Automatic loading and unloading robot for part machining

[0046] The technical solutions of the present invention will be clearly and completely described below in conjunction with embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0047] See Figure 1-14 As shown, an automatic loading and unloading robot for parts processing includes a shifting frame 1, a hydraulic pump-2, a material grabbing tray 3, and a base 4, and a machine seat 4 is provided under the shifting frame 1;

[0048] The bottom of the transposition frame 1 is horizontally provided with a mobile platform 7, and one end of the mobile platform 7 is provided with a motor 8; the mobile platform 7 is provided with a motor four 20, and the motor four 20 is rotatably connected with a rotary disc 21, and the upper part of the rotary disc 21 is sleeved. Motor two 9 is provided, and one side of motor two 9 is vertically provided with a flap 10, the upper end of the flap 10 is provided with a motor three 11, and one end of the motor three 11 is connected with a hydraulic pump two 12 through a shaft two 18, and a hydraulic pump two 12 A hydraulic rod 14 penetrates through one end of the inner part, a hydraulic pump 2 is longitudinally arranged below one end of the hydraulic rod 14, and a grab plate 3 is arranged under the hydraulic pump 2;

[0049] Wherein, a sleeve frame 13 is provided above one end of the hydraulic pump two 12, and a post 15 is sleeved inside the sleeve frame 13;

[0050] A rail chuck 6 is provided in the middle of the base 4, and two ends of the rail chuck 6 are sleeved with rails 5;

[0051] Wherein, concave rail grooves 23 are provided on both sides of the sleeve rail 5, and several motors 522 are sleeved on the sleeve rail 5;

[0052] A top plate 31 is provided on the top of the grab tray 3, and a vertical shaft frame 32 is provided under both ends of the top plate 31, a horizontal shaft frame 33 is provided under both ends of the vertical shaft frame 32, and two horizontal shaft frames 33 are provided on both sides There is a gripper 34;

[0053] A motor seven 36 is horizontally arranged above the grasping base 34, and one end of the motor seven 36 is rotatably connected with a roller 42 through a rotating rod, a motor eight 37 is arranged below the motor seven 36, and both ends of the motor eight 37 are rotatably connected with a swing rod two 38. Two horizontal connecting rods 41 are fixedly connected to the side wall of the second pendulum rod 38 by bolts 26, and a number of gripping feet 39 are installed on the horizontal connecting rod 41 at equal intervals;

[0054] Among them, several gripping feet 39 are fixedly connected to the horizontal connecting rod 41 by bolts 26, and both the horizontal connecting rod 41 and the gripping feet 39 are provided with screw grooves 27 that match the bolts 26, and a gripping foot 39 is provided underneath. The holding hook 40, and the L-shaped structure is formed between the grasping foot 39 and the grasping hook 40 to ensure that the grasping tray 3 is more firm when the material is grabbed and moved, and the connection between the grasping foot 39 and the grasping hook 40 is an arc-shaped structure , To prevent the grabbing hook 40 from collision and damage when grabbing the product or its required materials;

[0055] The motor eight 37 is rotatably connected with the gripping foot 39 and the horizontal connecting rod 41 through the swing rod two 38, and the gripping seats 34 installed on the two horizontal shaft frames 33 are arranged symmetrically to ensure that the gripping plate 3 grabs the material and moves. Time is stronger.

[0056] As a preferred embodiment of the present invention, the extension column 15 penetrates through the sleeve frame 13, and the sleeve frame 13 is provided with a sleeve slot matching the extension column 15, and the extension column extends inside and outside the sleeve slot to ensure the extension column 15 The extension movement is more stable and reliable, and one end of the extension column 15 is fixedly connected to one end of the hydraulic rod 14 of the hydraulic pump 12 through the connecting rod 16 and the bolt 26.

[0057] As a preferred embodiment of the present invention, the second motor 9 is connected to the bottom of the side wall of the flap 10 through the shaft one 17, and the motor two 9 is connected to the flap 10 through the shaft one 17 and the motor three 11 is connected to the hydraulic pump two through the shaft two 18. 12 and the grab plate 3 are both connected in rotation.

