Feeding robot for automatic machining of sheet metal parts

Abstract

The invention relates to the technical field of robots, in particular to a feeding robot for automatic machining of sheet metal parts, which comprises a robotic arm and an intelligent detection unit, the robotic arm is a multi-stage driving arm assembly formed by a plurality of arm units hinged together, and a displacement seat is mounted on a first-stage connecting rod drive at the bottommost part of the multi-stage driving arm assembly; a carrying frame is mounted on the topmost stage of connecting rod drive; an outer suction cup combination is installed on the carrying frame and comprises first suction cup arrays symmetrically arranged on the front side and the rear side of the driving mechanism, the driving mechanism drives the two first suction cup arrays under the control of the intelligent detection unit, the driving mechanism adjusts the distance between the two first suction cup arrays to be increased, and therefore the grabbing area is increased. The grabbing point is close to the bending line, the force arm of the bending force bearing point and the grabbing point is shortened, the grabbing strength is improved, and when the size of the grabbed sheet metal part is small, the distance between the two first suction cup arrays is adjusted to be small so that the requirement for the small size can be met.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a loading robot for automated processing of sheet metal parts. Background Technology

[0002] The automated sheet metal bending and loading robot utilizes a modular mechanical structure and intelligent control technology to automate the transfer of sheet metal parts from the stacking area to the bending machine. It typically consists of a multi-stage, multi-axis robotic arm, a turret base, and a gripping manipulator. The turret base is fixed at the bottom of the first stage of the robotic arm and is primarily responsible for transferring the part from the material handling side to the bending equipment. The gripping manipulator is mounted at the top of the robotic arm and is responsible for gripping the sheet metal part. Under intelligent control, the robotic arm grips the sheet metal part from the material handling station and transfers it to the bending machine. Under program control, the gripping manipulator performs multi-axis movements within the bending space, bending the workpiece. Finally, program control causes the robotic arm to return to its origin, repeating the gripping and bending process, thus improving production efficiency.

[0003] To prevent sheet metal deformation, robotic arms often use suction cups for gripping. Traditional suction cup arrays are usually arranged in two rows, front and back, and these two rows of suction cups are fixed to the robotic arm. The distance between them cannot be adjusted, and the suction range cannot be adjusted according to the size of the sheet metal. When the bending part is bent against the sheet metal, the resulting tensile force will cause the sheet metal to slip due to the suction force defect, affecting the bending accuracy. Summary of the Invention

[0004] To solve the above problems, the present invention provides a loading robot for automatic processing of sheet metal parts, including a robotic arm and an intelligent detection unit. The robotic arm is a multi-stage drive arm assembly composed of multiple arm units hinged together. A displacement seat is installed on the bottommost primary link drive and a carrier is installed on the topmost primary link drive. An external suction cup assembly is installed on the carrier, and a driving mechanism is provided on the carrier. The external suction cup assembly includes a first suction cup array symmetrically located on the front and rear sides of the driving mechanism. Under the control of the intelligent detection unit, the driving mechanism drives the two first suction cup arrays and can drive the two first suction cup arrays to move in opposite directions or in the front and back of each other. The carrier is equipped with an inner suction cup assembly, which includes a second suction cup array distributed inside the two first suction cup arrays. The two sides of the driving mechanism also drive and connect the two second suction cup arrays, and drive the second suction cup arrays and the first suction cup arrays on the same side to move in opposite directions.

[0005] As a further preferred embodiment, the intelligent detection unit is configured as follows: the intelligent detection unit consists of a light curtain detection combination consisting of a transmitter and a receiver disposed on the carrier. When the carrier, carrying the outer suction cup combination and the inner suction cup combination, arrives at the sheet metal picking area, the transmitter and receiver calculate the outer contour dimensions of the sheet metal.

[0006] As a further preferred embodiment, the suction ends of the suction cup units in the first suction cup array and the second suction cup array are perpendicularly oriented towards the bottom surface of the carrier.

[0007] As a further preferred embodiment, the scope of the first suction cup array is such that it extends to the left side of the carrier and to the right side of the carrier.

[0008] As a further preferred embodiment, the robotic arm is equipped with a power unit, and the drive mechanism is connected to the power unit.

