CN113955494A

CN113955494A - Integrated feeding and discharging rack with manipulator

Info

Publication number: CN113955494A
Application number: CN202111208447.4A
Authority: CN
Inventors: 饶钦萍
Original assignee: Deqing Qinlong Grinder Manufacturing Co ltd
Current assignee: Deqing Qinlong Grinder Manufacturing Co ltd
Priority date: 2021-10-18
Filing date: 2021-10-18
Publication date: 2022-01-21

Abstract

The invention provides an integrated feeding and discharging frame with a manipulator, and belongs to the field of mechanical grabbing. The automatic feeding device comprises a rack, wherein a six-joint manipulator is arranged on the rack, a magnetic type grabbing mechanism is arranged at the front end of the six-joint manipulator, at least one finished product rack and at least one blank rack are respectively arranged on two sides of the six-joint manipulator, and a goods lifting mechanism is arranged on the finished product rack and/or the blank rack. Its advantage lies in six joint manipulators and snatchs the way that the mechanism snatched finished product and blank through magnetism and replace the manual work to get goods, liberates the labour and improves work efficiency. In addition, the device can not only check whether the blank is qualified, but also check whether the finished product is qualified, and is multifunctional.

Description

Integrated feeding and discharging rack with manipulator

Technical Field

The invention belongs to the field of mechanical grabbing, and particularly relates to an integrated feeding and discharging frame with a manipulator.

Background

Whether it is qualified to need detect the thickness of blank work material before the fine processing to blank work material to and also need detect the thickness of finished product work material after making finished product work material, at the in-process that detects work material, often adopt artificial mode to place work material in proper order and detect on the testing platform, increase labour cost on the one hand, and the long-time waist muscle strain of picking up of workman leads to the further human cost that increases of industrial injury, on the other hand, adopt artificial mode inefficiency extremely, lead to the income upper limit not high.

Therefore, the patent office discloses a feeding and discharging manipulator, and the application number thereof is as follows: CN201821576410.0, comprising a rotating motor mounted at the lower end of the supporting plate; the supporting plate is connected with the base through a plurality of upright posts; the upper end of the supporting plate is provided with a transmission shaft connected with an output shaft of the rotating motor; the transmission shaft is embedded in the rotating seat; a horizontal motor base connected with the horizontal arm is arranged on the rotating base; a horizontal motor is arranged in the horizontal motor base, and an output shaft of the horizontal motor is connected with a horizontal lead screw embedded on the horizontal arm through a coupler; a horizontal sliding block is sleeved on the horizontal arm; the horizontal sliding block is fixed on the horizontal screw rod through a horizontal screw rod nut; a sliding rod is inserted on the horizontal sliding block, and the vertical motor is positioned at the top of the sliding rod; the output shaft of the vertical motor is connected with the vertical screw rod through a coupler; the bottom of the vertical screw rod is connected with a motor base connected with the gripper; a driving motor connected with the hand grip is arranged in the motor base.

Disclosure of Invention

The invention aims to solve the problems and provides an integrated loading and unloading frame with a manipulator.

In order to achieve the purpose, the invention adopts the following technical scheme:

the integrated feeding and discharging frame with the mechanical arm comprises a frame, wherein a six-joint mechanical arm is arranged on the frame, a magnetic type grabbing mechanism is arranged at the front end of the six-joint mechanical arm, at least one finished product rack and at least one blank rack are arranged on two sides of the six-joint mechanical arm respectively, and a material lifting mechanism is arranged on the finished product rack and/or the blank rack.

In an integrated feeding and discharging frame with a manipulator, the magnetic suction type grabbing mechanism comprises a grabbing fixing seat which is connected with the front end of a six-joint manipulator and can rotate in the circumferential direction, at least one electromagnet is arranged on the grabbing fixing seat, and an adaptive mechanism which can adapt to uneven workpieces is arranged between the electromagnet and the grabbing fixing seat.

In the integrated feeding and discharging frame with the manipulator, the adaptive mechanism comprises four elastic assemblies distributed in a rectangular array, the electromagnets are arranged on the electromagnet fixing plates, one ends of the elastic assemblies are connected with the grabbing fixing seats, and the other ends of the elastic assemblies are connected with the electromagnet fixing plates.

