CN113458844A - Conveying type loading and unloading robot and loading and unloading method - Google Patents
Conveying type loading and unloading robot and loading and unloading method Download PDFInfo
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- CN113458844A CN113458844A CN202110665696.XA CN202110665696A CN113458844A CN 113458844 A CN113458844 A CN 113458844A CN 202110665696 A CN202110665696 A CN 202110665696A CN 113458844 A CN113458844 A CN 113458844A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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Abstract
The invention relates to a conveying type feeding and discharging robot and a feeding and discharging method, and belongs to the technical field of automation. The conveying type loading and unloading robot is provided with a transmission mechanism for positioning and transmitting workpieces, the conventional one-time workpiece processing is changed into one-time loading and two-time processing, and raw materials are reasonably utilized; the machining is limited by the self moving range of the loading and unloading robot, workpieces are often long, the workpieces can be controlled to move along the axial direction of the workpieces by using the moving mechanism, and after the workpieces move for a preset distance, the workpieces are reversed and sent to a machine tool to be fixed for machining.
Description
Technical Field
The invention relates to a conveying type loading and unloading robot and a loading and unloading method, and belongs to the technical field of automation.
Background
The lathe cutting raw and other materials are cylindrical work piece usually, chuck clamp is got one section usually, carry out each process processing to the rest, stability when processing for the control, the shape of cylindrical work piece self in addition, fixed clamp is got the part and is not changed usually, treat the processing completion back, the manual work is accomodate the finished product and is cut off unnecessary part, the initial work piece of processing of predetermined size is often controlled to the lathe of conventional last unloading robot and is processed, in order to improve the efficiency of this kind of process, once only process mostly, the part of chuck centre gripping is abandoned, or after finishing processing, manual work again commutates and processes, in order to improve the utilization ratio of work piece.
At present, the price of basic raw materials such as iron ores greatly rises, which is particularly important for reasonable utilization of materials, so that a feeding and discharging robot for reversing processing of workpieces needs to be designed to improve the utilization rate of the materials.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art and provides a conveying type loading and unloading robot and a loading and unloading method, namely, the conventional one-time loading processing is changed into the one-time loading processing to reasonably utilize raw materials, the length of the workpiece subjected to the two-time processing is longer than that of the workpiece subjected to the one-time processing, and therefore, a special reversing mode needs to be designed when reversing is carried out so as to adapt to the range limit of the movement of the loading and unloading robot.
The invention is realized by adopting the following technical scheme: a conveying type loading and unloading robot comprises:
the conveying mechanism is provided with a conveying belt for conveying a workpiece to be processed and a processed workpiece, the conveying belt is provided with a positioning mechanism and a protection mechanism, the positioning mechanism is used for positioning the initial position of the workpiece to be processed, and the protection mechanism is used for fixing the processed workpiece;
and the feeding and discharging mechanism is arranged close to one side of the transmission mechanism and is provided with a clamping mechanism and a travelling mechanism, the travelling mechanism is used for assisting the clamping mechanism to clamp the workpiece to be processed and send the workpiece to a machine tool for processing or clamp the processed workpiece and send the workpiece to the protection mechanism, and the travelling mechanism adjusts the processing travel amount.
Through the technical scheme, in the machining process, the advancing mechanism adjusts the advancing amount of the workpiece during machining, after machining is completed, the clamping mechanism clamps the machined workpiece and sends the machined workpiece to the protection mechanism, and the protection mechanism protects and conveys the machined workpiece.
In a further embodiment, the positioning mechanism comprises:
the positioning bottom plate is arranged on the joint plate of the conveyor belt and is used for mounting the rest parts of the positioning mechanism;
the two first positioning side plates are symmetrically arranged on the positioning bottom plate through a bearing seat, and rotate relative to the positioning bottom plate to form an included angle for fixing the position of the cylindrical workpiece;
the clamping strips are arranged on the outer side surfaces of the two positioning side plates and rotate relative to the positioning side plates;
the two racks are mounted on the positioning bottom plate and clamped with the clamping strips, and the clamping of the clamping strips at different positions on the racks is used for adjusting the inclination of the first positioning side plate;
the first supporting plate is elastically installed on the positioning bottom plate and located between the two positioning side plates.
Through above-mentioned technical scheme, the card strip block on the rack to make two first location curb plates form the contained angle, be convenient for fixed columniform treat the processing work piece.
