CN113666107A - Truss robot - Google Patents
Truss robot Download PDFInfo
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- CN113666107A CN113666107A CN202110975807.7A CN202110975807A CN113666107A CN 113666107 A CN113666107 A CN 113666107A CN 202110975807 A CN202110975807 A CN 202110975807A CN 113666107 A CN113666107 A CN 113666107A
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- 238000003860 storage Methods 0.000 claims abstract description 57
- 238000007599 discharging Methods 0.000 claims abstract description 53
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- 239000000463 material Substances 0.000 claims abstract description 43
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- 230000003139 buffering effect Effects 0.000 claims description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a truss robot which comprises a rack, a transmission mechanism, a mechanical arm and a storage bin, wherein a rotating disc and a rotating mechanism are rotatably mounted on the storage bin, the rotating disc is provided with a plurality of supply positions, each supply position is provided with a storage cavity, a material taking hole is formed above each storage cavity, a feeding station and a discharging station are arranged on the storage bin, a feeding ejector rod is arranged on the storage bin at the feeding station, a discharging ejector rod is arranged on the discharging station, the storage bin is provided with the feeding mechanism and the discharging mechanism, and each supply position is provided with a coordination jack. Adopt above-mentioned scheme, provide one kind and set up material loading station and unloading station on the feed bin and realize that the arm carries out snatching of work piece from the feed bin to transmit the work piece back to will processing is accomplished, and realize that the position of snatching of work piece and put back the position and be specific position through material loading ejector pin and unloading ejector pin, thereby guarantee that the work piece receives the stability of grabbing and putting back a truss robot.
Description
Technical Field
The invention relates to a truss robot.
Background
In modern industry, automatic production becomes more and more mainstream, and a flexible manufacturing technology of a robot main body, namely, a robot automation device, is more and more popular. The robot industry is a sunrise industry, future industrial production gradually evolves into truss robot technology-dominant industrial production, and human beings are liberated from monotonous and complicated physical labor to carry out more creative work.
An existing truss robot is generally used for connecting a bin with a machine tool, a mechanical arm is used for grabbing a workpiece at a specific position of the bin, and the workpiece is rapidly transmitted to the specific position in the machine tool by adopting x, y and z three-dimensional coordinates to be machined by the machine tool.
The problem that current truss robot exists lies in: the existing truss robot only grabs and transmits workpieces in the stock bin to a machine tool, and after the machine tool is machined, the machine tool clamp is loosened to achieve free blanking, so that the workpieces which are easy to collide are often collided to become defective products, and the rate of finished products is greatly reduced.
Therefore, how to safely and effectively realize blanking of workpieces to improve the yield is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the truss robot which is provided with the feeding station and the discharging station on the storage bin, so that the mechanical arm can grab the workpiece from the storage bin, the workpiece is conveyed back after the processing is finished, and the grabbing position and the putting-back position of the workpiece are both specific positions through the feeding ejector rod and the discharging ejector rod, so that the stability of grabbing and putting back the workpiece is ensured.
In order to achieve the purpose, the invention provides the following technical scheme: the automatic feeding device comprises a rack, a transmission mechanism, a mechanical arm and a storage bin, wherein the transmission mechanism is used for driving the mechanical arm to move, the storage bin is rotatably provided with a rotating disc and a rotating mechanism used for driving the rotating disc to rotate, the rotating axial direction of the rotating disc is vertically arranged, a plurality of supply positions are arranged above the rotating disc along the circumferential direction, each supply position is provided with a storage cavity, each storage cavity is vertically extended, a material taking port is arranged above each storage cavity, the storage bin is provided with a feeding station and a discharging station, the feeding station and the discharging station are both positioned on the rotating track of each supply position, the storage bin is positioned at the feeding station and provided with a feeding ejector rod which vertically slides, the storage bin is positioned at the discharging station and provided with a discharging ejector rod which vertically slides, and the storage bin is provided with a feeding mechanism used for driving the feeding ejector rod to slide and a discharging mechanism used for driving the discharging ejector rod to slide, each supply position is located at the lower end of the corresponding storage cavity and is provided with a coordination jack for the feeding ejector rod and the blanking ejector rod to be upwards inserted into the corresponding storage cavity, when one supply position is located at the feeding station, the other supply position is located at the blanking station, the material taking port corresponding to the supply position located at the feeding station and the material taking port corresponding to the supply position located at the blanking station are both located on the motion track of the mechanical arm, the coordination jack corresponding to the supply position located at the feeding station is located on the motion track of the feeding ejector rod, and the coordination jack corresponding to the supply position located at the blanking station is located on the motion track of the blanking ejector rod.
