Floating feeding and discharging manipulator and feeding and discharging device thereof

Abstract

The utility model relates to a floating feeding and discharging mechanical arm and a feeding and discharging device thereof. The floating feeding and discharging mechanical arm comprises a fixing plate, a mounting plate, a clamping jaw air cylinder, two workpiece clamping jaws and two floating mechanisms. The clamping jaw cylinder is fixed at the bottom of the mounting plate; the two workpiece clamping jaws are connected with the clamping jaw air cylinder; the floating mechanism comprises a first supporting plate, a second supporting plate, two T-shaped guide rods, a third supporting plate, two springs and two suction cups. The first supporting plate is fixed at the bottom of the mounting plate; the middle of the second supporting plate is connected with the bottom of the first supporting plate. The two T-shaped guide rods are arranged at the two ends of the second supporting plate in a penetrating mode. The third supporting plate is connected with the bottoms of the two T-shaped guide rods; the two springs are arranged on the two T-shaped rods in a sleeving mode correspondingly. The two suckers are fixed to the two ends of the bottom of the third supporting plate. The non-straight automobile parts in the material box can be taken out through the floating mechanism and adjusted to be in a straight state, then the two workpiece clamping jaws are driven by the clamping jaw air cylinder to clamp the automobile parts, and normal machining forming of the automobile parts is guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of parts processing, in particular to a floating loading and unloading manipulator and a loading and unloading device thereof. Background Art

[0002] In the production process of automobile parts (mainly plate-like structures), it is necessary to use a robot to clamp the automobile parts in the material box and place them flatly on the tooling of the processing workstation, and then process them into shape at the processing workstation. However, automobile parts are usually stacked in the material box in a disorderly manner. The automobile parts are not flat in the material box. If the automobile parts are clamped directly by the workpiece clamp, the automobile parts will not be clamped or the automobile parts will be tilted after clamping, which will affect the normal processing and forming of the automobile parts. Utility Model Content

[0003] The main purpose of the utility model is to propose a floating loading and unloading manipulator and a loading and unloading device thereof, which can effectively solve the problems in the background technology.

[0004] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0005] A floating loading and unloading manipulator, characterized in that:

[0006] Fixed plate;

[0007] A mounting plate, vertically fixed to the bottom of the fixing plate;

[0008] A gripper cylinder, fixed to the bottom of the mounting plate;

[0009] Two workpiece clamping jaws are connected to the clamping jaw cylinder, and the clamping jaw cylinder can control the opening and closing of the two workpiece clamping jaws;

[0010] Two sets of floating mechanisms are fixed at the bottom of the mounting plate and are respectively located on both sides of the clamping cylinder. The floating mechanisms include

[0011] A first support plate, fixed to the bottom of the mounting plate;

[0012] A second support plate, the middle portion of which is fixedly connected to the bottom of the first support plate;

[0013] Two T-shaped guide rods are movably arranged at both ends of the second support plate;

[0014] A third support plate, fixedly connected to the bottoms of the two T-shaped guide rods;

[0015] Two springs, respectively sleeved on the two T-shaped guide rods, and the springs are located between the second support plate and the third support plate;

[0016] Two suction cups are fixed at two ends of the bottom of the third supporting plate.

[0017] Preferably, the suction cup is a magnet block.

[0018] Preferably, two triangular reinforcing plates are fixed to the top of the mounting plate, and the two triangular reinforcing plates are fixedly connected to two sides of the fixing plate respectively.

[0019] Preferably, the workpiece clamp comprises a connecting portion and a clamping portion, the connecting portion and the clamping portion are integrally formed into an L-shaped structure, the connecting portion is connected to the clamp cylinder, and a clamping groove is provided on the inner side of the clamping portion.

[0020] Preferably, a mounting hole is provided at the top of the connecting portion, and a sensor is fixed in the mounting hole.

[0021] A loading and unloading device comprises a motion platform and any one of the above-mentioned floating loading and unloading manipulators, wherein the floating loading and unloading manipulator is arranged on the motion platform, and the motion of the floating loading and unloading manipulator is controlled by the motion platform.

[0022] Preferably, the motion platform comprises

[0023] Base;

[0024] An X-axis motion module is fixed on the base;

[0025] A Y-axis motion module is fixed on the slider of the X-axis motion module;

[0026] The Z-axis motion module is fixed on the slider of the Y-axis motion module, and the slider of the Z-axis motion module is used to be fixedly connected to the fixing plate.