In a further embodiment, the positioning mechanism further comprises a second positioning side plate perpendicular to the first positioning side plate, the second positioning side plate positioning an axial position of the workpiece.
Through the technical scheme, the initial position when the clamping mechanism clamps is fixed, the fixed length of the processing section of the workpiece to be processed can be determined, and the length of the required primary processing part can be preset as the length of the workpiece positioned by the positioning mechanism.
In a further embodiment, the protection mechanism comprises:
the mounting plate is mounted on the section plates of the conveying belt and alternately distributed on the conveying belt with the positioning bottom plate, and a track is arranged on the mounting plate;
the second supporting plate is elastically connected to the mounting plate and used for supporting the main weight of the workpiece;
the two connecting pieces are connected to the bottom of the second supporting plate through a bearing seat;
the two baffles form a preset angle with the connecting piece, pulleys are installed at the connecting position of the baffles and the connecting piece, the pulleys slide on the track of the mounting plate, and the two baffles are driven by the descending of the second supporting plate to deflect oppositely to form a mechanism for fixing the cylindrical workpiece.
Through the technical scheme, the machined workpiece presses the second supporting plate downwards, the pulley slides on the rail, and the two baffle plates move relatively at the moment and form a fixing mechanism with the second supporting plate for fixing the machined cylindrical workpiece to prevent the workpiece from rolling.
In a further embodiment, the clamping mechanism comprises:
the first rotating platform is arranged on one side of the conveying mechanism and used for rotating the whole feeding and discharging robot;
the supporting shaft is arranged on the first rotating table, a track is arranged on one surface of the supporting shaft, and the supporting shaft is used for assisting the clamping part of the clamping mechanism to move up and down;
the first air cylinder is arranged on the first rotating platform, and the working direction of the first air cylinder is parallel to the track of the supporting shaft;
the transverse sliding rail is arranged on the track of the supporting shaft in a sliding mode and connected to the telescopic rod of the first air cylinder;
the first longitudinal rail and the second longitudinal rail are arranged on a sliding shaft of the transverse sliding rail in parallel and assist a clamping part of the clamping mechanism to move up and down;
the second bidirectional cylinder is arranged on the sliding shaft of the transverse sliding rail, and the telescopic direction of the second bidirectional cylinder is parallel to the mounting direction of the first longitudinal rail and is used for assisting the vertical movement of the clamping component of the clamping mechanism;
the two mounting pieces are respectively and slidably mounted at the upper and lower parts of the first longitudinal rail and the second longitudinal rail, one sides of the two mounting pieces are respectively mounted on two telescopic rods of the second bidirectional cylinder, and a moving mechanism used for clamping and controlling the workpiece to move along the axial direction of the workpiece is arranged on the mounting pieces.
Through above-mentioned technical scheme, fixture can rotate predetermined angle to go up and down to correspond the clamp of work piece and get, utilize the relative slip of second bidirectional cylinder control installed part, thereby get and place the work piece.
In a further embodiment, the travel mechanism comprises:
the second rotating platform is oppositely arranged on the two telescopic mounting pieces, the second rotating platform is provided with an advancing outer frame, and the shape of the advancing outer frame corresponding to the workpiece is designed into a v shape and corresponds to the clamping of the cylindrical workpiece;
one end of each roller shaft is arranged in the travelling outer frame through a bearing to rotate and is symmetrically distributed along the central line of the travelling outer frame, and the adjacent end of each roller shaft is provided with a bevel gear;
the connecting seat is arranged at the bottom of the travelling outer frame, and the other end of the roller shaft is arranged on the connecting seat to rotate;
the roller is arranged on the roller shaft and provided with a rolling surface exceeding the advancing outer frame;
and the transmission gear is arranged inside the traveling outer frame through a transmission shaft and is meshed with the helical gear, and the transmission gear provides kinetic energy by a motor and transmits the kinetic energy to enable the idler wheel to rotate.
Through the technical scheme, the transmission gear is meshed with the helical gear, the motor provides kinetic energy to the transmission gear, the motor is started, the roller is finally rotated, the roller enables the workpiece to move along the axial direction of the workpiece at the moment, and the machine tool is controlled to clamp the corresponding position
In a further embodiment, the feeding and discharging mechanism further includes a traveling sensor, the traveling sensor is disposed in a middle position of the first longitudinal rail and used for monitoring and recording a traveling amount of the workpiece, and transmitting data to the computer, the computer feeds back a signal to the traveling mechanism after the second rotating table switches the direction of the workpiece according to a preset length value of the first processing section set by the positioning mechanism, the traveling mechanism controls the workpiece to travel over the first processing section to a preset position, and the machine tool clamps and fixes the workpiece clamped by the traveling mechanism and performs secondary processing on the workpiece.
