Mechanical arm feeding and discharging device of metal cutting equipment

Abstract

The application relates to the technical field of cutting equipment, in particular to a mechanical arm feeding and discharging device of a metal cutting equipment, which comprises a main mechanical arm, the main mechanical arm is installed on a cutting machine table, a secondary mechanical arm is arranged on the main mechanical arm, a suction disc is installed on the secondary mechanical arm, a metal piece end limiting assembly is fixedly arranged on the suction disc, one end of a metal piece is limited through the metal piece end limiting assembly, a matching arm plate is fixedly arranged on the secondary 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, when feeding, the metal piece is adsorbed through the suction disc to realize the transfer of the metal piece, the metal piece is moved to a cutting point, in the process of transfer, a movable bearing plate is moved under the action of an electric telescopic rod, then the metal piece can be pushed to make one end of the metal piece contact the abutting limiting plate under the action of a pushing plate frame, the position of the metal piece is preliminarily adjusted, and the metal piece is conveniently cut.

Description

Technical Field

[0001] This invention relates to the field of cutting equipment technology, specifically to a robotic arm loading and unloading device for metal cutting equipment. Background Technology

[0002] In the manufacturing process of new energy vehicles, rectangular metal parts need to be cut to meet the required dimensions. To improve the efficiency of loading and unloading, robotic arms are often used. This not only improves efficiency but also reduces the workload of workers. However, existing cutting equipment requires a positioning device to fix the metal parts after loading them with a robotic arm to ensure stability during cutting. It is not possible to use a robotic arm to adjust the position of the metal parts and fix them to complete the cutting process. In this way, the cut metal parts can be directly transferred away by a robotic arm after cutting, further improving the efficiency of loading and unloading. Summary of the Invention

[0003] The purpose of this invention is to provide a robotic arm loading and unloading device for metal cutting equipment to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

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

[0006] A mating arm plate is fixedly installed on the auxiliary robotic arm, and a metal part adjustment mechanism is installed on the mating arm plate to adjust the position of the metal part.

[0007] The metal part adjustment mechanism is connected to a metal part support assembly, which supports the metal part when adjusting its position and cutting it.

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

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

[0010] Preferably, the metal part adjustment mechanism includes an electric telescopic rod and a movable support plate. The movable support plate is fixedly installed on the electric telescopic rod, and the electric telescopic rod drives the movable support plate to move.

[0011] Preferably, the movable support plate cooperates with the metal support assembly to drive its movement.

[0012] Preferably, the metal support assembly includes a connecting toothed plate, a rotating hollow rod, and a movable plug rod, wherein the connecting toothed plate is movably mounted on the mating arm plate.

[0013] Preferably, the connecting toothed plate is connected to the movable bearing plate, and the connecting toothed plate is fixedly provided with meshing teeth.

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

[0015] Preferably, the rotating gear meshes 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 inserted into the rotating hollow rod, and a support base plate is fixedly provided at the lower end of the movable plug rod to support the metal part.

[0017] Preferably, the lateral limiting mechanism includes a driving support block and a limiting frame, wherein the driving support block and the limiting frame are movably connected;

[0018] The moving support plate drives the drive support block to move, which in turn drives the limit frame to move, thereby limiting the metal parts laterally.

[0019] Compared with the prior art, the beneficial effects of the present invention are: the present invention has a reasonable structural design and strong functionality, and has the following advantages:

[0020] 1. During loading, the metal parts are transferred by suction cups and moved to the cutting point. During the transfer, the electric telescopic rod drives the moving support plate to move. Under the action of the push plate frame, the metal parts can be pushed so that one end contacts the fitting limit plate, and its position is initially adjusted to facilitate the cutting operation.

[0021] 2. When the movable support plate moves, it will drive the connecting toothed plate to move. Under the action of the connecting toothed plate, the rotating gear will rotate, which will cause the support extension to rotate to the bottom of the metal part to support the metal part. At this time, the suction cup releases the metal part. As the movable support plate continues to move, the push plate frame will come into contact with the metal part. At the same time, the lower pressure plate presses on the metal part and limits it from above until the other end of the metal part comes into contact with the fitting limiting plate.

