Cantilever type intelligent feeding and discharging device

Abstract

The utility model discloses a cantilever type intelligent feeding and discharging device which comprises a base, a Z-axis stand column, a Y-axis cross arm and a feeding and discharging clamping jaw, the Z-axis stand column is connected to the base through a rotation driving assembly, one end of the Y-axis cross arm is vertically connected to the Z-axis stand column, and the Y-axis cross arm can move up and down along the Z-axis stand column; the bottom face of the Y-axis cross arm is connected with a feeding and discharging clamping jaw, and the feeding and discharging clamping jaw can do linear motion along the Y-axis cross arm. The feeding and discharging clamping jaw comprises a hollow rotating platform, a C-axis servo motor, a main driving shaft, a horizontal supporting block and a magnetic attraction four-jaw mechanism, the hollow rotating platform is connected below the Y-axis cross arm, the C-axis servo motor is connected to the side face of the hollow rotating platform, the upper end of the main driving shaft is connected with the hollow rotating platform, and the lower end of the main driving shaft is connected to the middle of the horizontal supporting block. The two ends of the horizontal supporting block are each connected with a set of magnetic attraction four-claw mechanism, and workpieces are fed and discharged. According to the utility model, workpieces can be stably taken, placed and transferred, and the safety and the stability of loading and unloading are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of cantilever manipulators, and in particular relates to a cantilever type intelligent loading and unloading device. Background Art

[0002] With the development of the times, high efficiency and speed are the main tasks of production technology. In order to liberate redundant labor, improve production efficiency, reduce production costs and shorten production cycles, intelligent loading and unloading devices, also known as stacking devices, have emerged. They can replace manual sorting and stacking of goods or replace humans to stack dangerous goods, such as radioactive materials, toxic substances, etc., reduce the labor intensity of workers, ensure the personal safety of workers, and realize automation, intelligence and unmanned operation. In the processing workshop, the use of laser cutting machines to cut workpieces can effectively improve production efficiency. The manipulators used in conjunction with laser cutting machines generally use ordinary grippers or magnetic suction to carry workpieces. However, the magnetic suction handling method is only suitable for light weight and regular size workpieces, such as metal sheet workpieces. For heavier and irregularly shaped workpieces, when using grippers to load and unload materials, shaking is inevitable during transfer, affecting the stability of the workpiece. In severe cases, it may even fall, and the safety is poor. Summary of the invention

[0003] In response to the above-mentioned problems and technical requirements, the utility model provides a cantilever intelligent loading and unloading device, which adopts the combination of magnetic suction and pneumatic clamps to pick up, place and transfer workpieces, effectively improving the safety and stability of loading and unloading.

[0004] The technical solution of the utility model is as follows: a cantilever intelligent loading and unloading device, including a base, a Z-axis column, a Y-axis cross arm and a loading and unloading clamp, the Z-axis column is connected to the base through a rotary drive assembly, one end of the Y-axis cross arm is vertically connected to the Z-axis column, and the Y-axis cross arm can move up and down along the Z-axis column; the bottom surface of the Y-axis cross arm is connected with a loading and unloading clamp, and the loading and unloading clamp can make a linear motion along the Y-axis cross arm; the loading and unloading clamp includes a hollow rotary platform, a C-axis servo motor, a main drive shaft, a horizontal support block and a magnetic four-claw mechanism, the hollow rotary platform is connected below the Y-axis cross arm, the C-axis servo motor is connected to the side of the hollow rotary platform, the upper end of the main drive shaft is connected to the hollow rotary platform, and the lower end is connected to the middle of the horizontal support block, and a group of magnetic four-claw mechanisms are respectively connected to both ends of the horizontal support block, and the magnetic four-claw mechanism can clamp and adsorb the workpiece to load and unload the workpiece. In the above scheme, the Z-axis column can rotate on the base, the Y-axis cross arm can move up and down along the Z-axis column, the loading and unloading clamps can reciprocate along the Y-axis cross arm, and the loading and unloading clamps themselves can also rotate. Therefore, the loading and unloading clamps can freely transport and transfer the workpiece in three-dimensional space, with precise picking and placing actions and a high degree of intelligence.

[0005] Furthermore, the magnetic four-claw mechanism includes four pneumatic clamps and a cylindrical electromagnet. The cylindrical electromagnet is fixedly arranged on the end face of the horizontal support block. Four pneumatic clamps are arranged around the cylindrical electromagnet on the four sides of one side of the horizontal support block. The four pneumatic clamps can simultaneously tighten and clamp the workpiece toward the center. The claws of the pneumatic clamps are provided with magnetic sheets, which can be attracted by the cylindrical electromagnet at the center to prevent the workpiece from moving. The four pneumatic clamps are used to clamp the workpiece from four sides, respectively, and the clamping is more stable. The cylindrical electromagnet arranged in the center can absorb the four clamps, further strengthening the clamping effect, and can prevent the pneumatic clamps from loosening when clamping the workpiece and preventing the workpiece from falling.

