the fourth embodiment of the invention;

fig. 22 is a second schematic diagram of a motion trajectory of an end effector in the automatic loading and unloading system according to the fourth embodiment of the invention.

The drawings are shown in the following parts:

1. installing a base;

2. a slide rail;

3. a robot assembly; 31. a first robot arm; 32. a first robot joint; 321. a first X-axis center; 33. a second robot arm; 34. a second robot joint; 341. a second X-axis center; 35. a third robot arm; 36. a third rotary joint; 361. a third X-axis center; 37. a fourth robot arm; 38. a first rotating shaft; 39. a second rotation shaft;

4. an end effector;

5. a feeding table; 501. a workpiece placement area to be machined; 502. processing the workpiece placement area; 51. a material placing frame; 52. placing a tray; 53. a tray lifting mechanism; 531. a lifting cylinder; 532. a lifting shaft; 533. a guide shaft; 534. a support plate; 535. a support plate;

6. a linear drive mechanism;

7. a machining center; 71. a feeding window;

8. a traveling shaft; 81. a double-layer guide rail structure; 811. a housing; 812. an upper guide rail; 813. installing a flange; 814. a lower guide rail; 815. a fixed flange; 816. a transmission assembly; 82. an electric motor assembly.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

Example one

As shown in fig. 1 to 5, a first embodiment of the present invention provides an automatic loading and unloading system, which is arranged for a machining center 7, and is used for automatic loading and unloading of a workpiece at a loading window 71 in the machining center 7, and includes an installation base 1, a slide rail 2, a robot assembly 3, an end effector 4, and a loading table 5; the mounting base 1 is arranged on one side of a loading window 71 of the machining center 7 along the length extension direction of the slide rail 2, the horizontal length extension direction of the slide rail 2 is defined as an X direction, the vertical extension direction which is vertical to the horizontal surface of the slide rail 2 is defined as a Z direction, and the direction which is vertical to the X, Z direction is defined as a Y direction; a linear driving mechanism 6 for driving the robot component 3 or the mounting base 1 to reciprocate along the X direction is arranged on the mounting base 1, one end of the linear driving mechanism 6 is relatively and fixedly connected with the slide rail 2, and the other end of the linear driving mechanism 6 is connected with the mounting base 1 or the robot component 3; the feeding table 5 is located beside the mounting base 1 facing the Y direction, and a material placing frame 51, a material placing disc 52 and a material disc lifting mechanism 53 are arranged on the feeding table 5.

In the first embodiment, the robot assembly 3 includes a first robot arm 31, a first robot joint 32, a second robot arm 33, a second robot joint 34, a third robot arm 35, a third rotation joint 36, and a fourth robot arm 37; wherein, the first robot arm 31 is located on the mounting base 1 and driven by the linear driving mechanism 6 to reciprocate in the X direction; one end of the first robot joint 32 is connected with the first robot arm 31, the other end of the first robot joint is connected with the second robot arm 33, a first X-axis center arranged along the X direction is arranged in the first robot joint 32, and the first X-axis center is a geometric center of the first robot arm 31 and the second robot arm 33 rotating on a Y-Z plane; one end of the second robot joint 34 is connected with the second robot arm 33, the other end of the second robot joint is connected with the third robot arm 35, a second X-axis center arranged along the X direction is arranged in the second robot joint 34, and the second X-axis center is a geometric center of the second robot arm 33 and the third robot arm 35 rotating on the Y-Z plane; one end of the third robot joint is connected with the third robot arm 35, the other end of the third robot joint is connected with the fourth robot arm 37, a third X-axis center arranged along the X direction is arranged in the third robot joint, and the third X-axis center is a geometric center of the third robot arm 35 and the fourth robot arm 37 rotating on the Y-Z plane; the end effector 4 is mounted on the fourth robot arm 37 and used for clamping a workpiece, and the end effector 4 is driven by the linear driving mechanism 6 and the robot assembly 3 to do linear reciprocating motion in the X direction and rotation and translation in the Y-Z plane.