[0022] 3. In addition, when the push plate frame moves the metal part, the push mating strip will come into contact with the contact strip. Under the action of the push mating strip, the contact strip can be moved. As the contact strip moves, under the action of the movable connecting rod, the limiting frame will move towards the metal part. Finally, the limiting frame will come into contact with the metal part. In this way, the limiting frame can limit the metal part from both sides. During the movement of the limiting frame, the position of the metal part can also be adjusted by pushing it. After the adjustment, the metal part is completely fixed, and the cutting work can be carried out. After the cutting is completed, it can be transferred directly. During the unloading and transfer process, the suction cup will adsorb the metal part, and the electric telescopic rod will drive the moving carrier plate to reset, completing the smooth unloading. Attached Figure Description

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

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

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

[0026] Figure 4 This is a schematic diagram of the main robotic arm.

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

[0028] Figure 6 This is a schematic diagram of the structure of the movable support plate.

[0029] Figure 7 A first-person view of the assembly of a rotating hollow rod.

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

[0031] In the diagram: 1. Cutting machine table; 2. Main robotic arm; 21. Secondary robotic arm; 22. Mating arm plate; 23. Protruding arm plate; 24. Rotating bearing hole; 25. Moving bearing rod; 26. Suction cup; 27. Support frame; 28. Fitting limit plate; 3. Electric telescopic rod; 30. Moving bearing plate; 31. Bearing mating strip; 32. Toothed plate locking frame; 33. Toothed plate displacement frame; 34. Drooping bearing rod; 35. Drooping bearing strip; 36. Pushing mating strip; 37. Pushing plate frame; 38. Lower pressure plate; 4. Connecting toothed plate; 41. Moving mating hole; 42. Connecting displacement column ; 43. Meshing teeth; 5. Rotating hollow rod; 51. Matching bearing; 52. Rotating gear; 53. Connecting channel; 6. Movable plug-in rod; 61. Connecting carrier bar; 62. Support base plate; 63. Movable bearing groove; 64. Support extension; 65. Matching support rod; 66. Matching round block; 7. Drive bearing block; 71. Movable mating hole; 72. Return spring; 73. Extending carrier bar; 74. Bearing upright plate; 75. Contact plate strip; 76. Movable connecting rod strip; 8. Limiting frame; 81. Drooping connecting block; 82. Connecting bearing bar; 83. Movable support block. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] This invention provides a technical solution:

[0034] like Figure 1 , Figure 2 and Figure 3 As shown, a robotic arm loading and unloading device for a metal cutting equipment includes a main robotic arm 2, which is mounted on a cutting machine table 1. A secondary robotic arm 21 is mounted on the main robotic arm 2, and a suction cup 26 is mounted on the secondary robotic arm 21. A metal part end-limiting component is fixedly mounted on the suction cup 26, limiting one end of the metal part. A mating arm plate 22 is fixedly mounted on the secondary robotic arm 21, and a metal part adjustment mechanism is mounted on the mating arm plate 22. The position of the metal part is adjusted by the metal part adjustment mechanism. The metal part adjustment mechanism is connected to a metal part support component. During position adjustment and cutting of the metal part, the metal part is supported by the metal part support component. The metal part support component is moved by the metal part adjustment mechanism. A lateral limiting mechanism is mounted on the metal part support component, limiting the metal part from both sides. The lateral limiting mechanism is also moved by the metal part adjustment mechanism.

[0035] like Figure 4 As shown, a protruding arm plate 23 is symmetrically fixed on the arm plate 22, and a rotating bearing hole 24 is provided on the protruding arm plate 23. A movable bearing rod 25 is also symmetrically fixed on the arm plate 22 next to the protruding arm plate 23.

[0036] The metal part end limiting component is a support frame 27, on which a fitting limiting plate 28 is fixedly installed, and the surface of the fitting limiting plate 28 is smooth and burr-free.

