CN214724314U

CN214724314U - Go up unloading truss robot

Info

Publication number: CN214724314U
Application number: CN202023061111.3U
Authority: CN
Inventors: 陈明
Original assignee: Changzhou Zhonghuanke Electronic And Mechanical Engineering Co ltd
Current assignee: Changzhou Zhonghuanke Electronic And Mechanical Engineering Co ltd
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2021-11-16
Anticipated expiration: 2030-12-18

Abstract

The utility model provides a go up unloading truss robot, including work or material rest, material platform, diaxon truss and manipulator, work or material rest upper end rigid coupling the material platform, material platform one side sets up the diaxon truss, set up on the diaxon truss the manipulator, the diaxon truss can drive the manipulator removes along level and vertical direction. A go up unloading truss robot, when the material loading operation, the manipulator snatchs the gasket product, can part the gasket product of adhesion.

Description

Go up unloading truss robot

Technical Field

The utility model belongs to the mechanical automation field especially relates to an go up unloading truss robot.

Background

The automatic technology is adopted, the working environment of workers can be improved, the burden of the workers is reduced, the truss robot is widely applied to feeding and discharging of a machine tool, and for gasket products, the truss robot can cause adhesion of the gasket products during feeding operation, so that processing failure and waste of the gasket products are caused.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing an go up unloading truss robot, the gasket product that enables the adhesion when the material loading operation is separated, avoids the processing failure and the waste of gasket product.

In order to achieve the above purpose, the technical scheme of the utility model is realized like this:

the robot comprises a material rack, a material table, two-axis trusses and a manipulator, wherein the material table is fixedly connected to the upper end of the material rack, the two-axis trusses are arranged on one side of the material table, the manipulator is arranged on the two-axis trusses, and the two-axis trusses can drive the manipulator to move in the horizontal and vertical directions;

the material platform comprises a platform surface, a feeding and discharging mechanism, an auxiliary blowing device and a double-detection sensor, wherein the feeding and discharging mechanism is arranged on the platform surface in a sliding manner, the auxiliary blowing device and the double-detection sensor are arranged on the platform surface, and the auxiliary blowing device and the double-detection sensor are close to the feeding and discharging mechanism;

the feeding and discharging mechanism comprises a moving bottom plate, the bottom of the moving bottom plate is connected with a table top in a sliding mode through a sliding rail and sliding block mechanism, a translation driving device is arranged between the moving bottom plate and the table top and can drive the feeding and discharging mechanism to slide on the table top, at least three magnetic force distributors are arranged on the moving bottom plate around the product trays, the product trays are arranged on the moving bottom plate, the lower portions of the product trays are attached to the moving bottom plate, and a lifting mechanism is arranged on the lower portions of the product trays;

the lifting mechanism comprises a lifting bottom plate, the lifting bottom plate can penetrate through the moving bottom plate to be attached to the bottom of the product tray, two guide rods are arranged at the bottom of the lifting bottom plate, one ends of the guide rods are fixedly connected with the lifting bottom plate, the lifting bottom plate is connected with the table top in a sliding mode through the guide rods, a lifting driving device is installed between the lifting bottom plate and the table top, and the lifting driving device can enable the lifting bottom plate to lift on the table top along the axis direction of the guide rods;

the manipulator comprises a mounting plate, wherein four sucker supports are arranged on one side of the mounting plate, a vacuum sucker is arranged on each sucker support, and a spring ejector pin is arranged in the middle of one side of the mounting plate.

Further, a photoelectric sensor is arranged on the table top and can detect whether gasket products exist on the product tray or not.

Further, set up a pair of product detection sensor on the mesa, it is a pair of product detection sensor is in go up unloading mechanism both sides, it is a pair of product detection sensor can detect the gasket product height.

Furthermore, it is no less than four product location axles to set up around product tray on the removal bottom plate, set up the product locating pin of being no less than two on the product tray, product location axle and product locating pin can restrict the gasket product and move on the horizontal direction.

Furthermore, the moving bottom plate is provided with at least two tray positioning pins, the product tray is provided with pin holes corresponding to the tray positioning pins, and the tray positioning pins penetrate through the pin holes and can limit the movement of the product tray in the horizontal direction.

Compared with the prior art, a go up unloading truss robot have following advantage:

(1) go up unloading truss robot, when the material loading operation, after the manipulator snatchs the gasket product, the spring thimble makes the gasket product present little bending deformation, the diaxon truss drives the manipulator and shakes from top to bottom, the gasket product of adhesion separates because of the effect of line contact and acceleration, simultaneously supplementary gas blowing device blows to the gasket product that snatchs, and the supplementary adhesion gasket product that the manipulator snatchs of separating of magnetic force divides a ware, and two detection sensor can detect whether the adhesion of the gasket product that the manipulator snatched is.

