Safe and efficient robot workstation

Abstract

The invention discloses a safe and efficient robot workstation which comprises two transfer robots working cooperatively. The carrying robot comprises a base, a first carrying shaft rotationally arranged on the base, a second carrying shaft rotationally arranged on the first carrying shaft, and a gripper rotationally arranged on the second carrying shaft in the direction of the axis of the gripper and slidably arranged in the length direction of the second carrying shaft. The rotating axes of the first carrying shaft, the second carrying shaft and the gripper are arranged in parallel and extend in the horizontal direction. According to the carrying and overturning robot workstation, through cooperation of the first carrying shafts, the second carrying shafts and the grippers on the two carrying robots which work cooperatively, carrying of heavy workpieces can be efficiently achieved, lifting and overturning of the workpieces are achieved through sliding and rotating of the grippers on the second carrying shafts, and the working efficiency is improved. The problem that the overturning moment is too large due to the fact that the mechanical arm is directly lifted too high is solved, and potential safety hazards are eradicated.

Description

[0001] Divisional Application Statement

[0002] This application is a divisional application of the Chinese invention patent application with the invention name “A heavy workpiece handling and flipping robot workstation” and application number 202010284730.4 filed on April 13, 2020. Technical Field

[0003] The invention relates to the field of mechanical processing, and in particular to a safe and efficient robot workstation. Background Art

[0004] At present, large flanges and large bearing rings are usually processed on CNC lathes by using a robotic arm. However, the current robotic arm directly lifts the workpiece when carrying it. Since large flanges and large bearing rings are large and heavy, when the robotic arm lifts and flips the workpiece, it is easy to cause excessive overturning torque due to excessive lifting, which poses a great safety hazard. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a safe and efficient robot workstation.

[0006] To achieve the above object, the technical solution adopted by the present invention is: a safe and efficient robot workstation, comprising two collaborative handling robots, wherein the handling robots comprise a base, a first handling axis, a second handling axis, and a gripper;

[0007] One end of the first transport shaft is rotatably disposed on the base, and the other end is a free end and is located above the base; one end of the second transport shaft is rotatably disposed on the free end, and the other end is located below the free end; the gripper is rotatably disposed on the second transport shaft around its own axis direction; the gripper is slidably disposed along the length direction of the second transport shaft; the grippers on the two transport robots are respectively disposed in directions in which the two conveying robots are close to each other; the first transport shaft, the second transport shaft and the rotation axes of the grippers are disposed in parallel and extend in the horizontal direction;

[0008] The handling robot is used to handle and flip the side of a heavy workpiece on a processing device, and the processing device includes a processing device and a loading and unloading platform located on both sides of the robot workstation and on the rotation path of the first handling axis and the second handling axis;

[0009] During transportation, the first transport shaft rotates in the direction of the loading platform, driving the second transport shaft to the top of the loading platform, and then the second transport shaft rotates around the free end, and its end reaches the side of the workpiece. At this time, the gripper slides down to the workpiece and grabs the workpiece. After the grabbing is completed, the gripper slides upward to lift the workpiece. At the same time, the second transport shaft and the first transport shaft rotate in opposite directions, driving the gripper to the top of the processing device, and the gripper slides downward again to place the workpiece on the processing device for processing;

[0010] During flipping, the first transport axis and the second transport axis rotate in the direction of the processing device, driving the gripper to reach above the processing device, the gripper slides downward to grab the workpiece and then slides upward, then rotates around its own axis and drives the workpiece to complete flipping;

[0011] After the processing is completed, the first conveying axis and the second conveying axis rotate in the direction of the processing device, driving the gripper to reach the top of the processing device, the gripper slides downward to grab the workpiece and then slides upward, then the first conveying axis and the second conveying axis rotate in opposite directions, driving the gripper to reach the top of the unloading table, and the gripper slides downward to place the workpiece on the unloading table.

[0012] Preferably, a slide groove extending along the length direction of the second transport shaft is provided, a slider is provided at the bottom of the gripper, the gripper is rotatably disposed on the slider, and the slider is fitted into the slide groove.

[0013] Preferably, there are multiple processing devices which are arranged in sequence along the horizontal direction, and the robot workstation further comprises a guide rail extending along the arrangement direction of the processing devices, and the base is slidably disposed on the guide rail.