In the integrated feeding and discharging frame with the manipulator, the elastic assembly comprises a linear bearing fixed on the grabbing fixing seat, a guide post penetrates through the linear bearing, one end of the guide post is fixed on the electromagnet fixing plate, the other end of the guide post is provided with an anti-falling head, and a compression spring positioned between the grabbing fixing seat and the electromagnet fixing plate is sleeved on the guide post.

In the integrated feeding and discharging frame with the manipulator, the electromagnet fixing plate and the grabbing fixing seat are equally provided with through holes in a penetrating mode, and the electromagnets are provided with two through holes which are located on two sides of the electromagnet fixing plate respectively.

In the integrated feeding and discharging frame with the manipulator, the blank material frame comprises a blank material frame base fixed on the rack, a blank material frame center rod is arranged on the blank material frame base, and a goods lifting mechanism penetrates through the blank material frame base.

In the integrated feeding and discharging frame with the manipulator, the goods lifting mechanism comprises a goods tray, the goods tray is connected with a lifting push plate through two push rods, a blank material frame base and a frame are arranged in the push rods in a penetrating mode, and a ball screw lifting assembly is arranged between the lifting push plate and the frame.

In the above-mentioned integrated feeding and discharging frame with the manipulator, the ball screw lifting assembly comprises a worm gear reducer and a servo motor, the worm gear reducer is fixed on a reducer fixing plate and connected with a vertically arranged screw rod, four guide columns are arranged between the reducer fixing plate and the rack, a lifting push plate is penetrated by the guide columns and the screw rod, and nuts on the screw rod are fixedly connected with the lifting push plate

In the integrated feeding and discharging frame with the manipulator, thickness detection mechanisms are further arranged on two sides of the six-joint manipulator respectively.

In the integrated feeding and discharging frame with the manipulator, the thickness detection mechanism comprises a detection platform which is arranged on a rack and is in a table tennis bat shape, the detection platform is connected with the rack through an heightening frame, three support columns are arranged on the detection platform, a detector support which is in an L shape is arranged on one side of the detection platform, and a contact type thickness detector is fixed on the detector support.

Compared with the prior art, the invention has the advantages that:

1. six joint manipulators replace the manual work to get goods through the way that the formula snatchs the mechanism and snatchs finished product and blank is inhaled to magnetism, and the liberation labour improves work efficiency. In addition, the device can not only check whether the blank is qualified, but also check whether the finished product is qualified, and is multifunctional.

2. Because the work piece has the inhomogeneous condition of thickness, can make the electro-magnet adapt to unevenness work piece and adsorb completely through self-adaptation mechanism, improve the stable firm degree of snatching the work piece.

3. Snatch work material through the adsorbed mode of electro-magnet, replace the mode of snatching of gripper structure, improve work efficiency.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic top view of the present invention;

FIG. 3 is a schematic side view of the present invention;

fig. 4 is a schematic structural view of the magnetic attraction type catching mechanism.

In the figure: the device comprises a rack 10, a six-joint manipulator 11, a magnetic type grabbing mechanism 12, a finished product rack 13, a blank rack 14, a cargo lifting mechanism 15, a grabbing fixing seat 16, an electromagnet 17, a self-adaptive mechanism 18, an elastic component 19, an electromagnet fixing plate 20, a linear bearing 21, a guide column 22, an anti-falling head 23, a compression spring 24, a through hole 25, a blank rack base 26, a blank rack central rod 27, a cargo tray 28, a push rod 29, a lifting push plate 30, a ball screw lifting component 31, a worm gear reducer 32, a servo motor 33, a reducer fixing plate 34, a screw 35, a guide column 36, a nut 37, a thickness detection mechanism 38, a detection platform 39, an adding rack 40, a support column 41, a detector support 42, a contact thickness detector 43, a proximity switch 50 and an electric box 51.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1-4, an integrated loading and unloading frame with a manipulator comprises a frame 10, wherein a six-joint manipulator 11 is arranged on the frame 10, a magnetic suction type grabbing mechanism 12 is arranged at the front end of the six-joint manipulator 11, at least one finished product frame 13 and at least one blank frame 14 are arranged on two sides of the six-joint manipulator 11 respectively, and a cargo lifting mechanism 15 is arranged on the finished product frame 13 and/or the blank frame 14.

