Stock bin structure of collaborative robot

Abstract

The utility model discloses a stock bin structure of a collaborative robot, which comprises a rack, a raw material stock bin and a clinker stock bin, the raw material stock bin and the clinker stock bin are arranged in the rack, both the raw material stock bin and the clinker stock bin are connected with a stock bin lifting mechanism, the stock bin lifting mechanism is arranged on the rack, and a workpiece taking port is arranged above the raw material stock bin; a movable chassis is arranged on the lower side of the rack; a mechanical arm is arranged on the upper side of the rack. According to the collaborative robot, the raw material bin and the clinker bin are arranged on the collaborative robot to place workpieces to be treated and treated workpieces, and the workpieces are transferred through the movable chassis and the mechanical arm, so that the problems that in reality, most of feeding and discharging of a machine tool are completed manually, the field environment is severe, the flow of operators is large, and the working efficiency is high are solved. And the problems that due to the fact that a very few machine tools complete feeding and discharging through industrial robots, on-site construction and transformation difficulty is large, the construction period is long, and no compatible new equipment exists in the follow-up process are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of CNC machining assistance, in particular to a silo structure of a collaborative robot. Background Art

[0002] At present, most of the loading and unloading of machine tools are done manually. Due to the harsh on-site environment and high turnover of operators, unstable production capacity is easily caused. A very small number of machine tools use industrial robots to complete loading and unloading, which leads to difficulties in on-site construction and transformation, long construction period, and no subsequent compatibility with new equipment.

[0003] A mobile collaborative robot is disclosed in Chinese patent application number CN202311653289.2, including a manipulator, a mobile chassis and a camera, the mobile chassis including a base and a driving mechanism, the manipulator is installed on the base, and the driving mechanism is used to drive the base to move; the manipulator has at least one section that forms an angle of less than 60° relative to the horizontal plane when grabbing express delivery, and this section is called a transverse arm; the camera is movably installed on the transverse arm of the manipulator and is used to shoot the oblique lower part of the manipulator; a control module is installed on the base, and the control module is electrically connected to the camera, the driving mechanism and the manipulator.

[0004] In the above patent, no silo is set up, and the robot needs to travel back and forth between the two places many times during collaboration, which cannot fully utilize the advantage of collaborative robots in improving efficiency. Utility Model Content

[0005] The utility model provides a silo structure of a collaborative robot, which is used to solve the problems raised in the background technology.

[0006] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] A silo structure of a collaborative robot, comprising a frame, a raw material silo, and a clinker silo, wherein the raw material silo and the clinker silo are arranged in the frame, and the raw material silo and the clinker silo are both connected to a silo lifting mechanism, and the silo lifting mechanism is arranged on the frame, and a workpiece taking port is arranged above the raw material silo;

[0008] A movable chassis is provided at the lower side of the frame;

[0009] A mechanical arm is arranged on the upper side of the frame.

[0010] Preferably, a tray handling module is provided in the frame, and the tray handling module is located above the raw material silo and the clinker silo.

[0011] Preferably, the raw material bin comprises a raw material tray conveyor line, one side of the raw material tray conveyor line is connected to a guide mechanism, and the other side of the raw material tray conveyor line is connected to a bin lifting mechanism;

[0012] The clinker silo comprises a clinker tray conveying line, one side of the clinker tray conveying line is connected to a guide mechanism, and the other side of the clinker tray conveying line is connected to a silo lifting mechanism.

[0013] Preferably, the lifting frame is located between the raw material silo and the clinker silo.

[0014] Preferably, a liquid receiving tray is provided below the raw material tray conveyor line and the cooked material tray conveyor line, and a liquid receiving bottle is provided at the lower part of the liquid receiving tray.

[0015] Preferably, the guide mechanism comprises a guide plate fixed on the frame, the guide plate is provided with a slide groove, a slider is slidably connected in the slide groove, and the slider is connected to the raw material tray conveyor line and / or the cooked material tray conveyor line.

[0016] Preferably, the silo lifting mechanism comprises a lifting frame, the lifting frame is fixedly connected to the frame, an electric telescopic rod is provided on the lifting frame, and an output end of the electric telescopic rod is connected to the raw material tray conveyor line and / or the cooked material tray conveyor line.

[0017] Preferably, the raw material tray conveyor line and the cooked material tray conveyor line are conveyor belts.

[0018] Preferably, the tray handling module includes a suction cup mounting frame, the suction cup mounting frame is slidably connected to a slide rail, the slide rail is arranged on a frame, a cylinder is arranged on the frame, the cylinder output end is connected to the suction cup mounting frame, and the suction cup mounting frame is used to connect a raw material tray arranged in a raw material bin.

[0019] Preferably, limiters are provided at both ends of the slide rail.

