CN220165212U - Material tray circulating device of composite robot - Google Patents
Material tray circulating device of composite robot Download PDFInfo
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- CN220165212U CN220165212U CN202321944175.9U CN202321944175U CN220165212U CN 220165212 U CN220165212 U CN 220165212U CN 202321944175 U CN202321944175 U CN 202321944175U CN 220165212 U CN220165212 U CN 220165212U
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- 239000002131 composite material Substances 0.000 title claims description 8
- 239000000463 material Substances 0.000 title abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 165
- 238000013519 translation Methods 0.000 claims abstract description 89
- 150000001875 compounds Chemical class 0.000 claims abstract description 9
- 230000009194 climbing Effects 0.000 claims description 12
- 230000000903 blocking effect Effects 0.000 claims description 10
- 238000004064 recycling Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000003028 elevating effect Effects 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
The utility model relates to a tray circulating device of a compound robot, which comprises a first station, a second station, a bottom translation mechanism and a top translation mechanism, wherein the first station is provided with a first bottom jacking mechanism and a first side lifting mechanism, the first bottom jacking mechanism is used for jacking and dropping a tray on the first station, the first side lifting mechanism is used for lifting and releasing the tray on the first station, the second station is provided with a second bottom jacking mechanism and a second side lifting mechanism, the second bottom jacking mechanism is used for jacking and dropping the tray on the second station, the second side lifting mechanism is used for lifting and releasing the tray on the second station, the bottom translation mechanism is used for circulating the tray at the bottom of the first station to the second station, and the top translation mechanism is used for circulating the tray at the top of the second station to the first station. The utility model has the effect of improving the taking and placing efficiency of the material tray.
Description
Technical Field
The utility model relates to the field of automatic feeding and discharging, in particular to a material tray circulating device of a composite robot.
Background
In the automatic machining process of the machine tool, automatic feeding and discharging are needed by using the composite robot, materials are generally placed in the material tray, the material tray is placed at a set position, the composite robot can grasp the materials placed on the material tray in the prior art, but the material tray needs to be manually taken and placed, the taking and placing efficiency is low, the labor intensity is high, and the improvement is needed.
Disclosure of Invention
The utility model provides a material tray circulating device of a compound robot, which aims to solve the technical problem that the efficiency is low due to the fact that a material tray is required to be manually taken and put in the prior art.
The technical scheme provided by the utility model is as follows:
the utility model provides a composite robot's charging tray circulating device, includes first station, second station, bottom translation mechanism and top translation mechanism, first station department is equipped with first bottom climbing mechanism and first side lifting mechanism, first bottom climbing mechanism is used for jacking up the charging tray on the first station and falls down, first side lifting mechanism is used for lifting and releasing the charging tray on the first station, second station department is equipped with second bottom climbing mechanism and second side lifting mechanism, second bottom climbing mechanism is used for jacking up the charging tray on the second station and falls down, second side lifting mechanism is used for lifting and releasing the charging tray on the second station, bottom translation mechanism is used for flowing the charging tray of first station bottom to the second station, top translation mechanism is used for flowing the charging tray at second station top to first station.
By adopting the technical scheme, the first bottom jacking mechanism jacks up and drops the material tray on the first station, the first side jacking mechanism is used for jacking and releasing the material tray on the first station, and the first bottom jacking mechanism and the first side jacking mechanism are matched in steps, so that the material tray on the first station can be separated; the second bottom jacking mechanism jacks up and drops the material tray on the second station, the second side lifting mechanism is used for lifting and releasing the material tray on the second station, and the material tray on the second station can be overlapped layer by layer through the step-by-step cooperation of the second bottom jacking mechanism and the second side lifting mechanism; the bottom translation mechanism and the top translation mechanism are used for achieving the function of tray translation circulation, the bottom translation mechanism enables the tray at the lowest end of the first station to circulate to the second station, and the top translation mechanism enables the tray at the highest end of the second station to circulate to the first station.
According to the utility model, the circulation of the material trays can be realized, when all the material trays on the first station are transferred to the second station, all the material trays on the first station can be taken away and replaced by new material trays filled with unprocessed materials, so that the manual participation degree is reduced, and the taking and placing efficiency of the material trays is improved.
Optionally, the bottom translation mechanism is the conveyer belt, first side lifts the mechanism and the second side lifts the mechanism and is higher than the bottom translation mechanism for the charging tray can flow to the second station from first station through the bottom translation mechanism.
By adopting the technical scheme, the conveyor belt is simple in structure, mature in technology and reliable in movement.