[0058] As a preferred embodiment of the present invention, a matching crawler 19 is provided through the inside of the motor 8, and one end of the matching crawler 19 is fixedly connected to one end of the moving platform 7 by a bolt 26, and the motor 8 is connected to the mobile through the matching crawler 19 The platform 7 and the shifting frame 1 are both movably connected. While the shifting frame 1 is moving, one end of the matching crawler 19 is connected to the upper end of the moving platform 7, and the motor 8 drives the matching crawler 19 to move synchronously with the shifting frame 1. , The gripping force is provided at one end of the matched crawler belt 19, which improves the stability of the robot during feeding movement on the one hand, and on the other hand, ensures that the moving platform 7 is not easy to shake when the shifting frame 1 with animal material is turned over to adjust the position. 1 The work is more stable and reliable to prevent parts and materials from spilling out of the grab tray 3.

[0059] As a preferred embodiment of the present invention, both ends of the rail chuck 6 are provided with mounting grooves 24 matching the sleeve rails 5, and a number of connecting seats 25 are provided at equal intervals on both sides of the rail chuck 6, and a number of connections A number of bolts 26 are installed on the base 25 at even intervals to ensure that the rail chuck 6 and the machine base 4 are connected and installed more conveniently and firmly.

[0060] As a preferred embodiment of the present invention, both ends of the motor five 22 are connected to the rail grooves 23 on both sides of the rail 5 through the rollers 42, and one end of the roller 42 is attached to the inner wall of the rail groove 23, and the two rows of the rails 5 are The number of motors 22 of the slewing wheel 42 is attached to the inner wall of the rail groove 23 to roll to drive the shifting frame 1 and the materials required for the parts to move, ensuring that the robot's feeding movement is more stable and reliable, and the shifting frame 1 is moving at the same time, One end of the matching crawler 19 is connected with one end of the upper end surface of the moving platform 7, and the motor 8 drives the matching crawler 19 to move synchronously with the transposition frame 1. The end of the matching crawler 19 provides gripping force, which improves the robot's feeding movement. Stability, on the other hand, to ensure that the mobile platform 7 is not easy to shake when the shifting frame 1 with animal material is turned over to adjust the position, ensuring that the shifting frame 1 is more stable and reliable, and preventing parts and materials from spilling out of the grab tray 3, ensuring this The robustness of the robot's feeding work, and the upper end of the motor five 22 is fixedly connected to the bottom of the mobile platform 7 through the bolt 26, ensuring that the motor five 22 and the mobile platform 7 are more convenient to install or disassemble, and the motor five 22 is in the rail groove 23 through the roller 42 The middle is movably connected with the transposition frame 1.

[0061] As a preferred embodiment of the present invention, a hydraulic rod 14 is penetrated under the hydraulic pump-2, and a motor six 28 is provided under the hydraulic rod 14, and the motor six 28 is connected with a rotating sleeve 30 through a swing rod 29 at both ends. The lower part of 30 is fixedly connected with the screw groove 27 on the top plate 31 by the bolt 26, which ensures that the rotating sleeve 30 and the grab plate 3 are connected and installed or disassembled more conveniently. The hydraulic pump 12 is extended by the hydraulic rod 14 to drive the hydraulic pump 1 and 2 The grabbing pan 3 moves horizontally to adjust the position, and the hydraulic pump 1-2 is extended through the hydraulic rod 14 to drive the grabbing pan 3 to adjust the position longitudinally, ensuring that the grabbing pan 3 can grab and blank different parts or materials needed The positions are more precise and suitable, which ensures the flexibility of use.

[0062] As a preferred embodiment of the present invention, a number of screw grooves 27 are provided on the top of hydraulic pump-2, and the top of hydraulic pump-2 is fixedly connected to the bottom of one end of hydraulic rod 14 of hydraulic pump-2 through a number of bolts 26, and the hydraulic pump One 2 is movably connected to the grab plate 3 through the hydraulic rod 14, and the motor six 28 is rotatably connected to the rotating sleeve 30 and the grab plate 3 through the swing rod one 29. The motor six 28 under the hydraulic pump one 2 is connected through the swing rod one. 29 drives the grabbing tray 3 to rotate to adjust the angle and height of the blanking, ensuring that the robot is more accurate and suitable for the blanking positions of different types of parts or materials required by the robot, and ensures the wide range of adjustments of the robot.