[0037] like Figure 2 and Figure 6 As shown, the metal part adjustment mechanism includes an electric telescopic rod 3 and a movable support plate 30. The movable support plate 30 is fixedly installed on the electric telescopic rod 3. The electric telescopic rod 3 drives the movable support plate 30 to move. The movable support plate 30 cooperates with the metal part support assembly to drive its movement. Symmetrically fixed bearing mating strips 31 are provided on the movable support plate 30. A toothed plate locking frame 32 is fixedly provided on the bearing mating strip 31. A toothed plate displacement frame 33 is fixedly provided on the toothed plate locking frame 32. The locking frame 32 and the toothed plate displacement frame 33 are connected and have the same internal width. The inner walls of both the toothed plate locking frame 32 and the toothed plate displacement frame 33 are smooth and burr-free. In addition, a hanging bearing rod 34 is fixedly installed at the lower end of the bearing mating strip 31. A hanging load bar 35 is fixedly installed at the lower end of the hanging load bar 34. A push mating strip 36 is symmetrically fixedly installed on the hanging load bar 35. A push plate frame 37 is fixedly installed on the moving bearing plate 30. A lower pressure plate 38 is fixedly installed on the push plate frame 37.

[0038] like Figure 5 As shown, the metal support assembly includes a connecting toothed plate 4, a rotating hollow rod 5, and a movable insertion rod 6. The connecting toothed plate 4 is movably mounted on the mating arm plate 22. The connecting toothed plate 4 has a movable mating hole 41, in which a movable bearing rod 25 is inserted. A connecting displacement post 42 is fixedly installed at the lower end of the connecting toothed plate 4.

[0039] The connecting toothed plate 4 is connected to the movable bearing plate 30, and the connecting toothed plate 4 is fixedly provided with meshing teeth 43. The connecting displacement post 42 is inserted into the toothed plate displacement frame 33, and the connecting displacement post 42 is in contact with the inner wall of the toothed 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 at 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 meshes with the meshing teeth 43 on the connecting tooth plate 4, and the rotating gear 52 is driven to rotate by the connecting 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 a support base plate 62 is fixedly installed at the lower end of the movable plug-in rod 6. The metal part is supported by the support base plate 62. A connecting strip 61 is symmetrically fixedly installed at the upper end of the movable plug-in rod 6. The connecting strip 61 is inserted into the connecting channel 53 and contacts the inner wall of the connecting channel 53. The height of the connecting channel 53 is greater than the height of the connecting strip 61. When the rotating hollow rod 5 rotates through the cooperation of the connecting channel 53 and the connecting strip 61, it can drive the movable plug-in rod 6 to rotate synchronously. The support base plate 62 is symmetrically provided with movable bearing grooves 63. The inner wall of the movable bearing grooves 63 is smooth and burr-free. A support extension 64 is fixedly installed on the support base plate 62. In addition, a matching support rod 65 is also fixedly installed on the support base plate 62. A matching round block 66 is fixedly installed at the end of the matching support rod 65 away from the support base plate 62.

[0043] The lateral limiting mechanism includes a drive support block 7 and a limiting frame 8. The drive support block 7 and the limiting frame 8 are movably connected. The movable support plate 30 drives the drive support block 7 to move, which in turn drives the limiting frame 8 to move, thereby laterally limiting the metal part. The drive support block 7 has a movable mating hole 71, into which a mating support rod 65 is inserted. A return spring 72 is sleeved on the mating support rod 65. The two ends of the return spring 72 are fixed to the mating round block 66 and the drive support block 7, respectively. An extension carrier strip 73 is fixedly provided on the drive support block 7, and a... A support plate 74 is provided, and a contact strip 75 is fixedly provided at the upper end of the support plate 74. A movable connecting rod 76 is hinged to the drive support block 7. A limit frame 8 is hinged to the other end of the movable connecting rod 76. A drooping connecting block 81 is fixedly provided at the lower end of the limit frame 8. The drooping connecting block 81 is hinged to the movable connecting rod 76. Two connecting support strips 82 are also fixedly provided at one end of the limit frame 8. The two connecting support strips 82 are arranged opposite to each other. A movable support block 83 is fixedly provided on the connecting support strip 82. The movable support block 83 is inserted into the movable support groove 63 and contacts the inner wall of the movable support groove 63.