Through the technical scheme, the travelling sensor measures the displacement of the workpiece on the travelling mechanism, and the machine tool clamps, clamps and fixes the workpiece on the clamping mechanism through computer program control, and processes the workpiece according to a preset process, so that the processing end of the workpiece is controlled.
In a further embodiment, a working method of the loading and unloading robot includes the following steps:
firstly, placing a workpiece to be machined on an adjusted positioning mechanism, and conveying the workpiece to be machined by a conveying mechanism;
step two, the feeding and discharging mechanism firstly rotates to a position parallel to the transmission mechanism, clamps a reserved section of a workpiece to be machined, rotates to the machine tool, controls the workpiece to be machined to slide to a fixing device on the corresponding machine tool along the axial direction of the workpiece by the advancing mechanism, fixes the workpiece to be machined, and starts machining by the machine tool;
step three, after the preset section is machined, the feeding and discharging mechanism clamps the workpiece again, the advancing mechanism controls the workpiece to advance for a preset distance along the axial direction of the machining section, the workpiece is turned, the feeding and discharging mechanism conveys the workpiece to the fixed position on the machine tool again for fixing, and the machine tool machines the other section of the workpiece again;
and step four, the feeding and discharging mechanism clamps the processed workpiece and places the processed workpiece on the protection mechanism, and the transmission mechanism conveys the processed workpiece.
The invention has the beneficial effects that: aiming at daily machine tool machining, the invention provides a conveying type loading and unloading robot, which changes the conventional one-time workpiece machining into one-time loading and two-time machining, and reasonably utilizes raw materials; the machining is limited by the self moving range of the loading and unloading robot, workpieces are often long, the workpieces can be controlled to move along the axial direction of the workpieces by using the moving mechanism, and after the workpieces move for a preset distance, the workpieces are reversed and sent to a machine tool to be fixed for machining.
Drawings
Fig. 1 is a schematic diagram of the overall system architecture of the present invention.
Fig. 2 is a schematic structural diagram of the positioning mechanism of the present invention.
Fig. 3 is a schematic top view of the positioning mechanism of the present invention.
Fig. 4 is a schematic structural diagram of the protection mechanism of the present invention.
Fig. 5 is a schematic view of the gripping structure of the present invention.
Fig. 6 is a schematic view of the travel structure of the present invention.
Reference numerals: the conveying mechanism 1, the conveyor belt 11, the positioning mechanism 12, the positioning bottom plate 121, the rack 122, the clamping bar 123, the first positioning side plate 124, the second positioning side plate 125, the first support plate 126, the protection mechanism 13, the mounting plate 131, the connecting member 132, the baffle 133, the second support plate 134, the pulley 135, the loading and unloading mechanism 2, the clamping mechanism 21, the first rotating table 211, the support shaft 212, the first cylinder 213, the transverse slide rail 214, the first longitudinal rail 215, the second longitudinal rail 216, the second bidirectional cylinder 217, the mounting member 218, the traveling mechanism 22, the second rotating table 221, the traveling outer frame 222, the roller shaft 223, the roller 224, the bevel gear 225, the gear 226, the transmission shaft 227, the motor 228, the connecting seat 229, the traveling sensor 23, and the machine tool 3.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these details; in other instances, well-known features have not been described in order to avoid obscuring the invention.
In a further embodiment, the conveying type loading and unloading robot comprises a transmission mechanism 1 and a loading and unloading mechanism 2, wherein the transmission mechanism 1 is provided with transmission, the transmission belt 11 is used for transmitting a workpiece to be processed and a processed workpiece, the transmission belt 11 is provided with a positioning mechanism 12 and a protection mechanism 13, the positioning mechanism 12 and the protection mechanism 13 are alternately and uniformly distributed, the positioning mechanism 12 is used for positioning the initial position of the workpiece to be processed, the protection mechanism 13 is used for fixing the processed workpiece, the loading and unloading mechanism 2 is arranged close to one side of the transmission mechanism 1, the loading and unloading mechanism 2 is provided with a clamping mechanism 21 and a travelling mechanism 22, the clamping mechanism 21 clamps the workpiece to be processed and sends the workpiece to the machine tool 3 for processing, in the processing process, the advancing mechanism 22 adjusts the processing advancing amount, after the processing is finished, the clamping mechanism 21 clamps the processed workpiece and sends the processed workpiece to the protection mechanism 13, and the protection mechanism 13 protects and conveys the processed workpiece.
