A compact fully automatic feeding mechanism

Abstract

The utility model provides a compact fully automatic feeding mechanism, including a robot integrated component, the robot integrated component includes a central support column, the top of the central support column is provided with a mounting seat, the mounting seat is respectively invertedly mounted with a material dividing robot, a first welding robot and a second welding robot, a first feeding mechanism is correspondingly arranged below the first welding robot, a second feeding mechanism is correspondingly arranged below the second welding robot, and a welding transfer table is arranged between the first feeding mechanism and the second feeding mechanism. The compact fully automatic feeding mechanism of the utility model can realize the combined welding between three materials, and the whole process is controlled by three robots without manual participation, which is safer, has a higher yield rate and higher efficiency; in addition, the three robots of the utility model are inverted to realize a compact design, solve the problem of insufficient line space, and save on-site floor space.

Description

Technical Field

[0001] The utility model relates to a feeding mechanism, in particular to a compact full-automatic feeding mechanism. Background Art

[0002] The diffuser, base and cavity of the hybrid gas generator need to be welded into a whole by friction welding in a friction welding machine. However, the incoming materials of the base and diffuser are disorderly. At present, the feeding method of these three materials in friction welding is manual loading and unloading and manual transfer, that is, the welded products need to be taken out manually and the diffuser, base and cavity to be welded are put into the welding machine.

[0003] Manual loading and unloading has the following defects: (1) Since the temperature of the product is very high during welding, there is a great risk of burns when manually taking the welded product; (2) The operating surface of the welding machine is relatively high, and the operator needs to stand during the entire work process and switch back and forth between the two welding machines to unload the material, which is labor-intensive and dangerous; (3) When the operator is tired, the material may not be put into place, resulting in welding defects. Utility Model Content

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the utility model is to provide a compact fully automatic loading mechanism to solve the problems that the prior art has no loading and unloading mechanism for the three materials, and manual loading and unloading is dangerous, inefficient and has a low yield rate.

[0005] To achieve the above-mentioned purpose and other related purposes, the utility model provides a compact fully automatic feeding mechanism, including a robot integrated component, the robot integrated component includes a central support column, the top of the central support column is provided with a mounting seat, the mounting seat is respectively upside down mounted with a material distribution robot, a first welding robot and a second welding robot, a first feeding mechanism is correspondingly arranged below the first welding robot, a second feeding mechanism is correspondingly arranged below the second welding robot, and a welding transfer table is arranged between the first feeding mechanism and the second feeding mechanism;

[0006] The end of the material-dividing robot is provided with a material-dividing clamping claw, and the material-dividing robot is used to clamp the first workpiece to be welded to the first feeding mechanism and clamp the second workpiece to be welded to the second feeding mechanism;

[0007] The ends of the first welding robot are respectively provided with a first workpiece suction cavity, a third workpiece clamp and a first semi-finished product clamp. The first workpiece suction cavity and the third workpiece clamp are used to place the first workpiece and the third workpiece into the welding machine respectively. The first semi-finished product clamp is used to take out the welded semi-finished product from the welding machine to the welding transfer table.

[0008] The ends of the second welding robot are respectively provided with a second workpiece suction cavity, a semi-finished product clamp and a finished product clamp. The second workpiece suction cavity and the semi-finished product clamp respectively put the second workpiece and the semi-finished product into the welding machine, and the finished product clamp is used to take out the finished product after welding from the welding machine.

[0009] In one embodiment of the utility model, the first feeding mechanism / the second feeding mechanism includes a belt, a reduction motor, a carrier, and a material picking position. The reduction motor drives the belt to move. A plurality of carriers are provided on the belt. The material dividing robot discharges the material into the carrier from the starting end of the belt, and the first welding robot / the second welding robot picks up the material from the material picking position at the end of the belt.

[0010] In one embodiment of the present invention, the first feeding mechanism / the second feeding mechanism further includes a material discharge counter-shooting sensor, a belt movement position sensor, and a material extraction position counter-shooting sensor.

[0011] The material discharge counter-shooting sensor is arranged on both sides of the starting end of the belt to detect whether there is material on the carrier at the starting end;

[0012] The belt movement in place sensor is used to detect whether the carrier on the belt has moved into place;

[0013] The material taking position opposing beam sensors are respectively arranged on both sides of the corresponding material taking position, and are used to detect whether there is material on the carrier of the material taking position.