The invention is further configured to: the transmission mechanism comprises an x track, an x sliding frame, an x driving mechanism, a z track, a z sliding frame and a z driving mechanism, the x track is arranged on the machine frame, the x sliding frame is arranged on the x track in a sliding manner, the x driving mechanism is used for driving the x sliding frame to slide, the z track is arranged on the x sliding frame, the z sliding frame is arranged on the z track in a sliding mode, the z driving mechanism is used for driving the z sliding frame to slide, the mechanical arm is arranged on the z sliding frame and comprises an arm seat, a rotating seat and a claw seat, the arm seat is arranged on the z sliding frame, the rotating seat is rotatably arranged on the arm seat, and the included angle between the rotating axial direction of the rotating seat relative to the arm seat and the track direction of the x track is 45 degrees and the included angle between the rotating axial direction of the rotating seat relative to the arm seat and the track direction of the z track is 45 degrees, the number of the claw seats is two, and each claw seat is symmetrically arranged along the rotating axial direction of the rotating seat relative to the arm seat.
The invention is further configured to: the periphery of each supply position located in the corresponding storage cavity is circumferentially provided with a plurality of guide columns, the axial direction of each guide column is vertically arranged, each supply position is radially provided with a first adjusting track along the arrangement direction of each corresponding guide column, each guide column is slidably installed on the corresponding first adjusting track, each claw seat is circumferentially provided with at least two clamping claws at intervals, the included angle between the axial direction of each corresponding clamping claw arrangement direction on each claw seat and the rotating axial direction of the rotating seat relative arm seat is 45 degrees, each clamping claw comprises a connecting part connected with the corresponding claw seat and a clamping part used for clamping a workpiece, each connecting part is radially provided with a second adjusting track along the arrangement direction of each corresponding clamping claw, and each clamping part is slidably installed on the corresponding second adjusting track.
The invention is further configured to: each clamping part comprises a sliding block, a clamping block and a locking bolt, each sliding block is arranged in a corresponding second adjusting track in a sliding mode, a first positioning surface is arranged on each clamping block towards the corresponding sliding block side, each connecting part is provided with a second positioning surface used for being attached to the corresponding first positioning surface, each first positioning surface is parallel to the track direction of the corresponding second adjusting track, each locking bolt is used for fixedly connecting the corresponding sliding block and the corresponding clamping block, the axial direction of each locking bolt is perpendicular to the corresponding first positioning surface, a plurality of first clamping teeth are arranged on each first positioning surface along the track direction of the corresponding second adjusting track, and a plurality of second clamping teeth clamped with the corresponding first clamping teeth are arranged on each second positioning surface along the track direction of the corresponding second adjusting track.
The invention is further configured to: the number of the guide posts corresponding to each supply position is at least 3, a supply disc is arranged above the rotating disc of each supply position, each supply disc is provided with an auxiliary track parallel to the first adjusting track, and each guide post penetrates through the corresponding auxiliary track.
The invention is further configured to: the track width of each first adjusting track is smaller than that of the corresponding auxiliary track, the diameter of each guide column is matched with that of the corresponding auxiliary track, a connecting screw rod which penetrates through the corresponding first adjusting track downwards is arranged at the lower end of each guide column, the diameter of each connecting screw rod is matched with that of the corresponding first adjusting track, and a locking nut is in threaded connection with the connecting screw rod below the rotating disc.
The invention is further configured to: the feeding station is provided with a feeding sensor used for detecting the workpiece ascending position corresponding to the feeding station, the blanking station is provided with a blanking sensor used for detecting the workpiece descending position corresponding to the blanking station, the blanking station is provided with a blanking sensor, the z driving mechanism comprises a z driving motor, a z gear and a z rack, the z driving motor is fixedly arranged on the x sliding frame, the axial direction of an output shaft of the z driving motor is respectively vertical to the track direction of the x track and the track direction of the z track, the z gear is fixedly arranged on the output shaft of the z driving motor, the z rack is fixedly arranged on the z sliding frame, the length direction of the z rack is the same as the track direction of the z track, the z rack is meshed with the z gear, and the z sliding frame is provided with a buffer track extending along the track direction of the x track, the arm seat slides and is installed in buffering track, the z frame that slides is located the arm seat and is provided with the protection shield along orbital track direction one side of buffering, and the direction of z gear towards the z rack is the same with the direction of protection shield towards the arm seat, the compression is provided with reset spring between protection shield and the arm seat, the z slides and puts up and is provided with the detection sensor, be provided with the barn door on the arm seat, the detection sensor is located the movement track of barn door.
The invention is further configured to: and a protection bolt is arranged between the protection plate and the z sliding frame, and the axial direction of the protection bolt is the same as the track direction of the buffer track.
The invention is further configured to: the number of the feeding ejector rods is a plurality, the number of the discharging ejector rods is the same as that of the feeding ejector rods, and the number of the coordination jacks corresponding to each supply position is the same as that of the feeding ejector rods.
The invention is further configured to: the feed bin is provided with first connecting plate and second connecting plate, each on vertical sliding the material loading ejector pin is fixed to be set up in first connecting plate, each the unloading ejector pin is fixed to be set up in the second connecting plate.
