CN116835256B - Feeding and discharging workstation of robot - Google Patents
Feeding and discharging workstation of robot Download PDFInfo
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- CN116835256B CN116835256B CN202310994082.5A CN202310994082A CN116835256B CN 116835256 B CN116835256 B CN 116835256B CN 202310994082 A CN202310994082 A CN 202310994082A CN 116835256 B CN116835256 B CN 116835256B
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- 238000007599 discharging Methods 0.000 title claims abstract description 35
- 239000000463 material Substances 0.000 claims abstract description 125
- 239000000872 buffer Substances 0.000 claims abstract description 39
- 150000001875 compounds Chemical class 0.000 claims abstract description 39
- 239000012160 loading buffer Substances 0.000 claims abstract description 7
- 230000005611 electricity Effects 0.000 claims abstract description 3
- 230000007246 mechanism Effects 0.000 claims description 52
- 238000012546 transfer Methods 0.000 claims description 22
- 238000013519 translation Methods 0.000 claims description 18
- 239000002131 composite material Substances 0.000 abstract description 40
- 238000000034 method Methods 0.000 abstract description 8
- 230000001360 synchronised effect Effects 0.000 description 12
- 238000003860 storage Methods 0.000 description 7
- 230000003028 elevating effect Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000005012 migration Effects 0.000 description 4
- 238000013508 migration Methods 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- 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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- 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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/10—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface
- B65G15/12—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- 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
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The application relates to the technical field of automatic machines, in particular to a robot feeding and discharging workstation. Including material conveying equipment, material conveying equipment electricity is connected with the control electronic box, material conveying equipment side is equipped with the travel path that is used for holding compound robot and removes, material conveying equipment includes tray delivery device for accept the tray, tray delivery device is kept away from travel path one side and is equipped with material loading station and unloading station, be equipped with material loading conveyor on the material loading station, unloading station department is equipped with unloading conveyor, transport the tray on the material loading conveyor to compound robot through tray delivery device, or transport the tray on the compound robot to unloading conveyor on, tray delivery device one end is kept away from to the material loading conveyor is equipped with material loading buffer memory, unloading conveyor one end is kept away from tray delivery device and is equipped with unloading buffer memory. The method has the effect of reducing the times of feeding and discharging materials of the composite robot, thereby improving the operation efficiency of the composite robot.
Description
Technical Field
The application relates to the technical field of automatic machines, in particular to a robot feeding and discharging workstation.
Background
In the feeding and discharging process of the CNC numerical control machine tool, as most of materials with larger volume and mass are metal, the materials are transported by young and exquisite workers in the past year, and the feeding and discharging process of the machine tool is completed. Along with the improvement of science and technology level and the improvement of human resource cost, be difficult to last CNC lathe to get the blowing and rely on the manual work to take processing completion material or put into the material of waiting to process, and the efficiency of going up the unloading is lower.
In the prior art, the automatic machine equipment replaces manual work to complete the loading and unloading process of the numerical control machine tool, but after the automatic machine is used, for example, a composite robot formed by combining an AGV and a cooperative robot is inevitably required to solve the loading and unloading work problem of the composite robot, the occupied space of materials which are required to be picked or placed by the composite robot is large, the quantity which can be stored and is required to be picked or placed is insufficient, and the composite robot is required to be loaded and unloaded frequently.
The prior art is therefore subject to improvement based on the above-mentioned problems.
Disclosure of Invention
The purpose of this application has reduced the number of times of compound robot upper and lower material to compound robot's operating efficiency has been improved.
The technical aim of the application is achieved through the following technical scheme: the utility model provides a unloading workstation on robot, includes material transfer equipment, material transfer equipment electricity is connected with the control electronic box, material transfer equipment side is equipped with the travel path that is used for holding compound robot and removes, material transfer equipment includes tray delivery device for accept the tray, tray delivery device keeps away from travel path one side is equipped with material loading station and unloading station, be equipped with material loading conveyor on the material loading station, unloading station department is equipped with unloading conveyor, will through tray delivery device tray on the material loading conveyor is transported to compound robot on, or with the tray on the compound robot is transported to on the unloading conveyor, material loading conveyor keeps away from tray delivery device's one end is equipped with material loading buffer memory, unloading conveyor keeps away from tray delivery device's one end is equipped with unloading buffer memory.