[0006] Furthermore, a pneumatic cleaning nozzle is provided on the middle side of the horizontal support block, and the pneumatic cleaning nozzle can blow gas outward to clean the dust on the workpiece. Before clamping, the pneumatic cleaning nozzle can be used to blow away the dust on the workpiece to improve the cleanliness of the workpiece.

[0007] Furthermore, a Y-axis drag chain is provided on the side of the Y-axis cross arm, a ball screw is provided in the Y-axis cross arm, a Y-axis servo motor is provided at the front end of the Y-axis cross arm, a Y-axis guide rail is provided on the bottom surface of the Y-axis cross arm, and the loading and unloading clamps are connected to the ball screw and the Y-axis guide rail at the same time. The loading and unloading clamps are connected to the Y-axis drag chain through a fixed support bar, and the Y-axis servo motor drives the loading and unloading clamps to reciprocate along the Y-axis cross arm.

[0008] Furthermore, a Z-axis guide rail, a rack and a Z-axis servo motor are provided on the front side of the Z-axis column, a slide plate is fixedly provided on the end of the Y-axis cross arm, the slide plate is slidably connected to the Z-axis guide rail, a rack is provided on the inner side of a Z-axis guide rail, a Z-axis servo motor is vertically provided on the slide plate, a first gear is provided at the front end of the Z-axis servo motor, the first gear is meshingly connected with the rack, and the first gear drives the entire Y-axis cross arm to move along the Z-axis; a Z-axis drag chain is provided on the side of the Z-axis column, and the slide plate is connected to the Z-axis drag chain through a transverse support bar.

[0009] Furthermore, the rotary drive assembly includes a rotary servo motor, a flange and a second gear. The rotary servo motor is vertically arranged on the base. The flange is fixedly arranged at the bottom of the Z-axis column. The flange and the base are rotatably connected. The output end of the rotary servo motor is provided with a second gear. The circumferential surface of the flange is provided with a third gear. The diameter of the third gear is larger than that of the second gear. The third gear is meshingly connected with the second gear. The rotary servo motor drives the Z-axis column to rotate on the base.

[0010] Compared with the prior art, the beneficial effects of the utility model are as follows: the utility model adopts a magnetic four-claw mechanism to grasp the workpiece, and the four pneumatic jaws clamp the workpiece from four sides respectively, so the clamping is more stable, and the cylindrical electromagnet arranged in the center can absorb the four jaws, further strengthening the clamping effect, and can avoid the pneumatic jaws from loosening when clamping the workpiece and moving, and prevent the workpiece from falling; a group of magnetic four-claw mechanisms are arranged on both sides of the horizontal support block, when one group of pneumatic jaws grasps the workpiece, the other group of pneumatic jaws can put down the workpiece, and the two groups of magnetic four-claw mechanisms can execute different commands at the same time, which can improve the work efficiency of loading and unloading; the magnetic four-claw mechanism can also rotate horizontally under the drive of the C-axis servo motor, and the picking and placing is more precise and more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is the overall structure diagram of the utility model;

[0012] Figure 2 The structure of the upper and lower material clamping claws in the utility model Figure 1 ;

[0013] Figure 3 The structure of the upper and lower material clamping claws in the utility model Figure 2 ;

[0014] Figure 4 This is a structural diagram of the connection between the main drive shaft and the horizontal support block in the loading and unloading clamps;

[0015] Figure 5 This is a structural diagram of the base, Z-axis column and Y-axis cross arm in the utility model;

[0016] Figure 6 This is the structural diagram of the Z-axis column in the utility model;

[0017] Figure 7 This is a structural diagram of the rotary drive assembly in the utility model;

[0018] Marked in the figure are: loading and unloading clamps 1, hollow rotary platform 11, C-axis servo motor 12, main drive shaft 13, horizontal support block 14, magnetic four-claw mechanism 15, pneumatic clamps 151, cylindrical electromagnets 152, magnetic sheets 153, pneumatic cleaning nozzles 16, Y-axis cross arm 2, Y-axis drag chain 21, Y-axis servo motor 22, Y-axis guide rail 23, fixed support bar 24, slide plate 25, Z-axis column 3, Z-axis servo motor 33, first gear 331, lateral support bar 34, Z-axis drag chain 35, rotary drive assembly 4, rotary servo motor 41, second gear 411, flange 42, third gear 421, base 5. DETAILED DESCRIPTION

[0019] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0020] like Figure 1-7 The figure shows a cantilever intelligent loading and unloading device of the utility model, comprising a base 5, a Z-axis column 3, a Y-axis cross arm 2 and a loading and unloading clamp 1. The Z-axis column 3 is connected to the base 5 through a rotary drive component 4, one end of the Y-axis cross arm 2 is vertically connected to the Z-axis column 3, and the Y-axis cross arm 2 can move up and down along the Z-axis column 3; the bottom surface of the Y-axis cross arm 2 is connected to the loading and unloading clamp 1, and the loading and unloading clamp 1 can make a linear motion along the Y-axis cross arm 2.