[0009] As a further preferred embodiment, the drive mechanism includes a gear disposed in the middle of the bottom surface of the carrier, two linear slide rails symmetrically arranged on the left and right sides of the gear and fixed to the bottom surface of the carrier, each of the left and right linear slide rails having a linear slider that slides back and forth, and each of the left and right linear sliders having a rack. The rack on the left is connected to a front rod, and the first suction cup array on the front side is arranged and installed on the front rod. The rack on the right is connected to a rear rod, and the first suction cup array on the rear side is arranged and installed on the rear rod. The power device is a servo motor, and the gear is mounted on the output shaft of the servo motor.

[0010] As a further preferred embodiment, the distance between every two adjacent suction cup units in the first suction cup array is consistent.

[0011] As a further preferred embodiment, a first synchronizing rod extending horizontally to the right is connected to the rack on the left side, and the second suction cup array on the right side is arranged and installed on the first synchronizing rod. A second synchronizing rod extending horizontally to the left is connected to the rack on the right side, and the second suction cup array on the left side is arranged and installed on the second synchronizing rod.

[0012] The advantages of this invention compared to the prior art are: 1. The robotic arm is a multi-stage drive arm assembly composed of multiple articulated arm units. A displacement seat is mounted on the bottommost primary linkage drive, and a carrier is mounted on the topmost primary linkage drive. The robotic arm replaces manual handling of sheet metal parts and can rotate on multiple axes within a spatial range. This facilitates loading sheet metal from the storage area, moving it to the bending machine according to the motion program, and placing it into the bending machine to complete the bending process. During bending, the carrier acts as a robotic arm, connected to the top of the robotic arm via multiple axes. It rotates according to the bending program angle until the sheet metal part is bent. Through joints, multi-axis, multi-linkage modes, and intelligent control, the entire bending process—from material handling to transfer, from transfer to bending, and from bending to output—is completed, improving work efficiency.

[0013] 2. A drive mechanism is provided on the carrier that acts as a robotic arm. On both sides of the drive mechanism, there are first suction cup arrays that move back and forth. When the size of the sheet metal part being gripped is large, the distance between the two first suction cup arrays is increased by the drive mechanism, thereby increasing the gripping area and bringing the gripping point closer to the bending line. This shortens the lever arm between the bending force point and the gripping point, improving the gripping strength. When the size of the sheet metal part being gripped is small, the distance between the two first suction cup arrays is decreased to meet the needs of small size.

[0014] 3. An inner suction cup assembly is set inside the two sets of first suction cup arrays. The inner suction cup assembly includes a second suction cup array distributed inside the two first suction cup arrays. While driving the two first suction cup arrays to move back and forth, the driving mechanism will also drive the two second suction cup arrays to move in opposite directions in the same direction as the first suction cup arrays. After the second suction cup arrays are adjusted, they assist the first suction cup arrays in assisting to grip the non-gripping areas of the first suction cup arrays on the sheet metal to improve the adsorption force. Attached Figure Description

[0015] Figure 1 A schematic diagram of a loading robot for automatic processing of sheet metal parts provided for an embodiment of the present invention; Figure 2 A bottom-view plan view of the loading robot for automatic processing of sheet metal parts, provided for an embodiment of the present invention; Figure 3 A three-dimensional schematic diagram of a loading robot for automatic processing of sheet metal parts, provided for an embodiment of the present invention; Figure 4 A loading robot for automated sheet metal processing provided in this embodiment of the invention comprises... Figure 3 The resulting diagram is taken from an upward angle. Figure 5 A loading robot for automated sheet metal processing provided in this embodiment of the invention comprises... Figure 4A schematic diagram illustrating the disassembly process; Figure 6 A schematic diagram illustrating the working principle of a loading robot for automatic sheet metal processing, which loads sheet metal onto a bending machine for bending, provided for an embodiment of the present invention. Figure 7 This is a schematic diagram illustrating the working principle of a loading robot for automatic sheet metal processing, which transfers sheet metal onto a bending machine as part of an embodiment of the present invention.