(2) Go up unloading truss robot, product locating pin and product location axle can restrict the removal of gasket product on the horizontal direction, the tray locating pin can restrict the removal of product tray on the horizontal direction, photoelectric sensor can detect whether there is the product on the product tray, a pair of product detection sensor can detect gasket product height.

Drawings

The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:

fig. 1 is a schematic structural view of a feeding and discharging truss robot according to an embodiment of the present invention;

fig. 2 is a schematic view of a front view structure of a feeding and discharging truss robot according to an embodiment of the present invention;

fig. 3 is a schematic view of a partial structure of a feeding and discharging truss robot according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a product tray according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a manipulator according to an embodiment of the present invention.

Description of reference numerals:

1. a material rack; 2. a table top; 3. a feeding and discharging mechanism; 31. a product positioning shaft; 32. a product tray; 33. moving the base plate; 34. a magnetic separator; 35. a lift drive; 36. a guide bar; 37. a translation drive device; 38. positioning pins of the product; 39. a lifting bottom plate; 310. a pallet locating pin; 4. two-axis trusses; 5. a manipulator; 51. mounting a plate; 52. a suction cup holder; 53. a vacuum chuck; 54. a spring thimble; 6. a gasket product; 7. a double detection sensor; 8. a product detection sensor; 9. an auxiliary blowing device; 10. a photoelectric sensor.

Detailed Description

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

A robot for loading and unloading trusses comprises a material rack 1, a material platform, two-axis trusses 4 and a manipulator 5, wherein the upper end of the material rack 1 is fixedly connected with the material platform, the two-axis trusses 4 are arranged on one side of the material platform, the manipulator 5 is arranged on the two-axis trusses 4, and the two-axis trusses 4 can drive the manipulator 5 to move in the horizontal and vertical directions; the material platform comprises a table top 2, a feeding and discharging mechanism 3, an auxiliary blowing device 9 and a double-sheet detection sensor 7, wherein the feeding and discharging mechanism 3 is arranged on the table top 2 in a sliding manner, the auxiliary blowing device 9 and the double-sheet detection sensor 7 are arranged on the table top 2, and the auxiliary blowing device 9 and the double-sheet detection sensor 7 are close to the feeding and discharging mechanism 3; the feeding and discharging mechanism 3 comprises a moving bottom plate 33, the bottom of the moving bottom plate 33 is connected with the table top 2 in a sliding mode through a sliding rail and sliding block mechanism, a translation driving device 37 is arranged between the moving bottom plate 33 and the table top 2, the translation driving device 37 can drive the feeding and discharging mechanism 3 to slide on the table top 2, at least three magnetic force distributing devices 34 are arranged on the moving bottom plate 33 around the product tray 32, the product tray 32 is arranged on the moving bottom plate 33, the lower portion of the product tray 32 is attached to the moving bottom plate 33, and a lifting mechanism is arranged on the lower portion of the product tray 32; the lifting mechanism comprises a lifting bottom plate 39, the lifting bottom plate 39 can penetrate through the moving bottom plate 33 to be attached to the bottom of the product tray 32, two guide rods 36 are arranged at the bottom of the lifting bottom plate 39, one ends of the guide rods 36 are fixedly connected with the lifting bottom plate 39, the lifting bottom plate 39 is connected with the table top 2 in a sliding mode through the guide rods 36, a lifting driving device 35 is installed between the lifting bottom plate 39 and the table top 2, and the lifting driving device 35 can enable the lifting bottom plate 39 to ascend and descend on the table top 2 along the axial direction of the guide rods 36; the manipulator 5 comprises a mounting plate 51, wherein four sucker supports 52 are arranged on one surface of the mounting plate 51, vacuum suckers 53 are arranged on the sucker supports 52, and spring thimbles 54 are arranged in the middle of one surface of the mounting plate 51; during the material loading operation, after the manipulator 5 snatchs gasket product 6, spring thimble 54 makes gasket product 6 present small bending deformation, the drive of diaxon truss 4 the manipulator 5 shakes from top to bottom, and the gasket product 6 of adhesion separates because of the effect of line contact and acceleration, simultaneously supplementary gas blowing device 9 blows to the gasket product 6 of snatching, the supplementary separation of magnetic force beam splitter 34 the adhesion gasket product 6 that the manipulator 5 snatched, two detection sensor 7 can detect whether the gasket product 6 that the manipulator 5 snatched adheres.

Further, a photosensor 10 is disposed on the deck 2, the photosensor 10 being capable of detecting the presence of a mat product 6 on the product tray 32.

