Automatic feeding and discharging structure

Abstract

The utility model discloses an automatic feeding and discharging structure, a feeding and discharging conveying line comprises at least two conveying lines arranged on a machine frame, the at least two conveying lines are opposite in running direction and used for feeding and discharging materials, a CCD camera recognizes the positions of the materials on the conveying line for feeding the materials, and a multi-axis mechanical arm is arranged on the side of the feeding and discharging conveying line. A clamping part is arranged at the free end of the multi-axis mechanical arm and comprises a pneumatic clamping jaw and a positioning tool, the multi-axis mechanical arm drives the positioning tool to position materials, and the pneumatic clamping jaw clamps the materials and is used for moving the materials away from the conveying line for material feeding or moving the materials to the conveying line for material discharging. Feeding and discharging are carried out through the two conveying lines with the opposite running directions, the positions of materials are determined through the CCD camera for the feeding conveying lines, the materials are accurately clamped and moved through the clamping part on the multi-axis mechanical arm, the feeding and discharging efficiency and precision are improved, the moving range of operators or the multi-axis mechanical arm can be narrowed, and the working efficiency is improved. And the feeding and discharging efficiency can be further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of a sanding machine shell processing device, in particular to an automatic loading and unloading structure. Background Art

[0002] As attached Figure 5 The schematic diagram of the belt sander housing 100 is shown, which has a plurality of mounting holes for assembling the belt sander housing 100. Figure 5 Only the first mounting hole 101 and the second mounting hole 101' are shown. The belt sander housing 100 needs to be machined to meet the use requirements of the finished product. In the process of loading it to the machining center, the conventional manual loading method cannot effectively guarantee and improve the speed and accuracy.

[0003] In the prior art, there is an automatic loading and unloading mechanism with application number 201920437967.4, which discloses a first conveyor line for loading and a second conveyor line for unloading arranged in parallel on a workbench, and achieves the purpose of fully automated loading and unloading through a multi-axis manipulator cooperating with a turntable loading module and a turntable unloading module. However, it requires the cooperation of the turntable loading module, the turntable unloading module and the material receiving and changing plate module. The entire loading and unloading structure is relatively complicated, and the positioning and loading accuracy of the clamped product cannot be guaranteed during the material moving process of the multi-axis manipulator. Utility Model Content

[0004] The purpose of the utility model is to provide an automated loading and unloading structure, which performs loading and unloading through two conveyor lines running in opposite directions, determines the position information of the material through a CCD camera on the loading conveyor line, and accurately clamps and moves the material by the clamping part on the multi-axis manipulator, thereby improving the loading and unloading efficiency and accuracy, and further improving the loading and unloading efficiency by reducing the moving range of the operator or the multi-axis manipulator.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is: an automatic loading and unloading structure, comprising:

[0006] frame,

[0007] The loading and unloading conveyor line comprises at least two conveyor lines arranged on the frame, and at least two conveyor lines running in opposite directions are used for material loading and material unloading respectively.

[0008] CCD camera is used to identify the position of materials on the conveyor line where materials are fed.

[0009] A multi-axis manipulator is arranged beside a loading and unloading conveyor line, and at least one clamping part is provided at a free end, wherein the clamping part comprises a pneumatic clamp and a positioning tooling arranged on the pneumatic clamping part for positioning the material. The multi-axis manipulator drives the clamping part and positions the material through the positioning tooling, and the pneumatic clamping part clamps the material to move the material away from the conveyor line for material loading, or to move the material to the conveyor line for material unloading.

[0010] As a further optimization, there are two conveyor lines, which are arranged vertically, so as to save space and reduce the moving range of the operator or the robot.

[0011] As a further optimization, both ends of the conveyor line located below protrude from the vertical projection plane of the conveyor line located above, which is convenient for operators and multi-axis manipulators to operate the sanding machine housing on the conveyor line below.

[0012] As a further optimization, a material baffle is provided on the conveyor line at least at its feeding end to prevent the sanding machine housing from falling and causing damage.