In the first embodiment, the slide rail 2 is a linear slide rail 2, the slide rail 2 is located on the ground on one side of the machining center 7, the mounting base 1 is mounted on the slide rail 2, the linear driving mechanism 6 and the slide rail 2 are relatively fixed, the output end of the linear driving mechanism 6 is connected with the mounting base 1, the linear driving mechanism 6 drives the mounting base 1 to make reciprocating linear motion along the length direction of the slide rail 2, the linear driving mechanism 6 and the robot assembly 3 are separately arranged, the slide rail 2 and the linear driving mechanism 6 can be arranged on the part close to the ground, so that the linear reciprocating motion in the X direction and the rotation driving on the Y-Z plane by the respective central axis X are spatially separated (if the slide rail 2 is arranged along the Y direction, the linear motion in the Y direction can also be made, and the corresponding adjustment is made in other azimuth directions), therefore, the bulkiness of the robot assembly 3 is avoided, the size can be reduced, and the cost can be saved.

In the first embodiment, as shown in fig. 6 and 7, the loading table 5 is provided with a to-be-processed workpiece placing area 501 and a processed workpiece placing area 502, the tray lifting mechanism 53 is arranged in both the to-be-processed workpiece placing area 501 and the processed workpiece placing area 502, the tray 52 is driven by the tray lifting mechanism 53 to lift, the tray 52 is respectively located in the to-be-processed workpiece placing area 501 and the processed workpiece placing area 502, the end effector 4 takes off the processed workpiece and then grips the to-be-processed workpiece, the stroke of the section is very short, and the end effector 4 can complete the process in a very short time, so that the processing time of the workpiece is shortened, and the processing efficiency is improved; the tray lifting mechanism 53 comprises a lifting cylinder 531, a lifting shaft 532, a guide shaft 533, a support plate 534 and a support plate 535, the support plate 534 is fixed on the material placing frame 51, the guide shaft 533 and the lifting shaft 532 are arranged on the support plate 534 in a penetrating manner, the lifting shaft 532 is connected with the telescopic end of the lifting cylinder 531, the support plate 535 is installed at the top ends of the guide shaft 533 and the lifting shaft 532, the support plate 535 is used for supporting the material placing tray 52, the lifting cylinder 531 drives the lifting shaft 532 to lift along the direction of the guide shaft 533, so that the material placing trays 52 on the support plate can be stacked more, the workload for placing the material placing tray 52 outside is reduced, the time consumed by replacing the material placing tray 52 in the whole production line is shortened, and the processing efficiency is further improved.

Example two

In the second embodiment, the rest is the same as the first embodiment, except that, referring to fig. 12, in the second embodiment, the robot assembly 3 includes a first robot arm 31, a first robot joint 32, a second robot arm 33, a second robot joint 34, a third robot arm 35, a third rotary joint 36, a fourth robot arm 37, and a first rotary shaft 38, wherein the first robot arm 31 is seated on the mounting base 1 and is driven by the linear driving mechanism 6 to reciprocate in the X direction; one end of the first robot joint 32 is connected with the first robot arm 31, the other end of the first robot joint is connected with the second robot arm 33, a first X-axis center arranged along the X direction is arranged in the first robot joint 32, and the first X-axis center is a geometric center of the first robot arm 31 and the second robot arm 33 rotating on a Y-Z plane; one end of the second robot joint 34 is connected with the second robot arm 33, the other end of the second robot joint is connected with the third robot arm 35, a second X-axis center arranged along the X direction is arranged in the second robot joint 34, and the second X-axis center is a geometric center of the second robot arm 33 and the third robot arm 35 rotating on the Y-Z plane; one end of the third robot joint is connected with the third robot arm 35, the other end of the third robot joint is connected with the fourth robot arm 37, a third X-axis center arranged along the X direction is arranged in the third robot joint, and the third X-axis center is a geometric center of the third robot arm 35 and the fourth robot arm 37 rotating on the Y-Z plane; a first rotating shaft 38 is mounted at the end of the fourth robot arm 37, the first rotating shaft 38 has a first rotating center perpendicular to the third X center, the end effector 4 is mounted at the end of the first rotating shaft 38, the end effector 4 is driven by the linear driving mechanism 6 and the robot assembly 3 to perform linear reciprocating motion in the X direction and rotational motion and translational motion in the Y-Z plane, and the end effector 4 performs axial motion around the first rotating central axis.