Furthermore, in order to improve the working efficiency and the processing quantity, a systematic automatic flow can be formed by arranging a plurality of feeding and discharging mechanisms 2 and corresponding machine tools 3 beside the transmission mechanism 1.
In a further embodiment, the positioning mechanism 12 is mainly used for positioning an initial position of the unprocessed workpiece so as to facilitate the clamping of the clamping mechanism 21 from the side of the conveyor belt 11, the positioning mechanism 12 includes a positioning bottom plate 121, two first positioning side plates 124, a clamping strip 123, a rack 122 and a first support plate 126, wherein the positioning bottom plate 121 is mounted on a section plate of the conveyor belt 11, the two first positioning side plates 124 are symmetrically mounted on the positioning bottom plate 121 through bearing seats respectively, the two first positioning side plates 124 can rotate, the clamping strip 123 is mounted on outer side surfaces of the two positioning side plates, the clamping strip 123 rotates relative to the first positioning side plate 124, the two racks 122 are mounted on the positioning bottom plate 121 and can be clamped with the clamping strip 123, the first support plate 126 is mounted on the positioning bottom plate 121 through an elastic member such as a spring and the like and is located between the two first positioning side plates 124, the workpiece part is placed on the positioning mechanism 12, the part of the workpiece extends out of the positioning mechanism 12, and the clamping mechanism 21 clamps the extended part, because the cut workpiece is usually a cylindrical workpiece, the position of the clamping strip 123 clamped on the rack 122 is controlled, so that the two first positioning side plates 124 form an included angle, which is convenient for fixing the cylindrical workpiece to be processed.
In a further embodiment, the positioning mechanism 12 further includes a second positioning side plate 125, the second positioning side plate 125 is perpendicular to the first positioning side plate 124, the second positioning side plate 125 positions the axial position of the workpiece, the second positioning side plate 125 makes the workpiece in the positioning machine have a fixed length, the initial position when the clamping mechanism 21 clamps the workpiece is fixed, the fixed length of the workpiece to be processed can be determined, that is, the length of the processing portion required for the first time can be preset as the length of the positioning mechanism 12.
In a further embodiment, the protection mechanism 13 includes a mounting plate 131, a second support plate 134, a connecting member 132 and a blocking plate 133, wherein the mounting plate 131 is arranged on the segment plate of the conveyor belt 11 and alternately distributed on the conveyor belt 11 with the positioning bottom plate 121, the mounting plate 131 is provided with a track, for the sliding of the pulley 135, the second supporting plate 134 is elastically connected to the mounting plate 131, the connecting member 132 is connected to the bottom of the second supporting plate 134 through a bearing housing and can rotate, two blocking plates 133 are connected to the connecting member 132, and forms a predetermined angle, a pulley 135 is installed at the connection of the blocking plate 133 and the connecting member 132, the pulley 135 slides on the rail of the installation plate 131, when the processed workpiece is gripped by the gripping mechanism 21 and placed on the protection mechanism 13, the workpiece presses down the second support plate 134, the pulley 135 slides on the rail, and at this time, the two blocking plates 133 move relatively and form a fixing mechanism with the second support plate 134 for fixing the processed cylindrical workpiece.