Optionally, the bottom translation mechanism tail end still is equipped with and blocks the mechanism, it includes baffle and jacking cylinder to block the mechanism, the jacking cylinder is used for driving the baffle and goes up and down, the baffle is used for stopping the charging tray in second station department when the charging tray circulation.
Through adopting above-mentioned technical scheme, the charging tray has certain translation speed under the drive of bottom translation device, sets up at bottom translation mechanism tail end and blocks the mechanism, firstly can prevent that the charging tray from sliding out bottom translation mechanism, secondly can make the charging tray stop in second station department, improves the position accuracy of charging tray in second station department.
Optionally, first bottom climbing mechanism and second bottom climbing mechanism all include mounting bracket, first guide rail slider subassembly, motor, lead screw drive assembly and elevating platform, the elevating platform sets up on the mounting bracket with sliding through first guide rail slider subassembly, the motor passes through lead screw drive assembly and drives the elevating platform and go up and down.
By adopting the technical scheme, the lifting platform adopts the first guide rail sliding block assembly and the screw rod transmission assembly, so that the lifting and falling motions of the lifting platform vertically slide along the guide rail, the stability of the execution process of the lifting and falling motions is ensured, and the motion precision is improved; the first bottom jacking mechanism and the second top jacking mechanism are identical in structure as a whole, and can separately and independently execute jacking and dropping actions, so that the independence of executing actions of the two mechanisms is ensured.
Optionally, the first side lifting mechanism and the second side lifting mechanism each comprise a left lifting plate, a right lifting plate and a driving assembly, wherein the driving assembly is used for driving the left lifting plate and the right lifting plate to clamp so as to lift the tray above, and is also used for driving the left lifting plate and the right lifting plate to retreat so as to release the tray above.
Through adopting above-mentioned technical scheme, left lift plate and right lift plate are under the power that drive assembly provided, form the left and right butt clamp to the charging tray, realize lifting and release to the charging tray.
Optionally, the drive assembly includes left drive cylinder and right drive cylinder, left drive cylinder is used for driving left lift plate translation, right drive cylinder is used for driving right lift plate translation.
Through adopting above-mentioned technical scheme, left side lift the board and right side lift the board and all adopt cylinder driven mode, drive each lift the board and realize stretching out and return, the action execution is quick again accurate, and has guaranteed that left side lift the board and right side lift the stability and smoothness of board translation process.
Optionally, the top translation mechanism includes left translation subassembly, right translation subassembly, left pneumatic clamping jaw and right pneumatic clamping jaw, left translation subassembly is used for driving left pneumatic clamping jaw horizontal migration, right translation subassembly is used for driving right pneumatic clamping jaw horizontal migration, left pneumatic clamping jaw and right pneumatic clamping jaw are used for pressing from both sides tight charging tray or releasing the charging tray.
Through adopting above-mentioned technical scheme, left side translation subassembly and right translation subassembly can take the charging tray to translate from beginning to end, and left pneumatic clamping jaw and right pneumatic clamping jaw can press from both sides tightly or release the charging tray of top, and translation subassembly and clamping jaw combination can realize turning over the charging tray of top to first station from the second industrial bit stream.
Optionally, the left and right sides of bottom translation mechanism are equipped with left spacing portion and right spacing portion respectively, left spacing portion and right spacing portion are used for the position of location charging tray on bottom translation mechanism.
Through adopting above-mentioned technical scheme, the left side and the right side of bottom translation mechanism are provided with left limit portion and right limit portion that correspond, when the charging tray falls down, can revise the position of charging tray on bottom translation mechanism to improve the position accuracy of charging tray.
In summary, the present utility model includes at least one of the following beneficial technical effects:
1. according to the utility model, the circulation of the material trays can be realized, when all the material trays on the first station are transferred to the second station, all the material trays on the first station can be taken away and replaced by new material trays filled with unprocessed materials, so that the manual participation degree is reduced, and the taking and placing efficiency of the material trays is improved;
2. the left side and the right side of the bottom translation mechanism are respectively provided with a left limiting part and a right limiting part, so that the final positioning state of the material tray can be corrected, and the position accuracy of the material tray is improved.
Drawings
FIG. 1 is a perspective view of a tray recycling apparatus (full tray) according to an embodiment of the present utility model;
FIG. 2 is a perspective view of a tray recycling apparatus according to an embodiment of the present utility model (a tray-not-placed state);
FIG. 3 is another perspective view of a tray recycling apparatus according to an embodiment of the present utility model (a tray not placed state);
FIG. 4 is a rear view of a tray recycling apparatus according to an embodiment of the present utility model;
FIG. 5 is an enlarged view at B in FIG. 3;
fig. 6 is an enlarged view at a in fig. 2.