By adopting the technical scheme, 1. the storage bin rotates different supply positions to the feeding station and the discharging station by adopting a rotating disc rotating mode, so that the mechanical arm moves through the transmission mechanism, the workpiece is grabbed at the material taking opening corresponding to the feeding station and is moved through the transmission mechanism, the workpiece is placed into the machine tool for processing, after the processing is finished, the workpiece in the machine tool is grabbed through the mechanical arm, the workpiece is moved to the material taking opening corresponding to the discharging station through the transmission mechanism and is discharged, wherein due to the arrangement of the feeding ejector rod and the discharging ejector rod, after the workpiece at the feeding station is grabbed, the feeding ejector rod upwards pushes the workpiece left in the material storage cavity corresponding to the feeding station, so that the uppermost workpiece is lifted to the material taking opening for next grabbing, the position of the mechanical arm for grabbing the workpiece is constant, and the stability and accuracy of the mechanical arm for grabbing are ensured, similarly, after the machined workpiece is placed in the material taking hole of the blanking station by the mechanical arm, the blanking ejector rod moves downwards to enable the workpiece in the material storage cavity corresponding to the blanking station to move downwards by the height of one workpiece under the action of gravity to empty the material taking hole for next blanking, so that the blanking position of the mechanical arm is constant, and the blanking accuracy of the mechanical arm is guaranteed to protect the workpiece; 2. the feeding ejector rod and the discharging ejector rod are inserted into the coordination jacks to limit the circumference of the rotating disc, so that the corresponding storage cavities are stably positioned at the feeding station and the discharging station, and the feeding and discharging accuracy is ensured; 3. the vertical motion of the feeding ejector rod and the discharging ejector rod realizes the shortest feeding and discharging stroke in a supply position, so that the feeding and discharging efficiency is improved, the circumferential rotation mode of the rotating disc not only realizes the automatic supply position replacement through circumferential rotation and convenient workpiece replacement, but also designs the proper height of the storage cavity through a circulating mode, and the optimization of the space utilization rate is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an assembly view of an embodiment of the present invention;
FIG. 2 is an assembly view of an embodiment of the present invention;
FIG. 3 is a top view of an embodiment of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3;
FIG. 5 is an enlarged view of a portion of FIG. 2;
FIG. 6 is an assembly view of a storage bin according to an embodiment of the present invention;
FIG. 7 is a cross-sectional view of a rotating disk in accordance with an embodiment of the present invention;
FIG. 8 is an assembly view of a robot and a portion of a z-slide in accordance with an embodiment of the present invention;
FIG. 9 is an assembly view of a robot and a portion of a z-slide in accordance with an embodiment of the present invention;
FIG. 10 is a cross-sectional view of a robot and a portion of a z-slide in accordance with an embodiment of the present invention;
FIG. 11 is an enlarged view of A in FIG. 7;
FIG. 12 is an enlarged view of B in FIG. 9;
FIG. 13 is an enlarged view of C in FIG. 10;
fig. 14 is an enlarged view of D in fig. 9.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-4, the present invention discloses a truss robot, comprising a frame 1, a transmission mechanism, a mechanical arm 4 and a bin 3, wherein the transmission mechanism comprises an x rail 21 extending in the left-right direction, an x sliding frame 22, an x driving mechanism, a z rail (not shown for reasons of viewing angle) extending in the vertical direction, a z sliding frame 24 and a z driving mechanism, wherein the x rail 21 is fixedly mounted on the frame 1 by bolts, the x sliding frame 22 is slidably mounted on the x rail 21 by clamping, the x driving mechanism is used for driving the x sliding frame 22 to slide, the z rail is disposed on the x sliding frame 22 by bolts, the z sliding frame 24 is slidably mounted on the z rail by clamping, the z driving mechanism is used for driving the z sliding frame 24 to slide, wherein the mechanical arm 4 is disposed on the z sliding frame 24, and the bin 3 is disposed below the right side of the x rail 21, and a machine tool 6 assembled with the truss robot is disposed below the left side of the x-rail 21 so that the robot arm 4 is driven by the transfer mechanism to grasp the workpiece 5 at the magazine 3 and move to the machine tool 6 for machining by the machine tool 6.
The x driving mechanism in this embodiment includes an x driving motor 231, an x gear (not shown for reasons of viewing angle), and an x rack 232, the x driving motor 231 is fixedly mounted on the x sliding frame 22 by bolts and the like, and an axial direction of an output shaft of the x driving motor 231 faces vertically downward, in addition, the x gear is fixedly mounted on the output shaft of the x driving motor 231, the x rack 232 is fixedly mounted on the frame 1 by bolts and the like, and a length direction of the x rack 232 is the same as a track direction of the x track 21, and the x rack 232 is meshed and connected with the x gear, so that the x sliding frame 22 can be driven to slide along a left-right direction by meshing of the x gear and the x rack 232 through operation of the x driving motor 231.
The z driving mechanism in this embodiment includes a z driving motor 241, a z gear 242, and a z rack 243, the z driving motor 241 is fixedly mounted on the x sliding frame 22 by bolts, and the axial direction of the output shaft of the z driving motor 241 is disposed forward, in addition, the z gear 242 is fixedly disposed on the output shaft of the z driving motor 241, the z rack 243 is fixedly mounted on the z sliding frame 24 by bolts, and the length direction of the z rack 243 is vertically disposed, and the right side of the z rack 243 is engaged with the left side of the z gear 242, so that the z sliding frame 24 can be driven to slide vertically by the engagement of the z gear 242 and the z rack 243 through the operation of the z driving motor 241.