Further, a pair of product detection sensors 8 are arranged on the table board 2, the product detection sensors 8 are arranged on two sides of the feeding and discharging mechanism 3, and the product detection sensors 8 can detect the height of the gasket product 6.

Further, not less than four product positioning shafts 31 are arranged on the movable bottom plate 33 around the product tray 32, not less than two product positioning pins 38 are arranged on the product tray 32, and the movement of the gasket product 6 in the horizontal direction can be limited by the product positioning shafts 31 and the product positioning pins 38.

Further, at least two tray positioning pins 310 are disposed on the movable bottom plate 33, the product tray 32 has pin holes corresponding to the tray positioning pins 310, and the movement of the product tray 32 in the horizontal direction can be limited by the tray positioning pins 310 passing through the pin holes.

A loading and unloading truss robot, as shown in fig. 1 to 5, during loading operation, a two-shaft truss 4 drives a mechanical hand 5 to move right above a product tray 32, the two-shaft truss 4 drives the mechanical hand 5 to move downwards, after a gasket product 6 on the product tray 32 is grabbed by a vacuum chuck 53, the two-shaft truss 4 drives the mechanical hand 5 to move upwards for a proper distance, at the moment, a spring thimble 54 enables the gasket product 6 to present a tiny bending deformation, the two-shaft truss 4 drives the mechanical hand 5 to shake in the vertical direction, meanwhile, an auxiliary air blowing device 9 blows air to the grabbed gasket product 6, a magnetic force separator 34 assists in separating the adhered gasket product 6 grabbed by the mechanical hand 5, when a double-piece detection sensor 7 can detect that the grabbed gasket product 6 is not adhered, the mechanical hand 5 stops shaking, and the grabbed gasket product 6 is placed at a specified position to wait for next process operation; along with the consumption of the gasket products, the height of the gasket products 6 on the product tray 32 is detected to be lowered by the product detection sensor 8, the lifting driving device 35 drives the lifting bottom plate 39 to rise along the axial direction of the guide rod 36, the gasket products 6 on the product tray 32 are lifted along with the lifting bottom plate 39, the manipulator 5 can conveniently and continuously grab the gasket products 6 on the product tray 32, when the photoelectric sensor 10 detects that no gasket product 6 exists on the product tray 32, the lifting driving device 35 drives the lifting bottom plate 39 to be lowered to the minimum, the translation driving device 37 drives the moving bottom plate 33 to move to one side of the table top 2, the product tray 32 moves to one side of the table top 2 along with the moving bottom plate 33, the gasket products 6 are manually placed on the product tray 32, the translation driving device 37 drives the moving bottom plate 33 to move to the original position, and the loading and unloading truss robot continues to perform loading operation.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a go up unloading truss robot which characterized in that: the automatic feeding device comprises a material rack, a material table, two-axis trusses and a manipulator, wherein the material table is fixedly connected to the upper end of the material rack, the two-axis trusses are arranged on one side of the material table, the manipulator is arranged on the two-axis trusses, and the two-axis trusses can drive the manipulator to move in the horizontal and vertical directions;

the feeding and discharging mechanism comprises a moving bottom plate, the bottom of the moving bottom plate is connected with a table top in a sliding mode through a sliding rail and sliding block mechanism, a translation driving device is arranged between the moving bottom plate and the table top and can drive the feeding and discharging mechanism to slide on the table top, a product tray is arranged on the moving bottom plate, at least three magnetic force distractors are arranged on the moving bottom plate around the product tray, the lower portion of the product tray is attached to the moving bottom plate, and a lifting mechanism is arranged on the lower portion of the product tray;

2. The loading and unloading truss robot of claim 1, wherein: set up photoelectric sensor on the mesa, photoelectric sensor can detect whether there is the gasket product on the product tray.

3. The loading and unloading truss robot of claim 1, wherein: the table top is provided with a pair of product detection sensors, the product detection sensors are arranged on two sides of the feeding and discharging mechanism, and the product detection sensors can detect the height of a gasket product.

4. The loading and unloading truss robot of claim 1, wherein: the gasket product positioning device is characterized in that at least four product positioning shafts are arranged on the movable bottom plate around the product tray, at least two product positioning pins are arranged on the product tray, and the gasket product can be limited to move in the horizontal direction by the product positioning shafts and the product positioning pins.

5. The loading and unloading truss robot of claim 1, wherein: the movable bottom plate is provided with at least two tray positioning pins, the product tray is provided with pin holes corresponding to the tray positioning pins, and the tray positioning pins penetrate through the pin holes and can limit the movement of the product tray in the horizontal direction.