Through the implementation of the second embodiment, it is equivalent to that a shaft is added at the end of the fourth robot arm 37 of the robot assembly 3 in the second embodiment, the original 3 shafts move radially, and the added first rotating shaft 38 moves axially, so that in practical use, the position requirements for material taking and material placing in the coaxial direction are greatly reduced, and the robot assembly is not limited by the spatial position angle during use.

EXAMPLE III

In the third embodiment, the rest is the same as the second embodiment, except that, referring to fig. 13, in the third embodiment, the robot assembly 3 includes a second rotation shaft 39, a first robot arm 31, a first robot joint 32, a second robot arm 33, a second robot joint 34, a third robot arm 35, a third rotation joint 36, a fourth robot arm 37, and a first rotation shaft 38, wherein the second rotation shaft is located above the mounting base, the first robot arm 31 is mounted on the second rotation shaft, the second rotation shaft has a second rotation center perpendicular to the X-Y plane, and the first robot arm is driven by the second rotation shaft to rotate axially around the second rotation center and is driven by the linear driving mechanism 6 to reciprocate in the X direction; one end of the first robot joint 32 is connected with the first robot arm 31, the other end of the first robot joint is connected with the second robot arm 33, a first X-axis center arranged along the X direction is arranged in the first robot joint 32, and the first X-axis center is a geometric center of the first robot arm 31 and the second robot arm 33 rotating on a Y-Z plane; one end of the second robot joint 34 is connected with the second robot arm 33, the other end of the second robot joint is connected with the third robot arm 35, a second X-axis center arranged along the X direction is arranged in the second robot joint 34, and the second X-axis center is a geometric center of the second robot arm 33 and the third robot arm 35 rotating on the Y-Z plane; one end of the third robot joint is connected with the third robot arm 35, the other end of the third robot joint is connected with the fourth robot arm 37, a third X-axis center arranged along the X direction is arranged in the third robot joint, and the third X-axis center is a geometric center of the third robot arm 35 and the fourth robot arm 37 rotating on the Y-Z plane; a first rotating shaft 38 is mounted at the end of the fourth robot arm 37, the first rotating shaft 38 has a first rotating center perpendicular to the third X center, the end effector 4 is mounted at the end of the first rotating shaft 38, the end effector 4 is driven by the linear driving mechanism 6 and the robot assembly 3 to perform linear reciprocating motion in the X direction and rotational motion and translational motion in the Y-Z plane, and the end effector 4 performs axial motion around the first rotating central axis.

Through the implementation of the third embodiment, equivalently, the second rotating shaft 39 is added in front of the first machine arm 31 of the second embodiment, during actual use, the position requirements for material taking and material placing in different axial directions are greatly reduced, and the material taking and material placing is not limited by the axial spatial position angle any longer during use, and meanwhile, the motion range is wider and the application space is more free by referring to the track diagram shown in fig. 20.

Example four

In the fourth embodiment, the rest is the same as the first embodiment, except that, referring to fig. 14, in the fourth embodiment, the robot assembly 3 includes a walking shaft 8, a second rotating shaft 39, a first robot arm 31, a first robot joint 32, a second robot arm 33, a second robot joint 34, a third robot arm 35, a third rotating joint 36, a fourth robot arm 37 and a first rotating shaft 38, wherein the walking shaft 8 has a double-layer guide rail structure 81, the walking shaft 8 is driven by a motor assembly 82 to move along the double-layer guide rail structure 81 in the same direction, the second rotating shaft 39 is fixedly installed above the walking shaft 8, the first robot arm 31 is installed on the second rotating shaft, the second rotating shaft 39 has a second rotating center perpendicular to the X-Y plane, the first robot arm 31 is driven by the second rotating shaft 39 to make an axial rotation around the second rotating center, and is driven by a linear driving mechanism 6 to do reciprocating motion in the X direction; one end of the first robot joint 32 is connected with the first robot arm 31, the other end of the first robot joint is connected with the second robot arm 33, a first X-axis center arranged along the X direction is arranged in the first robot joint 32, and the first X-axis center is a geometric center of the first robot arm 31 and the second robot arm 33 rotating on a Y-Z plane; one end of the second robot joint 34 is connected with the second robot arm 33, the other end of the second robot joint is connected with the third robot arm 35, a second X-axis center arranged along the X direction is arranged in the second robot joint 34, and the second X-axis center is a geometric center of the second robot arm 33 and the third robot arm 35 rotating on the Y-Z plane; one end of the third robot joint is connected with the third robot arm 35, the other end of the third robot joint is connected with the fourth robot arm 37, a third X-axis center arranged along the X direction is arranged in the third robot joint, and the third X-axis center is a geometric center of the third robot arm 35 and the fourth robot arm 37 rotating on the Y-Z plane; and a first rotating shaft is arranged at the tail end of the fourth robot arm, the first rotating shaft is provided with a first rotating center vertical to the third X center, the end effector is arranged at the tail end of the first rotating shaft, and the end effector performs linear reciprocating motion in the X direction and rotation and translation of the Y-Z plane and axial motion of the end effector around the first rotating central axis under the drive of the linear driving mechanism and the robot assembly.