[0063] As a preferred embodiment of the present invention, an infrared sensor is provided at one end of the gripping hook 40, and a PLC controller is provided inside the base 4, and the PLC controller is communicatively connected with the infrared sensor. The infrared sensor detects the position of the material and sends the position information Send to the PLC controller, the PLC controller controls the movement of the shifting frame 1 through the motor 522, so that the grab tray 3 is aligned with the materials required for parts processing, and the materials are picked and transported through the grab tray 3. In addition, the side wall of the horizontal shaft frame 33 is provided with a rolling groove 35 that matches the roller 42. The motor 7 36 rolls in the rolling groove 35 through the roller 42 to drive the gripper 34 to adjust the moving position on the horizontal shaft frame 33. The grasping tray 3 is more suitable and accurate for the material grasping and holding position. On the other hand, it improves the stability and safety of the robot during feeding movement, and the motor 7 36 is connected to the rolling groove 35 through the roller 42. In addition, the motor seven 36 is movably connected with the grab base 34 in the rolling groove 35 through the roller 42.

[0064] The working method of the robot specifically includes the following steps:

[0065] Step 1: A number of motors five 22 are sleeved in the rail groove 23 of the sleeve rail 5 to drive the shifting frame 1 to adjust the moving position. The infrared sensor at one end of the holding hook 40 detects the position of the material and sends the position information to the PLC controller. The PLC controller controls the movement of the shifting frame 1 through the motor five 22, so that the grab plate 3 is aligned with the materials required for parts processing. Then, the hydraulic pump 1-2 drives the grab plate 3 up and down through the hydraulic rod 14. And the motors 37 on the grab seats 34 at both ends of the grab tray 3 drive the grab hook 40 to open through the second swing rod 38;

[0066] Step 2: When the horizontal axis frame 33 on the grab tray 3 is moved to fit the material, the motor 8 37 drives the grab hook 40 to turn down, and several grab hooks 40 are used to grab the material required for part processing. Take the clamping, and then, the motor 522 drives the shifting frame 1 to move the adjustment position to move the material to the specified position for use. Several motors 522 on the two rows of sets of rails 5 are attached to the inner wall of the rail groove 23 through rollers 42 to roll To drive the shifting frame 1 and the materials required for the parts, and while the shifting frame 1 is moving, one end of the matching crawler 19 is connected to the upper end of the moving platform 7, and the motor 8 drives the matching crawler 19 and the shifting frame 1. Synchronous movement, according to the density and size of the material that the robot needs to grab, the staff install any grabbing hook 40 on the grab base 34, and the motor 7 36 rolls through the roller 42 in the rolling groove 35 to drive the grab base. 34 Adjust the moving position on the horizontal axis frame 33.

[0067] Compared with the prior art, the beneficial effects of the present invention are:

[0068] 1. When the present invention is in use, a number of motors 22 are sleeved in the rail groove 23 of the sleeve rail 5 to drive the shifting frame 1 to adjust the moving position, so that the grab tray 3 is aligned with the materials required for parts processing. Subsequently, the hydraulic pump 1-2 drives the grab plate 3 to adjust the height up and down through the hydraulic rod 14, and the motor 837 on the grab seat 34 at both ends of the grab plate 3 drives the grab hook 40 to open through the swing rod two 38. When the horizontal axis frame 33 on the tray 3 moves to fit the material, the motor 737 drives the gripping hook 40 to turn down, and several gripping hooks 40 are used to grasp and clamp the materials required for part processing. Then, The motor 522 then drives the shift frame 1 to move the adjustment position to move the material to the specified position for use, which is convenient for the material movement adjustment required for parts processing. The invention is widely applicable and can load and grab the materials required before the parts are processed. It can also perform cutting, grabbing, and moving adjustments for the parts after the parts are processed, which ensures the universality of the adaptation, and the work of the present invention has a high degree of automation and saves time and effort.

[0069] 2. When the shifting frame 1 is working through the grabbing plate 3, the hydraulic pump 12 is stretched through the hydraulic rod 14 to drive the hydraulic pump 1-2 and the grabbing plate 3 to move and adjust the position horizontally, and the hydraulic pump 1-2 uses hydraulic pressure The rod 14 extends to drive the grabbing pan 3 to adjust the position longitudinally, ensuring that the grabbing and blanking positions of the grabbing pan 3 for different parts or materials required are more accurate and suitable, ensuring flexibility in use, and hydraulic pressure When the hydraulic rod 14 in the pump two 12 is extended and moved, the extension column 15 cooperates with the hydraulic rod 14 to move and adjust synchronously to ensure that the hydraulic pump two 12 drives the hydraulic pump one and the grab plate 3 to move forward and backward more smoothly, reliably, and grab materials When the plate 3 is blanked after grabbing, the motor 420 can drive the flap 10 and the grabbing plate 3 360 degrees to rotate through the rotary plate 21 to adjust the blanking position, and cooperate with the motor 2 9 to drive the turning plate 10 and the grab plate 3 to rotate Adjustment, the motor three 11 on the flap 10 drives the hydraulic pump two 12 and the grab plate 3 to flip up and down, and cooperates with the motor six 28 under the hydraulic pump one 2 to drive the grab plate 3 to rotate through the swing rod 29 to adjust the blanking The angle and height ensure that the robot's blanking positions for different types of parts or required materials are more accurate and suitable, and the robot can be adjusted widely.