[0014] In one embodiment of the utility model, the first feeding mechanism / the second feeding mechanism also includes a front and back detection sensor, a front and back correction mechanism and a front and back confirmation sensor arranged in sequence along the movement direction, the front and back detection sensor and the front and back confirmation sensor are both used to detect the front and back of the first workpiece to be welded / the second workpiece to be welded in the carrier, and the front and back correction mechanism is used to reverse the inverted first workpiece to be welded / the second workpiece to be welded 180° to the positive direction.

[0015] In one embodiment of the utility model, the forward and reverse correction mechanism includes a lifting slide cylinder and a rotating cylinder controlled by the lifting slide cylinder. A clamp and a clamp cylinder are provided on one side of the rotating cylinder. The clamp is opened and clamped under the drive of the clamp cylinder.

[0016] In one embodiment of the utility model, the welding transfer table includes an inclined roller beam, a baffle is provided at the lower end of the roller beam, and a sliding-in-place sensor is provided on the side of the roller beam for detecting whether the semi-finished product has slid into place.

[0017] In one embodiment of the utility model, a feeding mechanism is further included. The feeding mechanism is located beside the robot integrated component and is used to respectively deliver the first workpiece to be welded and the second workpiece to be welded to the material dividing robot.

[0018] In one embodiment of the utility model, the feeding mechanism includes a frame, a first conveyor belt and a second conveyor belt laid horizontally are provided in the middle of the frame, the rear ends of the first conveyor belt and the second conveyor belt are respectively provided with a first silo and a second silo connected thereto, the first silo and the second silo are connected to the first conveyor belt and the second conveyor belt through a downwardly inclined slide; a 3D camera is provided on the top of the frame for photographing and obtaining the posture of the material on the conveyor belt.

[0019] In one embodiment of the present invention, a base is provided at the bottom of the central supporting column, and the first feeding mechanism, the welding transfer table, and the second feeding mechanism are sequentially arranged on the base.

[0020] In an embodiment of the present invention, a roller is disposed below the base.

[0021] As described above, the compact fully automatic feeding mechanism of the utility model has the following beneficial effects:

[0022] 1. The compact fully automatic feeding mechanism of the utility model can realize the combined welding between three materials. The whole process is controlled by three robots without human participation, which is safer, has a higher yield rate and higher efficiency. In addition, the three robots of the utility model adopt an inverted hanging method to achieve a compact design, solve the problem of insufficient line space, and save on-site floor space.

[0023] 2. The utility model introduces a positive and negative detection sensor, a positive and negative correction mechanism and a positive and negative confirmation sensor on the feeding mechanism. The positive and negative correction mechanism can reverse the reversed material 180° to the positive direction according to the result feedback of the sensor, thereby ensuring the accuracy of welding and improving the yield rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Shown is a structural schematic diagram of a compact fully automatic feeding mechanism disclosed in an embodiment of the utility model.

[0025] Figure 2 Shown is a schematic structural diagram of a robot integrated assembly disclosed in an embodiment of the present utility model.

[0026] Figure 3 It is a schematic structural diagram of the first feeding mechanism disclosed in the embodiment of the utility model.

[0027] Figure 4 Shown is a structural schematic diagram of the second feeding mechanism disclosed in an embodiment of the utility model.

[0028] Figure 5 Shown is a schematic structural diagram of a welding transfer table disclosed in an embodiment of the present utility model.

[0029] Figure 6 Shown is a schematic structural diagram of the feeding mechanism disclosed in the embodiment of the utility model.

[0030] Component number description

[0031] 1. Robot integrated assembly; 11. Central support column; 12. Mounting seat; 13. Material distribution robot; 131. Material distribution clamp; 14. First welding robot; 141. First suction chamber for the workpiece to be welded; 142. Third clamp for the workpiece to be welded; 143. First semi-finished product clamp; 15. Second welding robot; 151. Second suction chamber for the workpiece to be welded; 152. Second semi-finished product clamp; 153. Finished product clamp; 2. First feeding mechanism; 201 / 301. Belt; 202 / 302. Speed ​​reducer; 203 / 303. Carrier; 204 / 304. Material taking position; 205 / 305. Material discharge Through-beam sensor; 206 / 306, belt movement in-position sensor; 207 / 307, material position through-beam sensor; 3, second feeding mechanism; 308, front and back detection sensor; 309, front and back confirmation sensor; 310, lifting slide cylinder; 311, rotating cylinder; 312, clamping claw cylinder; 313, clamping claw; 4, welding transfer table; 41, roller beam; 42, baffle; 43, semi-finished product presence detection sensor; 44, sliding into position sensor; 5, feeding mechanism; 51, first conveyor belt; 52, second conveyor belt; 53, first silo; 54, second silo; 55, 3D camera. DETAILED DESCRIPTION