In a further embodiment, the clamping mechanism 21 comprises a first rotating table 211, a supporting shaft 212, a first air cylinder 213, a transverse slide rail 214, a first longitudinal rail 215, a second longitudinal rail 216, a second bidirectional air cylinder 217 and two mounting members 218, wherein the first rotating table 211 is mounted at one side of the conveyor, the first rotating table 211 controls the rotation of the clamping mechanism 21, the supporting shaft 212 is mounted on the first rotating table 211, one side of the supporting shaft 212 is provided with a track, the first air cylinder 213 is mounted on the first rotating table 211 and the working direction of the telescopic rod thereof is parallel to the track of the supporting shaft 212, the transverse slide rail 214 slides on the track of the supporting shaft 212, and the transverse slide rail 214 is connected with the telescopic rod of the first air cylinder 213, i.e. the first air cylinder 213 controls the transverse slide rail 214 to slide on the track of the supporting shaft 212, the first longitudinal rail 215 and the second longitudinal rail 216 are mounted in parallel to the sliding shaft of the transverse slide rail 214, the second bidirectional air cylinder 217 is mounted on the sliding shaft of the transverse slide rail 214, the telescopic direction of the second bidirectional cylinder 217 is parallel to the first longitudinal rail 215, the two mounting pieces 218 are respectively mounted at the upper end and the lower end of the first longitudinal rail 215 and the second longitudinal rail 216, the first longitudinal rail 215 and the second longitudinal rail 216 assist the mounting pieces 218 to slide up and down, and meanwhile, a cross-shaped stable structure is formed, so that the clamping mechanism 21 can stably operate when clamping an object, one sides of the two mounting pieces 218 are respectively mounted on the two telescopic rods of the second bidirectional cylinder 217, namely, the second bidirectional cylinder 217 controls the relative sliding of the mounting pieces 218, and therefore the workpiece is clamped and placed.
In a further embodiment, the traveling mechanism 22 includes a second rotating platform 221, a roller shaft 223, a connecting seat 229, a roller 224 and a transmission gear 226, wherein the second rotating platform 221 has two rotating centers respectively disposed at the end portions of the mounting member 218 and on the same straight line, the second rotating platform 221 is used for rotating the direction of the workpiece, the second rotating platform 221 is mounted with a traveling outer frame 222, the traveling outer frame 222 is designed into a v-shape corresponding to the shape of the workpiece and is used for clamping the cylindrical workpiece, two roller shafts 223 are provided, one end of each roller shaft is disposed inside the traveling outer frame 222 through a bearing, a helical gear 225 is disposed at the end near each of the two roller shafts 223, the connecting seat 229 is mounted at the bottom of the traveling outer frame 222, the other end of each roller shaft 223 is disposed at the connecting seat 229 for rotating, the connecting seat 229 is a through hole for passing through the transmission shaft 227, bearings are correspondingly mounted at both sides for cooperating with the roller shafts 223 in the traveling outer frame 222, the roller 224 is installed on the roller shaft 223 and the roller 224 extends beyond the traveling outer frame 222, the rotation direction of the roller 224 is the axial direction of the clamping mechanism 21 for clamping the workpiece, the transmission gear 226 is installed inside the traveling outer frame 222 through the transmission shaft 227, the transmission gear 226 is meshed with the bevel gear 225, the transmission gear 226 is provided with kinetic energy by the motor 228, the motor 228 is started, and finally the roller 224 is rotated, and at the moment, the roller 224 enables the workpiece to move along the axial direction thereof, and the workpiece is sent to the position corresponding to the clamping of the machine tool 3.
Further, in the design of the machine tool 3 itself, the processing mechanism 22 may be used to process a predetermined workpiece more than twice, that is, the length and diameter of the workpiece are controlled within the processing tolerance range, thereby avoiding the deflection of the axis.
In a further embodiment, the feeding and discharging mechanism 2 is further provided with a travel sensor 23, the travel sensor 23 is mounted in the middle position of the first longitudinal rail 215 for monitoring and recording the travel amount of the workpiece, the computer feeds back a signal to the travel mechanism 22 after the second rotary table 221 switches the direction of the workpiece according to the preset length value of the first machining section set by the positioning mechanism 12, the travel mechanism 22 makes the workpiece travel over the first machining section to a preset position, the machine tool 3 clamps and fixes the workpiece clamped by the travel mechanism 22, and performs secondary machining on the workpiece, in the preset process, the displacement amount of the machine tool 3 during clamping the workpiece is constant, the travel mechanism 22 clamps the workpiece in cooperation with the machine tool 3 after the workpiece is switched, the workpiece needs to be controlled to be at the preset position, and for this reason, when the travel mechanism 22 does not make the workpiece travel to the preset position, the travel sensor 23 transmits data to the computer, the computer calculates the difference in time and controls the travel mechanism 22 to again adjust the workpiece to the predetermined position.
