Modularized robot applied to feeding and discharging of machine tool and feeding and discharging device

Abstract

According to the modular robot applied to feeding and discharging of the machine tool and the feeding and discharging device, elbow interference is avoided by limiting the connecting mode of all parts, the working radius and flexibility are remarkably enlarged, long-distance precise feeding and discharging are achieved, the load capacity is high, diversified machine tool layout and machining requirements are easily met, and the robot is suitable for large-scale popularization and application. And a single machine tool operation scene or a multi-machine tool operation scene can be easily dealt with through modular adjustment and expansion, so that the production efficiency and the flexibility are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a modular robot and a loading and unloading device used for loading and unloading materials on machine tools. Background Art

[0002] With the rapid development of industrial automation, the automation of machine tool loading and unloading has become the key to improving production efficiency and reducing labor intensity. Traditional machine tool loading and unloading mostly relies on manual operation, which has problems such as low efficiency, high labor intensity, and easy errors. Although there are some automated loading and unloading equipment on the market, they are often limited by the robot's arm span, load capacity, and small working radius, making it difficult to adapt to the needs of loading and unloading for multiple machine tools and long distances. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a modular robot for loading and unloading materials on a machine tool, comprising a base, a plurality of joint modules, a plurality of adapter structures and a tool output flange.

[0004] The joint modules include: a first joint module, a second joint module, a third joint module, a fourth joint module, a fifth joint module and a sixth joint module in sequence; the adapter structure includes a first adapter structure, a second adapter structure and a third adapter structure; the base is connected to the first joint module, the first joint module is connected to the second joint module through the first adapter structure, and the axes of the first joint module and the second joint module are perpendicular and do not intersect; the second joint module is connected to the third joint module through the second adapter structure, and the axes of the second joint module and the third joint module are parallel;

[0005] The third joint module is connected to the fourth joint module; the fourth joint module is connected to the fifth joint module through a third adapter structure, and the fourth joint module is perpendicular to and intersects with the axes of the third joint module and the fifth joint module; the fifth joint module is connected to the sixth joint module, and the axes of the fifth joint module and the sixth joint module are perpendicular;

[0006] Or, the third joint module is connected to the fourth joint module through a third adapter structure, and the axis of the fourth joint module is parallel to the axis of the third joint module; the fourth joint module is connected to the fifth joint module and the sixth joint module in sequence, and the fifth joint module is perpendicular to and intersects with the axis of the fourth joint module and the sixth joint module;

[0007] The sixth joint module is connected to the tool output flange and is used to connect and drive the fixture assembly.

[0008] Furthermore, the transition structure is a straight cylindrical structure or an adjustable angle connection structure.

[0009] Furthermore, the adjustable angle connection structure at least includes a transition elbow, a connecting rod and other structural parts; the connecting rod includes a straight connecting rod or a bent connecting rod.

[0010] Furthermore, the joint module includes a joint body, an output end face and a connecting end face; the first adapter structure is an adjustable angle connection structure, including a adapter elbow and a connecting rod; the base is connected to the output end face of the first joint module, the connecting end face of the first joint module is connected to one end of the adapter elbow, the other end of the adapter elbow is connected to one end of the connecting rod, the other end of the connecting rod is connected to the connecting end face of the second joint module, and the axes of the two connecting surfaces of the first adapter structure intersect at a right angle; the second adapter structure is an adjustable angle connection structure, including a adapter elbow and a connecting rod; the output end face of the second joint module is connected to one end of the adapter elbow, the other end of the adapter elbow is connected to one end of the connecting rod, the other end of the connecting rod is connected to the connecting end face of the third joint module, and the axes of the two connecting surfaces of the second adapter structure intersect at a right angle.

[0011] Furthermore, the third adapter structure is a straight cylindrical structure; the output end face of the third joint module is connected to the connecting end face of the fourth joint module; the output end face of the fourth joint module is connected to one end of the third adapter structure, and the other end of the third adapter structure is connected to the connecting end face of the fifth joint module; the output end face of the fifth joint module is connected to the connecting end face of the sixth joint module; the output end face of the sixth joint module is connected to the tool output flange for connecting and driving the fixture assembly.

