Mechanical arm feeding and discharging device of metal cutting equipment

Abstract

The invention relates to the technical field of cutting equipment, in particular to a mechanical arm feeding and discharging device of metal cutting equipment, which comprises a main mechanical arm, the main mechanical arm is mounted on a cutting machine table, an auxiliary mechanical arm is arranged on the main mechanical arm, a suction cup is mounted on the auxiliary mechanical arm, and a metal part end limiting assembly is fixedly arranged on the suction cup. One end of a metal piece is limited through a metal piece end limiting assembly, a matching arm plate is fixedly arranged on the auxiliary mechanical arm, a metal piece adjusting mechanism is installed on the matching arm plate, the position of the metal piece is adjusted through the metal piece adjusting mechanism, and during feeding, the metal piece is adsorbed through a suction cup to achieve transferring of the metal piece; the metal part is moved to a cutting point position, an electric telescopic rod drives a movable bearing plate to move in the transferring process, then the metal part can be pushed under the action of a pushing plate frame so that one end of the metal part can make contact with an attaching limiting plate, the position of the metal part can be preliminarily adjusted, and cutting operation can be conveniently conducted on the metal part.

Description

Technical Field

[0001] The present invention relates to the technical field of cutting equipment, in particular to a mechanical arm loading and unloading device for metal cutting equipment. Background Art

[0002] In the manufacturing process of new energy vehicles, some rectangular metal parts need to be cut so that their sizes can meet the use requirements. When cutting metal parts, in order to improve the efficiency of loading and unloading, robotic arms are often used to load and unload metal parts. While improving the efficiency of loading and unloading, it can also reduce the workload of the staff. However, after the existing cutting equipment loads the materials through the robotic arm, it is still necessary to use a positioning device to fix the metal parts to ensure their stability during cutting. The position of the metal parts cannot be adjusted by the robotic arm and the metal parts cannot be fixed by the robotic arm to complete the cutting of the metal parts. In this way, the cut metal parts can be directly transferred away by the robotic arm after cutting, further improving the efficiency of loading and unloading. Summary of the Invention

[0003] The object of the present invention is to provide a mechanical arm loading and unloading device for metal cutting equipment to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A robotic arm loading and unloading device for metal cutting equipment includes a main robotic arm mounted on a cutting machine table, and a secondary robotic arm is provided on the main robotic arm. A suction cup is mounted on the secondary robotic arm, and a metal part end limit assembly is fixedly provided on the suction cup, and one end of the metal part is limited by the metal part end limit assembly;

[0006] A matching arm plate is fixedly provided on the auxiliary robot arm, and a metal part adjustment mechanism is installed on the matching arm plate, and the position of the metal part is adjusted by the metal part adjustment mechanism;

[0007] The metal piece adjustment mechanism is connected to a metal piece support assembly, and the metal piece is supported by the metal piece support assembly when the metal piece is adjusted in position and cut;

[0008] The metal part support assembly is driven to move by the metal part adjustment mechanism, and a metal part lateral limiting mechanism is installed on the metal part support assembly. The lateral limiting mechanism limits the metal part from both sides, and the lateral limiting mechanism is driven to move by the metal part adjustment mechanism.

[0009] Preferably, the metal part end limiting assembly is a support frame, and a fitting limiting plate is fixedly provided on the support frame.

[0010] Preferably, the metal part adjustment mechanism includes an electric telescopic rod and a movable supporting plate, wherein the movable supporting plate is fixedly mounted on the electric telescopic rod, and the movable supporting plate is driven to move by the electric telescopic rod.

[0011] Preferably, the movable supporting plate cooperates with the metal part supporting assembly to drive it to move.

[0012] Preferably, the metal part support assembly includes a connecting tooth plate, a rotating hollow rod and a movable plug-in rod, and the connecting tooth plate is movably mounted on the matching arm plate.

[0013] Preferably, the connecting tooth plate is connected to the movable supporting plate, and meshing teeth are fixedly provided on the connecting tooth plate.

[0014] Preferably, the rotating hollow rod is also movably mounted on the matching arm plate, and a rotating gear is fixedly provided on the upper end of the rotating hollow rod.

[0015] Preferably, the rotating gear is engaged with the meshing teeth on the connecting gear plate, and the rotating gear is driven to rotate by the connecting gear plate.

[0016] Preferably, the movable plug rod is partially inserted into the rotating hollow rod, and a supporting base plate is fixedly provided at the lower end of the movable plug rod, and the metal part is supported by the supporting base plate.