In the figure, 1, a first station; 2. a second station; 3. a bottom translation mechanism; 31. a left limit part; 32. a right limit part; 4. a top translation mechanism; 41. a left translation assembly; 42. a right translation assembly; 43. left pneumatic clamping jaw; 44. the right pneumatic clamping jaw and the first bottom jacking mechanism are arranged on the right pneumatic clamping jaw; 51. a mounting frame; 52. a first rail-slide assembly; 53. a motor; 54. a screw rod transmission assembly; 55. a lifting table; 6. a first side lift mechanism; 61. a left lifting plate; 62. a right lifting plate; 63. a drive assembly; 631. a left driving cylinder; 632. a right driving cylinder; 7. a second bottom jacking mechanism; 8. a second side lifting mechanism; 9. a blocking mechanism; 91. a baffle; 92. and lifting the cylinder.
Detailed Description
The present utility model will be described in further detail with reference to fig. 1-6.
Referring to fig. 1 to 3, an embodiment of the utility model discloses a tray circulating device of a compound robot, which comprises a first station 1, a second station 2, a bottom translation mechanism 3 and a top translation mechanism 4, wherein a first bottom jacking mechanism 5 and a first side lifting mechanism 6 are arranged at the first station 1, the first bottom jacking mechanism 5 is used for jacking and dropping a tray on the first station 1, the first side lifting mechanism 6 is used for lifting and releasing the tray on the first station 1, and the first bottom jacking mechanism 5 and the first side jacking mechanism are matched in steps, so that the tray on the first station 1 can be separated; the second station 2 is provided with a second bottom jacking mechanism 7 and a second side lifting mechanism 8, the second bottom jacking mechanism 7 is used for jacking and dropping a material tray on the second station 2, the second side lifting mechanism 8 is used for lifting and releasing the material tray on the second station 2, and the material tray on the second station 2 can be overlapped layer by layer through the step matching actions of the second bottom jacking mechanism 7 and the second side lifting mechanism 8; the bottom translation mechanism 3 is used for transferring the tray flow at the bottom of the first station 1 to the second station 2, and the top translation mechanism 4 is used for transferring the tray flow at the top of the second station 2 to the first station 1; adopt first bottom climbing mechanism 5, first side lift mechanism 6, second bottom climbing mechanism 7, second side lift mechanism 8, bottom translation mechanism 3 and top translation mechanism 4 to be the charging tray circulating device of design main points, realized that charging tray circulating device replaces the manual work to get the function of blowing charging tray, improved the getting of charging tray and put efficiency.
Referring to fig. 6, the first bottom jacking mechanism 5 and the second bottom jacking mechanism 7 each include a mounting frame 51, a first guide rail sliding block assembly 52, a motor 53, a screw rod transmission assembly 54 and a lifting platform 55, the lifting platform 55 is slidably disposed on the mounting frame 51 through the first guide rail sliding block assembly 52, the motor 53 drives the lifting platform 55 to lift through the screw rod transmission assembly 54, so that the jacking and dropping movements of the lifting platform 55 vertically slide along the guide rails, thereby ensuring the stability of the execution process of the jacking and dropping movements and improving the movement precision; the first bottom jacking mechanism 5 and the second top jacking mechanism are identical in structure as a whole, and can separately and independently execute jacking and dropping actions, so that the independence of executing actions of the two mechanisms is ensured.
Referring to fig. 2, the bottom translation mechanism 3 is a conveyor belt, and the first side lifting mechanism 6 and the second side lifting mechanism 8 are higher than the bottom translation mechanism 3, so that the tray can flow from the first station 1 to the second station 2 via the bottom translation mechanism 3.
Referring to fig. 2, the tail end of the bottom translation mechanism 3 is further provided with a blocking mechanism 9, the blocking mechanism 9 includes a baffle 91 and a lifting cylinder, the lifting cylinder is used for driving the baffle 91 to lift, and the baffle 91 is used for blocking the tray at the second station 2 when the tray flows; under the drive of the bottom translation device, the material tray has a certain translation speed, no matter the translation speed is high or low, if the blocking mechanism 9 is not blocked, the risk of sliding out of the second station 2 exists, so the blocking mechanism 9 can enable the material tray to stay at the second station 2.