The working principle is as follows: firstly, a workpiece to be processed is placed on a positioning mechanism 12 on a conveying mechanism 1, the positioning mechanism 12 is installed on a joint plate of a conveyor belt 11, the workpiece is partially placed on the positioning mechanism 12, part of the workpiece extends out of the positioning mechanism 12, a clamping mechanism 21 clamps the extended part, because the cut workpiece is usually a cylindrical workpiece, a clamping strip 123 is clamped on a rack 122, so that two first positioning side plates 124 form an included angle, a second positioning side plate 125 positions the axial position of the workpiece, the workpiece is placed on a first supporting plate 126, at the moment, the cylindrical workpiece to be processed is fixed by the positioning mechanism 12, the conveyor belt 11 conveys the positioning mechanism 12 to a preset position, the height of the clamping mechanism 21 in a loading and unloading mechanism 2 is adjusted through a first air cylinder 213, a transverse sliding rail 214 extends a sliding seat, finally, the installation part 218 corresponds to the part of the workpiece extending out of the positioning mechanism 12, and a second bidirectional air cylinder 217 controls two installation parts 218 to clamp the workpiece, the first rotating table 211 rotates, and the first cylinder 213 adjusts the height again to rotate the workpiece to the machine tool, the cross slide 214 and the second rotating table 221 are adjusted to align the axial end of the workpiece with the fixing device of the machine tool, at this time, the traveling mechanism 22 starts to operate, two mounting members 218 are connected to the second rotating table 221, the second rotating table 221 is connected to the traveling outer frame 222, the traveling outer frame 222 is provided with a roller 224, the roller 224 is mounted on a roller shaft 223, one end of the roller shaft 223 is disposed inside the traveling outer frame 222, and the other end of the roller shaft 223 is disposed on a connecting base 229 to rotate, wherein the traveling mechanism 22 finally grips the workpiece, one end of the two roller shafts 223 near is provided with a bevel gear 225, a transmission gear 226 is engaged with the bevel gear 225, the transmission gear 226 is provided with kinetic energy by a motor 228, and finally rotates the roller 224, at this time, the roller 224 makes the workpiece move along the axial direction thereof to a corresponding position fixedly gripped by the machine tool 3, after the primary processing, the traveling mechanism 22 makes the workpiece move along the axial direction thereof, takes out the workpiece, rotates 180 degrees through the second rotating table 221, and performs the next processing, after the processing is completed, the first rotating table 211 rotates, the feeding and discharging mechanism 2 sends the workpiece to the protecting mechanism 13, when the processed workpiece is clamped and placed on the protecting mechanism 13 by the clamping mechanism 21, the workpiece presses down the second supporting plate 134, the pulley 135 slides on the rail, and at this time, the two baffles 133 move relatively and form a fixing mechanism with the second supporting plate 134 for fixing the processed cylindrical workpiece.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (8)
1. The utility model provides a unloading robot in transport type which characterized in that includes:
the conveying mechanism is provided with a conveying belt used for conveying a workpiece to be processed and a processed workpiece, a plurality of groups of positioning mechanisms and protection mechanisms are alternately arranged on the conveying belt along the length direction of the conveying belt, the positioning mechanisms are used for positioning the initial position of the workpiece to be processed, and the protection mechanisms are used for fixing the processed workpiece;
and the feeding and discharging mechanism is arranged close to one side of the transmission mechanism and is provided with a clamping mechanism and a travelling mechanism, the travelling mechanism is used for assisting the clamping mechanism to clamp the workpiece to be processed and send the workpiece to a machine tool for processing or clamp the processed workpiece and send the workpiece to the protection mechanism, and the travelling mechanism adjusts the processing travel amount.
2. The conveying type loading and unloading robot as claimed in claim 1, wherein the positioning mechanism comprises:
the positioning bottom plate is arranged on the joint plate of the conveyor belt and is used for mounting the rest parts of the positioning mechanism;
the two first positioning side plates are symmetrically arranged on the positioning bottom plate through a bearing seat, and rotate relative to the positioning bottom plate to form an included angle for fixing the position of the cylindrical workpiece;
the clamping strips are arranged on the outer side surfaces of the two positioning side plates and rotate relative to the positioning side plates;
the two racks are mounted on the positioning bottom plate and clamped with the clamping strips, and the clamping of the clamping strips at different positions on the racks is used for adjusting the inclination of the first positioning side plate;
the first supporting plate is elastically installed on the positioning bottom plate and located between the two positioning side plates.
3. The conveying type loading and unloading robot as claimed in claim 2, wherein the positioning mechanism further comprises a second positioning side plate, the second positioning side plate is perpendicular to the first positioning side plate, and the second positioning side plate positions an axial position of the workpiece.