Referring to fig. 5-7, in the present embodiment, a rotating disc 31 (disc shape) and a rotating mechanism for driving the rotating disc 31 to rotate are rotatably mounted on a bin 3 by using bearings (where the rotating mechanism is not shown due to viewing angle, the rotating mechanism includes a rotating motor and a reduction gearbox, the reduction gearbox is mounted in the bin 3 and is respectively connected to the rotating disc 31 and the rotating motor, so that the rotating disc 31 can be driven to rotate circumferentially by the rotation of the rotating motor through the reduction gearbox, wherein the rotating disc 31 is arranged vertically in an axial direction, and a plurality of supply positions 32 are arranged circumferentially above the rotating disc 31, wherein each supply position 32 is provided with a storage cavity 325, each storage cavity 325 is arranged vertically in an extending manner, and a material taking port 326 is arranged above each storage cavity 325, so that a workpiece 5 to be processed or that has been processed can be placed into the storage cavity 325 or taken out from the storage cavity 325 through the material taking port 326, in addition, a feeding station 33 is arranged on the left side of the rear side above the bin 3, a discharging station 34 is arranged on the right side of the rear side above the bin 3, and the feeding station 33 and the discharging station 34 are both positioned on the rotating track of each supply station 32, in addition, a feeding ejector rod 331 which slides along the vertical direction is arranged on the feeding station 33 of the bin 3, and a discharging ejector rod 341 which slides along the vertical direction is arranged on the discharging station 34, wherein guide sleeves (the view angle reason is not shown) are respectively arranged in the bin 3 corresponding to the feeding ejector rod 331 and the discharging ejector rod 341, so that the feeding ejector rod 331 and the discharging ejector rod 341 respectively penetrate through the corresponding guide sleeves to realize stable vertical sliding, in addition, the bin 3 is provided with a feeding mechanism 332 for driving the feeding ejector rod 331 to slide and a discharging mechanism 342 for driving the discharging ejector rod 341 to slide, and the feeding mechanism 332 and the discharging mechanism 342 adopt a motor and a screw rod 342, The driving is accomplished by means of a slide block and a guide rail, which are conventional technical means and will not be described herein, in addition, each supply position 32 is located at the lower end of the corresponding storage cavity 325 and is provided with a coordination insertion hole 321 through which the feeding push rod 331 and the discharging push rod 341 are upwardly inserted into the corresponding storage cavity 325, wherein when one supply position 32 is located at the feeding station 33, the other adjacent supply position 32 is located at the discharging station 34, the material taking port 326 corresponding to the supply position 32 located at the feeding station 33 and the material taking port 326 corresponding to the supply position 32 located at the discharging station 34 are both located on the motion trajectory of the mechanical arm 4, and the coordination insertion hole 321 corresponding to the supply position 32 located at the feeding station 33 is located on the motion trajectory of the feeding push rod 331 and the coordination insertion hole 321 corresponding to the supply position 32 located at the discharging station 34 is located on the motion trajectory of the discharging push rod 341.
Therefore, the magazine 3 rotates the different supply positions 32 to the material loading station 33 and the material unloading station 34 by the rotation of the rotating disc 31, so that the robot arm 4 moves along the x track 21 and the z track, grips the workpiece 5 at the material taking opening 326 corresponding to the material loading station 33, moves through the x track 21 and the z track, places the workpiece 5 into the machine tool 6 for processing, grips the workpiece 5 in the machine tool 6 by the robot arm 4 after the processing is completed, moves the workpiece 5 to the material taking opening 326 corresponding to the material unloading station 34 through the x track 21 and the z track, and carries out the material unloading, wherein due to the arrangement of the material loading ejector rod 331 and the material unloading ejector rod 341, after the workpiece 5 at the material loading station 33 is gripped, the material loading ejector rod 331 pushes the remaining workpiece 5 in the material storage cavity 325 corresponding to the material loading station 33 upwards, so as to lift the uppermost workpiece 5 to the material taking opening 326 for the next gripping, in a similar way, after the mechanical arm 4 places the processed workpiece 5 in the material taking port 326 of the blanking station 34, the blanking ejector rod 341 moves downward to realize that the workpiece 5 in the material storage cavity 325 corresponding to the blanking station 34 moves downward by the height of one workpiece 5 under the action of gravity to vacate the material taking port 326 for blanking next time, so that the blanking position of the mechanical arm 4 is constant to ensure that the blanking accuracy of the mechanical arm 4 is used for protecting the workpiece 5, in addition, the feeding ejector rod 331 and the blanking ejector rod 341 are inserted into the coordination insertion holes 321 to play a limiting role in the circumferential direction of the rotating disc 31, so as to ensure that the corresponding material storage cavity 325 is stably positioned in the feeding station 33 and the blanking station 34, thereby ensuring the feeding and blanking accuracy, in addition, after the processing of the workpiece 5 in the material storage cavity 325 corresponding to the feeding station 33 is finished, the material storage cavity 325 corresponding to the blanking station 34 is filled with the processed workpiece 5, so that the feeding ejector rod 331 and the blanking ejector rod 341 can be pulled out of the coordination jack 321 downwards, the supply position 32 corresponding to the blanking station 34 is moved out of the blanking station 34 for unloading and is replaced by a new workpiece 5 to be processed through the rotation of the rotary disc 31, the supply position 32 corresponding to the feeding station 33 is moved to the blanking station 34 for blanking of the processed workpiece 5, and the new supply position 32 is moved to the feeding station 33 for providing the processed workpiece 5, thereby greatly improving the processing efficiency, and the combination of the above steps shows that the vertical movement of the feeding ejector rod 331 and the blanking ejector rod 341 realizes the shortest feeding and blanking stroke in one supply position 32 to improve the feeding and blanking efficiency, and the circumferential rotation of the rotary disc 31 not only realizes the circumferential rotation to automatically replace the supply position 32 and conveniently replace the workpiece 5, and the storage chamber 325 is designed to have a proper height in a circulating manner, so that the space utilization rate is optimized.