[0032] The following specific embodiments illustrate the implementation of the present invention, and those familiar with the technology can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0033] See also Figure 1 and 2 The utility model provides a compact fully automatic feeding mechanism, including a robot integrated component 1, the robot integrated component 1 includes a central support column 11, the top of the central support column 11 is provided with three mounting seats 12, the three mounting seats 12 are respectively upside down mounted with a material distribution robot 13, a first welding robot 14 and a second welding robot 15, a first feeding mechanism 2 is correspondingly arranged below the first welding robot 14, a second feeding mechanism 3 is correspondingly arranged below the second welding robot 15, and a welding transfer table 4 is arranged between the first feeding mechanism 2 and the second feeding mechanism 3;

[0034] The end of the material distribution robot 13 is provided with a material distribution claw 131, and the material distribution robot 13 is used to clamp the first workpiece to be welded to the first feeding mechanism 2 and clamp the second workpiece to be welded to the second feeding mechanism 3;

[0035] The ends of the first welding robot 14 are respectively provided with a first workpiece suction chamber 141, a third workpiece clamping jaw 142 and a first semi-finished product clamping jaw 143. The first workpiece suction chamber 141 sucks the first workpiece from the first feeding mechanism 2, and the third workpiece clamping jaw 142 clamps the third workpiece. The first workpiece suction chamber 141 and the third workpiece clamping jaw 142 respectively put the first workpiece and the third workpiece into the welding machine. The first semi-finished product clamping jaw 143 is used to take out the welded semi-finished product from the welding machine to the welding transfer table 4.

[0036] The ends of the second welding robot 15 are respectively provided with a second workpiece suction chamber 151, a second semi-finished product clamp 152 and a finished product clamp 153. The second workpiece suction chamber 151 sucks the second workpiece from the second feeding mechanism 3, and the second semi-finished product clamp 152 clamps the semi-finished product from the welding turntable 4. The second workpiece suction chamber 151 and the semi-finished product clamp 152 respectively put the second workpiece and the semi-finished product into the welding machine, and the finished product clamp 153 is used to take out the finished product after welding from the welding machine.

[0037] The feeding mechanism of the utility model is suitable for welding three workpieces, and realizes the combined welding between two workpieces in sequence. The whole process is controlled by a robot, and no human participation is required, which is safer, has fewer errors, and is more efficient. In addition, the three robots of the utility model adopt an inverted hanging method to achieve a compact design, solve the problem of insufficient line space, and save on-site floor space. The utility model can be applied to the automated welding production line of a hybrid gas generator, wherein the first and second parts to be welded are diffusers or bases, respectively, and the third part to be welded is a cavity.

[0038] Furthermore, the cross section of the central support column 11 is an equilateral triangle, and a mounting seat 12 is installed at the top of each face, so that the structure is more compact.

[0039] Furthermore, a base is provided at the bottom of the central support column 11, and the first feeding mechanism 2, the welding transfer table 4, and the second feeding mechanism 3 are arranged on the base in sequence, which can make the structure more compact. Furthermore, rollers are provided under the base to facilitate moving the robot integrated component 1 to a work station.

[0040] In this embodiment, reference Figure 3The first feeding mechanism 2 includes a belt 201, a reduction motor 202, a carrier 203, a material picking position 204, a material discharge shooting sensor 205, a belt movement position sensor 206, and a material picking position shooting sensor 207. The reduction motor 202 drives the belt 201 to move, and the belt 201 is provided with a plurality of carriers 203 for loading the first workpiece to be welded; the material discharge shooting sensor 205 is arranged on both sides of the starting end of the belt 201, and is used to detect whether there is material on the carrier 203 at the starting end. When no material is detected, the material dividing robot 13 puts the first workpiece to be welded into the carrier 203 from the starting end of the belt 201 in the transport direction; and the material picking position shooting sensor 207 is respectively arranged on both sides of the corresponding material picking position 204, and is used to detect whether there is material on the carrier located at the material picking position 204. When material is detected, the first welding robot 14 picks material from the material picking position 204 at the end of the belt 201. The belt movement to position sensor 206 can detect whether the carrier 203 on the belt has moved to the position. When it is detected that the carrier 203 has moved to the position, the reduction motor 202 will be controlled to stop rotating.