[0027] The utility model provides a floating loading and unloading manipulator and a loading and unloading device thereof, which have the following beneficial effects:

[0028] The utility model can take out the uneven automobile parts in the material box and adjust them into a straight state through the floating mechanism, and then drive two workpiece clamping claws to clamp the automobile parts through the clamping claw cylinder, so as to ensure the normal processing and forming of the automobile parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The structure diagram of the loading and unloading device of the utility model is shown in FIG. Figure 1 ;

[0030] Figure 2 The structure diagram of the loading and unloading device of the utility model is shown in FIG. Figure 2 ;

[0031] Figure 3 For this utility model Figure 2 The enlarged view of point A in the middle;

[0032] Figure 4 It is a schematic diagram of the clamping of the floating loading and unloading manipulator of the utility model.

[0033] In the figure: 1. fixing plate; 2. mounting plate; 3. clamping cylinder; 4. workpiece clamping jaw; 41. connecting part; 42. clamping part; 421. clamping groove; 5. floating mechanism; 51. first supporting plate; 52. second supporting plate; 53. T-shaped guide rod; 54. third supporting plate; 55. spring; 56. suction cup; 6. triangular reinforcing plate; 7. sensor; 100. base; 200. X-axis motion module; 300. Y-axis motion module; 400. Z-axis motion module; 500. automotive parts. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in conjunction with the accompanying drawings of the utility model.

[0035] The technical solution of the utility model will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0038] Examples, such as Figure 1-4 As shown, a floating loading and unloading manipulator comprises a fixed plate 1, a mounting plate 2, a clamping cylinder 3, two workpiece clamping jaws 4 and two sets of floating mechanisms 5;

[0039] The mounting plate 2 is vertically fixed to the bottom of the fixing plate 1; the clamping cylinder 3 is fixed to the bottom of the mounting plate 2; two workpiece clamping jaws 4 are connected to the clamping cylinder 3, and the clamping cylinder 3 can control the opening and closing of the two workpiece clamping jaws 4; two sets of floating mechanisms 5 are fixed to the bottom of the mounting plate 2 and are respectively located on both sides of the clamping cylinder 3;

[0040] The floating mechanism 5 includes a first support plate 51, a second support plate 52, two T-shaped guide rods 53, a third support plate 54, two springs 55 and two suction cups 56;

[0041] The first support plate 51 is fixed to the bottom of the mounting plate 2; the middle of the second support plate 52 is fixedly connected to the bottom of the first support plate 51; two T-shaped guide rods 53 are movably arranged at both ends of the second support plate 52; the third support plate 54 is fixedly connected to the bottom of the two T-shaped guide rods 53; two springs 55 are respectively sleeved on the two T-shaped guide rods, and the springs 55 are located between the second support plate 52 and the third support plate 54; two suction cups 56 are fixed to both ends of the bottom of the third support plate 54.

[0042] The working principle of the utility model is as follows: when clamping the automobile part 500, the floating loading and unloading manipulator moves downward as a whole and extends into the material box, and the suction cup 56 at one end will first contact and absorb the tilted end of the automobile part 500. As the floating loading and unloading manipulator moves further downward, the tilted end of the automobile part 500 will support the T-shaped guide rod 53 at this end to move upward relative to the second support plate 52, and the spring 55 at this end gradually contracts until the suction cup 56 at the other end contacts and absorbs the sinking end of the automobile part 500. At this time, the third support plate 54 and the automobile part 500 are in contact and absorb. The auto part 500 is tilted at the same angle, and the two suction cups 56 are in contact with and absorb the auto part 500. Then the floating loading and unloading manipulator is moved upward as a whole to take out the auto part 500. In the process of moving upward, due to the action of gravity and the elastic force of the spring 55, the T-shaped guide rod 53 at one end of the auto part 500 moves downward and resets, and the third support plate 54 is also reset to a straight state, thereby adjusting the auto part 500 to a straight state. Finally, the two workpiece clamps 4 are driven by the clamp cylinder 3 to clamp the auto part 500.

[0043] The utility model can take out the uneven automobile parts 500 in the material box and adjust them to a straight state through the floating mechanism 5, and then drive the two workpiece clamping jaws 4 to clamp the automobile parts 500 through the clamping jaw cylinder 3, thereby ensuring the normal processing and forming of the automobile parts 500.

[0044] In a specific embodiment, the suction cup 56 is a magnet block, which is easy to install and use, and can absorb most of the auto parts. If the auto parts cannot be absorbed by the magnet block, the magnet block can also be replaced by a pneumatic suction cup 56.