By adopting the technical scheme, the plurality of machine equipment is controlled by the control electric box, the automatic control is assisted, the compound robot enters a moving channel in the workstation, the tray carrying device is used for transferring the tray with the processed parts in the compound robot basket to the blanking conveying device, the tray carrying device is used for transferring the tray to the terminal blanking buffer device, the time for transferring the next tray is compensated by the blanking buffer device, the plurality of tray is tightly and continuously transferred along with the blanking buffer device to wait for subsequent transportation to a warehouse for storage, the time for waiting for blanking of the next material after single material blanking is completed is reduced, and the blanking efficiency is increased; through sequentially entering the tray trays with unprocessed parts on the feeding buffer device on the feeding conveying device at intervals, the tray delivery device can automatically and stably and sequentially transfer the tray trays on the feeding conveying device to the composite robot, the feeding speed between the feeding can be accurately controlled, the materials can be accurately and stably transferred, and the feeding efficiency is increased; the material trays can be cached through the workstation, the passing efficiency of the composite robot is greatly improved, the problems of large occupied space, insufficient quantity and frequent feeding and discharging of the cached materials on the composite robot are solved, a large amount of materials can be cached on the composite robot, the materials are intensively loaded and unloaded, the times of loading and unloading the materials on the composite robot are reduced, and the running efficiency of the composite robot is improved.
Optionally, at least 2 material conveying devices are provided, and the moving channels are arranged between adjacent material conveying devices at intervals.
Through adopting above-mentioned technical scheme, through carrying out simultaneous loading and unloading material to the compound robot opposite sides, further increase compound robot's material loading or unloading efficiency.
Optionally, the tray carrying device comprises a base, be equipped with translation mechanism on the base, translation mechanism can be in slide on the base, through sliding on the base, translation mechanism lean on advance the material loading conveyor of material loading station department or the unloading conveyor of unloading station department, be equipped with first elevating system on the translation mechanism, be equipped with tray telescopic machanism on the first elevating system, be equipped with second elevating system on the tray telescopic machanism.
Through adopting above-mentioned technical scheme, through the operation position that tray delivery device corresponds compound robot and carry out material loading or unloading to compound robot, avoid simultaneously material loading or unloading to lead to production mistake easily and cause equipment to damage, make the material height on the compound robot unanimous with the setting height of material loading conveying mechanism and unloading conveying mechanism through first elevating system, the material that will accept through tray telescopic machanism is in horizontal transportation between compound robot and material loading conveying device or unloading conveying device, can be stable take off the material on the compound robot and place on unloading conveying device steadily, or take off the material on the material loading conveying device and place on compound robot steadily.
Optionally, the translation mechanism includes locating first slide rail on the base, be equipped with first accepting the platform on the first slide rail, first accepting the platform and be connected with first driving piece, through first driving piece drive, first accepting the platform can be in slide on the first slide rail, first elevating system locates on the first accepting the platform.
Through adopting above-mentioned technical scheme, drive first accepting bench slides on first slide rail through first driving piece, makes first elevating system on the first accepting bench can slide to compound robot and corresponding material loading conveyor or unloading conveyor department, and the auxiliary completion is to compound robot's material loading or unloading, avoids simultaneously material loading or unloading to lead to production error easily to cause equipment damage.
Optionally, the first lifting mechanism comprises a second sliding rail, a sliding block is arranged on the second sliding rail, a second bearing table is connected and supported by the sliding block, a second driving piece is arranged on the first bearing table, the second bearing table slides along the second sliding rail and is controlled to be close to or far away from the first bearing table through the driving of the second driving piece.
Through adopting above-mentioned technical scheme, through second driving piece drive second accepting bench and slider along the second slide rail slip, make the flexible subassembly of tray on the second accepting bench reach certain setting height and carry out horizontal transportation.
Optionally, the tray telescopic machanism includes first flexible subassembly and second flexible subassembly, first flexible subassembly is including locating the second is accepted the third driving piece on the platform, the second is accepted and is equipped with the third slide rail on the platform, be equipped with the third on the third slide rail and accept the platform, the third is accepted the platform and is connected with the third driving piece, through the third driving piece drive, the third is accepted the platform and is in slide on the third slide rail, the second flexible subassembly is located on the third is accepted the platform.
Through adopting above-mentioned technical scheme, drive the third through the third driving piece and accept the bench and slide on the third slide rail, first flexible subassembly is to compound robot direction extension removal, stably accepts the charging tray on the compound robot, drives the charging tray through the shrink to keep away from compound robot's direction horizontal migration or reply normal position, makes the charging tray can stabilize horizontal migration between compound robot and tray delivery device.
Optionally, the second telescopic assembly includes a fourth driving piece disposed on the third supporting table, a fourth sliding rail is disposed on the third supporting table, a fourth supporting table is disposed on the fourth sliding rail, the fourth supporting table is connected with the fourth driving piece and driven by the fourth driving piece, the fourth supporting table slides on the fourth sliding rail, the second lifting mechanism is disposed on the fourth supporting table, and the second lifting mechanism is disposed on the fourth supporting table.