[0016] In the diagram: 11. Robotic arm; 110. Arm unit; 111. Displacement seat; 112. Carrier; 113. External suction cup assembly; 1131. First suction cup array; 114. Drive mechanism; 1141. Gear; 1142. Linear slide rail; 1143. Linear slider; 1144. Rack; 1145. Front rod; 1146. Rear rod; 1147. First synchronizing rod; 1148. Second synchronizing rod; 115. Internal suction cup assembly; 1151. Second suction cup array. Detailed Implementation

[0017] The above and other embodiments and advantages 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.

[0018] In one implementation, such as Figures 1-7 As shown: This embodiment provides a loading robot for automatic sheet metal processing, including a robotic arm 11. The robotic arm 11 is a multi-stage drive arm assembly composed of multiple articulated arm units 110. A displacement seat 111 is installed on the bottommost primary linkage drive, and a carrier 112 is installed on the topmost primary linkage drive. The robotic arm 11 replaces manual handling of sheet metal parts and can rotate in multiple axes within a spatial range. It facilitates loading sheet metal from the storage area, moving it to the bending machine according to the motion program, and placing the sheet metal into the bending machine to complete the bending process according to the bending program. During the bending process, the carrier 112 is understood as a robotic arm, which is connected to the top of the robotic arm 11 through a multi-axis method. It rotates according to the bending program angle until the sheet metal part is bent. Through joints, multi-axis, multi-link modes, and intelligent control, the sheet metal part completes the entire bending process from picking up to transferring, from transferring to bending, and from bending to unloading, thus improving work efficiency.

[0019] An external suction cup assembly 113 is installed on the carrier 112. The suction cups are used as the gripping structure for sheet metal parts. The external suction cup assembly 113 is divided into two rows, front and back. Especially when gripping rectangular sheet metal parts, it can form two gripping areas on both sides of the sheet metal parts, so that the force is balanced. When the sheet metal is transferred to the bending machine, the gripping force is increased and displacement is avoided.

[0020] The carrier 112 is equipped with a drive mechanism 114, and the outer suction cup assembly 113 includes a first suction cup array 1131 symmetrically arranged on both sides of the drive mechanism 114. The two sides of the drive mechanism 114 are connected to the two first suction cup arrays 1131 and can drive the two first suction cup arrays 1131 to move in opposite directions or towards each other. This demonstrates that the gripping structure on the carrier 112 is adjustable. When the size of the sheet metal part being gripped is large, the distance between the two first suction cup arrays 1131 is increased to increase the gripping area, bringing the gripping point closer to the bending line, shortening the lever arm between the bending force point and the gripping point, and improving the gripping strength. When the size of the sheet metal part being gripped is small, the distance between the two first suction cup arrays 1131 is decreased to meet the needs of small size.

[0021] An inner suction cup assembly 115 is installed on the carrier 112. The inner suction cup assembly 115 includes a second suction cup array 1151 distributed inside the two first suction cup arrays 1131. While driving the two first suction cup arrays 1131 to move back and forth, the drive mechanism 114 also drives the two second suction cup arrays 1151 to move in opposite directions in the same direction as the first suction cup arrays 1131. After adjustment, the second suction cup arrays 1151 assist the first suction cup arrays 1131 to perform auxiliary gripping on the non-gripping areas of the first suction cup arrays 1131 on the sheet metal to improve the adsorption force.