[0012] Furthermore, the third adapter structure is an adjustable angle connection structure, including an adapter elbow and a connecting rod; the output end face of the third joint module is connected to one end of the adapter elbow, the other end of the adapter elbow is connected to one end of the connecting rod, the other end of the connecting rod is connected to the connecting end face of the fourth joint module, and the axes of the two connecting surfaces of the third adapter structure intersect at a right angle; the output end face of the fourth joint module is connected to the connecting end face of the fifth joint module, the output end face of the fifth joint module is connected to the connecting end face of the sixth joint module, and the output end face of the sixth joint module is connected to the tool output flange for connecting and driving the fixture assembly.

[0013] Furthermore, the adapter elbow and the connecting rod are of an integrated structure or a separate structure.

[0014] The present invention also provides a loading and unloading device, comprising the above-mentioned modular robot, a loading and unloading table, at least two machine tools, and a bracket; the loading and unloading table is arranged on one side of the bracket, and the modular robot is fixedly installed on the other side of the bracket through a mounting base; the machine tool is arranged on different sides of the bracket with the modular robot as the center, and the modular robot transports the workpiece on the loading and unloading table to the machine tool through a clamp assembly to complete the loading operation, and transports the workpiece processed by the machine tool to the loading and unloading table to complete the unloading operation.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention provides a modular robot and loading and unloading device for loading and unloading materials on machine tools. By limiting the connection mode between the components to avoid elbow interference, the working radius and flexibility are significantly expanded, and long-distance precise loading and unloading are realized. The robot has a strong load capacity and is easy to adapt to diverse machine tool layouts and processing requirements. Whether it is a single or multiple machine tool operation scenario, it can be easily coped with through modular adjustment and expansion, which significantly improves production efficiency and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of a modular robot used for loading and unloading materials on a machine tool according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic structural diagram of a modular robot used for loading and unloading materials on a machine tool according to another embodiment of the present invention;

[0019] Figure 3 A top view of a loading and unloading device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0021] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0023] Figure 1 FIG. 1 is a schematic diagram of a modular robot for loading and unloading materials on a machine tool according to an embodiment of the present invention. Figure 1 As shown, an embodiment of the present invention provides a modular robot for loading and unloading materials on a machine tool, comprising a base 1, a plurality of joint modules, a plurality of adapter structures and a tool output flange 8.

[0024] The joint modules include in sequence: a first joint module 2, a second joint module 3, a third joint module 4, a fourth joint module 5, a fifth joint module 6, and a sixth joint module 7; the adapter structure includes a first adapter structure 9, a second adapter structure 10, and a third adapter structure 11; the base 1 is connected to the first joint module 2, and the first joint module 2 is connected to the second joint module 3 through the first adapter structure 9, and the axes of the first joint module 2 and the second joint module 3 are perpendicular and do not intersect; the second joint module 3 is connected to the third joint module 4 through the second adapter structure 10, and the axes of the second joint module 3 and the third joint module 4 are parallel;

[0025] The third joint module 4 is connected to the fourth joint module 5; the fourth joint module 5 is connected to the fifth joint module 6 through a third adapter structure 11, and the fourth joint module 5 is perpendicular to and intersects with the axes of the third joint module 4 and the fifth joint module 6; the fifth joint module 6 is connected to the sixth joint module 7, and the axes of the fifth joint module 6 and the sixth joint module 7 are perpendicular;

[0026] The sixth joint module 7 is connected to the tool output flange 8 and is used to connect and drive the fixture assembly.

[0027] Figure 2 FIG. 1 is a schematic diagram of a modular robot used for loading and unloading materials on a machine tool according to another embodiment. Figure 2 As shown, an embodiment of the present invention provides a modular robot for loading and unloading materials on a machine tool, comprising a base 1, a plurality of joint modules, a plurality of adapter structures and a tool output flange 8.