[0017] Preferably, the lateral limiting mechanism includes a driving bearing block and a limiting bar frame, and the driving bearing block is movably connected to the limiting bar frame;

[0018] The movable bearing plate drives the driving bearing block to move, and then drives the limiting bar frame to move through the driving bearing block, and the limiting bar frame is used to laterally limit the metal part.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] 1. When loading, the metal parts are adsorbed by the suction cup to achieve the transfer of the metal parts and move them to the cutting point. During the transfer process, the electric telescopic rod drives the mobile carrier plate to move, and then the metal parts can be pushed by the pushing plate frame so that one end of the metal parts contacts the fitting limit plate, and its position is preliminarily adjusted to facilitate the cutting operation.

[0021] 2. When the mobile carrier plate moves, it will drive the connecting tooth plate to move, and under the action of the connecting tooth plate, it will drive the rotating gear to rotate, so that the support extension part can be rotated to the bottom of the metal part to support the metal part. At this time, the suction cup releases the metal part. As the mobile carrier plate continues to move, the plate frame will be pushed to contact the metal part. At the same time, the lower pressure plate presses on the metal part to limit it from the top of the metal part until the other end of the metal part contacts the fitting limit plate.

[0022] 3. In addition, when the push plate frame pushes the metal part to move, the push matching strip will contact the contact strip, and then the contact strip can be pushed to move under the action of the pushing matching strip. As the contact strip moves, the movable connecting rod will drive the limit strip frame to move toward the metal part, and finally the limit strip frame will contact the metal part. In this way, under the action of the limit strip frame, the metal part can be limited from both sides, and the limit strip frame can also push the metal part to adjust its position during the movement. After the adjustment, the metal part is completely fixed, and it can be cut. After the cutting is completed, it can be directly transferred away. During the unloading and transfer process, the suction cup adsorbs the metal part, and the electric telescopic rod drives the movable carrier plate to reset, completing the unloading smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the assembly of the cutting machine.

[0024] Figure 2 A first-person perspective diagram of the main robotic arm assembly.

[0025] Figure 3 A second-view diagram of the main robotic arm assembly.

[0026] Figure 4 Schematic diagram of the structure of the main robotic arm.

[0027] Figure 5 This is the assembly diagram of the auxiliary robotic arm.

[0028] Figure 6 It is a structural diagram of the mobile carrying plate.

[0029] Figure 7 First-person view of the assembly for rotating the hollow rod.

[0030] Figure 8 A second-view diagram of the assembly for rotating the hollow rod.

[0031] In the figure: 1. Cutting machine; 2. Main robotic arm; 21. Secondary robotic arm; 22. Matching arm plate; 23. Protruding arm plate; 24. Rotating bearing hole; 25. Mobile bearing rod; 26. Suction cup; 27. Support frame; 28. Fitting limit plate; 3. Electric telescopic rod; 30. Mobile bearing plate; 31. Bearing matching strip; 32. Tooth plate locking frame; 33. Tooth plate displacement frame; 34. Drooping bearing rod; 35. Drooping bearing strip; 36. Pushing matching strip; 37. Pushing plate frame; 38. Lowering bearing plate; 4. Connecting tooth plate; 41. Mobile matching hole; 42. Connecting displacement column ; 43. Engaging teeth; 5. Rotating hollow rod; 51. Matching bearing; 52. Rotating gear; 53. Connecting channel; 6. Movable plug-in rod; 61. Connecting carrier strip; 62. Support base plate; 63. Movable bearing groove; 64. Support extension; 65. Matching support rod; 66. Matching round block; 7. Driving carrier block; 71. Movable matching hole; 72. Reset spring; 73. Extending carrier strip; 74. Bearing vertical plate; 75. Contact plate strip; 76. Movable connecting rod strip; 8. Limiting bar frame; 81. Drooping connection block; 82. Connecting carrier strip; 83. Movable support block. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] The present invention provides a technical solution:

[0034] like Figure 1 、 Figure 2 and Figure 3 As shown, a robotic arm loading and unloading device for metal cutting equipment includes a main robotic arm 2, which is installed on a cutting machine table 1, and a secondary robotic arm 21 is provided on the main robotic arm 2, and a suction cup 26 is installed on the secondary robotic arm 21, and a metal part end limiting assembly is fixedly provided on the suction cup 26, and one end of the metal part is limited by the metal part end limiting assembly, and a matching arm plate 22 is fixedly provided on the secondary robotic arm 21, and a metal part adjustment mechanism is installed on the matching arm plate 22, and the position of the metal part is adjusted by the metal part adjustment mechanism, and the metal part adjustment mechanism is connected to a metal part support assembly, and when the metal part is adjusted and cut, the metal part is supported by the metal part support assembly, and the metal part support assembly is driven to move by the metal part adjustment mechanism, and a metal part lateral limiting mechanism is installed on the metal part support assembly, and the lateral limiting mechanism limits the metal part from both sides, and the lateral limiting mechanism is driven to move by the metal part adjustment mechanism.

