Working method for assisting robot in feeding and discharging

Abstract

The invention provides a working method for assisting a robot in feeding and discharging, and belongs to the technical field of machining, and the working method comprises the following steps that firstly, machined parts of various specifications are placed in corresponding material grooves of a workbench, and the serial numbers of the machined parts in the material grooves are recognized through a material recognizer and sent to the robot; the robot moves to the position above a material frame of the workbench according to received machining information, the robot grabs a machined part in a corresponding material groove and places the machined part into a machining groove of the fixing plate, the two sides of the machined part abut against the inner side wall of the machining groove, then the robot fixes the machined part, and the machined part is machined through machining equipment. The robot moves the machined workpiece from the large notch in the outer side of the machining groove, and then the machined workpiece can be placed on equipment of the next procedure or a finished product warehouse. The material recognizer recognizes the machined part and conveys the machined part to the robot, it is guaranteed that the robot accurately grabs the needed machined part, the robot conveniently loads and unloads the machined part, and the working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical processing, and in particular to a method for assisting a robot in loading and unloading materials. Background Art

[0002] With the development of industrialization and the widespread application of electronic chips in the control field, operating robots have entered the production of various fields, such as automated assembly, logistics, welding, telemedicine, and inspection and testing. At present, in the mechanical processing process, workers usually manually put the parts to be processed into the lathe, and then manually remove the parts from the machine tool after the processing is completed. Since the loading and unloading process is manually operated, there are safety hazards. Therefore, the workpieces are automatically loaded and unloaded by robots. During the loading and unloading process of the robot, a workbench for storing the workpieces is required to arrange and stack the workpieces for the robot to clamp and load. However, due to the different specifications of the workpieces, it is difficult for existing equipment to distinguish between workpieces of different specifications and automatically load and unload them, which makes the loading and unloading work efficiency low. Therefore, a method for assisting robots in loading and unloading is needed. Summary of the invention

[0003] The purpose of the present invention is to provide a method for assisting a robot in loading and unloading materials, so as to solve the technical problem that existing equipment is difficult to distinguish workpieces of different specifications and automatically load and unload them.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] A method for assisting a robot in loading and unloading materials comprises the following steps:

[0006] (1) Loading: First, put the workpieces of various specifications into the corresponding material slots on the workbench. The material identifier in the material slot identifies the number of the workpiece in the material slot and sends it to the robot;

[0007] (2) Material collection: The robot moves to the material rack above the workbench according to the received processing information, and grabs the workpiece in the corresponding material slot;

[0008] (3) Loading: The robot places the workpiece into the processing groove of the fixed plate, and moves the workpiece from the large groove outside the processing groove to the inside, so that the two sides of the workpiece are respectively in contact with the inner wall of the processing groove, and then the robot fixes the workpiece and performs the initial processing on the workpiece through the processing equipment;

[0009] (4) Flipping: For workpieces that need to be processed again, the robot moves the workpiece that has been processed for the first time toward the large notch outside the processing groove, then flips the workpiece upside down, and then moves the workpiece inward from the large notch outside the processing groove, so that the two sides of the workpiece are respectively in contact with the inner wall of the processing groove, and then the robot fixes the workpiece and processes it again through the processing equipment;

[0010] (5) Unloading: The robot moves the finished workpiece from the large slot outside the processing tank and places the workpiece on the equipment for the next process or on the finished product warehouse.

[0011] Furthermore, the workbench includes a support frame, an upper panel, a material rack and a gripper tray, the gripper tray is arranged on the front side of the top of the support frame, the robot is arranged on one side of the gripper tray, the upper panel is arranged on the rear side of the top of the support frame, the material rack is arranged on the top of the upper panel, material troughs are respectively arranged on the material racks, a material identifier is arranged on one side of the material trough, the material identifier is respectively connected to the robot and the external control system, a fixing plate is arranged on the right end of the support frame, and a lower panel is arranged on the inner side of the lower part of the support frame.

[0012] Furthermore, a cylindrical hole is provided on one side of the material trough, and the material identifier is arranged inside the cylindrical hole.

[0013] Furthermore, a processing groove is provided on the fixing plate, and a plurality of convex strips are provided at the bottom of the processing groove.

[0014] Furthermore, the processing groove is configured as an isosceles trapezoidal structure.

[0015] Furthermore, the support frame includes two first columns and two second columns, the upper ends of the first columns and the second columns are connected with long beams, a first connecting beam is arranged between the long beams, and the second columns are longer than the first columns.

[0016] Furthermore, both ends of the gripper tray are arranged on the long cross beam, and the rear end of the gripper tray is arranged on the first connecting beam.

[0017] Furthermore, a second connecting beam is connected between the two second upright columns, a short cross beam is arranged on the rear end of the long cross beam, and a second connecting beam is connected between the short cross beams.

[0018] The present invention has the following beneficial effects due to the adoption of the above technical solution:

[0019] 1. The present invention realizes automatic loading and unloading of workpieces through the coordinated action of the robot and the workbench, and can also flip the workpieces so that they can be loaded once and processed twice or more times, thereby ensuring the safety of workers and improving the work efficiency of loading and unloading.