4. The conveyor-type loading and unloading robot as claimed in claim 1, wherein the protection mechanism comprises:
the mounting plate is mounted on the section plates of the conveying belt and alternately distributed on the conveying belt with the positioning bottom plate, and a track is arranged on the mounting plate;
the second supporting plate is elastically connected to the mounting plate and used for supporting the main weight of the workpiece;
the two connecting pieces are connected to the bottom of the second supporting plate through a bearing seat;
the two baffles form a preset angle with the connecting piece, pulleys are installed at the connecting position of the baffles and the connecting piece, the pulleys slide on the track of the mounting plate, and the two baffles are driven by the descending of the second supporting plate to deflect oppositely to form a mechanism for fixing the cylindrical workpiece.
5. The conveying type loading and unloading robot as claimed in claim 1, wherein the clamping mechanism comprises:
the first rotating platform is arranged on one side of the conveying mechanism and used for rotating the whole feeding and discharging robot;
the supporting shaft is arranged on the first rotating table, a track is arranged on one surface of the supporting shaft, and the supporting shaft is used for assisting the clamping part of the clamping mechanism to move up and down;
the first air cylinder is arranged on the first rotating platform, and the working direction of the first air cylinder is parallel to the track of the supporting shaft;
the transverse sliding rail is arranged on the track of the supporting shaft in a sliding mode and connected to the telescopic rod of the first air cylinder;
the first longitudinal rail and the second longitudinal rail are arranged on a sliding shaft of the transverse sliding rail in parallel and assist a clamping part of the clamping mechanism to move up and down;
the second bidirectional cylinder is arranged on the sliding shaft of the transverse sliding rail, and the telescopic direction of the second bidirectional cylinder is parallel to the mounting direction of the first longitudinal rail and is used for assisting the vertical movement of the clamping component of the clamping mechanism;
the two mounting pieces are respectively and slidably mounted at the upper and lower parts of the first longitudinal rail and the second longitudinal rail, one sides of the two mounting pieces are respectively mounted on two telescopic rods of the second bidirectional cylinder, and a moving mechanism used for clamping and controlling the workpiece to move along the axial direction of the workpiece is arranged on the mounting pieces.
6. The conveying type loading and unloading robot as claimed in claim 5, wherein the traveling mechanism comprises:
the second rotating platform is oppositely arranged on the two telescopic mounting pieces, the second rotating platform is provided with an advancing outer frame, and the shape of the advancing outer frame corresponding to the workpiece is designed into a v shape and corresponds to the clamping of the cylindrical workpiece;
one end of each roller shaft is arranged in the travelling outer frame through a bearing to rotate and is symmetrically distributed along the central line of the travelling outer frame, and the adjacent end of each roller shaft is provided with a bevel gear;
the connecting seat is arranged at the bottom of the travelling outer frame, and the other end of the roller shaft is arranged on the connecting seat to rotate;
the roller is arranged on the roller shaft and provided with a rolling surface exceeding the advancing outer frame;
and the transmission gear is arranged inside the traveling outer frame through a transmission shaft and is meshed with the helical gear, and the transmission gear provides kinetic energy by a motor and transmits the kinetic energy to enable the idler wheel to rotate.
7. The conveying type loading and unloading robot of claim 1, wherein the loading and unloading mechanism further comprises a travel sensor, the travel sensor is arranged in the middle of the first longitudinal rail and used for monitoring and recording the travel amount of the workpiece and transmitting data to a computer, the computer feeds back a signal to the travel mechanism after the second rotary table switches the direction of the workpiece according to the preset length value of the first machining section set by the positioning mechanism, the travel mechanism controls the workpiece to travel over the first machining section to a preset position, and the machine tool clamps and fixes the workpiece clamped by the travel mechanism and performs secondary machining on the workpiece.