[0013] As a further optimization, a direction mark is provided on the conveyor line to prevent the operator from placing the sanding machine housing on the wrong conveyor line when loading.

[0014] As a further optimization, the positioning tooling includes a mounting plate, a cross plate and a first positioning pin. The mounting plate is arranged on the side wall of the pneumatic clamp, the cross plate is arranged at the lower end of the mounting plate, and at least one pair of the first positioning pins is arranged at the lower end of the cross plate for embedding in the mounting hole of the material to position the material. The first positioning pin can ensure the clamping accuracy when loading the material through the multi-axis robot.

[0015] As a further optimization, a through hole is provided on the mounting plate, and a locking hole is provided on the side wall of the pneumatic clamp. The mounting plate is fixed to the pneumatic clamp by a bolt passing through the through hole and extending into the locking hole, so that the positioning tooling can be quickly replaced and the universality of sanding machine housings of different specifications can be achieved.

[0016] As a further optimization, a gasket is provided on the pneumatic clamp and / or the side of the positioning tooling close to the material. The gasket can be made of non-hard materials such as rubber to prevent damage to the sanding machine housing.

[0017] As a further optimization, the clamping parts are provided with two, which can increase the clamping quantity and feeding efficiency of the sanding machine housing.

[0018] As a further optimization, it also includes an intermediate transfer platform, on which a second positioning pin is provided, which has the function of intermediate bearing, namely, adjusting the feeding rate and temporarily positioning the sanding machine housing.

[0019] Compared with the prior art, the utility model has the following beneficial effects:

[0020] 1. Loading and unloading are carried out through two conveyor lines running in opposite directions, and the position information of the material is determined by the CCD camera vision of the loading conveyor line. The material is accurately clamped and moved by the clamping part of the multi-axis manipulator, which can complete the accurate and precise loading of materials and improve the efficiency and accuracy of loading and unloading;

[0021] 2. Arranging the two conveyor lines in the vertical direction can save space and reduce the range of operators or multi-axis robots at both ends of the conveyor lines, thereby improving loading and unloading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural diagram of the utility model.

[0023] Figure 2 It is a structural diagram of the loading and unloading conveying line of the utility model.

[0024] Figure 3 This is a structural diagram of the clamping part of the utility model installed on a multi-axis manipulator.

[0025] Figure 4 It is an exploded view of the clamping part of the utility model.

[0026] Figure 5 Schematic diagram of the belt sander housing. DETAILED DESCRIPTION

[0027] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0028] like Figures 1 to 4As shown, an automated loading and unloading structure includes a frame 1, loading and unloading conveyor lines, a CCD camera 4 and a multi-axis manipulator 5. The loading and unloading conveyor lines include at least two conveyor lines arranged on the frame 1, and at least two conveyor lines with opposite running directions are respectively used for material loading and material unloading. The material can be a handheld sanding machine shell 100 that needs to be machined, etc., which is made of metal. The utility model preferably has two conveyor lines in total, namely a loading conveyor line 2 and a unloading conveyor line 3. The loading conveyor line 2 and the unloading conveyor line 3 are arranged in an upper and lower arrangement, and the loading conveyor line 2 is located at the top, and it feeds from the outside of the frame 1 to the multi-axis manipulator 5 to complete the loading of the sanding machine shell 100, and the unloading conveyor line 3 feeds from the multi-axis manipulator 5 to the outside of the frame 1 to complete the unloading of the sanding machine shell (after machining), and the CCD camera 4 is arranged on the frame. 1 is used to identify the position of the sanding machine housing 100 on the feeding conveyor line 2 and transmit the position information to the control system. The multi-axis manipulator 5 is arranged beside the feeding conveyor line 2 and the unloading conveyor line 3, and at least one clamping part 6 is provided at the free end. In the utility model, it is preferred that the clamping parts 6 are respectively provided on the two adjacent side walls of the free end of the multi-axis manipulator 5. The clamping part 6 includes a pneumatic clamping jaw 61 and a positioning tool 62 arranged on the pneumatic clamping jaw 61 for positioning the sanding machine housing 100. The multi-axis manipulator 5 is driven by the positioning tool 62 to position the sanding machine housing 100 according to the position information of the sanding machine housing 100 of the feeding conveyor line 2 given by the control system, and the pneumatic clamping jaw 61 clamps the sanding machine housing 100 to move it away from the feeding conveyor line 2 and load it to the processing position, or the multi-axis manipulator 5 moves the sanding machine housing 100 away from the processing position to the unloading conveyor line 3 for unloading.