[0022] The specific working principle is as follows: The robotic arm 11 transfers the carrier 112 to the material picking station, picks up the sheet metal through the first suction cup array 1131 and the second suction cup array 1151, and transfers the sheet metal to the bending machine to complete the bending according to the program. According to the bending position and size of the sheet metal, the distance between the two rows of first suction cup arrays 1131 is first adjusted. For example, when the sheet metal is too large, the two rows of first suction cup arrays 1131 move in opposite directions under the drive mechanism 114, widening the distance between them to accommodate larger sheet metal. Furthermore, based on the bending process, the bending position of the sheet metal is often located outside the gripping point of the robotic arm. Therefore, by adjusting the first suction cup arrays 1131 to be closer to the bending point, firstly, the lever arm between the suction point and the bending point is shortened when the sheet metal is bent under force, thus preventing the sheet metal from bending near the bending point; secondly, it prevents displacement of the suction point during sheet metal bending. When the two rows of first suction cup arrays 1131 are adjusted to move in opposite directions, the distance between them is larger, which will cause the inner side of the sheet metal's suction area to be stressed. The area is small, and the lack of support causes bending deformation. The second suction cup array 1151 in this invention is located in this area of ​​the sheet metal. The second suction cup array 1151 will also adjust outward with the first suction cup array 1131 and inward in the opposite way to the first suction cup array 1131 into this area, so that the adsorption points are evenly distributed in the center of gravity area of ​​the sheet metal, avoiding deformation or detachment due to insufficient support. In this way, multiple adsorption points are formed in the area of ​​the sheet metal, and these adsorption points can adjust inward according to the outward adjustment of the first suction cup array 1131, so as to compensate for the functional defect of bending deformation in the internal area of ​​the sheet metal (the area far from the bending part) caused by the lack of "re-adsorption (gripping)" function between the two rows of first suction cup arrays 1131.

[0023] In this embodiment, a drive mechanism 114 is provided in the middle of the carrier 112. Two sets of structures with first suction cup arrays 1131 are arranged on both sides of the drive mechanism 114, and these two sets of first suction cup arrays 1131 are driven by the drive mechanism 114. Correspondingly, a set of second suction cup arrays 1151 is provided inside each set of first suction cup arrays 1131, and these two sets of second suction cup arrays 1151 are also driven by the drive mechanism 114. Under the same drive mechanism 114, when the two sets of first suction cup arrays 1131 move in opposite directions or towards each other, the two sets of second suction cup arrays 1151 are also driven to adjust in the opposite direction to the movement of the first suction cup arrays 1131 on their respective sides. This achieves the purpose of adjusting the adsorption position according to the size of the sheet metal and firmly gripping the sheet metal. The same drive mechanism 114 adjusts the movement of four sets of suction cup arrays, which is easy to intelligently program and control when used in non-standard automation. For example, the intelligent detection unit is configured as a light curtain detection assembly consisting of a transmitter and a receiver mounted on the carrier 112. When the carrier 112, carrying the outer suction cup assembly 113 and the inner suction cup assembly 115, arrives at the sheet metal picking area, the transmitter and receiver calculate the outer contour dimensions of the sheet metal. The calculated data is sent to the terminal controlling the robot. The terminal determines the length and width dimensions of the sheet metal based on a set threshold, for example, a threshold set to a range of 1500mm * 1200 mm. When the actual dimensions of the sheet metal detected by the light curtain are within this range, the servo motor operates, adjusting the front and rear first suction cup arrays 1131 to within this suction range (e.g., 700 mm * 600 mm) to complete the suction and gripping. The robot will also control the robotic arm to complete multi-axis movements according to the set program, until the robotic arm transfers the sheet metal to the bending machine for bending.

[0024] Preferably, the suction ends of the suction cup units in the first suction cup array 1131 and the second suction cup array 1151 are perpendicularly oriented towards the bottom surface of the carrier 112. The vacuum suction ends of the first suction cup array 1131 and the second suction cup array 1151 are on the same plane.

[0025] Preferably, the topmost primary linkage drive of the robotic arm 11 is equipped with a power unit, which is electrically connected to and controlled by the terminal, and provides power to the drive mechanism 114.

[0026] Preferably, the drive mechanism 114 includes a gear 1141 disposed in the middle of the bottom surface of the carrier 112, two linear slide rails 1142 symmetrically arranged on the left and right sides of the gear 1141 and fixed to the bottom surface of the carrier 112, linear sliders 1143 sliding on the left and right linear slide rails 1142, and racks 1144 fixed on the left and right linear sliders 1143 and the right linear slider 1143. Two first suction cup arrays 1131 are symmetrically arranged on both sides of the gear 1141, and the rack on the left side... A front rod 1145 extending horizontally to the left is connected to the rack 1144. The first suction cup array 1131 on the left side is arranged and installed on the front rod 1145. A rear rod 1146 extending horizontally to the right is connected to the rack 1144 on the right side. The first suction cup array 1131 on the right side is arranged and installed on the rear rod 1146. The front rod 1145 and the rear rod 1146 are symmetrical on the front and rear sides of the gear 1141. The power device is a servo motor, and the gear 1141 is installed on the output shaft of the servo motor.