[0070] 3. The several motors on the two rows of sets of rails 5 roll on the inner wall of the rail groove 23 through the rollers 42 to drive the shifting frame 1 and the materials required by the parts to move, ensuring that the robot's feeding movement is more stable, reliable, and moving. While the frame 1 is moving, one end of the matching crawler 19 is connected to one end of the upper end surface of the moving platform 7, and the motor 8 drives the matching crawler 19 to move synchronously with the transfer frame 1, and the end of the matching crawler 19 provides gripping force. On the one hand, the stability of the robot during feeding and movement is improved. On the other hand, it is ensured that the mobile platform 7 is not easy to shake when the shifting frame 1 with animal materials is turned over to adjust the position, ensuring that the shifting frame 1 is more stable and reliable, and preventing parts and materials from grabbing the material tray. 3. Spilling out from the inside to ensure the robustness of the robot's feeding work.

[0071] 4. The grabbing seats 34 at the two ends of the grabbing tray 3 are arranged symmetrically, and several grabbing hooks 40 on the grabbing seat 34 are distributed at equal intervals, and the grabbing hooks 40 are all L-shaped structures to ensure the grabbing tray 3 The gripping material is firmer when moving, and the gripping hook 40 is connected and fixed by the bolt 26 and the screw groove 27 on the horizontal connecting rod 41. While ensuring that the gripping hook 40 is more convenient to install and disassemble, the staff can follow the robot The density and size of the materials that need to be grasped are different. Any number of grasping hooks 40 can be installed on the grasping base 34 to ensure that the grasping base 34 can grasp and hold materials of different sizes more conveniently, and cooperate with the motor seven 36 to pass the roller 42 Roll in the rolling groove 35, thereby driving the grasping seat 34 to adjust the moving position on the horizontal axis frame 33. On the one hand, it ensures that the grasping tray 3 is more suitable and accurate for the material grasping and holding position. On the other hand, it improves the position The stability and safety of the robot during feeding and moving; the robot is firm and durable, has good social benefits, and is suitable for popularization.

[0072] Working principle: When the present invention is in use, firstly, check the safety of each component of the present invention during use. Then, a number of motors 52 are sleeved in the groove 23 of the sleeve rail 5 to drive the shifting frame 1 to adjust the moving position, The infrared sensor of the model OS137-3 at one end of the holding hook 40 detects the position of the material and sends the position information to the PLC controller model CPM1A. The PLC controller controls the shifting frame 1 to move through the motor 522 to make the grab tray 3 Align the materials required for parts processing directly below, and then, the hydraulic pump 1-2 drives the grab plate 3 to adjust the height up and down through the hydraulic rod 14, and the motor eight 37 on the grab seat 34 at both ends of the grab plate 3 passes through the swing rod 2. 38 drives the grab hook 40 to open, and when the horizontal axis frame 33 on the grab tray 3 moves to fit the material, the motor 8 37 drives the grab hook 40 to flip down, using several grab hooks 40 for parts The material required for processing is grasped and clamped. Then, the motor 522 drives the shifting frame 1 to move the adjustment position to move the material to the specified position for use. Several motors 522 on the two rows of sets of rails 5 are attached by rollers 42. Roll on the inner wall of the rail groove 23 to drive the shifting frame 1 and the materials needed for the parts. While the shifting frame 1 is moving, one end of the matching crawler 19 is connected to the upper end of the moving platform 7, and the motor 8 drives the matching crawler. 19 Moves synchronously with the shifting frame 1. The staff installs any grabbing hook 40 on the grab base 34 according to the density and size of the material that the robot needs to grab. The motor seven 36 is in the rolling groove 35 through the roller 42 Rolling to drive the gripper 34 to adjust the moving position on the horizontal axis frame 33. On the one hand, it ensures that the gripping tray 3 is more suitable and accurate for picking and holding the material. On the other hand, it improves the robot's feeding movement. Stability and safety.

[0073] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiment does not describe all the details in detail, nor does it limit the invention to only specific implementations. Obviously, many modifications and changes can be made according to the content of this manual. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is only limited by the claims and their full scope and equivalents.