Through adopting above-mentioned technical scheme, drive the fourth through fourth driving piece and accept the bench and slide on the fourth slide rail, the flexible subassembly of second is to material loading conveyor or unloading conveyor extension removal, places the charging tray on it on material loading conveyor or the unloading conveyor, drives the charging tray through the shrink to be close to compound robot's direction horizontal migration or reply normal position, makes the charging tray can stabilize horizontal migration between material loading conveyor or unloading conveyor and the tray delivery device.
Optionally, the direction of transfer of material loading conveyor is material loading conveyor keeps away from moving passageway one end to being close to the other end conveying of moving passageway, material loading conveyor includes first material loading conveyer belt and second material loading conveyer belt, the interval sets up between first material loading conveyer belt and the second material loading conveyer belt and is formed with first dodge the mouth for dodge tray delivery device.
By adopting the technical scheme, the tray is transported to one end close to the moving channel through the feeding conveying device, so that the tray delivery device can fully transport the tray to the composite robot, and the feeding step is completed; the first feeding conveyer belt and the second feeding conveyer belt are arranged at intervals to support the two sides of the tray and stably transport the tray, and when the tray delivery device takes the tray off the feeding conveyer or places the tray on the feeding conveyer, the tray delivery device is avoided through the first avoiding opening, so that the tray delivery device can take the tray off or place the tray more fully.
Optionally, the direction of transfer of unloading conveyor is unloading conveyor keeps away from moving channel one end to being close to the other end conveying of moving channel, unloading conveyor includes first unloading conveyer belt and second unloading conveyer belt, the interval sets up between first unloading conveyer belt and the second unloading conveyer belt and is formed with the second and dodges the mouth, is used for dodging tray delivery device.
By adopting the technical scheme, the tray is transported to one end far away from the moving channel by the blanking conveying device, so that the tray delivery device can fully transport the tray on the composite robot to blanking storage, and the blanking step is completed; the first blanking conveyer belt and the second blanking conveyer belt are arranged at intervals to support the two sides of the tray and stably transport the tray, and when the tray delivery device takes the tray off the blanking conveyer or places the tray on the blanking conveyer, the tray delivery device is avoided through the second avoiding opening, so that the tray delivery device can take the tray off or place the tray more fully.
Optionally, the conveying direction of the feeding buffer device is consistent with that of the feeding conveying device, the conveying direction of the discharging buffer device is consistent with that of the discharging conveying device, the conveying speed of the feeding buffer device is smaller than that of the feeding conveying device, and the conveying speed of the discharging buffer device is smaller than that of the discharging conveying device.
By adopting the technical scheme, the time for transferring the next tray is made up by the blanking buffer device, so that a plurality of tray trays are closely and continuously transferred along with the blanking buffer device to wait for subsequent transportation to a warehouse for storage, the time for waiting for blanking of the next material after single material blanking is reduced, and the blanking efficiency is increased; through sequentially entering the tray trays with unprocessed parts on the feeding buffer device on the feeding conveying device at intervals, the tray delivery device can automatically and stably and sequentially transfer the tray trays on the feeding conveying device to the composite robot, the feeding speed between the feeding can be accurately controlled, the materials can be accurately and stably transferred, and the feeding efficiency is increased; the material trays can be cached through the workstation, the passing efficiency of the composite robot is greatly improved, the problems of large occupied space, insufficient quantity and frequent feeding and discharging of the cached materials on the composite robot are solved, a large amount of materials can be cached on the composite robot, the materials are intensively loaded and unloaded, the times of loading and unloading the materials on the composite robot are reduced, and the running efficiency of the composite robot is improved.
In summary, the present application at least includes the following beneficial effects:
1. the control box is used for controlling a plurality of machine equipment and assisting in realizing automatic control, the compound robot enters a moving channel in a workstation, a tray carrying device is used for carrying tray trays filled with processed parts in a compound robot basket to a discharging conveying device, the tray carrying device is used for conveying the tray trays to a discharging buffer device at the tail end, the time for carrying the tray trays at the next time is compensated by the discharging buffer device, and the tray trays are tightly and continuously conveyed along with the discharging buffer device to wait for subsequent transportation to a warehouse for storage.