In this embodiment, the six-joint robot 11 is free to move or rotate above the gantry 10 under the driving of its power supply. In the process of checking whether the blank is qualified or not, the six-joint mechanical arm 11 works close to the blank material rack 14, the magnetic type grabbing mechanism 12 is used for sucking and grabbing the blank placed on the blank material rack 14, and the six-joint mechanical arm 11 is used for moving the blank to the checking position for checking. In the process of checking whether the finished product is qualified or not, the six-joint mechanical arm 11 works close to the finished product rack 13, the magnetic type grabbing mechanism 12 is used for sucking and grabbing the finished product placed on the finished product rack 13, and the finished product is moved to the checking position through the six-joint mechanical arm 11 for checking.

In this embodiment, six joint manipulator 11 snatchs the way that mechanism 12 snatched finished product and blank through magnetism and replaces the manual work to get goods, and the liberation labour improves work efficiency. In addition, the device can not only check whether the blank is qualified, but also check whether the finished product is qualified, and is multifunctional.

Magnetic type snatch mechanism 12 include and link to each other can the circumferential direction the fixed seat 16 of snatching with the 11 front ends of six joint manipulators, be equipped with an at least electro-magnet 17 on snatching the fixed seat 16, electro-magnet 17 with snatch and be equipped with the self-adaptation mechanism 18 that can adapt to uneven work piece between the fixed seat 16.

In this embodiment, the gripping fixing base 16 can circumferentially rotate on the six-joint manipulator 11, when the six-joint manipulator 11 moves to above the finished product rack 13 or the blank rack 14, the gripping fixing base 16 rotates and makes the electromagnet 17 be located right below, and then the electromagnet 17 adsorbs the workpiece when the six-joint manipulator 11 moves downward. In addition, due to the fact that the workpiece is uneven in thickness, the electromagnet 17 can be made to adapt to the uneven workpiece and completely adsorb through the self-adaptive mechanism 18, and the stable and firm degree of grabbing the workpiece is improved. Snatch work material through the adsorbed mode of electro-magnet, replace the mode of snatching of gripper structure, improve work efficiency.

The self-adaptive mechanism 18 comprises four elastic components 19 distributed in a rectangular array, the electromagnet 17 is arranged on an electromagnet fixing plate 20, one end of each elastic component 19 is connected with the grabbing fixing seat 16, and the other end of each elastic component is connected with the electromagnet fixing plate 20.

In this embodiment, the electromagnet fixing plate 20 is connected to the grabbing fixing base 16 through four elastic assemblies 19, the four elastic assemblies 19 are arranged independently, the four elastic assemblies 19 can have different stretching amounts, and the outer surface of the electromagnet 17 can be ensured to completely adsorb the workpiece through the stretching amounts of the elastic assemblies 19, so that the stable and firm degree of grabbing the workpiece is improved.

Elastic component 19 including fixing linear bearing 21 on grabbing fixing base 16, linear bearing 21 on wear to be equipped with guide post 22, guide post 22 one end fix on electro-magnet fixed plate 20, be provided with on the other end anticreep head 23, the cover is equipped with and is located the compression spring 24 who snatchs between fixing base 16 and the electro-magnet fixed plate 20 on guide post 22.

In the present embodiment, the electromagnet fixing plate 20 can be prevented from being deflected by being displaced left and right.

Electromagnet fixing plate 20 and snatch the fixing base 16 on equallyd divide and do not wear to be equipped with through-hole 25, electromagnet 17 have two and be located electromagnet fixing plate 20's through-hole 25 both sides respectively.

In this embodiment, two electromagnets 17 are disposed on the electromagnet fixing plate 20, and the electromagnets 17 are disposed opposite to each other, so that when adsorbing a workpiece, the electromagnets 17 can be adsorbed on two sides of the workpiece in an opposite manner, thereby balancing the workpiece, and preventing the workpiece from being adsorbed on one side and being not adsorbed on the other side, and preventing the workpiece from being adsorbed insecurely due to the inclination of the workpiece caused by the gravity.

Preferably, the electromagnet fixing plate 20 is further provided with a proximity switch 50.

In this embodiment, the proximity switch 50 may be an infrared sensor lamp distance sensor, which can directly detect the distance between the electromagnet fixing plate 20 and the workpiece, on one hand, the moving distance and the moving speed of the six-joint manipulator 11 can be adjusted according to the distance value, so as to prevent the electromagnet 17 from being pressed on the surface of the workpiece to damage the workpiece due to too fast moving speed or too large impact force, and on the other hand, in the process of adsorbing and moving the workpiece, the distance value can visually display whether the workpiece is adsorbed and whether the workpiece falls off during moving.