Referring to fig. 8-10, the robot arm 4 in this embodiment includes an arm base 41, a rotary base 42 and a claw base 43, wherein the arm base 41 is disposed on the z-slide 24, the rotary base 42 is rotatably mounted on the arm base 41 by means of circumferential clamping, and the rotary base 42 is driven by means of a motor or the like to rotate circumferentially relative to the arm base 41, wherein an angle between a rotation axial direction L1 of the rotary base 42 relative to the arm base 41 and a track direction of the x-track 21 is 45 degrees, an angle between a rotation axial direction L1 of the rotary base 42 relative to the arm base 41 and a track direction of the z-track is 45 degrees, and further, the number of the claw bases 43 is two, and the two claw bases 43 are symmetrically disposed along the rotation axial direction L1 of the rotary base 42 relative to the arm base 41, therefore, since the robot arm 4 is provided with the two claw bases 43, one of the claw bases 43 rotates downward and randomly lowers the robot arm 4 at the position of the loading station 33 to grab the workpiece 5 to be processed, then, after the workpiece 5 is transferred to the machine tool 6, another horizontal leftward claw seat 43 is used for grabbing the workpiece 5 processed in the machine tool 6 in advance, the unprocessed workpiece 5 is made to face leftward through 180-degree rotation and is assembled to the machine tool 6, then the mechanical arm 4 is transferred back to the blanking station 34 for blanking of the processed workpiece 5, and the next process is performed by moving to the blanking station 33, so that the moving distance of the mechanical arm 4 in one process is minimized, and the processing efficiency is improved.
Referring to fig. 11-13, in the present embodiment, a plurality of guide columns 322 are circumferentially disposed on the periphery of each supply station 32 located at the corresponding magazine chamber 325, the axial direction of each guide column 322 is vertically disposed, in addition, each supply station 32 is provided with a first adjusting track 323 along the radial direction of the arrangement direction of each corresponding guide column 322, each guide column 322 is slidably mounted on the corresponding first adjusting track 323, so that the actual size of the magazine chamber 325 can be adjusted to fit the workpiece 5 according to the movement of each guide column 322 according to the different sizes of the workpiece 5, correspondingly, each gripper seat 43 is provided with 3 grippers 431 along the circumferential direction, the axial direction of the arrangement direction of each gripper 431 on each gripper seat 43 forms an angle of 45 degrees with the rotation axial direction L1 of the rotary seat 42 relative to the arm seat 41, so as to achieve the gripping of the workpiece 5 in the horizontal direction or the vertical direction, wherein each gripper 431 includes a connecting portion 4311 connected to the corresponding gripper seat 43 and a clamping portion 4312 for clamping the workpiece 5, the claw seat 43 is provided with a grabbing and releasing track 432 corresponding to each connecting portion 4311, and the connecting portion 4311 can slide along the radial direction of the arrangement direction of the clamping claws 431, and the mechanical arm 4 can realize the sliding of the connecting portion 4311 on the corresponding grabbing and releasing track 432 through pneumatic, gear and rack transmission and other modes, in addition, each connecting portion 4311 is provided with a second adjusting track 4313 along the radial direction of the arrangement direction of the corresponding clamping claws 431, and each clamping portion 4312 is slidably mounted on the corresponding second adjusting track 4313, so that the clamping portion 4312 can correspondingly grab and release workpieces 5 with different sizes through sliding adjustment on the second adjusting track 4313 under the condition that the sliding stroke of the connecting portion 4311 relative to the claw seat 43 is not changed, the adaptation to the storage cavities 325 with different sizes is realized, and the grabbing and releasing accuracy and stability are ensured.