2. The blanking buffer device compensates the time for transferring the next tray, so that a plurality of tray trays are tightly and continuously transferred along with the blanking buffer device to wait for subsequent transportation to a warehouse for storage, the time for waiting for blanking of the next material after finishing blanking of a single material is reduced, and the blanking efficiency is increased; through sequentially entering the tray trays with unprocessed parts on the feeding buffer device on the feeding conveying device at intervals, the tray delivery device can automatically and stably and sequentially transfer the tray trays on the feeding conveying device to the composite robot, the feeding speed between the feeding can be accurately controlled, the materials can be accurately and stably transferred, and the feeding efficiency is increased; the material trays can be cached through the workstation, the passing efficiency of the composite robot is greatly improved, the problems of large occupied space, insufficient quantity and frequent feeding and discharging of the cached materials on the composite robot are solved, a large amount of materials can be cached on the composite robot, the materials are intensively loaded and unloaded, the times of loading and unloading the materials on the composite robot are reduced, and the running efficiency of the composite robot is improved.
Drawings
FIG. 1 is a schematic diagram of a robotic loading and unloading workstation;
FIG. 2 is a schematic view of the construction of the material transfer apparatus;
FIG. 3 is a schematic structural view of a compound robot;
FIG. 4 is a schematic structural view of a tray shipping device;
FIG. 5 is a schematic view of the first lift mechanism;
FIG. 6 is a schematic view of a second lift mechanism;
FIG. 7 is a schematic structural view of a pallet jack;
fig. 8 is a schematic structural diagram of a loading buffer device and a unloading buffer device.
Reference numerals
1. A material transfer apparatus; 2. controlling an electric box; 3. a composite robot; 4. a moving channel; 5. a tray shipping device; 51. a base; 52. a translation mechanism; 521. a first slide rail; 522. a first receiving table; 523. a first driving member; 53. a first lifting mechanism; 531. a second slide rail; 532. a slide block; 533. a second receiving table; 534. a second driving member; 54. a tray telescoping mechanism; 541. a first telescoping assembly; 5411. a third driving member; 5412. a third slide rail; 5413. a third receiving table; 542. a second telescoping assembly; 5421. a fourth driving member; 5422. a fourth slide rail; 5423. a fourth receiving base; 55. a second lifting mechanism; 6. a tray; 7. a feeding station; 8. a blanking station; 9. a feeding and conveying device; 91. a first feeding conveyor belt; 92. a second feeding conveyer belt; 10. a blanking conveying device; 101. a first blanking conveyor belt; 102. a second blanking conveyer belt; 11. a feeding buffer device; 12. a blanking buffer device; 13. a first avoidance port; 14. and a second avoiding port.
Detailed Description
The present application is described in further detail below with reference to the accompanying drawings.
In this embodiment, referring to fig. 1-3, a robot loading and unloading workstation includes a material conveying device 1, where the material conveying device 1 is electrically connected with a control electric box 2, and the control electric box 2 is used to supply power to the material conveying device 1 and control multiple devices in the material conveying device 1 to assist in realizing automatic control. The side of the material transfer device 1 is reserved with a moving channel 4, the compound robot 3 enters the workstation through the moving channel 4, the preferable compound robot 3 is formed by compounding an AGV and a cooperation robot, the automatic cruise enters the workstation through the moving channel 4 and moves in the moving channel 4, and the material transfer device 1 is matched with the feeding or discharging steps.
The material conveying devices 1 are provided with at least 2 material conveying devices, and the interval moving channels 4 between the adjacent material conveying devices 1 are arranged. Preferably be equipped with 2 material transfer devices 1, interval moving channel 4 sets up between two material transfer devices 1, and when compound robot 3 moved to be close to material transfer device 1 through moving channel 4, material transfer device 1 cooperatees the relative both sides of compound robot 3 and carries out material loading or unloading, promotes the efficiency of material loading or unloading. The compound robot 3 can intensively load and unload materials when bearing more materials, so that the frequency of the compound robot 3 entering and exiting the workstation is reduced, and the times of material loading and unloading of the compound robot 3 are reduced, thereby improving the operation efficiency of the compound robot 3.
In the present embodiment, referring to fig. 1 and 2, the material transfer apparatus 1 includes a tray carrying device 5, a loading conveyor 9, and a discharging conveyor 10, a loading buffer 11, and a discharging buffer 12. The tray delivery device 5 is located one side of the moving channel 4, one side, far away from the moving channel 4, of the tray delivery device 5 is provided with a feeding station 7 and a discharging station 8, the feeding station 7 is provided with a feeding conveying device 9, the discharging station 8 is provided with a discharging conveying device 10, and preferably the feeding conveying device 9 and the discharging conveying device 10 are arranged side by side, and the conveying direction of the feeding conveying device 9 and the discharging conveying device 10 is perpendicular to the setting direction of the moving channel 4. One end of the feeding conveying device 9, which is far away from the tray delivery device 5, is provided with a feeding buffer device 11, and one end of the discharging conveying device 10, which is far away from the tray delivery device 5, is provided with a discharging buffer device 12.