[0029] In the present utility model, materials are loaded and unloaded through two conveyor lines running in opposite directions, and the position information of the materials is visually determined by the CCD camera 4 for the conveyor line for loading, and the materials are accurately clamped and moved by the clamping part 6 on the multi-axis manipulator 5, so as to complete the accurate and precise loading of the materials. During the unloading process, the materials are accurately clamped and moved to the unloading conveyor line 3 by the clamping part 6 on the multi-axis manipulator 5, so as to complete the unloading of the materials. Through the above-mentioned settings and steps, the materials can be loaded onto the loading conveyor line 2 without positioning and without ensuring the placement form (only the upper and lower positions need to be accurate), eliminating the initial positioning link of the materials, and the CCD camera 4 cooperates with the multi-axis manipulator 5 to automatically identify the position and clamp, thereby improving the loading efficiency and accuracy, and the positioning fixture 62 on the multi-axis manipulator 5 cooperates with the pneumatic clamp 61 to position the materials that are loaded again by the multi-axis manipulator 5 during the loading process, thereby improving the loading speed and accuracy.

[0030] Moreover, arranging the loading conveyor line 2 and the unloading conveyor line 3 in the up-and-down direction can save space, and can reduce the range of operators or multi-axis manipulators 5 at both ends of the conveyor line, and can further improve the efficiency of loading and unloading.

[0031] The two ends of the unloading conveyor line 3 preferably protrude from the two ends of the loading conveyor line 2, so as to facilitate the operators and multi-axis manipulators at the two ends to perform loading and unloading operations.

[0032] Material baffles are provided at both ends of the loading conveyor line 2 and the unloading conveyor line 3, for example, a material baffle 21 is provided at the end of the running direction of the loading conveyor line 2 to prevent materials from falling. However, since the frequency of the loading action of the multi-axis manipulator 5 is higher, the material loading action can be completed faster. Therefore, the material baffle plate is provided, especially for the end of the running direction of the unloading conveyor line 3. By providing the material baffle plate, it can be avoided that the operator cannot complete the unloading action in time to block the material, thereby preventing the machined material from falling and causing damage.

[0033] Direction markings may also be provided on at least one conveyor line, for example, a plurality of direction markings 22 may be provided on the feeding conveyor line 2 along its running direction, so as to prevent operators from misplacing materials to be fed.

[0034] For example Figure 3 and Figure 4 As shown, while the conveyor line can ensure the feeding rate and accuracy, the positioning tool 62 includes a mounting plate 621, a cross plate 622 and a first positioning pin, the two first positioning pins are respectively the front first positioning pin 60 and the rear first positioning pin 60′ (corresponding to the first mounting hole 101 and the second mounting hole 101′ on the sanding machine housing 100, respectively, and the two positioning pins can achieve clamping in the correct position), the mounting plate 621 is arranged on the side wall of the pneumatic clamp 61, the cross plate 622 is arranged at the lower end of the mounting plate 621, and the first positioning pin is arranged at the lower end of the cross plate 622 for embedding in the mounting hole of the sanding machine housing 100 to position the material, which can ensure the accurate position of the clamping part 6 when clamping the sanding machine housing 100, thereby improving the accuracy of the multi-axis manipulator 5 when loading. Moreover, for the sanding machine housing 100 that is irregularly placed on the feeding conveyor line 2 for feeding, the positioning fixture 62 (first positioning pin) can be provided to ensure the accuracy of the clamped position, thereby ensuring the accuracy of material feeding.