[0020] Compared with the prior art, the present invention has at least the following beneficial effects:

[0021] The present application sets up raw material silos and clinker silos on the collaborative robot to place the workpieces to be processed and the processed workpieces, and transfers them through a mobile chassis and a robotic arm. This solves the problem that most of the loading and unloading of machine tools in reality is done manually, which can easily lead to unstable production capacity due to the harsh on-site environment and high turnover of operators. It also avoids the problem that a very small number of machine tools use industrial robots to complete loading and unloading, which results in difficult on-site construction and modification, long construction period, and subsequent lack of compatibility with new equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the main structure of the utility model;

[0023] Figure 2 This is a schematic diagram of the raw material silo and the clinker silo structure of the utility model;

[0024] Figure 3 This is a schematic diagram of the structure of the tray handling module of the utility model.

[0025] In the figure: 1. Rack; 2. Raw material silo; 3. Clinker material silo; 4. Silo lifting mechanism; 5. Tray handling module; 6. Workpiece feeding port; 7. Mobile chassis; 8. Robotic arm; 9. Guide mechanism; 10. Raw material tray conveyor line; 11. Clinker tray conveyor line; 12. Liquid collecting bottle; 14. Lifting frame; 15. Liquid collecting tray; 16. Cylinder; 17. Raw material tray; 18. Suction cup mounting frame; 19. Slide rail; 20. Limiter. DETAILED DESCRIPTION

[0026] In the present utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present utility model. They are only used to distinguish the protective components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0027] Example 1

[0028] See also Figure 1 A silo structure of a collaborative robot includes a frame 1, a raw material silo 2, and a clinker silo 3. The raw material silo 2 and the clinker silo 3 are arranged in the frame 1. The raw material silo 2 and the clinker silo 3 are both connected to a silo lifting mechanism 4. The silo lifting mechanism 4 is arranged on the frame 1. A workpiece taking port 6 is arranged above the raw material silo 2.

[0029] A movable chassis 7 is provided at the lower side of the frame 1;

[0030] A mechanical arm 8 is disposed on the upper side of the frame 1 .

[0031] The working principle and beneficial effects of the above scheme:

[0032] The raw material silo 2 and the clinker silo 3 are docked with the material transfer table, the raw material tray enters the raw material silo 2, and the silo lifting mechanism 4 lifts the raw material tray 17 to the designated position to facilitate the robot arm 8 to take the material, and place the raw material at the designated processing position of the machine tool. The machine tool starts processing. After processing, the robot arm 8 takes the material from the designated position of the machine tool, puts the workpiece back to the raw material silo 2, and then transfers it to the clinker silo 3. After all the workpieces in the raw material silo 2 are processed, the mobile chassis 7 drives the robot to move to the designated position, docks with the material transfer table, and transports the clinker to the designated position through the clinker silo 3.

[0033] The present application arranges raw material silo 2 and clinker silo 3 on the collaborative robot to place the workpieces to be processed and the processed workpieces, and transports them through the mobile chassis 7 and the robotic arm 8. This solves the problem that most of the loading and unloading of machine tools in reality is done manually, which is prone to unstable production capacity due to the harsh on-site environment and high turnover of operators. It also avoids the problem that a very small number of machine tools use industrial robots to complete loading and unloading, which results in difficult on-site construction and transformation, long construction period, and subsequent lack of compatibility with new equipment.

[0034] Example 2

[0035] See also Figure 1 , 3 On the basis of Example 1, a tray transport module 5 is provided in the frame 1, and the tray transport module 5 is located above the raw material silo 2 and the clinker silo 3.

[0036] The tray handling module 5 includes a suction cup mounting frame 18, which is slidably connected to a slide rail 19, and the slide rail 19 is arranged on a frame 1. A cylinder 16 is arranged on the frame 1, and the output end of the cylinder 16 is connected to the suction cup mounting frame 18. The suction cup mounting frame 18 is used to connect a raw material tray 17 arranged in a raw material bin 2.

[0037] Limiters 20 are provided at both ends of the slide rail 19 .

[0038] The working principle and beneficial effects of the above scheme:

[0039] The suction cup absorbs the raw material tray 17 , and the cylinder 16 drives the suction cup mounting frame 18 to move along the slide rail 19 , and when it moves above the clinker bin 3 , the suction cup releases the raw material tray 17 , and the raw material tray 17 is placed in the clinker bin 3 .

[0040] Example 3

[0041] See also Figure 1 , 2On the basis of Embodiment 1-2, the raw material silo 2 includes a raw material tray conveyor line 10, one side of the raw material tray conveyor line 10 is connected to a guide mechanism 9, and the other side of the raw material tray conveyor line 10 is connected to a silo lifting mechanism 4;

[0042] The clinker silo 3 includes a clinker tray conveyor line 11, one side of the clinker tray conveyor line 11 is connected to a guide mechanism 9, and the other side of the clinker tray conveyor line 11 is connected to a silo lifting mechanism 4;

[0043] The silo lifting mechanism 4 is located between the raw material silo 2 and the clinker silo 3 .

[0044] The guide mechanism 9 includes a guide plate fixed on the frame 1, a slide groove is provided on the guide plate, a slider is slidably connected in the slide groove, and the slider is connected to the raw material tray conveyor line 10 and / or the cooked material tray conveyor line 11.