[0014] Further preferably, there are two guide rails, which are arranged side by side on a guide rail bracket along a direction perpendicular to the arrangement direction of the processing device.

[0015] Further preferably, a sliding member is detachably connected to the bottom of the base, and the sliding member is provided with a slot, and the guide rail is fitted into the slot, so that the sliding member can slide on the guide rail.

[0016] Preferably, the gripper is rotated by the cooperation of a motor and a reducer, the reducer is arranged in the slider, the motor is located on the upper part of the slider and connected to the reducer, and the output end of the reducer extends toward one side of the slider and is connected to the gripper, driving the gripper to rotate.

[0017] Preferably, a ball screw is provided in the slide groove, and the slider slides under the drive of the ball screw.

[0018] Preferably, the workpiece is a large flange ring or a bearing ring, and the two handling robots are respectively located on both sides of the flange ring or the bearing ring in a radial direction and move synchronously under the control of the same controller to form the robot workstation.

[0019] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0020] The handling and flipping robot workstation of the present invention can efficiently realize the handling of heavy workpieces through the cooperation of the first handling axis, the second handling axis and the gripper on the two handling robots working in collaboration, and realize the lifting and flipping of the workpiece through the sliding and rotation of the gripper on the second handling axis, so that the first handling axis and the second handling axis can form a "human" shape with the upper ends abutting against each other, thereby improving stability, avoiding the problem of excessive overturning torque caused by direct lifting of the robot arm too high, and eliminating safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Attached Figure 1 It is a front view of the turning and transporting device in a specific embodiment of the present invention;

[0022] Attached Figure 2 It is a side view of the turning and transporting device in a specific embodiment of the present invention;

[0023] Attached Figure 3 For attachment Figure 1 The enlarged schematic diagram at A in the middle;

[0024] Attached Figure 4 For attachment Figure 1 The enlarged schematic diagram of point B in the middle;

[0025] Attached Figure 5 For attachment Figure 1 The enlarged schematic diagram at C in the middle;

[0026] Attached Figure 6 For attachment Figure 2 Enlarged schematic diagram at point D in the middle.

[0027] Among them: 1. base; 2. first transport axis; 3. second transport axis; 4. gripper; 5. slide; 6. slider; 7. guide rail; 8. guide rail bracket; 9. slot; 10. motor; 11. reducer; 12. sliding part; 101. processing device; 102. loading and unloading table. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0029] The present invention relates to an innovation of a handling device for heavy workpieces. In order to solve the problem that the overturning moment of the current mechanical arm for handling heavy workpieces is too large when it is lifted too high, which poses a safety hazard, the present invention creatively proposes a heavy workpiece handling and flipping robot workstation, which cooperates with two handling robots working in collaboration, each of which includes a first handling axis, a second handling axis and a gripper. Through the cooperation of the first handling axis, the second handling axis and the gripper on the two handling robots, the workpiece can be efficiently handled, and the lifting and flipping of the workpiece can be achieved by sliding and rotating the gripper on the second handling axis. The present invention can eliminate the need for direct lifting when handling workpieces, and replace it with sliding lifting. The structure is ingenious, and safety hazards are eliminated. It is particularly suitable for the handling of large bearing rings or flange rings.

[0030] Specifically, see Figure 1 As shown, a heavy workpiece handling and flipping robot workstation is shown, which is used for handling and flipping heavy workpieces on processing equipment, and includes two handling robots that work together to handle and flip the two sides of the heavy workpiece. Here, the workpiece is a large flange ring or a bearing ring. The two handling robots are located on both sides of the radial direction of the flange ring or the bearing ring, and move synchronously under the control of the same controller to form a robot workstation, which is used to collaboratively and efficiently grasp the two sides of the workpiece and carry and flip it. The controller here is a conventional PLC controller, which is not described in detail.