[0045] In a specific embodiment, two triangular reinforcing plates 6 are fixed to the top of the mounting plate 2, and the two triangular reinforcing plates 6 are respectively fixedly connected to the two sides of the fixing plate 1. The two triangular reinforcing plates 6 can strengthen the connection strength between the fixing plate 1 and the mounting plate 2.

[0046] In a specific embodiment, the workpiece clamp 4 includes a connecting portion 41 and a clamping portion 42, the connecting portion 41 and the clamping portion 42 are integrally formed into an L-shaped structure, the connecting portion 41 is connected to the clamping cylinder 3, and a clamping groove 421 is provided on the inner side of the clamping portion 42, and the clamping groove 421 can increase the clamping stability of the workpiece clamp 4. The clamping groove 421 can also be set as a trapezoidal groove structure, which can further correct its straightness when clamping automobile parts.

[0047] In a specific embodiment, a mounting hole is formed on the top of the connecting portion 41, and a sensor 7 is fixed in the mounting hole. The sensor 7 can detect whether the workpiece clamping jaw 4 has successfully clamped the automobile component.

[0048] The utility model also provides a loading and unloading device, comprising a motion platform and a floating loading and unloading manipulator, wherein the floating loading and unloading manipulator is arranged on the motion platform, and the motion of the floating loading and unloading manipulator is controlled by the motion platform.

[0049] In a specific embodiment, the motion platform includes a base 100, an X-axis motion module 200, a Y-axis motion module 300, and a Z-axis motion module 400;

[0050] The X-axis motion module 200 is fixed on the base 100 ; the Y-axis motion module 300 is fixed on the slider of the X-axis motion module 200 ; the Z-axis motion module 400 is fixed on the slider of the Y-axis motion module 300 , and the slider of the Z-axis motion module 400 is used to be fixedly connected to the fixed plate 1 .

[0051] The X-axis motion module 200, the Y-axis motion module 300 and the Z-axis motion module 400 are all existing technology products, including a base plate, a screw rod, a servo motor, a slider, etc. The X-axis motion module 200, the Y-axis motion module 300 and the Z-axis motion module 400 can control the movement of the floating loading and unloading robot in the three directions of the X-axis, Y-axis and Z-axis, thereby completing the entire workflow of clamping automotive parts and sending them to the processing workstation tooling.

[0052] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A floating loading and unloading manipulator, characterized in that: include Fixed plate; A mounting plate, vertically fixed to the bottom of the fixing plate; A gripper cylinder, fixed to the bottom of the mounting plate; Two workpiece clamping jaws are connected to the clamping jaw cylinder, and the clamping jaw cylinder can control the opening and closing of the two workpiece clamping jaws; Two sets of floating mechanisms are fixed at the bottom of the mounting plate and are respectively located on both sides of the clamping cylinder. The floating mechanisms include A first support plate, fixed to the bottom of the mounting plate; A second support plate, the middle portion of which is fixedly connected to the bottom of the first support plate; Two T-shaped guide rods are movably arranged at both ends of the second support plate; A third support plate, fixedly connected to the bottoms of the two T-shaped guide rods; Two springs, respectively sleeved on the two T-shaped guide rods, and the springs are located between the second support plate and the third support plate; Two suction cups are fixed at two ends of the bottom of the third supporting plate.

2. A floating loading and unloading manipulator according to claim 1, characterized in that: The suction cup is a magnet block.

3. A floating loading and unloading manipulator according to claim 1, characterized in that: Two triangular reinforcing plates are fixed on the top of the mounting plate, and the two triangular reinforcing plates are fixedly connected to two sides of the fixing plate respectively.

4. A floating loading and unloading manipulator according to claim 1, characterized in that: The workpiece clamp comprises a connecting portion and a clamping portion, wherein the connecting portion and the clamping portion are integrally formed into an L-shaped structure, the connecting portion is connected to the clamping cylinder, and a clamping groove is provided on the inner side of the clamping portion.

5. A floating loading and unloading manipulator according to claim 4, characterized in that: A mounting hole is provided on the top of the connecting portion, and a sensor is fixed in the mounting hole.

6. A loading and unloading device, characterized in that: It comprises a motion platform and a floating loading and unloading robot according to any one of claims 1 to 5, wherein the floating loading and unloading robot is arranged on the motion platform, and the motion of the floating loading and unloading robot is controlled by the motion platform.

7. A loading and unloading device according to claim 6, characterized in that: The motion platform comprises a base; An X-axis motion module is fixed on the base; A Y-axis motion module is fixed on the slider of the X-axis motion module; The Z-axis motion module is fixed on the slider of the Y-axis motion module, and the slider of the Z-axis motion module is used to be fixedly connected to the fixing plate.

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