[0041] In this embodiment, reference Figure 4 In addition to the belt 301, the reduction motor 302, the carrier 303, the material picking position 304, the material discharge shooting sensor 305, the belt movement in place sensor 306, and the material picking position shooting sensor 307, the second feeding mechanism 3 also includes a front and back detection sensor 308, a front and back correction mechanism and a front and back confirmation sensor 309 arranged in sequence along the movement direction. The front and back detection sensor 308 and the front and back confirmation sensor 309 are both used to detect the front and back of the second workpiece to be welded in the carrier 303, and the front and back correction mechanism is used to reverse the reversed second workpiece to be welded 180° to the forward direction.

[0042] Furthermore, the positive and negative correction mechanism includes a lifting slide cylinder 310 and a rotating cylinder 311 controlled by the lifting slide cylinder 310. A clamp 313 and a clamp cylinder 312 are provided on one side of the rotating cylinder 311. The clamp 313 is opened and clamped under the drive of the clamp cylinder 312. When the positive and negative detection sensor 308 determines that the second workpiece to be welded is in a reversed state, the lifting slide cylinder 310 descends, and the clamp cylinder 312 acts to make the clamp clamp the second workpiece to be welded. Then the lifting slide cylinder 310 rises, and the rotating cylinder 311 rotates 180°. After turning positive, the lifting slide cylinder 310 descends, and the clamp cylinder 312 opens the clamp, puts the second workpiece to be welded back on the carrier 303, and the lifting slide cylinder 310 rises back to its original position. When the second workpiece to be welded flows forward, the positive and negative confirmation sensor 309 will detect the positive and negative state of the second workpiece to be welded again.

[0043] In this embodiment, reference Figure 5The welding transfer table 4 includes an inclined roller beam 41, a baffle plate 42 is provided at the lower end of the roller beam 41, a semi-finished product detection sensor 43 is provided on the side of the roller beam 41 for detecting whether there is a semi-finished product on the roller beam 41, and a sliding-in-place sensor 44 is provided at the baffle plate 42 for detecting whether the semi-finished product has slid into place.

[0044] The first welding robot 14 places the welded semi-finished product on the roller beam 41, and the semi-finished product slides down under the action of gravity and rests on the baffle 42. The first welding robot 14 is allowed to place the material only when the sliding-in-place sensor 44 detects that there is no material; when the sliding-in-place sensor 44 is blocked, it means that the semi-finished product has slid into place, and the second welding robot 15 is allowed to take the semi-finished product.

[0045] refer to Figure 6 The compact fully automatic loading mechanism also includes a feeding mechanism 5, which is located beside the robot integrated component 1. The feeding mechanism 5 is used to respectively deliver the first part to be welded and the second part to be welded to the dividing robot 13.

[0046] Furthermore, the feeding mechanism 5 includes a frame, a first conveyor belt 51 and a second conveyor belt 52 are horizontally laid in the middle of the frame, and the rear ends of the first conveyor belt 51 and the second conveyor belt 52 are respectively provided with a first silo 53 and a second silo 54 connected thereto, and the first silo 53 and the second silo 54 are connected to the first conveyor belt 51 and the second conveyor belt 52 through a downwardly inclined slide; a 3D camera 55 is provided on the top of the frame for photographing and obtaining the posture of the material on the conveyor belt, and the material dividing robot 13 takes the material to the first feeding mechanism 2 or the second feeding mechanism 3 according to the photographing results.

[0047] The compact fully automatic feeding mechanism of the utility model can realize the combined welding between three materials. The whole process is controlled by the robot without manual participation, which is safer, has a higher yield rate and higher efficiency. In addition, the three robots of the utility model adopt an inverted hanging method to realize a compact design, solve the problem of insufficient line space, and save on-site floor space. Therefore, the utility model effectively overcomes various shortcomings in the existing technology and has a high industrial utilization value.