[0031] like Figure 1-2 As shown, each handling robot includes a base 1, a first handling axis 2 rotatably arranged on the base 1, a second handling axis 3 rotatably arranged on the first handling axis 2, and a gripper 4 rotatably arranged on the second handling axis 3 around its own axis centerline and slidably arranged along the length direction of the second handling axis 3. The rotation axes of the first handling axis 2, the second handling axis 3 and the gripper 4 are arranged in parallel and extend in the horizontal direction. Here, the above-mentioned processing equipment includes a processing device 101 and a loading and unloading platform 102. The processing device 101 and the loading and unloading platform 102 are respectively located on both sides of the robot workstation and on the rotation path of the first handling axis 2 and the second handling axis 3. The first handling axis 2 and the second handling axis 3 rotate synchronously and cooperate to drive the gripper 4 to move to the processing device 101 and the loading and unloading platform 102. The loading and unloading platform 102 includes a loading platform and a unloading platform, and is respectively located on the opposite sides of the processing device 101.

[0032] Among them, one end of the first transport axis 2 is rotatably arranged on the base 1, and the other end is a free end and is located above the base 1; one end of the second transport axis 3 is rotatably arranged on the free end, and the other end is located below the free end; the grippers 4 on the two transport robots are respectively set in the direction where the two are approaching each other.

[0033] Specifically, Figure 3-5 As shown, the first transport shaft 2, the second transport shaft 3 and the gripper 4 are rotated by the cooperation of the motor 10 and the reducer 11. The motor 10 and the reducer 11 are purchased from outside, and the specific driving principle is not repeated.

[0034] like Figure 5 As shown, the above-mentioned handling robot also includes a slide groove 5 opened on the second handling shaft 3 along the length direction of the second handling shaft 3, and a slider 6 is provided at the bottom of the gripper 4, and the slider 6 can be fitted in the slide groove 5, wherein the gripper 4 is rotatably provided on the slider 6. Here, the reducer 11 is arranged in the slider 6, and the motor 10 is located at the upper part of the slider 6 and connected to the reducer 11. The output end of the reducer 11 extends toward one side of the slider 6 and connects to the gripper 4, driving the gripper 4 to rotate. Through the cooperation of the slider 6 and the slide groove 5, the gripper 4 can slide on the second handling shaft 3 to complete the lifting of the workpiece. Here, a ball screw is provided in the slide groove 5, and the ball screw is purchased from outside and is not shown in the figure, and the specific principle is not repeated. The slider 6 slides under the drive of the ball screw.

[0035] In this embodiment, there are multiple processing devices 101 and they are arranged in sequence along the horizontal direction. Figure 1-2 As shown, the robot workstation further includes a guide rail 7 extending along the arrangement direction of the processing device 101, and the base 1 is slidably arranged on the guide rail 7. There are two guide rails 7, which are arranged side by side on the guide rail bracket 8 along the arrangement direction perpendicular to the processing device 101. Figure 6 As shown, a card slot 9 is provided at the bottom of the base 1, and the guide rail 7 can be fitted in the card slot 9. A sliding member 12 is detachably connected to the bottom of the base 1, and the card slot 9 is provided on the sliding member 12, and the sliding member 12 can slide on the guide rail 7. Through the provision of the guide rail 7, the above-mentioned robot workstation can move between multiple processing devices 101, while taking into account the flipping and handling of workpieces on multiple processing devices 101, thereby improving work efficiency. Here, the sliding of the base 1 on the guide rail 7 is achieved through the cooperation of the motor, gear and rack, wherein the motor, gear and rack are all purchased from outside and are not shown in the figure, and the specific driving principle is not repeated.

[0036] The working process of this embodiment is described in detail below:

[0037] During transportation, the two transport robots work together, and the first transport axis 2 on each transport robot rotates toward the loading platform, driving the second transport axis 3 to the top of the loading platform; then the second transport axis 3 rotates around the free end of the first transport axis 2, and its end reaches the side of the workpiece; at this time, the gripper 4 slides downward along the length direction of the second transport axis 3 to the workpiece and grabs the workpiece; after the grabbing is completed, the gripper 4 slides upward to lift the workpiece, and at this time the second transport axis 3 and the first transport axis 2 rotate in opposite directions, driving the gripper 4 to the top of the processing device 101, and the gripper 4 slides downward to place the workpiece on the processing device 101 for processing, and then the first transport axis 2, the second transport axis 3 and the gripper 4 are reset;

[0038] After one side of the workpiece is processed, the first transport axis 2 and the second transport axis 3 rotate toward the processing device 101, driving the gripper 4 to reach the top of the processing device 101, the gripper 4 slides downward to grab the workpiece and then slides upward, then the gripper 4 rotates around its own axis and drives the workpiece to flip; after the flip is completed, the workpiece is sent back to the processing device 101 to process the other side of the workpiece;

[0039] After the processing of the other side of the workpiece is completed, the first conveying axis 2 and the second conveying axis 3 rotate toward the direction of the processing device 101 again, driving the gripper 4 to reach the top of the processing device 101, the gripper 4 slides downward to grab the workpiece and then slides upward, then the first conveying axis 2 and the second conveying axis 3 rotate in the opposite direction, driving the gripper 4 to reach the top of the unloading table, and the gripper 4 slides downward to place the workpiece on the unloading table.