[0028] The joint modules include in sequence: a first joint module 2, a second joint module 3, a third joint module 4, a fourth joint module 5, a fifth joint module 6, and a sixth joint module 7; the adapter structure includes a first adapter structure 9, a second adapter structure 10, and a third adapter structure 11; the base 1 is connected to the first joint module 2, and the first joint module 2 is connected to the second joint module 3 through the first adapter structure 9, and the axes of the first joint module 2 and the second joint module 3 are perpendicular and do not intersect; the second joint module 3 is connected to the third joint module 4 through the second adapter structure 10, and the axes of the second joint module 3 and the third joint module 4 are parallel;

[0029] The third joint module 4 is connected to the fourth joint module 5 through the third adapter structure 11, and the fourth joint module 5 is parallel to the axis of the third joint module 4; the fourth joint module 5 is sequentially connected to the fifth joint module 6 and the sixth joint module 7, and the fifth joint module 6 is perpendicular to and intersects with the axes of the fourth joint module 5 and the sixth joint module 7;

[0030] The sixth joint module 7 is connected to the tool output flange 8 and is used to connect and drive the fixture assembly.

[0031] In traditional robot design, as the working radius increases, the elbow (i.e., the connecting part between the joint modules) may interfere with other objects or self-structures in the working environment, limiting the range of motion and precision of the robot. However, in the present invention, by making the axes of the first joint module and the second joint module vertical and non-intersecting, the interference problem of the elbow during horizontal motion is effectively avoided, and the working radius of the robot in the horizontal direction can be greatly expanded. This design allows the robot to reach farther areas while maintaining flexibility, thereby meeting a wider range of work needs.

[0032] In a preferred embodiment, the transition structure is a straight-tube structure or an adjustable angle connection structure. The straight-tube structure is a simple and direct connection method, which is characterized in that the connection part maintains a straight line shape without introducing additional angle changes.

[0033] In a preferred embodiment, the adjustable angle connection structure at least includes an adapter elbow, a connecting rod and other structural parts. It is used to realize the non-parallel or non-collinear connection of the axes between adjacent joint modules, and the specific composition of each adjustable angle connection structure may include an adapter elbow, a connecting rod and other necessary structural parts according to actual needs. The adapter elbow is used to realize the bending and turning of the axis, and its bending angle can be adjusted according to design requirements. The adapter elbow usually has high strength and rigidity to ensure that no deformation or failure occurs when transmitting motion and force. The connecting rod connects the adapter elbow and the adjacent joint module, which can be a straight connecting rod or a bent connecting rod, depending on the connection requirements. Other structural parts, such as fasteners, bearings, seals, etc., are used to strengthen the connection strength, reduce friction and wear, improve sealing performance, etc. It should be noted that the adjustable angle connection structure will not affect the overall operation of the robot.

[0034] In a preferred embodiment, the joint module includes a joint body, an output end face and a connection end face; the first adapter structure 9 is an adjustable angle connection structure, including an adapter elbow and a connecting rod;

[0035] The base 1 is connected to the output end face of the first joint module 2, the connecting end face of the first joint module 2 is connected to one end of the adapter elbow, the other end of the adapter elbow is connected to one end of the connecting rod, the other end of the connecting rod is connected to the connecting end face of the second joint module 3, and the axes of the two connecting surfaces of the first adapter structure 9 intersect at a right angle; the second adapter structure 10 is an adjustable angle connection structure, including a adapter elbow and a connecting rod; the output end face of the second joint module 3 is connected to one end of the adapter elbow, the other end of the adapter elbow is connected to one end of the connecting rod, the other end of the connecting rod is connected to the connecting end face of the third joint module 4, and the axes of the two connecting surfaces of the second adapter structure 10 intersect at a right angle.

[0036] The present invention selects the first adapter structure 9 as an adjustable angle connection structure, including an adapter elbow and a connecting rod, further limiting the axes of the two connecting surfaces of the first adapter structure 9 to intersect at right angles and making the axes of the first joint module 2 and the second joint module 3 perpendicular and non-intersecting, which not only avoids elbow interference, but also optimizes the working radius of the robot and can cover a wider working area; further limiting the axes of the two connecting surfaces of the second adapter structure 10 to intersect at right angles, enhancing the robot's operating ability in the vertical direction, thereby expanding the overall working space.

[0037] In a preferred embodiment, the third adapter structure 11 is a straight cylindrical structure;

[0038] The output end face of the third joint module 4 is connected to the connecting end face of the fourth joint module 5; the output end face of the fourth joint module 5 is connected to one end of the third adapter structure 11, and the other end of the third adapter structure 11 is connected to the connecting end face of the fifth joint module 6; the output end face of the fifth joint module 6 is connected to the connecting end face of the sixth joint module 7; the output end face of the sixth joint module 7 is connected to the tool output flange 8, for connecting and driving the fixture assembly.