Preferably, each clamping portion 4312 in this embodiment includes a sliding block 43121, a clamping block 43122 and a locking bolt 43123, each sliding block 43121 is slidably disposed in the corresponding second adjusting track 4313, in addition, each clamping block 43122 is provided with a first positioning surface facing the corresponding sliding block 43121, each connecting portion 4311 is provided with a second positioning surface for being attached to the corresponding first positioning surface, and each first positioning surface is parallel to the track direction of the corresponding second adjusting track 4313, in addition, each locking bolt 43123 is provided with a through clamping block 43122 and is in threaded connection with the sliding block 43121 to achieve fixed connection between the sliding block 43121 and the clamping block 43122, and simultaneously, the first positioning surface presses the second positioning surface to achieve fixed mounting of the clamping portion 4312 to the connecting portion 4311, and the axial direction of each locking bolt 43123 is perpendicular to the corresponding first positioning surface, in addition, each first positioning surface is provided with a plurality of first clamping teeth 4314 arranged along the track direction of the corresponding second adjusting track 4313, each second positioning surface is provided with a plurality of second latches 4315 which are clamped with the corresponding first latches 4314 along the track direction of the corresponding second adjusting track 4313, and further the strength of the installed clamping part 4312 installed on the connecting part 4311 is improved by the matching of the first latches 4314 and the second latches 4315, so that the stability of the clamping jaw is improved.
Preferably, the number of the guiding columns 322 corresponding to each supplying position 32 in this embodiment is at least 3 (3 are adopted in this embodiment), wherein each supplying position 32 is provided with a supplying disc 324 (in a disc shape) above the rotating disc 31, each supplying disc 324 is provided with an auxiliary rail 3241 parallel to the first adjusting rail 323, and each guiding column 322 penetrates through the corresponding auxiliary rail 3241, so that the supplying position 32 located in the loading station 33 by the supplying disc 324 is pushed by the loading ejector 331 to drive the supplying disc 324 to slide upwards to push the workpiece 5 instead of the loading ejector 331, and similarly, the supplying position 32 of the unloading station 34 is pushed by the supporting action of the unloading ejector 341 to support the workpiece 5 by the supplying disc 324 sliding downwards instead of the unloading ejector 341, so that the pushing and supporting of the workpiece 5 are more stable, and furthermore, when three guiding columns 322 are respectively inserted in the corresponding first adjusting rail 323 and auxiliary rail 3241, the automatic alignment of the rotating disc 31 and the supply disc 324 can be realized, so that the supply disc 324 can be installed more accurately and conveniently, the workpiece 5 is stably placed in the storage cavity 325, and the workpiece enters the storage cavity 325 to be grabbed and placed into the storage cavity 325.
Preferably, in this embodiment, the track width of each first adjustment track 323 is smaller than the track width of the corresponding auxiliary track 3241, the diameter of each guide post 322 is adapted to the track width of the corresponding auxiliary track 3241, a connection screw 3221 penetrating the corresponding first adjustment track 323 downwards is disposed at the lower end of each guide post 322, the diameter of each connection screw 3221 is adapted to the track width of the corresponding first adjustment track 323, and a locking nut 3222 is threadedly connected to each connection screw 3221 below the rotating disc 31, so that the guide post 322 is limited by the connection screw 3221 penetrating the first adjustment track 323, and is fixedly connected to the rotating disc 31 by locking the guide post 322 at the upper side and the locking nut 3222 at the lower side, and the diameter of the guide post 322 is adapted to the auxiliary track 3241, so that the circumferential limitation of the supply disc 324 can be completed, and the stability of the sliding of the supply disc 324 can be ensured.
Preferably, the number of the feeding push rods 331 in this embodiment is several (3 in this embodiment, and the feeding push rods are arranged at equal intervals along the circumferential direction of the supply tray 324), correspondingly, the number of the discharging push rods 341 is the same as that of the feeding push rods 331, and the number of the coordination insertion holes 321 corresponding to each supply position 32 is the same as that of the feeding push rods 331, so that the supply tray 324 is driven by the plurality of feeding push rods 331 and the plurality of discharging push rods 341 in the circumferential direction, so that the support of the supply tray 324 is more stable.
Preferably, a first connecting plate 35 and a second connecting plate 36 are disposed in the bunker 3 in this embodiment, wherein each of the feeding ejector rods 331 is fixedly disposed on the first connecting plate 35 by using a threaded connection or the like, each of the discharging ejector rods 341 is fixedly disposed on the second connecting plate 36 by using a threaded connection or the like, the first connecting plate 35 is connected to a slider corresponding to the feeding mechanism 332 and is driven by the feeding mechanism 332 to vertically slide, and the second connecting plate 36 is connected to a slider corresponding to the discharging mechanism 342 and is driven by the discharging mechanism 342 to vertically slide.
In addition, the storage bin 3 in this embodiment is provided with a plurality of top pillars 37 arranged at the lower end of the rotating disc 31 along the circumferential direction of the rotating disc 31, wherein a supporting surface 371 used for supporting the lower end of the rotating disc 31 is arranged above each top pillar 37, and each supporting surface 371 is in an arc shape, so that the circumferential direction of the rotating disc 31 is uniformly supported by the top pillars 37, and the contact area is smaller, so that the rotating and sliding are smoother.
