Robot automatic feeding and discharging device

Abstract

The utility model discloses a robot automatic feeding and discharging device which comprises a robot, a discharging component and a conveying component, the robot is located on one side of the discharging component and the conveying component, the discharging component comprises a vibration material channel and a vibration disc stock bin, the vibration disc stock bin is connected with the vibration material channel, and the conveying component is located on one side of the conveying component. The robot is provided with a workpiece paw, and the workpiece paw is used for grabbing parts at the discharging end of the vibration material channel and parts on the machine tool chuck and placing the parts on the conveying component. The small part automatic feeding and discharging device has the advantages that feeding and discharging of small parts can be completed through one robot, automatic feeding and discharging of the small parts are achieved, the number of used robots is reduced, the occupied area of the robots is reduced, and the total use cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical devices, in particular to a robot automatic loading and unloading device. Background Art

[0002] With the rapid development of people's living standards, robots are used in more and more scenarios when processing different parts.

[0003] At present, when robots are used for assisted processing, a robot's manipulator takes the parts from the material pile and then installs them on the processing equipment. After the processing is completed, another robot's manipulator unloads and stacks them. The two manipulators are expensive and occupy a large factory area, which is costly to use. Especially when processing small parts, it is difficult for robots to accurately grasp and locate small parts, resulting in the inability to realize automatic loading and unloading of small parts. Summary of the invention

[0004] The purpose of the utility model is to provide a robot automatic loading and unloading device, so that one robot can complete the loading and unloading of small parts, realize automatic loading and unloading of small parts, reduce the number of robots used, and reduce the overall use cost.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme.

[0006] A robot automatic loading and unloading device comprises a robot, a discharging component and a transmission component, wherein the robot is located on one side of the discharging component and the transmission component, the discharging component comprises a vibrating material channel and a vibrating disk silo, the vibrating disk silo is connected to the vibrating material channel, and a workpiece gripper is installed on the robot, through which the workpiece gripper grabs the parts at the discharging end of the vibrating material channel and the parts on the machine tool chuck, and places the parts on the transmission component.

[0007] The utility model adopts the above-mentioned scheme, by arranging the robot on one side of the discharging component and the transmission component, and arranging the discharging component to include a vibrating material channel and a vibrating disk silo, so that the vibrating disk silo is connected to the vibrating material channel, so that small parts can be shaken out of the vibrating disk silo and enter the outlet end of the vibrating material channel, and a workpiece gripper is installed on the robot, through which the workpiece gripper grabs small parts at the discharging end of the vibrating material channel and small parts on the machine tool chuck, and places small parts on the transmission component, so that the workpiece gripper can grab small parts at the discharging end of the vibrating material channel and put them into the machine tool, and can also place processed small parts on the transmission component, and place the finished small parts at the specified position through the transmission component, so that one robot can complete the loading and taking of small parts, realize automatic loading and unloading of small parts, reduce the number of robots used, reduce the floor space occupied by robots, and reduce the overall cost of use.

[0008] Preferably, the discharging components include at least two, each of which includes a spiral trough and a vibration plate, the spiral trough is connected above the vibration plate, and the outlet of the spiral trough is connected to the vibration channel.

[0009] In this way, by connecting the spiral trough above the vibration plate, the outlet of the spiral trough is connected to the vibration channel, so that the parts in the spiral trough can be vibrated to the vibration channel through the vibration plate, thereby realizing automatic material transportation.

[0010] Preferably, each of the discharging components includes a connecting rail, the two ends of which are respectively connected to the outlet of the spiral trough and the inlet of the vibrating material channel, and a material channel for parts to pass through is formed on the connecting rail, and the material channel is communicated with the spiral trough and the vibrating material channel.

[0011] In this way, the outlet of the spiral trough and the inlet of the vibrating channel are connected by setting a connecting rail, and a channel for parts to pass through is formed on the connecting rail, so that the parts can smoothly enter the vibrating channel from the spiral trough.

[0012] Preferably, each of the connecting rails is arranged at an angle, and one end of the connecting rail connected to the spiral trough is inclined upward.

[0013] In this way, by tilting each connecting rail and tilting the end of the connecting rail connected to the spiral trough upward, it is convenient to assist small parts to smoothly reach the vibrating material channel.

[0014] Preferably, the lower end of each of the vibrating channels is connected to a linear vibrator, and the discharge ends of the vibrating channels are inclined downward.