[0039] In a preferred embodiment, the third adapter structure 11 is an adjustable angle connection structure, including an adapter elbow and a connecting rod;

[0040] The output end face of the third joint module 4 is connected to one end of the adapter elbow, the other end of the adapter elbow is connected to one end of the connecting rod, the other end of the connecting rod is connected to the connecting end face of the fourth joint module 5, and the axes of the two connecting surfaces of the third adapter structure 11 intersect at a right angle; the output end face of the fourth joint module 5 is connected to the connecting end face of the fifth joint module 6, the output end face of the fifth joint module 6 is connected to the connecting end face of the sixth joint module 7, and the output end face of the sixth joint module 7 is connected to the tool output flange 8 for connecting and driving the fixture assembly.

[0041] In a preferred embodiment, the adapter elbow and the connecting rod are an integrated structure or a separate structure. The integrated structure means that the adapter elbow and the connecting rod are designed as an integral part during the manufacturing process, and there is no clear dividing line or detachable connection point between the two. This structure is usually manufactured by processes such as casting, forging or integrated molding, and has the advantages of compact structure, good rigidity, and high transmission efficiency. It is suitable for occasions with high requirements for structural compactness, rigidity and transmission efficiency. For example, between robot joint modules that need to bear large loads or move at high speed, the adapter elbow and connecting rod with an integrated structure can ensure the stability and reliability of the connection. The separate structure means that the adapter elbow and the connecting rod are designed as two independent parts, which are connected together in some way (such as bolts, pins, etc.). This structure is easy to disassemble and repair, and also has a certain flexibility. It is suitable for occasions that need to be frequently disassembled and repaired, or when the connection requirements are diverse. For example, in a modular robot system, different joint modules may require connection structures of different angles and lengths. At this time, the adapter elbow and connecting rod with a separate structure are convenient for customized design.

[0042] In a preferred embodiment, the joint modules have the same structure, and both include a motor driver, a motor, a reducer, a drive circuit, a brake and an encoder.

[0043] The present invention also protects a loading and unloading device, including the above-mentioned modular robot 1-1, a loading and unloading platform 1-2, at least two machine tools 1-3, and a bracket 1-4; the loading and unloading platform 1-2 is arranged on one side of the bracket 1-4, and the modular robot 1-1 is fixedly installed on the other side of the bracket 1-4 through a mounting base; the machine tool 1-3 is arranged on different sides of the bracket 1-4 with the modular robot 1-1 as the center, and the modular robot 1-1 transports the workpiece on the loading and unloading platform 1-2 to the machine tool 1-3 through a clamp assembly to complete the loading operation, and transports the workpiece processed by the machine tool 1-3 to the loading and unloading platform 1-2 to complete the unloading operation. Figure 3 It is a top view of the loading and unloading device; Figure 3 As shown, the machine tool 1-3 includes a first machine tool and a second machine tool, the loading and unloading platform 1-2 is arranged on one side of the bracket 1-4, and the modular robot 1-1 is fixedly installed on the other side of the bracket 1-4 through a mounting base; the first machine tool and the second machine tool are arranged on both sides of the bracket 1-4 with the modular robot 1-1 as the center, and the modular robot 1-1 transports the workpiece on the loading and unloading platform 1-2 to the first machine tool and the second machine tool through a fixture assembly to complete the loading operation, and transports the workpiece processed on the first machine tool and the second machine tool to the loading and unloading platform 1-2 to complete the unloading operation. The loading and unloading device of the present invention adopts a specific modular robot with a long working radius, a large arm span, and a strong load capacity. It can easily cross a long distance to achieve precise loading and unloading. At the same time, the robot has small elbow interference and can easily adapt to different machine tool layouts and processing requirements. Whether it is the existing one-to-two configuration, or one-to-three or even more machine tools, it can be achieved through simple module adjustment and expansion.