In the fourth embodiment, referring to fig. 15 to 18, the double-layer rail structure 81 includes a housing 811, an upper rail 812 and a lower rail 814 which are disposed up and down are installed in the housing 811, a mounting flange 813 for being fixedly connected to the second rotating shaft 39 is disposed at the upper rail 812, a fixing flange 815 for being fixedly connected to the base is disposed at the lower rail 814, a transmission assembly 816 drivingly connected to the upper rail 812 and the lower rail 814 is disposed between the upper rail 812 and the lower rail 814, one end of the transmission assembly 816 is connected to the motor assembly and is driven by the motor, and when the motor assembly drives the transmission assembly 816 to move, the transmission assembly 816 drives the upper rail 812 and the lower rail 814 to move in the same direction and in synchronization. More specifically, the installation and connection mode can be realized by adopting a mode of a motor + a speed reducer + a multistage transmission assembly 816+ a screw rod + a flange, the motor assembly comprises a motor and a speed reducer, and the movement mode is that a fixed flange 815 is fixed, a lower guide rail 814 moves, an upper guide rail 812 is fixed, and a mounting flange 813 moves, namely, the synchronous and equidirectional movement of the two guide rails can be realized by using one motor between the two guide rails. The specific movement mode is as follows: the fixed flange 815 is fixed and does not move, when the motor works clockwise, the upper guide rail 812 and the lower guide rail 814 are driven to move, the two guide rails move synchronously, and the mounting flange 813 on the upper guide rail 812 moves synchronously along with the upper guide rail 812. The multi-stage transmission assembly 816 can be implemented by a plurality of groups of gears with different tooth numbers, can be engaged between gears, and can also be driven by a chain belt and a belt, and the multi-stage transmission assembly 816 has the function that the distances traveled by the upper guide track 812 and the lower guide track 814 under the driving of the same motor are different in proportion.

By implementing the fourth embodiment, the robot can change the original position distance by adding the traveling shaft 8 below the second rotation shaft 39 of the third embodiment. During practical use, usable space is correspondingly increased by the length of the walking shaft 8, coverage on scenes which are short in distance originally is achieved, the walking shaft 8 is of a double-layer structure, only one motor is needed to drive the two walking shafts 8 to move in the same direction, the movement range of the end effector 4 is wider, a long stroke is achieved by a short mechanism, the movement track of the end effector can refer to the attached drawings 21 and 22, and it can be seen that under the condition that the fourth embodiment is used, the stroke can be increased as much as possible under the condition that too much space is not occupied.

EXAMPLE five

As shown in fig. 8 to 11, a fifth embodiment of the present invention discloses a production line of a machining center 7, which includes the above automatic loading and unloading system. Preferably, the production line of the machining center 7 comprises two machining centers 7, the loading windows 71 of the two machining centers 7 are arranged in a face-to-face manner, and the automatic loading and unloading system is located between the two machining centers 7. More specifically, the machining center production line comprises at least two machining centers 7, and the feeding windows 71 of the at least two machining centers 7 are arranged in the middle or in a straight line; when the feeding windows 71 of the at least two machining centers 7 are arranged at the middle positions, the automatic feeding and discharging robot is positioned at the middle positions of the at least two machining centers 7; when the feeding windows 71 of at least two machining centers 7 are arranged linearly, the automatic feeding and discharging robot is arranged on one side of the feeding windows 71 of the machining centers 7 along the length direction of the slide rails.