[0045] The silo lifting mechanism 4 includes a lifting frame 14, which is fixedly connected to the frame 1. An electric telescopic rod is provided on the lifting frame, and an output end of the electric telescopic rod is connected to the raw material tray conveyor line 10 and / or the cooked material tray conveyor line 11.

[0046] The raw material tray conveyor line 10 and the cooked material tray conveyor line 11 are conveyor belts.

[0047] The working principle and beneficial effects of the above scheme:

[0048] The raw material silo 2 is connected to the material transfer table, and the materials in the material transfer table are transported to the raw material silo 2 by the raw material tray conveyor line 10 of the raw material silo 2;

[0049] The clinker silo 3 is connected to the material transfer station, and the processed workpieces are transported from the clinker silo 3 to the material transfer station;

[0050] The electric telescopic rod of the silo lifting mechanism 4 drives the raw material silo 2 and the clinker silo 3 to rise along the slide groove of the guide mechanism 9, so that the raw material silo 2 and the clinker silo 3 are in contact with the tray handling module 5, and the raw material tray 17 in the raw material silo 2 is transferred to the clinker silo 3 through the tray handling module 5.

[0051] Example 4

[0052] See also Figure 2 On the basis of Examples 1-3, a liquid receiving tray 15 is provided below the raw material tray conveyor line 10 and the cooked material tray conveyor line 11, and a liquid receiving bottle 12 is provided at the lower part of the liquid receiving tray 15.

[0053] The working principle and beneficial effects of the above scheme:

[0054] Since water or coolant is generally used for cooling the workpiece during processing, the workpiece carries liquid after processing. The liquid receiving tray 15 is used to collect the liquid carried by the workpiece and transfer it to the liquid receiving bottle 12 .

[0055] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A silo structure for a collaborative robot, characterized in that: The machine comprises a frame (1), a raw material bin (2), and a clinker bin (3), wherein the raw material bin (2) and the clinker bin (3) are arranged in the frame (1), the raw material bin (2) and the clinker bin (3) are both connected to a bin lifting mechanism (4), the bin lifting mechanism (4) is arranged on the frame (1), and a workpiece taking port (6) is arranged above the raw material bin (2); A movable chassis (7) is provided on the lower side of the frame (1); A mechanical arm (8) is arranged on the upper side of the frame (1).

2. The silo structure of a collaborative robot according to claim 1, characterized in that: A material tray transport module (5) is arranged in the frame (1), and the material tray transport module (5) is located above the raw material bin (2) and the clinker material bin (3).

3. The silo structure of a collaborative robot according to claim 2, characterized in that: The raw material bin (2) comprises a raw material tray conveyor line (10), one side of the raw material tray conveyor line (10) is connected to a guide mechanism (9), and the other side of the raw material tray conveyor line (10) is connected to a bin lifting mechanism (4); The clinker silo (3) comprises a clinker tray conveyor line (11), one side of the clinker tray conveyor line (11) is connected to a guide mechanism (9), and the other side of the clinker tray conveyor line (11) is connected to a silo lifting mechanism (4).

4. The silo structure of a collaborative robot according to claim 1, characterized in that: A lifting frame (14) is provided between the raw material bin (2) and the clinker material bin (3).

5. The silo structure of a collaborative robot according to claim 3, characterized in that: A liquid receiving tray (15) is arranged below the raw material tray conveyor line (10) and the cooked material tray conveyor line (11), and a liquid receiving bottle (12) is arranged at the lower part of the liquid receiving tray (15).

6. The silo structure of a collaborative robot according to claim 3, characterized in that: The guide mechanism (9) comprises a guide plate fixed on the frame (1), the guide plate being provided with a slide groove, a slider being slidably connected in the slide groove, and the slider being connected to the raw material tray conveyor line (10) and / or the cooked material tray conveyor line (11).

7. The silo structure of a collaborative robot according to claim 3, characterized in that: The silo lifting mechanism (4) comprises a lifting frame (14), the lifting frame (14) is fixedly connected to the frame (1), an electric telescopic rod is arranged on the lifting frame (14), and an output end of the electric telescopic rod is connected to a raw material tray conveyor line (10) and / or a cooked material tray conveyor line (11).

8. The silo structure of a collaborative robot according to claim 3, characterized in that: The raw material tray conveyor line (10) and the cooked material tray conveyor line (11) are conveyor belts.

9. The silo structure of a collaborative robot according to claim 2, characterized in that: The tray transport module (5) comprises a suction cup mounting frame (18), the suction cup mounting frame (18) is slidably connected to a slide rail (19), the slide rail (19) is arranged on a frame (1), a cylinder (16) is arranged on the frame (1), an output end of the cylinder (16) is connected to the suction cup mounting frame (18), and the suction cup mounting frame (18) is used to connect a raw material tray (17) arranged in a raw material bin (2).

10. The silo structure of a collaborative robot according to claim 9, characterized in that: Limiters (20) are arranged at both ends of the slide rail (19).

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