[0044] During loading, the main robotic arm 2 moves to the location of the metal part and contacts the upper surface of the metal part via the suction cup 26. The suction cup 26 then adsorbs the metal part. While the auxiliary robotic arm 21 moves the suction cup 26 downward to adsorb the metal part, the support base plate 62 will contact the support component holding the metal part. Under the constraint of the support component, the support base plate 62 will no longer move downward with the rotating hollow rod 5. As the rotating hollow rod 5 moves downward, the upper end face of the connecting strip 61 will contact the inner top surface of the connecting channel 53 until the suction cup 26 contacts the upper end face of the metal part and adsorbs it. Once the suction cup 26 has adsorbed the metal part, the main robotic arm 2 can move the metal part to the cutting point. During the transfer process, during the movement... Under the influence of its own weight, the lower end face of the connecting strip 61 contacts the inner bottom surface of the connecting channel 53. Simultaneously, during the transfer process, the electric telescopic rod 3 drives the movable bearing plate 30 to move towards the auxiliary robotic arm 21. As the movable bearing plate 30 moves, the toothed plate displacement frame 33, in conjunction with the connecting displacement post 42, drives the connecting toothed plate 4 to move. With the movement of the connecting toothed plate 4, the meshing teeth 43 drive the rotating gear 52 to rotate, which in turn drives the rotating hollow rod 5 to rotate. The rotation of the rotating hollow rod 5 drives the movable plug rod 6 to rotate synchronously, causing the support extension 64 on the support base plate 62 to rotate below the metal part. The support extension 64 then extends from the metal part... The metal part is effectively supported below. At this time, the suction cup 26 can release the metal part. As the moving support plate 30 moves further, the connecting displacement post 42 will move into the toothed plate locking frame 32. In this way, with the cooperation of the connecting displacement post 42 and the toothed plate locking frame 32, the connecting toothed plate 4 will no longer move, 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 connecting displacement post 42 is in the toothed plate locking frame 32, the pushing mating strip 36 is in contact with the contact strip 75 on the support plate 74, and the pushing plate frame 37 on the moving support plate 30 will also contact one end of the metal part. At the same time, the lower part of the pushing plate frame 37... Ballast plate 38 presses against the upper surface of the metal part, limiting its position from above. As the moving bearing plate 30 moves, the pushing mating strip 36 pushes the contact strip 75 to move. The movement of the contact strip 75 also drives the driving bearing block 7 to move. The movement of the driving bearing block 7, under the action of the movable connecting rod 76, drives the limiting frame 8 towards the metal part. Simultaneously, under the action of the pushing plate frame 37, the metal part is pushed towards the contact limiting plate 28, so that the other end of the metal part finally contacts the contact limiting plate 28. During its movement, the limiting frame 8 contacts the metal part and can push the metal part to adjust its position.Finally, the two limiting frames 8 clamp and fix the metal part from both sides, thus completing the position adjustment and fixation of the metal part. The cooperation of the push plate 37, the support base plate 62, and the limiting frames 8 stably fixes the metal part, ensuring its stability during the cutting process. The fitting limiting plate 28 serves two purposes: firstly, it limits the metal part from one end, preventing it from being pushed off the support base plate 62 when the push plate 37 pushes it; secondly, when one end of the metal strip contacts the fitting limiting plate 28, it indicates that the position adjustment of the metal part is complete, and the cutting point is between the fitting limiting plate 28 and the suction cup 26, enabling accurate cutting. After cutting, the main robotic arm 2 directly transfers the cut metal part away. During the transfer, the suction cup 26 adheres to the cut metal part, while the electric telescopic rod 3 drives the moving support plate 30 to move in the opposite direction. The moving and pushing mating strip 36 will also move in the opposite direction, thus freeing the contact strip 75 from restriction. The drive bearing block 7 will then reset under the action of the return spring 72. As the drive bearing block 7 resets, the movable connecting rod 76 will drive the limiting frame 8 to reset. During the reset process, the connecting displacement post 42 will re-enter the toothed plate displacement frame 33. The interaction between the connecting displacement post 42 and the toothed plate displacement frame 33 will drive the connecting toothed plate 4 to move in the opposite direction. Furthermore, under the action of the meshing teeth 43, the rotating gear 52 will rotate in the opposite direction, causing the movable plug rod 6 to rotate synchronously. This allows the support extension 64 to no longer support the metal part, enabling the cut metal part to be smoothly unloaded. This is very convenient. The main robotic arm 2 moves the metal part, adjusting and fixing its position during the transfer process, ensuring smooth cutting and further improving the efficiency of loading and unloading. It is very practical.