[0035] like Figure 4 As shown, a protruding arm plate 23 is symmetrically fixed on the matching arm plate 22 , a rotation bearing hole 24 is opened on the protruding arm plate 23 , and a movable bearing rod 25 is symmetrically fixed on the matching arm plate 22 beside the protruding arm plate 23 .

[0036] The metal part end limiting assembly is a support frame 27 , on which a fitting limiting plate 28 is fixedly provided, and the surface of the fitting limiting plate 28 is smooth and free of burrs.

[0037] like Figure 2 and Figure 6 As shown, the metal part adjustment mechanism includes an electric telescopic rod 3 and a mobile carrier plate 30. The mobile carrier plate 30 is fixedly installed on the electric telescopic rod 3. The electric telescopic rod 3 drives the mobile carrier plate 30 to move. The mobile carrier plate 30 cooperates with the metal part support assembly to drive it to move. A bearing matching strip 31 is symmetrically fixed on the mobile carrier plate 30. A tooth plate locking frame 32 is fixed on the bearing matching strip 31. A tooth plate displacement frame 33 is fixed on the tooth plate locking frame 32, and the tooth plate The locking frame 32 and the tooth plate displacement frame 33 are connected, the internal width of the two are equal, and the inner walls of the tooth plate locking frame 32 and the tooth plate displacement frame 33 are smooth and free of burrs. In addition, a drooping bearing rod 34 is fixedly provided at the lower end of the bearing matching strip 31, and a drooping bearing rod 34 is fixedly provided at the lower end of the drooping bearing rod 34. A pushing matching strip 36 is symmetrically fixed on the drooping bearing strip 35, and a pushing plate frame 37 is fixed on the movable bearing plate 30, and a lower pressure plate 38 is fixed on the pushing plate frame 37.

[0038] like Figure 5 As shown, the metal parts support assembly includes a connecting tooth plate 4, a rotating hollow rod 5 and a movable plug-in rod 6. The connecting tooth plate 4 is movably installed on the matching arm plate 22. A movable matching hole 41 is opened on the connecting tooth plate 4. The movable bearing rod 25 is inserted into the movable matching hole 41. The lower end of the connecting tooth plate 4 is fixedly provided with a connecting displacement column 42.

[0039] The connecting tooth plate 4 is connected to the movable carrier plate 30 , and meshing teeth 43 are fixedly provided on the connecting tooth plate 4 . The connecting displacement post 42 is inserted into the tooth plate displacement frame 33 , and the connecting displacement post 42 contacts the inner wall of the tooth plate displacement frame 33 .

[0040] The rotating hollow rod 5 is also movably mounted on the mating arm plate 22 , and a rotating gear 52 is fixedly provided on the upper end of the rotating hollow rod 5 . A mating bearing 51 is sleeved on the rotating hollow rod 5 , and the mating bearing 51 is installed in the rotating bearing hole 24 . The rotating gear 52 is located on the upper side of the protruding arm plate 23 .

[0041] The rotating gear 52 is engaged with the meshing teeth 43 on the engaging tooth plate 4 , and the rotating gear 52 is driven to rotate by the engaging tooth plate 4 . In addition, the rotating hollow rod 5 is symmetrically provided with connecting channels 53 .

[0042] like Figure 7 and Figure 8 As shown, the movable plug-in rod 6 is partially inserted into the rotating hollow rod 5, and the lower end of the movable plug-in rod 6 is fixedly provided with a supporting base plate 62, which supports the metal parts. The upper end of the movable plug-in rod 6 is symmetrically fixed with a connecting carrier 61, which is inserted into the connecting channel 53 and contacts the inner wall of the connecting channel 53, and the height of the connecting channel 53 is greater than the height of the connecting carrier 61. When the hollow rod 5 is rotated through the cooperation of the connecting channel 53 and the connecting carrier 61, the movable plug-in rod 6 can be driven to rotate synchronously. Movable bearing grooves 63 are symmetrically opened on the supporting base plate 62, and the inner wall of the movable bearing groove 63 is smooth and free of burrs, and a supporting extension part 64 is fixedly provided on the supporting base plate 62. In addition, a mating support rod 65 is also fixedly provided on the supporting base plate 62, and a mating round block 66 is fixedly provided on the mating support rod 65 at the end away from the supporting base plate 62.