[0040] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it. They cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A safe and efficient robot workstation, comprising two collaborative handling robots, wherein the handling robots comprise a base, a first handling axis, a second handling axis, and a gripper; Features: One end of the first transport shaft is rotatably disposed on the base, and the other end is a free end and is located above the base; one end of the second transport shaft is rotatably disposed on the free end, and the other end is located below the free end; the gripper is rotatably disposed on the second transport shaft around its own axis direction; the gripper is slidably disposed along the length direction of the second transport shaft; the grippers on the two transport robots are respectively disposed in directions in which the two conveying robots are close to each other; the first transport shaft, the second transport shaft and the rotation axes of the grippers are disposed in parallel and extend in the horizontal direction; The handling robot is used to handle and flip the side of a heavy workpiece on a processing device, and the processing device includes a processing device and a loading and unloading platform located on both sides of the robot workstation and on the rotation path of the first handling axis and the second handling axis; During transportation, the first transport shaft rotates in the direction of the loading platform, driving the second transport shaft to the top of the loading platform, and then the second transport shaft rotates around the free end, and its end reaches the side of the workpiece. At this time, the gripper slides down to the workpiece and grabs the workpiece. After the grabbing is completed, the gripper slides upward to lift the workpiece. At the same time, the second transport shaft and the first transport shaft rotate in opposite directions, driving the gripper to the top of the processing device, and the gripper slides downward again to place the workpiece on the processing device for processing; During flipping, the first transport axis and the second transport axis rotate in the direction of the processing device, driving the gripper to reach above the processing device, the gripper slides downward to grab the workpiece and then slides upward, then rotates around its own axis and drives the workpiece to complete flipping; After the processing is completed, the first conveying axis and the second conveying axis rotate in the direction of the processing device, driving the gripper to reach the top of the processing device, the gripper slides downward to grab the workpiece and then slides upward, then the first conveying axis and the second conveying axis rotate in opposite directions, driving the gripper to reach the top of the unloading table, and the gripper slides downward to place the workpiece on the unloading table.

2. The safe and efficient robot workstation according to claim 1, characterized in that: The second transport shaft is provided with a slide groove extending along the length direction thereof, a slider is provided at the bottom of the gripper, the gripper is rotatably arranged on the slider, and the slider is matched and embedded in the slide groove.

3. The safe and efficient robot workstation according to claim 1, characterized in that: There are multiple processing devices which are arranged in sequence along a horizontal direction. The robot workstation also includes a guide rail extending along the arrangement direction of the processing devices, and the base is slidably disposed on the guide rail.

4. The safe and efficient robot workstation according to claim 3, characterized in that: There are two guide rails, which are arranged side by side on the guide rail bracket along a direction perpendicular to the arrangement of the processing device.

5. The safe and efficient robot workstation according to claim 3, characterized in that: The bottom of the base is detachably connected with a sliding piece, the sliding piece is provided with a card slot, the guide rail is matched and inserted into the card slot, so that the sliding piece can slide on the guide rail.

6. The safe and efficient robot workstation according to claim 1, characterized in that: The gripper is rotated by the cooperation of a motor and a reducer. The reducer is arranged in the slider. The motor is located on the upper part of the slider and is connected to the reducer. The output end of the reducer extends toward one side of the slider and is connected to the gripper, driving the gripper to rotate.

7. The safe and efficient robot workstation according to claim 1, characterized in that: A ball screw is arranged in the slide groove, and the sliding block slides under the driving of the ball screw.

8. The safe and efficient robot workstation according to claim 1, characterized in that: The workpiece is a large flange ring or a bearing ring. The two handling robots are respectively located on both sides of the flange ring or the bearing ring in a radial direction and move synchronously under the control of the same controller to form the robot workstation.

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