The blank material rack 14 comprises a blank material rack base 26 fixed on the frame 10, a blank material rack center rod 27 is arranged on the blank material rack base 26, and a material lifting mechanism 15 penetrates through the blank material rack base 26.

In this embodiment, whether qualified a plurality of blank work material of quality that will wait to examine piles up on blank work or not work material rest base 26 in proper order, and when snatching blank work material, goods material elevating system 15 can drive blank work or material rest base 26 and upwards remove and make blank work or material rebound so that magnetism is inhaled the formula and is snatched mechanism 12 and stablize quick snatch blank work or material more. In addition, the structure of the finished product rack 13 is the same as that of the blank rack 14, and the principle of grabbing the finished product work material is the same.

The material lifting mechanism 15 comprises a material tray 28, the material tray 28 is connected with a lifting push plate 30 through two push rods 29, the push rods 29 penetrate through the blank rack base 26 and the rack 10, and a ball screw lifting assembly 31 is arranged between the lifting push plate 30 and the rack 10.

In this embodiment, several work materials are sequentially stacked on the material tray 28, and the ball screw lifting assembly 31 operates to move the lifting push plate 30 upward, thereby pushing the material tray 28 to move upward with the work materials.

Ball screw lifting unit 31 include worm gear worm reducer 32 and servo motor 33, worm gear worm reducer 32 fix on reduction gear fixing plate 34 and link to each other with the screw rod 35 of perpendicular setting, reduction gear fixing plate 34 and frame 10 between be equipped with four guide post 36, and guide post 36 and screw rod 35 wear to establish lift push pedal 30, screw rod 35 on nut 37 and lift push pedal 30 fixed continuous.

In this embodiment, the worm gear reducer 32 is used to reduce the moving speed of the lifting push plate 30, so that even if the material tray 28 moves upward slowly and stably with the work material, the displacement of the work station due to the excessive speed is prevented.

And thickness detection mechanisms 38 are respectively arranged on two sides of the six-joint manipulator 11.

In this embodiment, the six-joint manipulator 11 picks the work material by the magnetic type grabbing mechanism 12 and then moves into the thickness detection mechanism 38 to detect the thickness, and detects whether the thickness of the work material is qualified.

Thickness detection mechanism 38 including set up the testing platform 39 that is table tennis bat form on frame 10, testing platform 39 link to each other with frame 10 through increasing frame 40, be equipped with three spinal branch daggers 41 on testing platform 39, be equipped with the detector support 42 that is the L shape on testing platform 39 one side, detector support 42 on be fixed with contact thickness detector 43.

In the present embodiment, the inspection platform 39 is disposed above the machine frame 10 via the elevated frame 40, and the work material can be prevented from colliding against the machine frame 10 when the work material is placed on the inspection platform 39, and further, the thickness of the work material is detected by the contact-type thickness detector 43.

Further, the power supplies of the six-joint robot 11, the electromagnet 17, the servo motor 33, and the contact thickness detector 43 are all provided in an electric box 51, the electric box 51 is provided at the center of the rack 10 and inside the rack 10, all the power supplies are centrally managed and protected by the electric box 51, and are provided inside the rack 10 to save space.

The working principle of the invention is as follows: the six-joint manipulator 11 can move or rotate freely above the frame 10 under the driving action of the power supply of the six-joint manipulator. In the process of checking whether the blank is qualified or not, the six-joint manipulator 11 works close to the blank material rack 14, the material lifting mechanism 15 can drive the blank material rack base 26 to move upwards and enable a blank workpiece to move upwards, then the electromagnet 17 is electrified and adsorbs the blank workpiece through magnetism, then the workpiece is moved to the thickness detection mechanism 38 through the six-joint manipulator 11 to detect the thickness of the workpiece, and whether the thickness of the workpiece is qualified or not is detected.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Although the machine frame 10, the six-joint manipulator 11, the magnetic-type gripping mechanism 12, the finished product rack 13, the blank rack 14, the cargo lifting mechanism 15, the gripping fixing seat 16, the electromagnet 17, the self-adapting mechanism 18, the elastic component 19, the electromagnet fixing plate 20, the linear bearing 21, the guide post 22, the anti-drop head 23, the compression spring 24, the through hole 25, the blank rack base 26 and the blank rack central rod 27 are more used, the cargo pallet 28, the push rod 29, the elevation push plate 30, the ball screw elevation assembly 31, the worm gear reducer 32, the servo motor 33, the reducer fixing plate 34, the screw 35, the guide post 36, the nut 37, the thickness detection mechanism 38, the detection platform 39, the heightening frame 40, the support post 41, the detector support 42, the contact-type thickness detector 43, the proximity switch 50, the electric box 51, etc., which are used merely for convenience of describing and explaining the essence of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.