[0043] The lateral limiting mechanism includes a driving bearing block 7 and a limiting bar frame 8. The driving bearing block 7 is movably connected to the limiting bar frame 8. The mobile bearing plate 30 drives the driving bearing block 7 to move, and then drives the limiting bar frame 8 to move by the driving bearing block 7. The metal part is laterally limited by the limiting bar frame 8. A movable matching hole 71 is opened on the driving bearing block 7. A matching support rod 65 is inserted in the movable matching hole 71. A return spring 72 is sleeved on the matching support rod 65. The two ends of the return spring 72 are respectively fixed on the matching round block 66 and the driving bearing block 7. An extension carrier 73 is fixed on the driving bearing block 7. A bearing vertical plate 74 is provided, and a contact plate 75 is fixedly provided on the upper end of the bearing vertical plate 74. A movable connecting rod 76 is hinged on the driving bearing block 7, and the other end of the movable connecting rod 76 is hinged to the limiting bar frame 8. A drooping connecting block 81 is fixedly provided at the lower end of the limiting bar frame 8, and the drooping connecting block 81 is hinged to the movable connecting rod 76, and one end of the limiting bar frame 8 is also fixedly provided with two connecting bearing bars 82, and the two connecting bearing bars 82 are arranged opposite to each other, and a movable support block 83 is fixed on the connecting bearing bar 82, and the movable support block 83 is inserted into the movable bearing groove 63, and the movable support block 83 is in contact with the inner wall of the movable bearing groove 63.

[0044] During loading, the main robot arm 2 moves to the location of the metal part, contacts the upper surface of the metal part through the suction cup 26, and then the suction cup 26 adsorbs the metal part. In the process of the auxiliary robot arm 21 driving the suction cup 26 to move downward to adsorb the metal part, the support base 62 will contact the support component on which the metal part is placed. In this way, under the restriction of the support component, the support base 62 will no longer move downward with the rotating hollow rod 5. As the rotating hollow rod 5 moves downward, the upper end surface of the connecting carrier 61 will contact the inner top surface of the connecting channel 53 until the suction cup 26 contacts the upper end surface of the metal part and adsorbs it. After the suction cup 26 adsorbs the metal part, the metal part can be moved to the cutting point by the main robot arm 2. During the transfer process, Under the action of its own gravity, the lower end surface of the connecting carrier strip 61 contacts the inner bottom surface of the connecting channel 53. At the same time, during the transfer process, the electric telescopic rod 3 drives the mobile carrier plate 30 to move in the direction of the auxiliary robotic arm 21. As the mobile carrier plate 30 moves, the gear plate displacement frame 33 and the connecting displacement column 42 cooperate to drive the connecting gear plate 4 to move. As the connecting gear plate 4 moves, the rotating gear 52 is driven to rotate under the action of the meshing teeth 43, and then the rotating hollow rod 5 is driven to rotate. As the rotating hollow rod 5 rotates, it drives the movable connecting rod 6 to rotate synchronously with it. This will cause the support extension 64 on the support base plate 62 to rotate to the bottom of the metal part, and the support extension 64 is pulled from the metal part. When the movable carrier plate 30 moves further, the engagement post 42 will move into the tooth plate locking frame 32, so that the engagement tooth plate 4 will no longer move under the cooperation of the engagement post 42 and the tooth plate locking frame 32, thereby ensuring the stability of the rotating gear 52 and the stability of the support extension 64, so that it can stably support the metal part. In addition, when the engagement post 42 is in the tooth plate locking frame 32, the push matching strip 36 is in contact with the contact strip 75 on the supporting vertical plate 74, and the pushing plate frame 37 on the movable carrier plate 30 will also contact one end of the metal part, and at the same time, the lower part of the pushing plate frame 37 The pressure plate 38 presses on the upper end surface of the metal part and limits it from above. In this way, as the movable carrier plate 30 moves, the contact strip 75 will be pushed to move under the action of the pushing matching strip 36. As the contact strip 75 moves, the driving carrier block 7 will also be driven to move. As the driving carrier block 7 moves, the movable connecting rod 76 will drive the limiting strip frame 8 to move in the direction of the metal part. At the same time, under the action of the pushing plate frame 37, the metal part will be pushed to move in the direction of the fitting limit plate 28, so that the other end of the metal part will eventually contact the fitting limit plate 28. The limiting strip frame 8 will contact the metal part during the movement, and can push the metal part to a certain extent to adjust its position.Finally, the two limiting bars 8 clamp and fix the metal part from both sides respectively, that is, the position adjustment and fixation of the metal part are completed, that is, the metal part can be stably fixed by the cooperation of the pushing plate frame 37, the supporting base plate 62 and the limiting bar frame 8, which fully ensures the stability of the metal part during the cutting process. The setting of the fitting limiting plate 28 can, on the one hand, limit the metal part from one end thereof to prevent the metal part from being pushed off the supporting base plate 62 when the pushing plate frame 37 pushes the metal part. On the other hand, when one end of the metal strip contacts the fitting limiting plate 28, it indicates that the position adjustment of the metal part is completed, and its cutting point is between the fitting limiting plate 28 and the suction cup 26, so that the metal part can be accurately cut. After the cutting is completed, the main robot arm 2 directly transfers the cut metal part away. During the transfer process, the suction cup 26 adsorbs the cut metal part, and at the same time, the electric telescopic rod 3 drives the movable carrier plate 30 to move in the reverse direction. The movable support plate 30 is moved back to the original position, and the movable support plate 30 is moved back to the original position, so that the movable support plate 30 is moved back to the original position, and the movable support plate 30 is moved back to the original position, so that the movable support plate 30 is moved back to the original position, and the movable support plate 30 is moved back to the original position, so that the movable support plate 30 is moved back to the original position, and the movable support plate 30 is moved back to the original position, so that the movable support plate 30 is moved back to the original position, so that the movable support plate 30 is moved back to the original position,