[0020] 2. The present invention identifies the workpieces through a material identifier and transmits them to the robot, ensuring that the robot can accurately grasp the required workpieces, thereby distinguishing workpieces of different specifications, making it convenient for the robot to load and unload the workpieces and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a top view of the robot of the present invention during loading and unloading operations;

[0022] Figure 2 It is a structural schematic diagram of a workbench of the present invention.

[0023] In the accompanying drawings, 10-workbench, 1-support frame, 11-first column, 12-second column, 14-first connecting beam, 15-second connecting beam, 16-short cross beam, 2-upper panel, 3-material rack, 31-material trough, 32-material identifier, 33-cylindrical hole, 4-gripper tray, 41-U-shaped hole, 5-fixed plate, 6-lower panel, 7-processing groove, 8-convex strip, 20-robot. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and preferred embodiments. However, it should be noted that many details listed in the specification are only for the purpose of enabling the reader to have a thorough understanding of one or more aspects of the present invention, and these aspects of the present invention can be implemented even without these specific details.

[0025] like Figure 1 As shown, a method for assisting a robot in loading and unloading materials comprises the following steps:

[0026] (1) Loading: First, various specifications of the workpieces are placed in the corresponding material slots 31 of the workbench 1, and the material identifier 32 in the material slot 31 identifies the number of the workpiece in the material slot 31 and sends it to the robot 20; the information of the workpiece in the material slot 31 is sent to the robot 20 through the material identifier 32, so that the robot 20 and the material slot 31 have the same information, so that the workpiece can be accurately grasped in the later stage.

[0027] (2) Material picking: The robot 20 moves to the top of the material rack 3 of the workbench 10 according to the received processing information, and grabs the workpiece in the corresponding material slot 31; the material slot 31 can be set to have slots of different diameters, which can store workpieces of different specifications. Digital numbers can also be marked next to the processing slot 31 to ensure that the robot 20 accurately grabs the workpiece.

[0028] (3) Loading: The robot 20 places the workpiece into the processing groove 7 of the fixed plate 5, and moves the workpiece from the large notch on the outside of the processing groove 7 to the inside, so that the two sides of the workpiece are respectively in contact with the inner wall of the processing groove 7, and then the robot 20 fixes the workpiece and performs initial processing on the workpiece through the processing equipment; the processing groove 7 is set to an isosceles trapezoidal structure, and the outer notch of the processing groove 7 is larger than the inner notch, that is, the notch of the processing groove 7 increases from the inside to the outside, so that it can accommodate workpieces of different diameters, thereby realizing the processing of workpieces of different diameters.

[0029] (4) Flipping: For workpieces that need to be processed again, the robot 20 moves the workpiece that has been processed for the first time toward the large notch on the outside of the processing groove 7, and then the robot 20 flips the workpiece up and down, and then moves the workpiece inward from the large notch on the outside of the processing groove 7, so that the two sides of the workpiece are respectively in contact with the inner wall of the processing groove 7, and then the robot 20 fixes the workpiece and processes it again through the processing equipment; for workpieces that only need to be processed once, after the initial processing is completed, the robot 20 can unload the workpiece.

[0030] (5) Unloading: The robot 20 moves the finished workpiece from the large notch outside the processing tank 7, and then places the workpiece on the equipment for the next process or on the finished product warehouse.

[0031] like Figure 2 As shown, the workbench 10 includes a support frame 1, an upper panel 2, a material rack 3 and a gripper tray 4, wherein the gripper tray 4 is arranged on the front side of the top of the support frame 1, and the upper panel 2 is arranged on the rear side of the top of the support frame 1. The upper panel 2 is used to support the material rack 3, and the material rack 3 is arranged at the top of the upper panel 2. The material rack 3 is used to place the processed parts, and the material rack 3 is respectively provided with material slots 31. The material slots 31 can be provided with material slots of different diameters to meet the storage of different types of processed parts. Each material slot can be marked with a number next to it, and a material identifier 32 is provided on one side of the material slot 31. The material identifier 32 is respectively connected to the robot 20 and the external control system, and the robot 20 is connected to the external control system. The robot is a prior art. The material identifier 32 is used to identify the label of the material in the material slot 31 and transmit the information to the robot to ensure that the robot can grab the accurate material. A fixed plate 5 is provided at the right end of the support frame 1, and the fixed plate 5 is used for material processing. A lower panel 6 is provided on the inner side of the lower part of the support frame 1, and the lower panel 6 can be used to place equipment such as a controller.

[0032] In the embodiment of the present invention, a cylindrical hole 33 is provided on one side of the material trough 31, and the material identifier 32 is provided inside the cylindrical hole 33. The setting of the cylindrical hole 33 ensures that the material identifier 32 can be placed and that the material identifier 32 is not pressed by the material. The present invention identifies the workpiece through the material identifier and transmits it to the robot, ensuring that the robot can accurately grasp the required workpiece, thereby distinguishing workpieces of different specifications, facilitating the robot to load and unload the workpiece, and improving work efficiency.