8. The loading and unloading method of the loading and unloading robot based on any one of claims 1 to 7 is characterized by comprising the following steps:
firstly, placing a workpiece to be machined on an adjusted positioning mechanism, and conveying the workpiece to be machined by a conveying mechanism;
step two, the feeding and discharging mechanism firstly rotates to a position parallel to the transmission mechanism, clamps a reserved section of a workpiece to be machined, rotates to the machine tool, controls the workpiece to be machined to slide to a fixing device on the corresponding machine tool along the axial direction of the workpiece by the advancing mechanism, fixes the workpiece to be machined, and starts machining by the machine tool;
step three, after the preset section is machined, the feeding and discharging mechanism clamps the workpiece again, the advancing mechanism controls the workpiece to advance for a preset distance along the axial direction of the machining section, the workpiece is turned, the feeding and discharging mechanism conveys the workpiece to the fixed position on the machine tool again for fixing, and the machine tool machines the other section of the workpiece again;
and step four, the feeding and discharging mechanism clamps the processed workpiece and places the processed workpiece on the protection mechanism, and the transmission mechanism conveys the processed workpiece.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110665696.XA CN113458844A (en) | 2021-06-16 | 2021-06-16 | Conveying type loading and unloading robot and loading and unloading method |
| PCT/CN2021/108340 WO2022262076A1 (en) | 2021-06-16 | 2021-07-26 | Conveying type loading and unloading robot and loading and unloading method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110665696.XA CN113458844A (en) | 2021-06-16 | 2021-06-16 | Conveying type loading and unloading robot and loading and unloading method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113458844A true CN113458844A (en) | 2021-10-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110665696.XA Withdrawn CN113458844A (en) | 2021-06-16 | 2021-06-16 | Conveying type loading and unloading robot and loading and unloading method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113458844A (en) |
| WO (1) | WO2022262076A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115818116A (en) * | 2023-02-17 | 2023-03-21 | 广州市康远物联科技有限公司 | Storage and transportation equipment |
| CN116373381A (en) * | 2023-04-11 | 2023-07-04 | 扬州锐得自动化设备有限公司 | Feeding and discharging equipment of finishing machine |
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| CN116040224A (en) * | 2023-01-21 | 2023-05-02 | 宁波市亚赛帕科技发展有限公司 | Fixed transport vehicle for workpiece to be processed of machine tool and transport method thereof |
| CN116165046B (en) * | 2023-04-20 | 2023-06-30 | 天津仁爱学院 | High-pressure oil pipe damage position positioning mechanism of engine |
| CN117020506B (en) * | 2023-10-10 | 2023-12-01 | 吉林大学 | Clamping device with automatic direction adjustment function in vehicle body welding conveying line |
| CN117469913A (en) * | 2023-12-21 | 2024-01-30 | 如东县新苗食品机械有限公司 | Aquatic product refrigerating and conveying device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4612087B2 (en) * | 2008-10-09 | 2011-01-12 | ファナック株式会社 | Robot system that attaches and detaches workpieces to machine tools by robot |
| CN103662486B (en) * | 2013-11-29 | 2016-08-17 | 齐齐哈尔轨道交通装备有限责任公司 | Steel coil transportation container |
| CN105563218A (en) * | 2015-12-10 | 2016-05-11 | 宁波大正工业机器人技术有限公司 | Automatic feeding and dischargingoperation equipment of machine tool |
| CN205346296U (en) * | 2016-01-26 | 2016-06-29 | 武汉智孚机器人工程有限公司 | Last unloading system of automation of machine tools |
| CN107265077A (en) * | 2016-04-06 | 2017-10-20 | 南通中集罐式储运设备制造有限公司 | The horizontal conveying of cylindrical workpiece and slewing equipment |
| CN108568691B (en) * | 2017-12-05 | 2021-03-02 | 湖南飞沃新能源科技股份有限公司 | Automatic rough-cutting production processing system |
| CN108481092B (en) * | 2018-06-06 | 2020-10-20 | 宁波朗沃矿业技术有限公司 | Double-station machine tool machining system |
| CN111890101B (en) * | 2020-07-23 | 2021-08-17 | 台州一鼎数控机床有限公司 | Cylindrical workpiece numerical control machine tool |
-
2021
- 2021-06-16 CN CN202110665696.XA patent/CN113458844A/en not_active Withdrawn
- 2021-07-26 WO PCT/CN2021/108340 patent/WO2022262076A1/en active Application Filing
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115818116A (en) * | 2023-02-17 | 2023-03-21 | 广州市康远物联科技有限公司 | Storage and transportation equipment |
| CN115818116B (en) * | 2023-02-17 | 2023-05-02 | 广州市康远物联科技有限公司 | Storage transportation equipment |
| CN116373381A (en) * | 2023-04-11 | 2023-07-04 | 扬州锐得自动化设备有限公司 | Feeding and discharging equipment of finishing machine |
| CN116373381B (en) * | 2023-04-11 | 2024-02-02 | 扬州锐得自动化设备有限公司 | Feeding and discharging equipment of finishing machine |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022262076A1 (en) | 2022-12-22 |
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