Referring to fig. 2, the left and right sides of the bottom translation mechanism 3 are respectively provided with a left limit portion 31 and a right limit portion 32, and the left limit portion 31 and the right limit portion 32 are used for positioning the position of the tray on the bottom translation mechanism 3, so that when the tray falls, the final positioning state of the tray can be corrected, thereby improving the positioning accuracy of the tray.
Referring to fig. 2 to 4, the first side lifting mechanism 6 and the second side lifting mechanism 8 have the same structure as each other, and each include a left lifting plate 61, a right lifting plate 62, and a driving assembly 63, where the driving assembly 63 is used to drive the left lifting plate 61 and the right lifting plate 62 to clamp to lift the tray above, and is also used to drive the left lifting plate 61 and the right lifting plate 62 to retract to release the tray above.
Referring to fig. 3, the driving assembly 63 includes a left driving cylinder 631 and a right driving cylinder 632, the left driving cylinder 631 is used for driving the left lifting plate 61 to translate, the right driving cylinder 632 is used for driving the right lifting plate 62 to translate, the left lifting plate 61 and the right lifting plate 62 all adopt a cylinder driving mode to drive each lifting plate to achieve the extending and retracting functions, the execution of the action is quick and accurate, and meanwhile, the stability and smoothness of the translation process of the left lifting plate 61 and the right lifting plate 62 are ensured.
Referring to fig. 2, the top translation mechanism 4 includes a left translation assembly 41, a right translation assembly 42, a left pneumatic clamping jaw 43 and a right pneumatic clamping jaw 44, the left translation assembly 41 is used for driving the left pneumatic clamping jaw 43 to move horizontally, the right translation assembly 42 is used for driving the right pneumatic clamping jaw 44 to move horizontally, and the left translation assembly 41 and the right translation assembly 42 can also translate back and forth with the tray; the left and right pneumatic clamping jaws 43, 44 are used to clamp or unclamp the uppermost tray; the translation assembly in combination with the clamping jaw enables the transfer of the uppermost tray from the second station 2 to the first station 1.
The working process of the embodiment of the material tray circulating device comprises the following steps:
firstly, the first bottom jacking mechanism 5 is lifted, ten trays on the first station 1 are jacked to be separated from the height of the first side lifting mechanism 6, at the moment, the left lifting plate 61 and the right lifting plate 62 of the first side lifting mechanism 6 are in a retreated state and cannot influence the lifting of the trays, then the first bottom jacking mechanism 5 descends by the height of one tray, the left lifting plate 61 and the right lifting plate 62 of the first side lifting mechanism 6 simultaneously extend out and lift nine trays upwards, then the first bottom jacking mechanism 5 continues to descend below the bottom translation mechanism 3, one tray at the lowest end of the first station 1 falls on the bottom translation mechanism 3, at the moment, the bottom translation mechanism 3 drives the one tray to flow towards the second station 2, when the tray reaches the blocking mechanism 9 of the second station 2, the bottom translation mechanism 3 stops moving, then, the second bottom jacking mechanism 7 is lifted to jack up the tray to the bottom of the original tray on the second station 2, at this time, the left lifting plate 61 and the right lifting plate 62 of the second side lifting mechanism 8 are simultaneously retracted, the second bottom jacking mechanism 7 continues to lift up the tray at the uppermost end of the second station 2 to a position higher than the top translation mechanism 4, at this time, the left pneumatic clamping jaw 43 and the right pneumatic clamping jaw 44 respectively extend simultaneously under the action of the driving component 63 to clamp one tray at the uppermost end of the second station 2, then the second bottom jacking mechanism 7 descends to be slightly higher than the second side lifting mechanism 8, at this time, the left lifting plate 61 and the right lifting plate 62 of the second side lifting mechanism 8 extend simultaneously to lift up the tray on the second station 2, then the second bottom jacking mechanism 7 continues to descend until being lower than the bottom translation mechanism 3, then, the top translation mechanism 4 clamps a tray and flows from the second station 2 to the first station 1, at this time, the first bottom jacking mechanism 5 is lifted, when nine trays in the first station 1 are jacked up to the position below one tray clamped by the top translation mechanism 4, the top translation mechanism 4 loosens the clamped tray, the first bottom jacking mechanism 5 brings ten trays to descend to the second side lifting mechanism 8, after ten trays are separated from the second bottom jacking mechanism 7, the second bottom jacking mechanism 7 continues to descend to the position below the bottom translation mechanism 3, so that the first wheel tray circulation process is completed, the above tray circulation process is repeated, and the tray circulation can be continuously carried out.