When the composite robot 3 fully loads the processed parts, the parts are ordered to travel into a workstation, the parts are firstly moved to the positions corresponding to the blanking conveying devices 10 in the moving channel 4, at the moment, the tray delivery devices 5 on the left side and the right side take down the trays on the composite robot 3 and stably place the trays on the positions where the trays 6 are placed by the tray delivery devices 5, the trays are transported and placed onto the blanking conveying devices 10 through the tray delivery devices 5, the blanking buffering devices 12 at the tail end of the conveying of the blanking conveying devices 10 work, the blanking conveying devices 10 stably convey the trays to the blanking buffering devices 12, and the trays wait to be subsequently conveyed to a warehouse for storage.
After the blanking is completed, the composite robot 3 runs to the position corresponding to the feeding conveying device 9, then the feeding buffer devices 11 and the feeding conveying device 9 on the left side and the right side of the moving channel 4 work simultaneously, a material tray which is placed on the feeding buffer devices 11 on the left side and the right side and is provided with parts to be processed is conveyed to the feeding conveying device 9, and the feeding conveying device 9 conveys the material tray to the position close to the edge of the moving channel 4. At this time, the trays on the feeding conveyor 9 are placed in the material frame of the composite robot 3 in sequence by the tray delivery device 5, and after the feeding process is completed, the composite robot 3 is driven out of the workstation.
In the present embodiment, referring to fig. 1 to 7, the tray carrying device 5 includes a base 51, a translation mechanism 52, a first lifting mechanism 53, a tray retracting mechanism 54, and a second lifting mechanism 55. When the composite robot 3 fully loads the processed parts, the parts are commanded to travel into the workstation, the parts first reach the blanking station 8, and the translation mechanism 52 slides to the corresponding blanking conveying device 10 relative to the base 51;
the tray telescoping mechanism 54 comprises a first telescoping assembly 541 and a second telescoping assembly 542, at this time, the first telescoping assemblies 541 on the left and right sides are extended, and the first telescoping assembly 541, the second telescoping assembly 542 thereon, and the second lifting mechanism 55 are moved to below the tray on the compound robot 3; at this time, the first lifting mechanisms 53 on the left and right sides are lifted upwards, the second lifting mechanisms 55 are abutted against the supporting material tray, the material tray on the composite robot 3 is lifted, and then the first telescopic assemblies 541 on the left and right sides are shortened and moved to the position above the base 51, so that the material tray is horizontally moved to the position above the base 51;
the second telescopic component 542 stretches towards the direction close to the blanking conveying device 10, the second lifting mechanism 55 synchronously and continuously further lifts the tray, the height of the tray is larger than the set height of the blanking conveying device 10, the tray is horizontally moved to the position above the blanking conveying device 10, the tray is stably placed on the blanking conveying device 10 through shrinkage of the second lifting mechanism 55, and the blanking conveying device 10 conveys the tray to the blanking buffer device 12 through conveying and waits for subsequent conveying to a warehouse for storage.
After the blanking is completed, the composite robot 3 runs to the position corresponding to the feeding station 7, the translation assembly slides to the position corresponding to the feeding station 7 relative to the base 51, meanwhile, the front and back translation drag chain moves, the components such as the air pipe are penetrated through the drag chain, and the sliding arrangement of the translation assembly is avoided due to the fact that the components such as the air pipe interfere with the sliding arrangement of the translation assembly. Then the feeding buffer devices 11 and 9 on the left and right sides work simultaneously, and the material trays with the parts to be processed on the feeding buffer devices 11 on the left and right sides are conveyed to the edge, close to the moving channel 4, of the feeding conveying device 9. At this time, the first lifting mechanisms 53 on the left and right sides are supported and extended upward, the tray telescopic mechanisms 54 are extended toward the direction close to the feeding conveyor 9, the tray on the feeding conveyor 9 is stably supported by the second lifting mechanisms 55, the tray telescopic mechanisms 54 retract and convey the tray to the position right above the basket of the composite robot 3, the first lifting mechanisms 53 on the left and right sides retract and shorten, the tray is placed in the basket of the composite robot 3, the tray telescopic mechanisms 54 on the left and right sides retract to an initial state, the feeding process is completed, and the composite robot 3 is driven out of the workstation.