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

Claims

1. A robotic arm loading and unloading device for a metal cutting equipment, comprising a main robotic arm mounted on a cutting machine table, and a secondary robotic arm mounted on the main robotic arm, wherein a suction cup is mounted on the secondary robotic arm, characterized in that: A metal part end limiting component is fixedly provided on the suction cup, and one end of the metal part is limited by the metal part end limiting component; A mating arm plate is fixedly mounted on the auxiliary robotic arm. A metal adjustment mechanism is installed on the mating arm plate. The metal adjustment mechanism includes an electric telescopic rod and a movable bearing plate. The movable bearing plate is fixedly mounted on the electric telescopic rod and moves by the electric telescopic rod. A bearing mating strip is symmetrically fixedly mounted on the movable bearing plate. A toothed plate locking frame is fixedly mounted on the bearing mating strip. A toothed plate displacement frame is fixedly mounted on the toothed plate locking frame, and the toothed plate locking frame and the toothed plate displacement frame are interconnected. A drooping bearing rod is also fixedly mounted at the lower end of the bearing mating strip. A drooping bearing bar is fixedly mounted at the lower end of the drooping bearing rod. A pushing mating strip is symmetrically fixedly mounted on the drooping bearing bar. A pushing plate frame is fixedly mounted on the movable bearing plate, and a lower pressure plate is fixedly mounted on the pushing plate frame. The metal part adjustment mechanism is connected to a metal part support assembly, which includes a connecting toothed plate, a rotating hollow rod, and a movable plug-in rod. The connecting toothed plate is movably mounted on the mating arm plate and connected to the movable bearing plate. Engaging teeth are fixedly provided on the connecting toothed plate. The rotating hollow rod is movably mounted on the mating arm plate, and a rotating gear is fixedly provided at the upper end of the rotating hollow rod. The rotating gear meshes with the engaging teeth. The movable plug-in rod is partially inserted into the rotating hollow rod, and a support base plate is fixedly provided at the lower end of the movable plug-in rod. The support base plate supports the metal part. The connecting displacement post is inserted into the toothed plate displacement frame, and the connecting displacement post contacts the inner wall of the toothed plate displacement frame. A lateral limiting mechanism for the metal part is installed on the metal part support assembly. The lateral limiting mechanism includes a driving support block and a limiting frame. A movable support plate drives the driving support block to move. The driving support block is movably connected to the limiting frame, and the movement of the driving support block drives the movement of the limiting frame, thereby laterally limiting the metal part. A movable mating hole is provided on the driving support block, into which a mating support rod is inserted. A return spring is sleeved on the mating support rod, with both ends of the return spring fixed to a mating circular block and the driving support block, respectively. A fixed fixture is provided on the driving support block. An extension carrier bar is fixedly mounted on a support plate. A contact plate is fixedly mounted on the upper end of the support plate. A movable connecting rod is hinged to the drive carrier block. A limit frame is hinged to the other end of the movable connecting rod. A drooping connecting block is fixedly mounted on the lower end of the limit frame. The drooping connecting block is hinged to the movable connecting rod. Two connecting carrier bars are also fixedly mounted on one end of the limit frame. The two connecting carrier bars are arranged opposite to each other. A movable support block is fixedly mounted on the connecting carrier bar. The movable support block is inserted into the movable carrier groove and contacts the inner wall of the movable carrier groove.

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

3. The robotic arm loading and unloading device for a metal cutting equipment according to claim 2, characterized in that: The movable support plate works in conjunction with the metal support assembly to move it.

4. The robotic arm loading and unloading device for a metal cutting equipment according to claim 3, characterized in that: The rotating gear is driven by the connecting gear plate.

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