[0033] In an embodiment of the present invention, a processing groove 7 is provided on the fixing plate 5, and a plurality of convex strips 8 are provided at the bottom of the processing groove 7. The convex strips 8 can be used for anti-skid to prevent the workpiece from sliding during the processing. The processing groove 7 is set as an isosceles trapezoidal structure, and the inner notch of the processing groove 7 is small, and the outer notch is large. On the one hand, it can place workpieces of different diameters, and on the other hand, after the workpiece completes the first processing, the robot moves the workpiece to the outer large notch, then flips the workpiece, and then moves the workpiece to a suitable position and fixes it, so as to perform another processing. The present invention realizes automatic loading and unloading of workpieces through the coordinated action of the robot 20 and the workbench 10, and can also flip the workpiece, so that the workpiece is loaded once and processed twice or more times, which ensures the safety of the workers while improving the work efficiency of loading and unloading.

[0034] In an embodiment of the present invention, the support frame 1 includes two first columns 11 and two second columns 12, the upper ends of the first columns 11 and the second columns 12 are connected with a long beam (not shown in the figure), a first connecting beam 14 is arranged between the long beams, and the two ends of the first connecting beam 14 are respectively connected to the long beams, and the second column 12 is longer than the first column 11, so that the position of the upper panel 2 is higher than the gripper tray 4, which is convenient for the robot to grasp the workpiece. The two ends of the gripper tray 4 are arranged on the long beam, and the gripper tray 4 is connected to the long beam, and the rear end of the gripper tray 4 is arranged on the first connecting beam 14, and the gripper tray 4 is connected to the first connecting beam 14. The front end of the gripper tray 4 is provided with a plurality of U-shaped holes 41. A second connecting beam 15 is connected between the two second columns 12, a short beam 16 is arranged on the rear end of the long beam, and the short beam 16 is connected to the long beam, and the second connecting beam 15 is connected between the short beams 16. The two short cross beams 16 and the two second connecting beams 15 form a rectangular structure, so that the upper panel 2 is stably connected thereto.

[0035] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for assisting a robot in loading and unloading materials, characterized in that: The following steps are involved: (1) Loading: First, put the workpieces of various specifications into the corresponding material slots on the workbench. The material identifier in the material slot identifies the number of the workpiece in the material slot and sends it to the robot; (2) Material collection: The robot moves to the material rack above the workbench according to the received processing information, and grabs the workpiece in the corresponding material slot; (3) Loading: The robot places the workpiece into the processing groove of the fixed plate, and moves the workpiece from the large groove outside the processing groove to the inside, so that the two sides of the workpiece are respectively in contact with the inner wall of the processing groove, and then the robot fixes the workpiece and performs the initial processing on the workpiece through the processing equipment; (4) Flipping: For workpieces that need to be processed again, the robot moves the workpiece that has been processed for the first time toward the large notch outside the processing groove, then flips the workpiece upside down, and then moves the workpiece inward from the large notch outside the processing groove, so that the two sides of the workpiece are respectively in contact with the inner wall of the processing groove, and then the robot fixes the workpiece and processes it again through the processing equipment; (5) Unloading: The robot moves the finished workpiece from the large slot outside the processing tank and places the workpiece on the equipment for the next process or on the finished product warehouse.

2. A method for assisting robot loading and unloading according to claim 1, characterized in that: The workbench includes a support frame, an upper panel, a material rack and a gripper tray, the gripper tray is arranged on the front side of the top of the support frame, the robot is arranged on one side of the gripper tray, the upper panel is arranged on the rear side of the top of the support frame, the material rack is arranged on the top of the upper panel, material troughs are respectively arranged on the material racks, a material identifier is arranged on one side of the material trough, the material identifier is respectively connected to the robot and the external control system, a fixing plate is arranged on the right end of the support frame, and a lower panel is arranged on the inner side of the lower part of the support frame.

3. A method for assisting robot loading and unloading according to claim 2, characterized in that: A cylindrical hole is arranged on one side of the material trough, and the material identifier is arranged inside the cylindrical hole.

4. A method for assisting robot loading and unloading according to claim 2, characterized in that: The fixing plate is provided with a processing groove, and the bottom of the processing groove is provided with a plurality of convex strips.

5. The method for assisting robot loading and unloading according to claim 2, characterized in that: The processing groove is arranged as an isosceles trapezoidal structure.

6. The method for assisting robot loading and unloading according to claim 2, characterized in that: The support frame includes two first columns and two second columns, the upper ends of the first columns and the second columns are connected with long beams, a first connecting beam is arranged between the long beams, and the second columns are longer than the first columns.

7. A method for assisting robot loading and unloading according to claim 6, characterized in that: The two ends of the gripper tray are arranged on the long cross beam, and the rear end of the gripper tray is arranged on the first connecting beam.

8. The method for assisting robot loading and unloading according to claim 6, characterized in that: A second connecting beam is connected between the two second upright columns, a short cross beam is arranged on the rear end of the long cross beam, and a second connecting beam is connected between the short cross beams.

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