In the present embodiment, referring to fig. 6, the translation mechanism 52 includes a first slide rail 521, a first receiving stand 522, and a first driving element 523. Preferably, two parallel first slide rails 521 are arranged on two sides of the base 51, the first slide rails 521 are arranged along the arrangement direction parallel to the moving channel 4, a first driving piece 523 is arranged between the two first slide rails 521, preferably, the first driving piece 523 is an air cylinder and a sliding block, the sliding block and a first bearing table 522 fixedly connected with the sliding block are driven by the air cylinder, the first bearing table 522 slides along the guiding direction of the first slide rails 521, the first bearing table 522 slides relatively on the base 51, and the first bearing table 522 and a mechanism on the first bearing table 522 are controlled to be close to the feeding station 7 or the discharging station 8 so as to cooperate with the feeding or discharging procedure of the composite robot 3.
In the present embodiment, referring to fig. 5, the first lifting mechanism 53 includes a second slide rail 531, a slider 532, a second receiving stand 533, and a second driver 534. Preferably, four second slide rails 531 are vertically disposed at four corners of the first receiving platform 522, a slider 532 is mounted on the second slide rails 531, the slider 532 is connected to the second receiving platform 533 by a steering action of the slider 532, the first receiving platform 522 and the second receiving platform 533 are disposed in parallel, a second driving member 534 is preferably disposed at a central position of the first receiving platform 522, the second driving member 534 is preferably a cylinder and a telescopic rod, the telescopic rod is driven by the cylinder to extend in a direction away from the first receiving platform 522, the telescopic rod supports the second receiving platform 533, and the second receiving platform 533 is stably slid to rise or fall by the action of the second slide rails 531 and the slider 532.
In the present embodiment, referring to fig. 7, the tray retracting mechanism 54 includes a first retracting assembly 541 and a second retracting assembly 542, and the first retracting assembly 541 includes a third driving member 5411, a third slide rail 5412, and a third receiving stage 5413. Preferably, the second supporting table 533 is provided with a third driving member 5411, two third sliding rails 5412 are arranged on two sides of the third driving member 5411 in parallel, the arrangement direction of the third sliding rails 5412 is perpendicular to the arrangement direction of the first sliding rail 521, and the third supporting table 5413 is mounted on the third sliding rails 5412; preferably, the third driving member 5411 is provided with a synchronous belt in a sleeved mode before two synchronous wheels, the synchronous belt clamping block is fixedly connected with the third supporting table 5413, the synchronous wheels are rotationally connected with the third driving member 5411, the synchronous wheels are driven to rotate through the third driving member 5411, the synchronous belt drives the third supporting table 5413 to slide on the third sliding rail 5412, the third supporting table 5413 is controlled to horizontally displace relative to the second supporting table 533, and the third supporting table 5413 can stretch towards the direction approaching or far away from the moving channel 4.
Referring to fig. 7, second retraction assembly 542 includes fourth drive member 5421, fourth slide rail 5422 and fourth landing 5423. Preferably, the third carrying platform 5413 is provided with a fourth driving member 5421, two fourth sliding rails 5422 are arranged on two sides of the fourth driving member 5421 in parallel, the arrangement direction of the fourth sliding rails 5422 is parallel to the arrangement direction of the third sliding rails 5412, and the fourth carrying platform 5423 is mounted on the fourth sliding rails 5422; preferably, the fourth driving member 5421 is provided with a synchronous belt in a sleeved mode before two synchronous wheels, the fourth receiving platform 5423 is fixedly connected through a synchronous belt clamping block, the synchronous wheels are rotationally connected with the fourth driving member 5421, the synchronous wheels are driven to rotate through the fourth driving member 5421, the synchronous belt drives the fourth receiving platform 5423 to slide on the fourth sliding rail 5422, the fourth receiving platform 5423 is controlled to horizontally displace relative to the third receiving platform 5413, and the fourth receiving platform 5423 can stretch in a direction approaching or far away from the moving channel 4.
In this embodiment, referring to fig. 8, the feeding conveying device 9 includes a first feeding conveying belt 91 and a second feeding conveying belt 92, a first avoiding opening 13 is formed between the first feeding conveying belt 91 and the second feeding conveying belt 92 at intervals, and is used for avoiding the tray delivery device 5, so that the tray delivery device 5 is convenient to penetrate through the first avoiding opening 13 to move to the bottom of a tray on the feeding conveying device 9, the tray is transferred to the tray delivery device 5, and the feeding conveying device 9 is subjected to blanking. The conveying direction of the feeding conveying device 9 is that one end of the feeding conveying device 9 away from the moving channel 4 is conveyed to the other end close to the moving channel 4.