[0045] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A robotic arm loading and unloading device for metal cutting equipment, comprising a main robotic arm mounted on a cutting machine table, and a secondary robotic arm provided on the main robotic arm, wherein the secondary robotic arm is equipped with a suction cup, characterized in that: A metal part end limiting assembly is fixedly provided on the suction cup, and one end of the metal part is limited by the metal part end limiting assembly; A matching arm plate is fixedly provided on the auxiliary robot arm, and a metal part adjustment mechanism is installed on the matching arm plate, and the position of the metal part is adjusted by the metal part adjustment mechanism; The metal piece adjustment mechanism is connected to a metal piece support assembly, and the metal piece is supported by the metal piece support assembly when the metal piece is adjusted in position and cut; The metal part support assembly is driven to move by the metal part adjustment mechanism, and a metal part lateral limiting mechanism is installed on the metal part support assembly. The lateral limiting mechanism limits the metal part from both sides, and the lateral limiting mechanism is driven to move by the metal part adjustment mechanism.

2. The mechanical arm loading and unloading device for metal cutting equipment according to claim 1, characterized in that: The metal part end limiting assembly is a support frame, and a fitting limiting plate is fixedly provided on the support frame.

3. The mechanical arm loading and unloading device for metal cutting equipment according to claim 2, characterized in that: The metal part adjustment mechanism includes an electric telescopic rod and a movable supporting plate. The movable supporting plate is fixedly mounted on the electric telescopic rod and is driven to move by the electric telescopic rod.

4. The mechanical arm loading and unloading device for metal cutting equipment according to claim 3, characterized in that: The movable supporting plate cooperates with the metal component supporting assembly to drive the metal component to move.

5. The mechanical arm loading and unloading device for metal cutting equipment according to claim 4, characterized in that: The metal part supporting assembly comprises a connecting tooth plate, a rotating hollow rod and a movable plug-in rod, and the connecting tooth plate is movably mounted on the matching arm plate.

6. The mechanical arm loading and unloading device for metal cutting equipment according to claim 5, characterized in that: The connecting tooth plate is connected to the movable bearing plate, and meshing teeth are fixedly provided on the connecting tooth plate.

7. The mechanical arm loading and unloading device for metal cutting equipment according to claim 6, characterized in that: The rotating hollow rod is also movably mounted on the matching arm plate, and a rotating gear is fixedly provided on the upper end of the rotating hollow rod.

8. The mechanical arm loading and unloading device for metal cutting equipment according to claim 7, characterized in that: The rotating gear is meshed with the meshing teeth on the connecting tooth plate, and the rotating gear is driven to rotate through the connecting tooth plate.

9. The mechanical arm loading and unloading device for metal cutting equipment according to claim 8, characterized in that: The movable plug rod is partially inserted into the rotating hollow rod, and a supporting base plate is fixedly provided at the lower end of the movable plug rod, and the metal part is supported by the supporting base plate.

10. The mechanical arm loading and unloading device for metal cutting equipment according to claim 9, characterized in that: The lateral limiting mechanism includes a driving bearing block and a limiting bar frame, and the driving bearing block is movably connected to the limiting bar frame; The movable bearing plate drives the driving bearing block to move, and then drives the limiting bar frame to move through the driving bearing block, and the limiting bar frame is used to laterally limit the metal part.

Images