[0015] In this way, by connecting a linear vibrator to the lower end of the vibrating channel and tilting the discharge end of the vibrating channel downward, small parts can be vibrated to the discharge end of the vibrating channel by the linear vibrator.

[0016] Preferably, an infrared sensor is connected to the discharge end of each of the vibrating channels.

[0017] In this way, by connecting an infrared sensor to the discharge end of each vibrating material channel, it is convenient to detect whether there are parts at the discharge end through the infrared sensor, so as to ensure that the robot's workpiece gripper can smoothly grasp the parts.

[0018] Preferably, the workpiece grippers include two, and the distance between the two workpiece grippers is the same as the distance between the center lines of the two vibrating channels.

[0019] In this way, by setting up two workpiece grippers and setting the distance between the two workpiece grippers to be the same as the distance between the center lines of the two vibrating material channels, the two grippers can simultaneously grab the parts at the discharge ends of the two vibrating material channels, thereby grabbing two parts at a time and improving work efficiency.

[0020] Preferably, the transmission component comprises a conveyor belt mechanism, and an inlet end of the conveyor belt mechanism is located at one side of the robot.

[0021] In this way, a conveyor belt mechanism is set up to facilitate the robot to transfer the processed parts to the designated location through the conveyor belt mechanism, replacing manual transportation.

[0022] Preferably, a workpiece blocking block is installed above the outlet end of the conveyor belt mechanism, and both ends of the workpiece blocking block are connected to brackets on both sides of the conveyor belt mechanism.

[0023] In this way, a workpiece stopper is installed above the outlet end of the conveyor belt mechanism to facilitate limiting the continued movement of the parts through the workpiece stopper.

[0024] Preferably, it further comprises a tray frame and a transmission belt frame, the discharging member is connected to the upper end of the tray frame, and the conveyor belt mechanism is connected to the upper end of the transmission belt frame.

[0025] In this way, the material tray frame and the transmission belt frame are provided, so that the material tray frame can be used to support and position the discharging component, and the transmission belt mechanism can be supported and positioned by the transmission belt frame.

[0026] The beneficial effects of the utility model are as follows: by arranging the robot on one side of the discharging component and the transmission component, and arranging the discharging component to include a vibrating material channel and a vibrating disk silo, the vibrating disk silo is connected to the vibrating material channel, so that small parts can be shaken out of the vibrating disk silo and enter the outlet end of the vibrating material channel, and a workpiece gripper is installed on the robot, through which the small parts at the discharging end of the vibrating material channel and the small parts on the machine tool chuck are grasped, and the small parts are placed on the transmission component, so that the workpiece gripper can grasp the small parts at the discharging end of the vibrating material channel and can be placed on the machine tool, and the processed small parts can be placed on the transmission component, and the finished small parts are placed at the designated position through the transmission component, so that one robot can complete the loading and taking of small parts, realize automatic loading and unloading of small parts, reduce the number of robots used, reduce the floor space occupied by robots, and reduce the overall cost of use. Two workpiece grippers are provided, and the distance between the two workpiece grippers is set to be the same as the distance between the center lines of the two vibrating material channels, so that the two grippers can simultaneously grasp the parts at the discharge ends of the two vibrating material channels, thereby achieving two parts grasping at one time and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1It is a structural diagram of the utility model;

[0028] Figure 2 It is a structural diagram of the discharging component of the utility model. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings, but the present invention is not limited to the scope of the embodiments described.

[0030] The figure marks in the drawings of the specification include: robot 1, workpiece gripper 11, tray frame 23, vibration plate 2, spiral trough 21, connecting rail 22, vibration channel 3, linear vibrator 31, infrared sensor 32, conveyor belt mechanism 4, transmission belt frame 42, workpiece blocking block 41, processing machine tool 5, machine tool chuck 51.

[0031] The words "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one", "an" or "the" and similar words do not indicate a quantity limitation, but rather indicate the presence of at least one. Similarly, words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections or communication connections, whether direct or indirect.

[0032] Embodiment 1, as Figure 1 and Figure 2 As shown; a robot automatic loading and unloading device includes a robot 1, a discharging component and a transmission component, the robot 1 is located on one side of the discharging component and the transmission component, the discharging component includes a vibrating material channel 3 and a vibrating disk silo, the vibrating disk silo is connected to the vibrating material channel 3, and a workpiece gripper 11 is installed on the robot 1, and the workpiece gripper 11 is used to grab the parts at the discharging end of the vibrating material channel 3 and the parts on the machine tool chuck 51, and place the parts on the transmission component.