[0021] The front side of the Z-axis column 3 is provided with a Z-axis guide rail 31, a rack 32 and a Z-axis servo motor 33, a slide plate 25 is fixedly provided at the end of the Y-axis cross arm 2, and the slide plate 25 is slidably connected to the Z-axis guide rail 31, a rack 32 is provided on the inner side of a Z-axis guide rail 31, and a Z-axis servo motor 33 is vertically provided on the slide plate 25, and a first gear 331 is provided at the front end of the Z-axis servo motor 33, and the first gear 331 is meshed and connected with the rack 32, and the first gear 331 drives the entire Y-axis cross arm 2 to move along the Z axis; a Z-axis drag chain 35 is provided on the side of the Z-axis column 3, and the slide plate 25 is connected to the Z-axis cross arm 2 through a transverse support bar 34 The Z-axis drag chain 35 is connected; the rotary drive assembly 4 includes a rotary servo motor 41, a flange 42 and a second gear 411. The rotary servo motor 41 is vertically arranged on the base 5. A flange 42 is fixedly arranged at the bottom of the Z-axis column 3. The flange 42 is rotatably connected to the base 5. A second gear 411 is arranged at the output end of the rotary servo motor 41. A third gear 421 is arranged on the circumference of the flange 42. The diameter of the third gear 421 is larger than that of the second gear 411. The third gear 421 and the second gear 411 are meshed and connected. The rotary servo motor 41 drives the Z-axis column 3 to rotate on the base 5.

[0022] A Y-axis drag chain 21 is provided on the side of the Y-axis cross arm 2, a ball screw is provided inside the Y-axis cross arm 2, a Y-axis servo motor 22 is provided at the front end of the Y-axis cross arm 2, a Y-axis guide rail 23 is provided on the bottom surface of the Y-axis cross arm 2, the loading and unloading clamp 1 is connected to the ball screw and the Y-axis guide rail 23 at the same time, the loading and unloading clamp 1 is connected to the Y-axis drag chain 21 through a fixed support bar 24, and the Y-axis servo motor 22 drives the loading and unloading clamp 1 to reciprocate along the Y-axis cross arm 2.

[0023] The loading and unloading clamp 1 includes a hollow rotary platform 11, a C-axis servo motor 12, a main drive shaft 13, a horizontal support block 14 and a magnetic four-claw mechanism 15. The hollow rotary platform 11 is connected below the Y-axis cross arm 2, the C-axis servo motor 12 is connected to the side of the hollow rotary platform 11, the upper end of the main drive shaft 13 is connected to the hollow rotary platform 11, and the lower end is connected to the middle of the horizontal support block 14. A group of magnetic four-claw mechanisms 15 are respectively connected to both ends of the horizontal support block 14. The magnetic four-claw mechanism 15 can clamp and adsorb workpieces to load and unload the workpieces. The magnetic four-claw mechanism 15 includes four pneumatic clamps 151 and a cylindrical electromagnet 152. The cylindrical electromagnet 152 is fixedly arranged on the end face of the horizontal support block 14. Four pneumatic clamps 151 are arranged around the cylindrical electromagnet 152 on the four sides of one side of the horizontal support block 14. The four pneumatic clamps 151 can simultaneously tighten and clamp the workpiece toward the center. The claws of the pneumatic clamps 151 are provided with magnetic sheets 153. The magnetic sheets 153 can be attracted by the cylindrical electromagnet 152 at the center to prevent the workpiece from moving. The four pneumatic clamps 151 are used to clamp the workpiece from four sides, respectively, and the clamping is more stable. The cylindrical electromagnet 152 arranged in the center can absorb the four clamps, further strengthening the clamping effect, and can prevent the pneumatic clamps 151 from loosening when clamping the workpiece and preventing the workpiece from falling.

[0024] The middle side of the horizontal support block 14 is also provided with a pneumatic cleaning nozzle 16, which can blow gas outward to clean the dust on the workpiece. Before clamping, the pneumatic cleaning nozzle 16 can be used to blow away the dust on the workpiece to improve the cleanliness of the workpiece.