In this embodiment, referring to fig. 8, the blanking conveying device 10 includes a first blanking conveying belt 101 and a second blanking conveying belt 102, a second avoiding opening 14 is formed between the first blanking conveying belt 101 and the second blanking conveying belt 102 at intervals, and is used for avoiding the tray delivery device 5, so that the tray delivery device 5 is convenient to penetrate the second avoiding opening 14 to move the tray to the upper part of the blanking conveying device 10, stably place the tray on the blanking conveying device 10, and perform feeding on the blanking conveying device 10. The conveying direction of the blanking conveying device 10 is that one end of the blanking conveying device 10 close to the moving channel 4 is conveyed to the other end far from the moving channel 4.
In this embodiment, referring to fig. 8, it is preferable that the loading buffer 11, the unloading buffer 12, the loading conveyor 9, and the unloading conveyor 10 are all conveyor conveyors. Preferably, the conveying directions of the feeding buffer device 11 and the feeding conveying device 9 are consistent, the feeding buffer device 11 stably conveys the material tray to the feeding conveying device 9, and the material tray is conveyed to the direction of the moving channel 4 through the feeding conveying device 9; the conveying directions of the blanking buffer device 12 and the blanking conveying device 10 are consistent, the blanking conveying device 10 stably conveys a material disc to the blanking buffer device 12, and the material disc is conveyed to the direction of the moving channel 4 through the blanking conveying device 10; the conveying speed of the feeding buffer device 11 is smaller than that of the feeding conveying device 9, and the conveying speed of the discharging buffer device 12 is smaller than that of the discharging conveying device 10. Preferably, 40 processed and unprocessed materials can be respectively cached in the workstation, so that the passing efficiency of the composite robot 3 is greatly improved, and the possibility is provided for further reaching the production mode of an automatic unmanned factory.
The embodiments of the present invention are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in this way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (5)
1. The utility model provides a unloading workstation on robot, its characterized in that includes material transfer equipment (1), material transfer equipment (1) electricity is connected with control electronic box (2), material transfer equipment (1) side is equipped with and is used for holding on compound robot (3) removal mobile channel (4), material transfer equipment (1) include tray delivery device (5) for accept tray (6), tray delivery device (5) keep away from mobile channel (4) one side is equipped with material loading station (7) and unloading station (8), be equipped with material loading conveyor (9) on material loading station (7), unloading station (8) department is equipped with unloading conveyor (10), will through tray delivery device (5) tray (6) on material loading conveyor (9) are transported to compound robot (3) on, or will be equipped with material loading conveyor (9) keep away from material loading conveyor (5) one end is equipped with material loading conveyor (11) and is kept away from conveyor (10);
the tray carrying device (5) comprises a base (51), a translation mechanism (52) is arranged on the base (51), the translation mechanism (52) can slide on the base (51), the translation mechanism (52) leans against a feeding conveying device (9) at a feeding station (7) or a discharging conveying device (10) at a discharging station (8) by sliding on the base (51), a first lifting mechanism (53) is arranged on the translation mechanism (52), a tray telescopic mechanism (54) is arranged on the first lifting mechanism (53), and a second lifting mechanism (55) is arranged on the tray telescopic mechanism (54);
the translation mechanism (52) comprises a first slide rail (521) arranged on the base (51), a first bearing table (522) is arranged on the first slide rail (521), the first bearing table (522) is connected with a first driving piece (523), the first bearing table (522) can slide on the first slide rail (521) through the driving of the first driving piece (523), and the first lifting mechanism (53) is arranged on the first bearing table (522);
the first lifting mechanism (53) comprises a second sliding rail (531), a sliding block (532) is arranged on the second sliding rail (531), a second bearing table (533) is connected and supported by the sliding block (532), a second driving piece (534) is arranged on the first bearing table (522), the second bearing table (533) slides along the second sliding rail (531), and the second bearing table (533) is controlled to be close to or far away from the first bearing table (522) through the driving of the second driving piece (534);
the tray telescopic mechanism (54) comprises a first telescopic component (541) and a second telescopic component (542), the first telescopic component (541) comprises a third driving piece (5411) arranged on the second bearing table (533), a third sliding rail (5412) is arranged on the second bearing table (533), a third bearing table (5413) is arranged on the third sliding rail (5412), the third bearing table (5413) is connected with the third driving piece (5411), the third bearing table (5413) slides on the third sliding rail (5412) through the driving of the third driving piece (5411), and the second telescopic component (542) is arranged on the third bearing table (5413);
the second telescopic component (542) comprises a fourth driving piece (5421) arranged on the third supporting table (5413), a fourth sliding rail (5422) is arranged on the third supporting table (5413), a fourth supporting table (5423) is arranged on the fourth sliding rail (5422), the fourth supporting table (5423) is connected with the fourth driving piece (5421), the fourth supporting table (5423) is driven by the fourth driving piece (5421) to slide on the fourth sliding rail (5422), the second lifting mechanism (55) is arranged on the fourth supporting table (5423), and the second lifting mechanism (55) is arranged on the fourth supporting table (5423).