[0033] See also Figure 1 and Figure 2 , the discharging components include at least two, each of which includes a spiral trough 21 and a vibrating plate 2, the spiral trough 21 is connected above the vibrating plate 2, and the outlet of the spiral trough 21 is connected to the vibrating channel 3. In this way, by connecting the spiral trough 21 above the vibrating plate 2 and connecting the outlet of the spiral trough 21 to the vibrating channel 3, it is convenient to vibrate the parts in the spiral trough 21 to the vibrating channel 3 through the vibrating plate 2, so as to realize automatic material transportation.

[0034] See also Figure 1 and Figure 2 Each of the discharging components includes a connecting rail 22, the two ends of which are respectively connected to the outlet of the spiral trough 21 and the inlet of the vibrating material channel 3, and a material channel for parts to pass through is formed on the connecting rail 22, and the material channel is communicated with the spiral trough 21 and the vibrating material channel 3. In this way, by providing the connecting rail 22 to connect the outlet of the spiral trough 21 and the inlet of the vibrating material channel 3, and forming a material channel for parts to pass through on the connecting rail 22, the parts can smoothly enter the vibrating material channel 3 from the spiral trough 21.

[0035] See also Figure 1 and Figure 2 Each of the connecting rails 22 is tilted, and one end of the connecting rail 22 connected to the spiral trough 21 is tilted upward. In this way, by tilting each of the connecting rails 22 and tilting one end of the connecting rail 22 connected to the spiral trough 21 upward, it is convenient to assist small parts to smoothly reach the vibrating channel 3.

[0036] See also Figure 1 and Figure 2 , each of the vibrating channels 3 is connected to a linear vibrator 31 at its lower end, and the discharge ends of the vibrating channels 3 are tilted downward. Thus, by connecting a linear vibrator 31 to the lower end of the vibrating channels 3 and tilting the discharge ends of the vibrating channels 3 downward, it is convenient for small parts to be vibrated to the discharge end of the vibrating channels 3 by the linear vibrator 31.

[0037] See also Figure 1 and Figure 2 , each of the vibrating channel 3 is connected to an infrared sensor 32 at the discharging end. In this way, by connecting the infrared sensor 32 to the discharging end of each vibrating channel 3, it is convenient to detect whether there is a part at the discharging end through the infrared sensor 32, so as to ensure that the workpiece gripper 11 of the robot 1 can smoothly grab the part.

[0038] See also Figure 1 and Figure 2 , the workpiece gripper 11 includes two, and the distance between the two workpiece grippers 11 is the same as the distance between the center lines of the two vibration channels 3. In this way, by providing two workpiece grippers 11 and setting the distance between the two workpiece grippers 11 to be the same as the distance between the center lines of the two vibration channels 3, it is convenient for the two grippers to simultaneously grasp the parts at the discharge ends of the two vibration channels 3, so that two parts can be grasped at one time, thereby improving work efficiency.

[0039] See also Figure 1 and Figure 2The transmission component includes a conveyor belt mechanism 4, and the inlet end of the conveyor belt mechanism 4 is located on one side of the robot 1. In this way, the conveyor belt mechanism 4 is provided to facilitate the robot 1 to transmit the processed parts to the designated location through the conveyor belt mechanism 4, instead of manual transportation. Figure 1 A workpiece stopper 41 is installed above the outlet end of the conveyor belt mechanism 4, and both ends of the workpiece stopper 41 are connected to brackets on both sides of the conveyor belt mechanism 4. In this way, the workpiece stopper 41 is installed above the outlet end of the conveyor belt mechanism 4, so that the workpiece stopper 41 can be used to limit the continued movement of the parts.

[0040] See also Figure 1 , further comprising a tray frame 23 and a transmission belt frame 42, the discharging member is connected to the upper end of the tray frame 23, and the conveyor belt mechanism 4 is connected to the upper end of the transmission belt frame 42. In this way, the tray frame 23 and the transmission belt frame 42 are provided, so that the discharging member is supported and positioned by the tray frame 23, and the conveyor belt mechanism 4 is supported and positioned by the transmission belt frame 42.