The embodiments of the present utility model are all preferred embodiments of the present utility model, and are not intended to limit the scope of the present utility model, wherein like reference numerals are used to refer to like elements throughout. Therefore: all equivalent changes in structure, shape and principle of the utility model should be covered in the scope of protection of the utility model.
Claims (8)
1. The utility model provides a composite robot's charging tray circulating device, its characterized in that includes first station (1), second station (2), bottom translation mechanism (3) and top translation mechanism (4), first station (1) department is equipped with first bottom climbing mechanism (5) and first side lifting mechanism (6), first bottom climbing mechanism (5) are used for the charging tray jack-up and fall on first station (1), first side lifting mechanism (6) are used for lifting and releasing the charging tray on first station (1), second station (2) department is equipped with second bottom climbing mechanism (7) and second side lifting mechanism (8), second bottom climbing mechanism (7) are used for the charging tray jack-up and fall on second station (2), second side lifting mechanism (8) are used for lifting and releasing the charging tray on second station (2), bottom translation mechanism (3) are used for the charging tray with first station (1) bottom to flow to second station (2), second station (2) are used for the top circulation mechanism (4) to translate charging tray to first station (2).
2. The tray recycling device of the compound robot according to claim 1, characterized in that the bottom translation mechanism (3) is a conveyor belt, and the first side lifting mechanism (6) and the second side lifting mechanism (8) are higher than the bottom translation mechanism (3) so that the tray can flow from the first station (1) to the second station (2) via the bottom translation mechanism (3).
3. The tray circulating device of the compound robot according to claim 1, wherein the tail end of the bottom translation mechanism (3) is further provided with a blocking mechanism (9), the blocking mechanism (9) comprises a baffle plate (91) and a jacking cylinder (92), the jacking cylinder (92) is used for driving the baffle plate (91) to lift, and the baffle plate (91) is used for blocking the tray at the second station (2) during tray circulation.
4. The tray circulating device of the composite robot according to claim 1, wherein the first bottom jacking mechanism (5) and the second bottom jacking mechanism (7) comprise a mounting frame (51), a first guide rail sliding block assembly (52), a motor (53), a screw transmission assembly (54) and a lifting table (55), the lifting table (55) is slidably arranged on the mounting frame (51) through the first guide rail sliding block assembly (52), and the motor (53) drives the lifting table (55) to lift through the screw transmission assembly (54).
5. The tray recycling device of the compound robot according to claim 1, wherein the first side lifting mechanism (6) and the second side lifting mechanism (8) each comprise a left lifting plate (61), a right lifting plate (62) and a driving assembly (63), and the driving assembly (63) is used for driving the left lifting plate (61) and the right lifting plate (62) to butt and clamp so as to lift the tray above and is also used for driving the left lifting plate (61) and the right lifting plate (62) to retreat so as to release the tray above.
6. The tray recycling device of the compound robot according to claim 5, wherein the driving assembly (63) comprises a left driving cylinder (631) and a right driving cylinder (632), the left driving cylinder (631) is used for driving the left lifting plate (61) to translate, and the right driving cylinder (632) is used for driving the right lifting plate (62) to translate.
7. The tray recycling device of the compound robot according to claim 1, wherein the top translation mechanism (4) comprises a left translation assembly (41), a right translation assembly (42), a left pneumatic clamping jaw (43) and a right pneumatic clamping jaw (44), the left translation assembly (41) is used for driving the left pneumatic clamping jaw (43) to horizontally move, the right translation assembly (42) is used for driving the right pneumatic clamping jaw (44) to horizontally move, and the left pneumatic clamping jaw (43) and the right pneumatic clamping jaw (44) are used for clamping or releasing a tray.
8. The tray circulating device of the compound robot according to claim 1, wherein a left limit part (31) and a right limit part (32) are respectively arranged on the left side and the right side of the bottom translation mechanism (3), and the left limit part (31) and the right limit part (32) are used for positioning the tray on the bottom translation mechanism (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321944175.9U CN220165212U (en) | 2023-07-22 | 2023-07-22 | Material tray circulating device of composite robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321944175.9U CN220165212U (en) | 2023-07-22 | 2023-07-22 | Material tray circulating device of composite robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220165212U true CN220165212U (en) | 2023-12-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321944175.9U Active CN220165212U (en) | 2023-07-22 | 2023-07-22 | Material tray circulating device of composite robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220165212U (en) |
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2023
- 2023-07-22 CN CN202321944175.9U patent/CN220165212U/en active Active
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