Referring to fig. 14, a buffer rail 26 extending along the rail direction of the x rail 21 is fixedly mounted on the z sliding frame 24 by bolts or the like in the present embodiment, wherein the arm base 41 is slidably mounted on the buffer rail 26 by clipping, a protection plate 27 is disposed on the z sliding frame 24 on the right side of the arm base 41, a protection bolt 28 is disposed between the protection plate 27 and the z sliding frame 24, and the axial direction of the protection bolt 28 is the same as the rail direction of the buffer rail 26, so that the arm base 41 is slidably limited on the right side of the arm base 41 by the protection plate 27, and a return spring 29 is disposed between the protection plate 27 and the arm base 41 in a compressed manner, so that the arm 4 can be buffered and protected when colliding along the x direction by the relative sliding between the arm base 41 and the z sliding frame 24, and can be returned by the return spring 29, in addition, when the pressing strength of the arm base 41 is too high, the protective bolt 28 is broken to release the position limitation of the protective plate 27, so that the robot arm 4 can come off the z slide frame 24, and the z drive motor 241 is lost by applying excessive pressure to the z slide frame 24 due to collision to the z gear 242 through the z rack 243.
In addition, the protection plate 27 in this embodiment is provided with a through rod, the through rod is inserted into the arm seat 41, and the return spring 29 is sleeved on the outer periphery of the through rod to improve the working stability of the return spring 29.
In addition, the feeding station 33 in this embodiment is provided with a feeding sensor 38, and the discharging station 34 is provided with a discharging sensor 39, wherein the feeding sensor 38 can adopt infrared sensors, and the feeding sensor 38 detects the material taking port 326 corresponding to the feeding station 33 along the horizontal direction, so that no matter what height of the workpiece 5 is adopted, when the upper surface of the workpiece 5 moves upwards to the detection position of the feeding sensor 38, the work of the feeding mechanism 332 is stopped, so as to realize that the mechanical arm 4 is always at the same height for grabbing workpieces 5 of different heights, the discharging sensor 39 is similarly arranged, so that when the mechanical arm 4 performs discharging, the discharging position is ensured to be constant, thereby further improving the adaptability, realizing adaptive transmission of workpieces 5 of different sizes and thicknesses, and correspondingly, the z-sliding frame 24 is provided with a detection sensor 44 (in this embodiment, an infrared sensor is adopted), and the arm seat 41 is provided with the light barrier 45, and the detection sensor 44 is located on the motion track of the light barrier 45, so that when the workpiece 5 on the mechanical arm 4 is placed into the machine tool 6, for workpieces with different thicknesses, the x sliding frame 22 does not need to be programmed to control the advancing amount, the advancing is stopped and the loading is completed when the light barrier 45 shields the detection sensor 44, the loading convenience is ensured, and the adaptability is improved by adapting to workpieces 5 with different heights.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A truss robot, characterized by: the automatic feeding device comprises a rack, a transmission mechanism, a mechanical arm and a storage bin, wherein the transmission mechanism is used for driving the mechanical arm to move, the storage bin is rotatably provided with a rotating disc and a rotating mechanism used for driving the rotating disc to rotate, the rotating axial direction of the rotating disc is vertically arranged, a plurality of supply positions are arranged above the rotating disc along the circumferential direction, each supply position is provided with a storage cavity, each storage cavity is vertically extended, a material taking port is arranged above each storage cavity, the storage bin is provided with a feeding station and a discharging station, the feeding station and the discharging station are both positioned on the rotating track of each supply position, the storage bin is positioned at the feeding station and provided with a feeding ejector rod which vertically slides, the storage bin is positioned at the discharging station and provided with a discharging ejector rod which vertically slides, and the storage bin is provided with a feeding mechanism used for driving the feeding ejector rod to slide and a discharging mechanism used for driving the discharging ejector rod to slide, each supply position is located at the lower end of the corresponding storage cavity and is provided with a coordination jack for the feeding ejector rod and the blanking ejector rod to be upwards inserted into the corresponding storage cavity, when one supply position is located at the feeding station, the other supply position is located at the blanking station, the material taking port corresponding to the supply position located at the feeding station and the material taking port corresponding to the supply position located at the blanking station are both located on the motion track of the mechanical arm, the coordination jack corresponding to the supply position located at the feeding station is located on the motion track of the feeding ejector rod, and the coordination jack corresponding to the supply position located at the blanking station is located on the motion track of the blanking ejector rod.
2. The truss robot of claim 1, wherein: the transmission mechanism comprises an x track, an x sliding frame, an x driving mechanism, a z track, a z sliding frame and a z driving mechanism, the x track is arranged on the machine frame, the x sliding frame is arranged on the x track in a sliding manner, the x driving mechanism is used for driving the x sliding frame to slide, the z track is arranged on the x sliding frame, the z sliding frame is arranged on the z track in a sliding mode, the z driving mechanism is used for driving the z sliding frame to slide, the mechanical arm is arranged on the z sliding frame and comprises an arm seat, a rotating seat and a claw seat, the arm seat is arranged on the z sliding frame, the rotating seat is rotatably arranged on the arm seat, and the included angle between the rotating axial direction of the rotating seat relative to the arm seat and the track direction of the x track is 45 degrees and the included angle between the rotating axial direction of the rotating seat relative to the arm seat and the track direction of the z track is 45 degrees, the number of the claw seats is two, and each claw seat is symmetrically arranged along the rotating axial direction of the rotating seat relative to the arm seat.