[0027] In this embodiment, when the system starts according to the sheet metal size requirements, the servo motor, as the power device, begins to rotate. The output shaft of the servo motor directly drives the gear 1141 to rotate. The rotating gear 1141 simultaneously meshes with the left rack 1144 and the right rack 1144. Since the initial positions of the racks 1144 on both sides of the gear 1141 are symmetrical and the gear 1141 is located in the middle, the rotation of the gear 1141 will inevitably drive the left rack 1144 and the right rack 1144 to move in opposite directions along their respective linear slide rails 1142 via the linear slider 1143. The left rack 1144, through its corresponding linear slider 1143, moves in opposite directions along its respective linear slide rail 1142. The connected front rod 1145 drives the left first suction cup array 1131 to move backward, and the right rack 1144 drives the right first suction cup array 1131 to move forward through the connected rear rod 1146, so that the front and rear rows of first suction cup arrays 1131 move in opposite directions, increasing the distance between them; conversely, the gear 1141 rotates in the opposite direction. Through the above transmission relationship, the front and rear rows of first suction cup arrays 1131 eventually move towards each other, reducing the distance between them. The former is suitable for adsorbing (grabbing) large-sized sheet metal after adjustment, and the latter is suitable for adsorbing (grabbing) small-sized sheet metal after adjustment.

[0028] As a single power input point, gear 1141 simultaneously meshes with racks 1144 on both sides, mechanically ensuring that the displacement of the racks on both sides and the connected suction cup array are equal in magnitude and opposite or opposite in direction. This eliminates the errors that may occur when relying on multi-motor synchronous control and achieves absolute synchronization. This design greatly saves the lateral space under the carrier 112, saving space for the installation of other components (such as the second suction cup array 1151 mechanism described below).

[0029] Preferably, the distance between any two adjacent suction cup units in the first suction cup array 1131 is consistent. That is, the first suction cup array 1131 in this embodiment is an array composed of multiple suction cup units, and the distance between the suction cup units is consistent. They are responsible for adsorbing the sheet metal and ensuring that multiple gripping points are formed on the sheet metal. When the robot transfers the sheet metal to the bending machine for bending, it ensures that the sheet metal will not fall off.

[0030] Preferably, a first synchronizing rod 1147 extending horizontally to the right is connected to the rack 1144 on the left side, a second suction cup array 1151 on the right side is arranged and installed on the first synchronizing rod 1147, a second synchronizing rod 1148 extending horizontally to the left is connected to the rack 1144 on the right side, and a second suction cup array 1151 on the left side is arranged and installed on the second synchronizing rod 1148.

[0031] The distribution positions of the second suction cup array 1151 were defined, such as... Figure 2 , Figure 4 as well as Figure 5 The second suction cup array 1151 on the left is located on the same side as the first suction cup array 1131 on the left, and the second suction cup array 1151 on the right is located on the same side as the first suction cup array 1131 on the right. When the left rack 1144 moves forward with the left first suction cup array 1131 driven by the gear 1141, the right rack 1144 also moves backward with the right first suction cup array 1131 driven by the gear 1141. The distance between the two rows of first suction cup arrays 1131 increases, and the suction cup units on the first suction cup array 1131 are sufficient for adsorbing large-sized sheet metal. In addition, the right rack 1144 moves backward with the left second synchronizing rod 1148, and the left second synchronizing rod 1148 drives the left second suction cup array 1151 to move backward relative to the left first suction cup array 1131 moving forward. Similarly, at this time, the right second suction cup array 1151 moves forward relative to the right first suction cup array 1131 moving backward. The suction cup units of the second suction cup array 1151 are sufficient for adsorbing areas of sheet metal that may be bent and deformed (the area of ​​the first suction cup array 1131 that is far from the gear 1141 lacks adsorption area). The second suction cup array 1151 on the left and right sides will move in the opposite direction to the first suction cup array 1131 on the left and right sides. Thus, when the first suction cup array 1131 in the front and rear rows is adjusted, the second suction cup array 1151 will also be adjusted to achieve the purpose of multi-point adsorption of sheet metal and prevent sheet metal from falling off or shifting. The above orientation references do not represent the specific orientations of each component in this implementation scheme. This implementation scheme is only for the convenience of describing the scheme and to make relative descriptions based on the orientations of the references. In reality, the specific orientations of each component are based on their actual installation and use, as well as the orientation descriptions that are customary to those skilled in the art. This is hereby stated.