Through the implementation of the first to fourth embodiments and the fifth embodiment, through the structural design of the automatic loading and unloading system, the automatic loading and unloading system can be better applied to a machine table of a machining center 7, wherein the installation base 1, the sliding rail 2, the robot assembly 3 and the end effector 4 which are matched with the automatic loading and unloading system are designed for the automatic loading and unloading of small workpieces in the machining center 7, the robot assembly 3 linearly reciprocates at one side or in front of a loading window 71 of the machining center 7 through a linear driving mechanism 6, and the loading table 5 is arranged at one side, so that the linear movement range of the robot assembly 3 is not large, the stroke is short, and the whole automatic loading and unloading system can be relatively small; meanwhile, the robot assembly 3 is composed of a first robot arm 31, a first robot joint 32, a second robot arm 33, a second robot joint 34, a third robot arm 35, a third rotary joint 36 and a fourth robot arm 37, wherein the rotational freedom degrees of the robot arms and the joints are respectively rotation on a Y-Z plane by respective central axis X axes, the structure of the robot assembly 3 can enable the end effector 4 to rapidly complete feeding and discharging actions in a limited space, the translational freedom degree and the rotational freedom degree of the end effector 4 can meet the actual operation requirements, and therefore the volume of the whole automatic feeding and discharging system can be simplified and reduced, the occupied space is reduced, the cost is saved, meanwhile, the robot joints and the linear driving mechanism 6 control the rapid feeding and discharging of workpieces, the precision and the efficiency are high, and the size of the robot can be reduced, The automatic feeding and discharging system has the advantages that the feeding and discharging speed of the robot can be increased, the space occupied by the automatic feeding and discharging system can be reduced, the efficiency of the automatic feeding and discharging system is higher compared with that of a conventional robot, the processing precision of products can be improved, meanwhile, the automatic feeding and discharging system is low in cost, more economical and cheaper, and the benefit recovery period of the investment cost of enterprises is shortened.

When the machining center 7 production line and the automatic loading and unloading system are used, the action flows can refer to the following steps:

1. the external carrying trolley places the material placing disc 52 of the product to be processed on the workpiece placing area 501 of the loading table 5 to be processed, wherein the material taking area is formed; meanwhile, an empty discharging tray 52, which is a discharging area, is placed in a processed workpiece placing area 502 of the feeding table 5;

2. the robot assembly 3 grabs the product to be processed from the material taking area;

3. the robot assembly 3 sends a product to be processed to a processing center 7;

4. the robot component 3 takes out the processed product, and the processed product is placed in a blanking area;

5. the workpieces in the stocker 52 are completely processed and then removed by the external carrier.

With respect to the above embodiments, possible variations of the present invention are described below:

1. in the above embodiment, the linear drive mechanism 6 employs one of the following mechanisms:

(a) the piston rod of the cylinder is used as the acting end of the linear driving mechanism 6;

(b) the rotor of the linear motor is used as the action end of the linear driving mechanism 6;

(c) the combination of a control motor and a screw rod mechanism, wherein the control motor is a stepping motor or a servo motor, the screw rod nut mechanism is a screw pair formed by matching a screw rod and a nut, the control motor is in transmission connection with the screw rod, and the nut is used as an acting end of a linear driving mechanism 6;

(d) the control motor is combined with a belt pulley mechanism, wherein the control motor is a stepping motor or a servo motor, the belt pulley mechanism is formed by matching a belt pulley and a belt to form a linear motion pair, the control motor is connected with the belt through a wheel set, and the belt is used as an acting end of the linear driving mechanism 6.

2. In the above embodiment, the lifting cylinder 531 in the tray lifting mechanism 53 can be replaced by one of the linear driving mechanisms 6, and the connection manner thereof is not described in detail.