[0044] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0045] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A modular robot used for loading and unloading materials on machine tools, characterized in that: It includes a base, multiple joint modules, multiple adapter structures and a tool output flange. The joint modules include: a first joint module, a second joint module, a third joint module, a fourth joint module, a fifth joint module and a sixth joint module in sequence; the adapter structure includes a first adapter structure, a second adapter structure and a third adapter structure; the base is connected to the first joint module, the first joint module is connected to the second joint module through the first adapter structure, and the axes of the first joint module and the second joint module are perpendicular and do not intersect; the second joint module is connected to the third joint module through the second adapter structure, and the axes of the second joint module and the third joint module are parallel; The third joint module is connected to the fourth joint module; the fourth joint module is connected to the fifth joint module through a third adapter structure, and the fourth joint module is perpendicular to and intersects with the axes of the third joint module and the fifth joint module; the fifth joint module is connected to the sixth joint module, and the axes of the fifth joint module and the sixth joint module are perpendicular; Or, the third joint module is connected to the fourth joint module through a third adapter structure, and the axis of the fourth joint module is parallel to the axis of the third joint module; the fourth joint module is connected to the fifth joint module and the sixth joint module in sequence, and the fifth joint module is perpendicular to and intersects with the axis of the fourth joint module and the sixth joint module; The sixth joint module is connected to the tool output flange and is used to connect and drive the fixture assembly.

2. The modular robot according to claim 1, characterized in that: The transfer structure is a straight cylindrical structure or an angle-adjustable connection structure.

3. The modular robot according to claim 2, characterized in that: The adjustable angle connection structure at least comprises a transfer elbow, a connecting rod and other structural parts; the connecting rod comprises a straight connecting rod or a bent connecting rod.

4. The modular robot according to claim 3, characterized in that: The joint module includes a joint body, an output end face and a connection end face; the first adapter structure is an adjustable angle connection structure, including an adapter elbow and a connecting rod; The base is connected to the output end face of the first joint module, the connection end face of the first joint module is connected to one end of the adapter elbow, the other end of the adapter elbow is connected to one end of the connecting rod, the other end of the connecting rod is connected to the connection end face of the second joint module, and the axes of the two connection faces of the first adapter structure intersect at a right angle; The second transfer structure is an adjustable angle connection structure, including a transfer elbow and a connecting rod; The output end face of the second joint module is connected to one end of the adapter elbow, the other end of the adapter elbow is connected to one end of the connecting rod, the other end of the connecting rod is connected to the connecting end face of the third joint module, and the axes of the two connecting surfaces of the second adapter structure intersect at right angles.

5. The modular robot according to claim 4, characterized in that: The third transfer structure is a straight cylindrical structure; The output end face of the third joint module is connected to the connection end face of the fourth joint module; the output end face of the fourth joint module is connected to one end of the third adapter structure, and the other end of the third adapter structure is connected to the connection end face of the fifth joint module; The output end surface of the fifth joint module is connected to the connection end surface of the sixth joint module; The output end face of the sixth joint module is connected to the tool output flange for connecting and driving the fixture assembly.

6. The modular robot according to claim 4, characterized in that: The third transfer structure is an adjustable angle connection structure, including a transfer elbow and a connecting rod; The output end face of the third joint module is connected to one end of the adapter elbow, the other end of the adapter elbow is connected to one end of the connecting rod, the other end of the connecting rod is connected to the connecting end face of the fourth joint module, and the axes of the two connecting faces of the third adapter structure intersect at a right angle; The output end face of the fourth joint module is connected to the connecting end face of the fifth joint module, the output end face of the fifth joint module is connected to the connecting end face of the sixth joint module, and the output end face of the sixth joint module is connected to the tool output flange for connecting and driving the fixture assembly.

7. The modular robot according to any one of claims 5 or 6, characterized in that: The transfer elbow and the connecting rod are of an integrated structure or a separate structure.

8. A loading and unloading device, characterized in that: It comprises the modular robot as described in any one of claims 1-7, a loading and unloading table, at least two machine tools, and a bracket; the loading and unloading table is arranged on one side of the bracket, and the modular robot is fixedly mounted on the other side of the bracket through a mounting base; the machine tool is arranged on different sides of the bracket with the modular robot as the center, and the modular robot transports the workpiece on the loading and unloading table to the machine tool through a clamp assembly to complete the loading operation, and transports the workpiece processed by the machine tool to the loading and unloading table to complete the unloading operation.

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