[0025] The action process of the utility model is as follows: the loading and unloading clamping jaws 1 approach the workpiece, the C-axis servo motor 12 drives the main driving shaft 13 to rotate, so that the pneumatic cleaning nozzle 16 sprays gas towards the workpiece to blow and clean the workpiece; after cleaning, four pneumatic clamping jaws 151 of a group of magnetic four-claw mechanisms 15 clamp the workpiece, and when the magnetic sheet 153 approaches the cylindrical electromagnet 152, the clamping force is enhanced; after the workpiece is clamped firmly, the Y-axis cross arm 2 raises and lowers the loading and unloading clamping jaws 1, the loading and unloading clamping jaws 1 slide and adjust along the Y-axis guide rail 23, the Z-axis column 3 rotates and adjusts around the base 5, the loading and unloading clamping jaws 1 transport the workpiece to the unloading position, and the main driving shaft 13 rotates again to adjust the unloading angle. After adjustment, the magnetic four-claw mechanism 15 releases the workpiece to complete the unloading.

[0026] The above are only several preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes and substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A cantilever type intelligent loading and unloading device, characterized in that: It includes a base, a Z-axis column, a Y-axis cross arm and a loading and unloading clamp. The Z-axis column is connected to the base through a rotary drive assembly. One end of the Y-axis cross arm is vertically connected to the Z-axis column, and the Y-axis cross arm can move up and down along the Z-axis column; the bottom surface of the Y-axis cross arm is connected with a loading and unloading clamp, and the loading and unloading clamp can make a linear motion along the Y-axis cross arm; the loading and unloading clamp includes a hollow rotary platform, a C-axis servo motor, a main drive shaft, a horizontal support block and a magnetic four-claw mechanism. The hollow rotary platform is connected below the Y-axis cross arm, the C-axis servo motor is connected to the side of the hollow rotary platform, the upper end of the main drive shaft is connected to the hollow rotary platform, and the lower end is connected to the middle of the horizontal support block. Both ends of the horizontal support block are respectively connected with a group of magnetic four-claw mechanisms, which can clamp and adsorb workpieces to load and unload the workpieces.

2. The cantilever type intelligent loading and unloading device according to claim 1 is characterized in that: The magnetic four-jaw mechanism includes four pneumatic clamps and a cylindrical electromagnet. The cylindrical electromagnet is fixedly arranged on the end face of the horizontal support block. Four pneumatic clamps are arranged around the cylindrical electromagnet on the four sides of one side of the horizontal support block. The four pneumatic clamps can tighten and clamp the workpiece toward the center at the same time. The claws of the pneumatic clamps are provided with magnetic sheets, which can be attracted by the cylindrical electromagnet at the center to prevent the workpiece from moving.

3. The cantilever type intelligent loading and unloading device according to claim 2 is characterized in that: A pneumatic cleaning nozzle is also provided on the middle side of the horizontal support block, and the pneumatic cleaning nozzle can blow gas outward to clean dust on the workpiece.

4. The cantilever type intelligent loading and unloading device according to claim 3 is characterized in that: A Y-axis drag chain is provided on the side of the Y-axis cross arm, a ball screw is provided in the Y-axis cross arm, a Y-axis servo motor is provided at the front end of the Y-axis cross arm, a Y-axis guide rail is provided on the bottom surface of the Y-axis cross arm, and the loading and unloading clamps are connected to the ball screw and the Y-axis guide rail at the same time. The loading and unloading clamps are connected to the Y-axis drag chain through a fixed support bar, and the Y-axis servo motor drives the loading and unloading clamps to reciprocate along the Y-axis cross arm.

5. The cantilever type intelligent loading and unloading device according to claim 4 is characterized in that: A Z-axis guide rail, a rack and a Z-axis servo motor are provided on the front side of the Z-axis column, a slide is fixedly provided on the end of the Y-axis cross arm, the slide is slidably connected to the Z-axis guide rail, a rack is provided on the inner side of a Z-axis guide rail, a Z-axis servo motor is vertically provided on the slide, a first gear is provided at the front end of the Z-axis servo motor, the first gear is meshed with the rack, and the first gear drives the entire Y-axis cross arm to move along the Z-axis; a Z-axis drag chain is provided on the side of the Z-axis column, and the slide is connected to the Z-axis drag chain through a transverse support bar.

6. The cantilever type intelligent loading and unloading device according to claim 5 is characterized in that: The rotary drive assembly includes a rotary servo motor, a flange and a second gear. The rotary servo motor is vertically arranged on the base. A flange is fixedly arranged at the bottom of the Z-axis column. The flange and the base are rotatably connected. A second gear is arranged at the output end of the rotary servo motor. A third gear is arranged on the circumference of the flange. The diameter of the third gear is larger than that of the second gear. The third gear is meshed with the second gear. The rotary servo motor drives the Z-axis column to rotate on the base.

Images