3. In the above embodiment, the number of the machining centers 7 in the production line of the machining centers 7 may be one, but the present invention is not limited thereto, two machining centers 7 may also use one automatic loading and unloading system, the number of the machining centers may also be different numbers such as 4, 6, 8, etc., or may also be 3, 5, etc., when the automatic loading and unloading robot needs to be disposed among a plurality of machining centers, a plurality of machining centers may surround one side of the circumference of one automatic loading and unloading robot, and the automatic loading and unloading robot is located in the middle of the different numbers of machining centers such as 3, 4, 5, 6, etc.

4. In the above embodiments, the end effector 4 is a component capable of gripping and releasing a workpiece, and the end effector is used for gripping a workpiece and loading and unloading the workpiece. Of course, the end effector can also be an effector which can be used for welding, screw locking and the like, and the use scene can be enlarged.

5. In the fourth embodiment, the walking shaft 8 may be disposed below the first robot arm 31 of the first embodiment and the second embodiment, or may be disposed below the second rotating shaft 39 of the third embodiment, and the structure may be understood with reference to the description of the fourth embodiment, which is not repeated herein.

6. In the fourth embodiment, the feeding table 5 is located beside the mounting base facing the Y direction, but the present invention is not limited thereto, and a plurality of feeding tables may be set beside or at two sides of the automatic feeding and discharging system, and the placement of the feeding tables may be flexibly changed according to different use scenes, or the feeding tables may not be used, but the feeding tables are taken on the production line, which can also achieve the flexible application in the production line of the processing center including the automatic feeding and discharging system, as can be understood by those skilled in the art, and therefore, the description is omitted herein.

The above embodiments are merely illustrative of the technical ideas 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 protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. The utility model provides an unloading system in automation, this unloading system in automation sets up to machining center (7) for unloading in the automation of unloading window (71) department work piece in machining center (7), including installation base (1), slide rail (2), robot assembly (3), end effector (4), its characterized in that:

the mounting base (1) is arranged on one side of a loading window (71) of the machining center (7) along the length extension direction of the slide rail (2), the horizontal length extension direction of the slide rail (2) is defined as an X direction, the vertical extension direction which is vertical to the horizontal surface of the slide rail (2) is defined as a Z direction, and the direction which is vertical to the X, Z direction is defined as a Y direction;

a linear driving mechanism (6) for driving the robot component (3) or the mounting base (1) to reciprocate along the X direction is arranged on the mounting base (1), one end of the linear driving mechanism (6) is relatively and fixedly connected with the sliding rail (2), and the other end of the linear driving mechanism is connected with the mounting base (1) or the robot component (3);

the robot assembly (3) comprises a first robot arm (31), a first robot joint (32), a second robot arm (33), a second robot joint (34), a third robot arm (35), a third robot joint (36) and a fourth robot arm (37); wherein the content of the first and second substances,

the first machine arm (31) is located above the mounting base (1) and is driven by the linear driving mechanism (6) to reciprocate in the X direction; one end of the first robot joint (32) is connected with the first robot arm (31), the other end of the first robot joint is connected with the second robot arm (33), a first X-axis center arranged along the X direction is arranged in the first robot joint (32), and the first X-axis center is a geometric center of the first robot arm (31) and the second robot arm (33) rotating on a Y-Z plane;

one end of the second robot joint (34) is connected with the second robot arm (33), the other end of the second robot joint is connected with the third robot arm (35), a second X-axis center arranged along the X direction is arranged in the second robot joint (34), and the second X-axis center is a geometric center of the second robot arm (33) and the third robot arm (35) rotating on the Y-Z plane;

one end of the third robot joint (36) is connected with the third robot arm (35), the other end of the third robot joint is connected with the fourth robot arm (37), a third X-axis center arranged along the X direction is arranged in the third robot joint (36), and the third X-axis center is a geometric center of the third robot arm (35) and the fourth robot arm (37) rotating on a Y-Z plane;

the end effector (4) is installed on one side of the fourth robot arm (37) and is connected with the fourth robot arm (37) in a positioning mode, and the end effector (4) does linear reciprocating motion in the X direction and rotation and translation of the Y-Z plane under the driving of the linear driving mechanism (6) and the robot assembly (3).