2. A robotic feeding and discharging station as claimed in claim 1, characterized in that the material handling devices (1) are provided with at least 2, adjacent material handling devices (1) being arranged with the movement channel (4) therebetween.
3. The robot loading and unloading workstation according to claim 2, wherein the conveying direction of the loading conveying device (9) is that one end of the loading conveying device (9) away from the moving channel (4) is conveyed towards the other end close to the moving channel (4), the loading conveying device (9) comprises a first loading conveying belt (91) and a second loading conveying belt (92), and a first avoiding opening (13) is formed between the first loading conveying belt (91) and the second loading conveying belt (92) at intervals and is used for avoiding the tray carrying device (5).
4. The robot loading and unloading workstation according to claim 2, wherein the conveying direction of the unloading conveying device (10) is that one end of the unloading conveying device (10) away from the moving channel (4) is conveyed to the other end close to the moving channel (4), the unloading conveying device (10) comprises a first unloading conveying belt (101) and a second unloading conveying belt (102), and a second avoiding opening (14) is formed between the first unloading conveying belt (101) and the second unloading conveying belt (102) at intervals and is used for avoiding the tray delivery device (5).
5. The robot loading and unloading workstation according to claim 1, wherein the conveying directions of the loading buffer device (11) and the loading conveying device (9) are consistent, the conveying directions of the unloading buffer device (12) and the unloading conveying device (10) are consistent, the conveying speed of the loading buffer device (11) is smaller than the conveying speed of the loading conveying device (9), and the conveying speed of the unloading buffer device (12) is smaller than the conveying speed of the unloading conveying device (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310994082.5A CN116835256B (en) | 2023-08-08 | 2023-08-08 | Feeding and discharging workstation of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310994082.5A CN116835256B (en) | 2023-08-08 | 2023-08-08 | Feeding and discharging workstation of robot |
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| Publication Number | Publication Date |
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| CN116835256A CN116835256A (en) | 2023-10-03 |
| CN116835256B true CN116835256B (en) | 2024-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310994082.5A Active CN116835256B (en) | 2023-08-08 | 2023-08-08 | Feeding and discharging workstation of robot |
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| EP1332100A2 (en) * | 2000-09-26 | 2003-08-06 | Crisplant A/S | Method and apparatus for orientating articles during feeding to a conveyor with a discharge section |
| CN206172564U (en) * | 2016-08-12 | 2017-05-17 | 湖北周黑鸭食品工业园有限公司 | Pile up neatly system of robot |
| CN210849354U (en) * | 2019-11-04 | 2020-06-26 | 昆山一正精密模具工业有限公司 | Automatic go up robot CNC equipment of unloading |
| CN112027656A (en) * | 2020-08-17 | 2020-12-04 | 王清国 | Shielding detection equipment and method for robot feeding electronic equipment or components |
| CN213737513U (en) * | 2020-11-25 | 2021-07-20 | 昆山首佳智能科技有限公司 | Robot feeding and discharging machine |
| CN218319190U (en) * | 2022-06-29 | 2023-01-17 | 深圳中科飞测科技股份有限公司 | Automatic loading and unloading device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2023087269A (en) * | 2021-12-13 | 2023-06-23 | コニカミノルタ株式会社 | Part feeder |
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2023
- 2023-08-08 CN CN202310994082.5A patent/CN116835256B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1332100A2 (en) * | 2000-09-26 | 2003-08-06 | Crisplant A/S | Method and apparatus for orientating articles during feeding to a conveyor with a discharge section |
| CN206172564U (en) * | 2016-08-12 | 2017-05-17 | 湖北周黑鸭食品工业园有限公司 | Pile up neatly system of robot |
| CN210849354U (en) * | 2019-11-04 | 2020-06-26 | 昆山一正精密模具工业有限公司 | Automatic go up robot CNC equipment of unloading |
| CN112027656A (en) * | 2020-08-17 | 2020-12-04 | 王清国 | Shielding detection equipment and method for robot feeding electronic equipment or components |
| CN213737513U (en) * | 2020-11-25 | 2021-07-20 | 昆山首佳智能科技有限公司 | Robot feeding and discharging machine |
| CN218319190U (en) * | 2022-06-29 | 2023-01-17 | 深圳中科飞测科技股份有限公司 | Automatic loading and unloading device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116835256A (en) | 2023-10-03 |
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