[0041] The robot 1 in the utility model is implemented by a robot 1 with 4 axes or more. The workpiece gripper of the utility model is suitable for parts with holes. When grasping, the workpiece gripper extends into the inner hole of the part, and the gripper is unfolded and supported in the inner hole of the part to grasp the part. The discharge component in the utility model is suitable for small parts output arrangement, and the output arrangement assists the robot 1 to grasp small parts, and with the cooperation of the robot 1, automatic grasping of parts is realized, replacing manual handling and installation of parts.

[0042] During operation, the vibration of the vibration plate 2 causes the small parts in the spiral trough 21 to enter the vibrating channel 3 from the discharge end of the spiral trough 21 in sequence, and under the action of the linear vibrator 31, the parts are vibrated and arranged in sequence to the discharge end of the vibrating channel 3, and the infrared sensor 32 is used to detect whether the parts are in place. The workpiece gripper 11 of the robot 1 rotates and extends into the process hole of the small part, grabs the small part and places it on the machine tool chuck 51. After the processing of the small part by the processing machine tool 5 is completed, the workpiece gripper 11 grabs the small part and places it at the input end of the conveyor belt mechanism 4 to transport the part.

[0043] The preferred specific embodiments of the utility model are described in detail above. It should be understood that ordinary technicians in this field can make many modifications and changes based on the concept of the utility model without creative work. Therefore, all technical solutions that can be obtained by technicians in this technical field based on the concept of the utility model through logical analysis, reasoning or limited experiments on the basis of the existing technology should be within the scope of protection determined by the claims.

Claims

1. A robot automatic loading and unloading device, characterized in that: The invention comprises a robot (1), a discharging component and a transmission component, wherein the robot (1) is located on one side of the discharging component and the transmission component, the discharging component comprises a vibrating material channel (3) and a vibrating disk bin, the vibrating disk bin is connected to the vibrating material channel (3), and a workpiece gripper (11) is installed on the robot (1), and the workpiece gripper (11) is used to grasp parts at the discharging end of the vibrating material channel (3) and parts on a machine tool chuck (51), and to place parts on the transmission component.

2. The robot automatic loading and unloading device according to claim 1 is characterized in that: The discharging components include at least two, each of which includes a spiral trough (21) and a vibrating plate (2), the spiral trough (21) is connected above the vibrating plate (2), and the outlet of the spiral trough (21) is connected to the vibrating channel (3).

3. The robot automatic loading and unloading device according to claim 2 is characterized in that: Each of the discharging components comprises a connecting rail (22), the two ends of which are respectively connected to the outlet of the spiral trough (21) and the inlet of the vibrating channel (3), and a channel for parts to pass through is formed on the connecting rail (22), and the channel is in communication with the spiral trough (21) and the vibrating channel (3).

4. The robot automatic loading and unloading device according to claim 3 is characterized in that: Each of the connecting rails (22) is arranged obliquely, and one end of the connecting rail (22) connected to the spiral trough (21) is inclined upward.

5. The robot automatic loading and unloading device according to claim 1 is characterized in that: The lower end of each of the vibrating channels (3) is connected to a linear vibrator (31), and the discharge ends of the vibrating channels (3) are inclined downward.

6. The robot automatic loading and unloading device according to claim 5, characterized in that: An infrared sensor (32) is connected to the discharge end of each of the vibrating channels (3).

7. The robot automatic loading and unloading device according to claim 1, characterized in that: The workpiece grippers (11) include two, and the distance between the two workpiece grippers (11) is the same as the distance between the center lines of the two vibration channels (3).

8. The robot automatic loading and unloading device according to any one of claims 1 to 7, characterized in that: The transmission component comprises a conveyor belt mechanism (4), and an inlet end of the conveyor belt mechanism (4) is located on one side of the robot (1).

9. The robot automatic loading and unloading device according to claim 8, characterized in that: A workpiece blocking block (41) is installed above the outlet end of the conveyor belt mechanism (4), and both ends of the workpiece blocking block (41) are connected to brackets on both sides of the conveyor belt mechanism (4).

10. The robot automatic loading and unloading device according to claim 8, characterized in that: It also comprises a material tray frame (23) and a transmission belt frame (42), the material discharging component is connected to the upper end of the material tray frame (23), and the transmission belt mechanism (4) is connected to the upper end of the transmission belt frame (42).

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