[0032] The specific embodiments described above further illustrate the inventive purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, or improvements made by those skilled in the art within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A loading robot for automated sheet metal processing, characterized in that, It includes a robotic arm (11) and an intelligent detection unit. The robotic arm (11) is a multi-stage drive arm assembly consisting of multiple arm units (110) that are hinged together. A displacement seat (111) is installed on the bottom first-stage linkage drive, and a carrier (112) is installed on the top first-stage linkage drive. An external suction cup assembly (113) is installed on the carrier (112), and a drive mechanism (114) is provided on the carrier (112). The external suction cup assembly (113) includes a first suction cup array (1131) symmetrically located on the front and rear sides of the drive mechanism (114). The drive mechanism (114) drives the two first suction cup arrays (1131) under the control of the intelligent detection unit, and can drive the two first suction cup arrays (1131) to move in opposite directions or in the front and back directions. An inner suction cup assembly (115) is installed on the carrier (112). The inner suction cup assembly (115) includes a second suction cup array (1151) distributed inside the two first suction cup arrays (1131). The two sides of the driving mechanism (114) also drive and connect the two second suction cup arrays (1151), and drive the second suction cup arrays (1151) and the first suction cup arrays (1131) on the same side to move in opposite directions.

2. The loading robot for automatic processing of sheet metal parts according to claim 1, characterized in that, The intelligent detection unit is configured as a light curtain detection assembly consisting of a transmitter and a receiver mounted on the carrier (112). When the carrier (112) arrives at the sheet metal picking area with the outer suction cup assembly (113) and the inner suction cup assembly (115), the transmitter and receiver calculate the outer contour dimensions of the sheet metal.

3. A loading robot for automatic processing of sheet metal parts according to claim 2, characterized in that, The suction ends of the suction cup units in the first suction cup array (1131) and the second suction cup array (1151) are perpendicularly oriented toward the bottom surface of the carrier (112).

4. A loading robot for automatic sheet metal processing according to claim 3, characterized in that, The scope of the first suction cup array (1131) is satisfied that it reaches the left side of the carrier (112) to the left and the right side of the carrier (112) to the right.

5. A loading robot for automatic sheet metal processing according to claim 4, characterized in that, The robotic arm (11) is equipped with a power unit, and the drive mechanism (114) is connected to the power unit.

6. A loading robot for automatic processing of sheet metal parts according to claim 5, characterized in that, The drive mechanism (114) includes a gear (1141) disposed in the middle of the bottom surface of the carrier (112), and two linear slide rails (1142) symmetrically disposed on the left and right sides of the gear (1141) and fixed on the bottom surface of the carrier (112). Each of the left and right linear slide rails (1142) is equipped with a linear slider (1143) that slides back and forth. Each of the left and right linear sliders (1143) is equipped with a rack (1144). A front rod (1145) is connected to the rack (1144) on the left side. The first suction cup array (1131) on the front side is arranged and installed on the front rod (1145). A rear rod (1146) is connected to the rack (1144) on the right side. The first suction cup array (1131) on the rear side is arranged and installed on the rear rod (1146). The power device is a servo motor, and the gear (1141) is mounted on the output shaft of the servo motor.

7. A loading robot for automatic sheet metal processing according to claim 6, characterized in that, The distance between any two adjacent suction cup units in the first suction cup array (1131) is consistent.

8. A loading robot for automatic processing of sheet metal parts according to claim 7, characterized in that, The rack (1144) on the left side is connected to a first synchronizing rod (1147) extending horizontally to the right, and the second suction cup array (1151) on the right side is arranged and installed on the first synchronizing rod (1147). The rack (1144) on the right side is connected to a second synchronizing rod (1148) extending horizontally to the left, and the second suction cup array (1151) on the left side is arranged and installed on the second synchronizing rod (1148).

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