Claims

1. The utility model provides a take integrated last work or material rest down of manipulator, includes frame (10), its characterized in that, frame (10) on be equipped with six joint manipulators (11), six joint manipulators (11) front end be equipped with magnetism and inhale the formula and snatch mechanism (12), six joint manipulator (11) both sides be equipped with at least one finished product work or material rest (13) and at least one blank work or material rest (14) respectively, finished product work or material rest (13) and/or blank work or material rest (14) on be equipped with goods material elevating system (15).

2. The integrated loading and unloading frame with the manipulator according to claim 1, wherein the magnetic type grabbing mechanism (12) comprises a grabbing fixing seat (16) which is connected with the front end of the six-joint manipulator (11) and can rotate circumferentially, at least one electromagnet (17) is arranged on the grabbing fixing seat (16), and an adaptive mechanism (18) which can adapt to uneven workpieces is arranged between the electromagnet (17) and the grabbing fixing seat (16).

3. The integrated loading and unloading frame with the manipulator as claimed in claim 2, wherein the adaptive mechanism (18) comprises four elastic assemblies (19) distributed in a rectangular array, the electromagnets (17) are arranged on an electromagnet fixing plate (20), one end of each elastic assembly (19) is connected with the grabbing fixing seat (16), and the other end of each elastic assembly (19) is connected with the electromagnet fixing plate (20).

4. The integrated loading and unloading frame with the manipulator according to claim 3, wherein the elastic assembly (19) comprises a linear bearing (21) fixed on the grabbing fixing seat (16), a guide column (22) penetrates through the linear bearing (21), one end of the guide column (22) is fixed on the electromagnet fixing plate (20), the other end of the guide column (22) is provided with an anti-falling head (23), and a compression spring (24) located between the grabbing fixing seat (16) and the electromagnet fixing plate (20) is sleeved on the guide column (22).

5. The integrated loading and unloading frame with the manipulator according to claim 3, wherein through holes (25) are respectively formed in the electromagnet fixing plate (20) and the grabbing fixing seat (16) in a penetrating mode, and two electromagnets (17) are respectively located on two sides of the through holes (25) of the electromagnet fixing plate (20).

6. The integrated loading and unloading rack with the manipulator according to any one of claims 1 to 5, wherein the blank rack (14) comprises a blank rack base (26) fixed on the rack (10), a blank rack central rod (27) is arranged on the blank rack base (26), and a cargo lifting mechanism (15) is arranged on the blank rack base (26) in a penetrating manner.

7. The integrated loading and unloading rack with the manipulator according to claim 6, wherein the cargo lifting mechanism (15) comprises a cargo tray (28), the cargo tray (28) is connected with a lifting push plate (30) through two push rods (29), the push rods (29) penetrate through a blank rack base (26) and the rack (10), and a ball screw lifting assembly (31) is arranged between the lifting push plate (30) and the rack (10).

8. The integrated loading and unloading rack with the manipulator according to any one of claims 1 to 5, wherein the ball screw lifting assembly (31) comprises a worm gear reducer (32) and a servo motor (33), the worm gear reducer (32) is fixed on a reducer fixing plate (34) and connected with a vertically arranged screw (35), four guide pillars (36) are arranged between the reducer fixing plate (34) and the rack (10), the guide pillars (36) and the screw (35) penetrate through the lifting push plate (30), and a nut (37) on the screw (35) is fixedly connected with the lifting push plate (30).

9. The integrated loading and unloading rack with the manipulator according to any one of claims 1-5, characterized in that thickness detection mechanisms (38) are respectively arranged on two sides of the six-joint manipulator (11).

10. The integrated loading and unloading rack with the manipulator as claimed in claim 9, wherein the thickness detection mechanism (38) comprises a table tennis bat-shaped detection platform (39) arranged on the rack (10), the detection platform (39) is connected with the rack (10) through a heightening frame (40), three support columns (41) are arranged on the detection platform (39), an L-shaped detector support (42) is arranged on one side of the detection platform (39), and a contact-type thickness detector (43) is fixed on the detector support (42).