2. The automatic loading and unloading system of claim 1, wherein: the automatic feeding and discharging system further comprises a feeding table (5), wherein the feeding table (5) is located beside the mounting base (1) towards the Y direction, a discharging frame (51) and a discharging disc (52) are arranged on the feeding table (5), and a workpiece placing area (501) to be processed and a processed workpiece placing area (502) are arranged on the feeding table (5).

3. The automated loading and unloading system of claim 2, wherein: the material tray lifting mechanism (53) is arranged in a to-be-processed workpiece placing area (501) and a processed workpiece placing area (502), the material tray lifting mechanism (53) comprises a lifting cylinder (531), a lifting shaft (532), a guide shaft (533), a supporting plate (534) and a supporting plate (535), the supporting plate (534) is fixed on the material placing frame (51), the guide shaft (533) and the lifting shaft (532) are arranged on the supporting plate (534) in a penetrating mode, the lifting shaft (532) is connected with the telescopic end of the lifting cylinder (531), the supporting plate (535) is installed at the top ends of the guide shaft (533) and the lifting shaft (532), and the supporting plate (535) is used for supporting the material placing disc (52).

4. The automatic loading and unloading system of claim 1, wherein: a first rotating shaft (38) is mounted at the tail end of the fourth robot arm (37), the first rotating shaft (38) is provided with a first rotating center perpendicular to the third X center, the end effector (4) is mounted at the tail end of the first rotating shaft (38), and the end effector (4) does linear reciprocating motion in the X direction and rotation and translation of the Y-Z plane under the driving of the linear driving mechanism (6) and the robot assembly (3) and does axial motion of the end effector (4) around the first rotating central axis.

5. The automatic loading and unloading system of claim 1, wherein: slide rail (2) are linear slide rail (2), slide rail (2) are located machining center (7) one side subaerial, and installation base (1) is installed on slide rail (2), and linear drive mechanism (6) keep relatively fixed with slide rail (2), the output and the installation base (1) of linear drive mechanism (6) are connected, are made reciprocating linear motion by linear drive mechanism (6) drive installation base (1) along the length direction of slide rail (2).

6. The automated loading and unloading system of claim 5, wherein: a second rotating shaft (39) is installed below the first machine arm (31), the second rotating shaft (39) is located above the installation base (1), the second rotating shaft (39) is provided with a second rotating center perpendicular to the X-Y plane, and the first machine arm (31) is driven by the second rotating shaft (39) to rotate axially around the second rotating center.

7. The automatic loading and unloading system of claim 1, 4 or 6, wherein: a walking shaft (8) is arranged below the first machine arm (31) or the second rotating shaft (39), the walking shaft (8) is provided with a double-layer guide rail structure (81), and the walking shaft (8) is driven by a motor component (82) to move along the same direction of the double-layer guide rail structure (81).

8. The automated loading and unloading system of claim 7, wherein: double-deck guide rail structure (81) have a casing (811), install upper guideway (812) and lower guideway (814) that set up from top to bottom in casing (811), be provided with in upper guideway (812) department be used for with second rotation axis (39) fixed connection's mounting flange (813), be provided with in lower guideway (814) department be used for with base fixed connection's mounting flange (815), have between upper guideway (812) and lower guideway (814) with upper guideway (812) and lower guideway (814) transmission connection's transmission assembly (816), the one end and the motor element of transmission assembly (816) are connected and are driven by motor element, when motor drive transmission assembly (816) move, transmission assembly (816) drive upper guideway (812), lower guideway (814) syntropy, the simultaneous movement.

9. The utility model provides a machining center production line which characterized in that: comprises the automatic loading and unloading system as claimed in claim 1 to claim 8.

10. The machining center production line according to claim 9, characterized in that: the machining center production line comprises at least two machining centers (7), and the feeding windows (71) of the at least two machining centers (7) are arranged in the middle or in a straight line; when the feeding windows (71) of the at least two machining centers (7) are arranged at the middle positions, the automatic feeding and discharging robot is positioned at the middle positions of the at least two machining centers (7); when the feeding windows (71) of at least two machining centers (7) are arranged linearly, the automatic feeding and discharging robot is arranged on one side of the feeding windows (71) of the machining centers (7) along the length direction of the slide rails.