3. The truss robot of claim 2, wherein: the periphery of each supply position located in the corresponding storage cavity is circumferentially provided with a plurality of guide columns, the axial direction of each guide column is vertically arranged, each supply position is radially provided with a first adjusting track along the arrangement direction of each corresponding guide column, each guide column is slidably installed on the corresponding first adjusting track, each claw seat is circumferentially provided with at least two clamping claws at intervals, the included angle between the axial direction of each corresponding clamping claw arrangement direction on each claw seat and the rotating axial direction of the rotating seat relative arm seat is 45 degrees, each clamping claw comprises a connecting part connected with the corresponding claw seat and a clamping part used for clamping a workpiece, each connecting part is radially provided with a second adjusting track along the arrangement direction of each corresponding clamping claw, and each clamping part is slidably installed on the corresponding second adjusting track.
4. A truss robot as defined in claim 3 wherein: each clamping part comprises a sliding block, a clamping block and a locking bolt, each sliding block is arranged in a corresponding second adjusting track in a sliding mode, a first positioning surface is arranged on each clamping block towards the corresponding sliding block side, each connecting part is provided with a second positioning surface used for being attached to the corresponding first positioning surface, each first positioning surface is parallel to the track direction of the corresponding second adjusting track, each locking bolt is used for fixedly connecting the corresponding sliding block and the corresponding clamping block, the axial direction of each locking bolt is perpendicular to the corresponding first positioning surface, a plurality of first clamping teeth are arranged on each first positioning surface along the track direction of the corresponding second adjusting track, and a plurality of second clamping teeth clamped with the corresponding first clamping teeth are arranged on each second positioning surface along the track direction of the corresponding second adjusting track.
5. A truss robot as defined in claim 3 wherein: the number of the guide posts corresponding to each supply position is at least 3, a supply disc is arranged above the rotating disc of each supply position, each supply disc is provided with an auxiliary track parallel to the first adjusting track, and each guide post penetrates through the corresponding auxiliary track.
6. The truss robot of claim 5, wherein: the track width of each first adjusting track is smaller than that of the corresponding auxiliary track, the diameter of each guide column is matched with that of the corresponding auxiliary track, a connecting screw rod which penetrates through the corresponding first adjusting track downwards is arranged at the lower end of each guide column, the diameter of each connecting screw rod is matched with that of the corresponding first adjusting track, and a locking nut is in threaded connection with the connecting screw rod below the rotating disc.
7. A truss robot as defined in claim 3 wherein: the feeding station is provided with a feeding sensor, the feeding sensor is used for detecting the workpiece ascending position corresponding to the feeding station, the blanking station is provided with a blanking sensor, the blanking sensor is used for detecting the workpiece descending position corresponding to the blanking station, the z driving mechanism comprises a z driving motor, a z gear and a z rack, the z driving motor is fixedly arranged on the x sliding frame, the axial direction of an output shaft of the z driving motor is respectively vertical to the track direction of the x track and the track direction of the z track, the z gear is fixedly arranged on the output shaft of the z driving motor, the z rack is fixedly arranged on the z sliding frame, the length direction of the z rack is the same as the track direction of the z track, the z rack is meshed with the z gear, the z sliding frame is provided with a buffer track extending along the track direction of the x track, and the arm seat is slidably arranged on the buffer track, the Z slides and puts up and is provided with the protection shield along orbital direction of buffering one side of arm seat, and the direction that the z gear moves towards the z rack is the same with the direction that the protection shield moves towards the arm seat, the compression is provided with reset spring between protection shield and the arm seat, the Z slides and puts up and is provided with the detection sensor, be provided with the barn door on the arm seat, the detection sensor is located the movement track of barn door.
8. The truss robot of claim 7, wherein: and a protection bolt is arranged between the protection plate and the z sliding frame, and the axial direction of the protection bolt is the same as the track direction of the buffer track.
9. The truss robot of claim 1, wherein: the number of the feeding ejector rods is a plurality, the number of the discharging ejector rods is the same as that of the feeding ejector rods, and the number of the coordination jacks corresponding to each supply position is the same as that of the feeding ejector rods.
10. The truss robot of claim 9, wherein: the feed bin is provided with first connecting plate and second connecting plate, each on vertical sliding the material loading ejector pin is fixed to be set up in first connecting plate, each the unloading ejector pin is fixed to be set up in the second connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110975807.7A CN113666107A (en) | 2021-08-24 | 2021-08-24 | Truss robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110975807.7A CN113666107A (en) | 2021-08-24 | 2021-08-24 | Truss robot |
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| CN113666107A true CN113666107A (en) | 2021-11-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114380063A (en) * | 2022-01-14 | 2022-04-22 | 无锡易泽赛尔智能装备有限公司 | Full-lug current collector turret type stock bin |
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