[0048] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. All equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A compact fully automatic feeding mechanism, characterized in that: The robot integrated assembly includes a central support column, a mounting seat is provided on the top of the central support column, a material distribution robot, a first welding robot and a second welding robot are respectively mounted upside down on the mounting seat, a first feeding mechanism is correspondingly provided below the first welding robot, a second feeding mechanism is correspondingly provided below the second welding robot, and a welding transfer table is provided between the first feeding mechanism and the second feeding mechanism; The end of the material-dividing robot is provided with a material-dividing clamping claw, and the material-dividing robot is used to clamp the first workpiece to be welded to the first feeding mechanism and clamp the second workpiece to be welded to the second feeding mechanism; The ends of the first welding robot are respectively provided with a first workpiece suction cavity, a third workpiece clamp and a first semi-finished product clamp. The first workpiece suction cavity and the third workpiece clamp are used to place the first workpiece and the third workpiece into the welding machine respectively. The first semi-finished product clamp is used to take out the welded semi-finished product from the welding machine to the welding transfer table. The ends of the second welding robot are respectively provided with a second workpiece suction cavity, a second semi-finished product clamp and a finished product clamp. The second workpiece suction cavity and the second semi-finished product clamp respectively put the second workpiece and the semi-finished product into the welding machine, and the finished product clamp is used to take out the finished product after welding from the welding machine.

2. The compact fully automatic feeding mechanism according to claim 1 is characterized in that: The first feeding mechanism / the second feeding mechanism includes a belt, a reduction motor, a carrier, and a material picking position. The reduction motor drives the belt to move. A plurality of carriers are arranged on the belt. The material dividing robot discharges the material into the carrier from the starting end of the belt. The first welding robot / the second welding robot picks up the material from the material picking position at the end of the belt.

3. The compact fully automatic feeding mechanism according to claim 2 is characterized in that: The first feeding mechanism / the second feeding mechanism also includes a material discharge counter-shooting sensor, a belt movement into position sensor, and a material picking position counter-shooting sensor. The material discharge counter-shooting sensor is arranged on both sides of the starting end of the belt, and is used to detect whether there is material on the carrier at the starting end; the belt movement into position sensor is used to detect whether the carrier on the belt moves into position; the material picking position counter-shooting sensor is respectively arranged on both sides of the corresponding material picking position, and is used to detect whether there is material on the carrier at the material picking position.

4. The compact fully automatic feeding mechanism according to claim 3 is characterized in that: The first feeding mechanism / second feeding mechanism also includes front and back detection sensors, front and back correction mechanisms and front and back confirmation sensors arranged in sequence along the direction of movement. The front and back detection sensors and the front and back confirmation sensors are both used to detect the front and back of the first workpiece to be welded / second workpiece to be welded in the carrier, and the front and back correction mechanism is used to reverse the inverted first workpiece to be welded / second workpiece to be welded 180° to the positive direction.

5. The compact fully automatic feeding mechanism according to claim 4 is characterized in that: The positive and negative correction mechanism includes a lifting slide cylinder and a rotating cylinder controlled by the lifting slide cylinder. A clamping claw and a clamping claw cylinder are arranged on one side of the rotating cylinder. The clamping claw is opened and clamped under the drive of the clamping claw cylinder.

6. The compact fully automatic feeding mechanism according to claim 1, characterized in that: The welding transfer table comprises an inclined roller beam, a baffle is provided at the lower end of the roller beam, and a sliding-in-place sensor for detecting whether the semi-finished product has slid into place is provided on the side of the roller beam.

7. The compact fully automatic feeding mechanism according to claim 1, characterized in that: It also includes a feeding mechanism, which is located beside the robot integrated component and is used to respectively deliver the first part to be welded and the second part to be welded to the material dividing robot.

8. The compact fully automatic feeding mechanism according to claim 7, characterized in that: The feeding mechanism includes a frame, a first conveyor belt and a second conveyor belt laid horizontally are provided in the middle of the frame, a first silo and a second silo connected thereto are provided at the rear ends of the first conveyor belt and the second conveyor belt respectively, the first silo and the second silo are connected to the first conveyor belt and the second conveyor belt via a downwardly inclined slide; a 3D camera is provided on the top of the frame for photographing and obtaining the posture of the material on the conveyor belt.

9. The compact fully automatic feeding mechanism according to claim 1, characterized in that: A base is provided at the bottom of the central supporting column, and the first feeding mechanism, the welding transfer table and the second feeding mechanism are sequentially arranged on the base.

10. The compact fully automatic feeding mechanism according to claim 9, characterized in that: Rollers are arranged below the base.

Images