[0035] In addition, a through hole 620 is provided on the mounting plate 621, and a locking hole 610 is provided on the side wall of the pneumatic clamp 61. The mounting plate 621 is fixed to the pneumatic clamp 61 by a bolt passing through the through hole 620 and extending into the locking hole 610. The positioning tool 62 (more specifically, different positioning tools 62 have first positioning pins with different positions or intervals) can be quickly replaced so as to be suitable for the positioning of different sanding machine housings, thereby improving the applicability of the entire loading and unloading structure.

[0036] A first gasket 612 and a second gasket 623 may be respectively provided on the side walls close to each other on a pair of clamping arms 611 of the pneumatic clamping jaws 61 and on the lower side wall of the transverse plate to prevent the clamping portion 6 from causing hard contact and damage to the sanding machine housing 100 when clamping the sanding machine housing 100 .

[0037] For example Figure 2 As shown, the automated loading and unloading structure also includes an intermediate transfer platform 7, on which a second positioning pin 71 is provided. The intermediate transfer platform 7 can be used by the multi-axis manipulator 5 to move the material on the loading conveyor line 2 to this place for temporary storage for adjusting the loading and unloading rate. On the other hand, the sanding machine housing can be positioned by the second positioning pin 71 to ensure that after the multi-axis manipulator 5 completes the unloading action, there is no need to visually position the sanding machine housing during the process of moving the material on the transfer carrier 7 for the second loading. The sanding machine housing 100 can be directly clamped according to the established intermediate transfer platform 7 or the position information of the second positioning pin 71 thereon, and the loading accuracy and loading rate can also be improved.

[0038] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. An automatic loading and unloading structure, characterized in that: include: frame, The loading and unloading conveyor line comprises at least two conveyor lines arranged on the frame, and at least two conveyor lines running in opposite directions are used for material loading and material unloading respectively. CCD camera is used to identify the position of materials on the conveyor line where materials are fed. A multi-axis manipulator is arranged beside a loading and unloading conveyor line, and at least one clamping part is provided at a free end, wherein the clamping part comprises a pneumatic clamp and a positioning tooling arranged on the pneumatic clamping part for positioning the material. The multi-axis manipulator drives the clamping part and positions the material through the positioning tooling, and the pneumatic clamping part clamps the material to move the material away from the conveyor line for material loading, or to move the material to the conveyor line for material unloading.

2. The automatic loading and unloading structure according to claim 1 is characterized in that: There are two conveying lines, and the two conveying lines are arranged up and down.

3. The automatic loading and unloading structure according to claim 2 is characterized in that: Both ends of the conveying line located below protrude from the vertical projection plane of the conveying line located above.

4. The automatic loading and unloading structure according to claim 1 is characterized in that: The conveying line is provided with a material blocking plate at least at the feeding end thereof.

5. The automatic loading and unloading structure according to any one of claims 1 to 4, characterized in that: The conveying line is provided with a direction mark.

6. The automatic loading and unloading structure according to claim 1 is characterized in that: The positioning tooling includes a mounting plate, a transverse plate and a first positioning pin. The mounting plate is arranged on the side wall of the pneumatic clamp, the transverse plate is arranged at the lower end of the mounting plate, and at least one pair of the first positioning pins are arranged at the lower end of the transverse plate for embedding in the mounting hole of the material to position the material.

7. The automatic loading and unloading structure according to claim 6 is characterized in that: The mounting plate is provided with a through hole, the side wall of the pneumatic clamp is provided with a locking hole, and the mounting plate is fixed to the pneumatic clamp by means of a bolt that passes through the through hole and extends into the locking hole.

8. The automatic loading and unloading structure according to claim 1, 6 or 7, characterized in that: A gasket is provided on the pneumatic clamping jaw and / or the positioning tooling on a side close to the material.

9. The automatic loading and unloading structure according to claim 1, characterized in that: The clamping parts are two.

10. The automatic loading and unloading structure according to claim 1 or 9, characterized in that: It also includes a middle transfer platform, on which a second positioning pin is disposed.

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