A multi-axis loading and unloading system with a centering platform

Abstract

The present application discloses a multi-axis loading and unloading system with a centering platform, comprising a multi-axis loading and unloading robot, a centering platform and a truss; wherein the loading and unloading robot comprises a five-axis loading robot and a three-axis unloading robot; the centering platform is arranged below the five-axis loading and unloading robot, and the centering platform comprises a support frame, the upper surface of the support frame is provided with a guide plate inclined to the right front, the upper surface array of the guide plate is distributed with universal ball heads, and the front side surface and the right side surface of the guide plate are provided with baffles; the multi-axis loading and unloading system with a centering platform, by arranging two robot arms to synchronously perform the loading and unloading and centering correction of metal sheets, effectively improves the processing efficiency of metal sheets, and the centering correction of metal sheets can be completed by a single action of taking and placing the sheets, further improving the processing efficiency of the sheets; after the sheet to be processed is placed on the upper surface of the guide plate, the sheet automatically slides to the baffle under the action of gravity, so that the centering of the sheet can be completed quickly.

Description

Technical Field

[0001] The present application relates to the technical field of metal thin-wall loading and unloading, and specifically to a multi-axis loading and unloading system with a centering platform. Background Art

[0002] The loading and unloading of metal sheets during processing are divided into manual operation and mechanical automatic operation. For mass production, automatic loading equipment is usually used, such as automatic feeders, robotic arms, etc., which can improve the processing efficiency of metal sheets and reduce manual operation.

[0003] The existing robotic arms for loading and unloading metal sheets usually use one robotic arm to complete the loading, centering correction and unloading of the sheets in sequence. Therefore, the structural design of the robotic arms is relatively complex, and the alignment of the sheets requires multiple adjustments of the robotic arms to complete, which often takes a lot of time and seriously affects the processing efficiency of the metal sheets. Summary of the invention

[0004] The present application provides a multi-axis loading and unloading system with a centering platform. By setting up two robotic arms to synchronously perform loading and unloading and centering correction of metal sheets, the processing efficiency of the metal sheets is effectively improved. The centering correction of the metal sheets can be completed by a single action of picking up and placing the sheets, further improving the processing efficiency of the sheets, and can effectively solve the problems in the background technology.

[0005] To achieve the above objectives, the present application provides the following technical solutions: a multi-axis loading and unloading system with a centering platform, comprising a multi-axis loading and unloading robot, a centering platform and a truss; wherein the loading and unloading robot comprises a five-axis loading robot and a three-axis unloading robot.

[0006] The centering platform is arranged below the five-axis loading robot, and the centering platform includes a support frame, the upper surface of the support frame is provided with a guide plate inclined toward the right front, the upper surface of the guide plate is arrayed with universal ball heads, and the front side and right side of the guide plate are provided with baffles.

[0007] The five-axis loading robot includes an X-axis linear slide rail installed on a truss, the X-axis linear slide rail is connected to a Y-axis linear slide rail through a slide table, a Z-axis linear slide rail is installed on the slide table of the Y-axis linear slide rail, a lifting bracket is installed on the slide table of the Z-axis linear slide rail, a stepper motor is installed on the lifting bracket, the output shaft of the stepper motor is connected to a rotating table, the rotating table is connected to a lifting plate through a pitch mechanism, and the lifting plate is connected to a suction cup assembly through a strip plate arranged on its lower surface.

[0008] The three-axis unloading robot comprises an X-axis linear slide rail 2 installed on a truss, the X-axis linear slide rail 2 is connected to a Z-axis linear slide rail 2 through a slide table 3, a stepper motor 2 is installed on the slide table of the Z-axis linear slide rail 2, and the output shaft of the stepper motor 2 is connected to a suction cup assembly 2 through a strip plate 2.

[0009] Preferably, a notch is provided at the intersection of the two baffles.

[0010] Preferably, the five-axis loading robot and the three-axis unloading robot are respectively arranged at both ends of the truss.

[0011] Preferably, the pitch mechanism includes a cylinder, which is rotatably connected to the lifting plate via a hinge, the telescopic end of the cylinder is connected to the rotating table via a second hinge support, and a first hinge support is provided at one end of the outer side surface of the rotating table away from the second hinge support.

[0012] Preferably, the X-axis linear slide 1 and the Z-axis linear slide 1 are both gear rack linear guides, the Y-axis linear slide is a linear motor, the slide table of the linear motor is connected to the slider, the slider is slidably connected to the slide rail, the slide rail is installed on the slide table 1, and a hollow shield 1 is installed on the outer side of the slide table 1, and the Y-axis linear slide and the Z-axis linear slide are both installed in the hollow shield 1.

[0013] Preferably, the X-axis linear slide rail 2 and the Z-axis linear slide rail 2 are both gear rack linear guide rails, a hollow shield 2 is installed on the slide 3, and the Z-axis linear slide rail 2 is arranged in the hollow shield 2.

[0014] 1. This multi-axis loading and unloading system with a centering platform is equipped with two mechanical arms to synchronously load and unload metal sheets and perform centering correction work, which effectively improves the processing efficiency of metal sheets. The centering correction of metal sheets can be completed by taking and placing the sheet at one time, further improving the processing efficiency of the sheet;

[0015] 2. After placing the plate to be processed on the upper surface of the guide plate, the plate automatically slides to the baffle under the action of gravity, so that the centering of the plate can be completed quickly. When the plate is punched and loaded, the suction cup assembly 1 sucks up the plate on the centering platform, and then the stepper motor 1 rotates the plate to a certain angle, the Z-axis linear slide 1 lifts the plate, and then the X-axis linear slide 1 and the Y-axis linear slide drive the plate to move in the horizontal plane, so as to quickly place the plate on the processing station;

[0016] 3. When unloading, the X-axis linear slide rail 2 and the Z-axis linear slide rail 2 start to move the suction cup assembly 2 to the upper surface of the plate workpiece, and the suction cup assembly 2 sucks up the stamped plate. Then the X-axis linear slide rail 2, the Z-axis linear slide rail 2 and the stepper motor 2 work together to remove the plate from the workbench. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of this application;

[0018] Figure 2 It is a structural schematic diagram of the centering platform;

[0019] Figure 3 This is the main view of the centering platform;

[0020] Figure 4 It is a structural diagram of a multi-axis loading and unloading robot;

[0021] Figure 5 for Figure 4 A partial enlarged schematic diagram in the middle;

[0022] Figure 6 This is the main view of the multi-axis loading and unloading robot;

[0023] Figure 7 This is a schematic diagram of the partial structure of a multi-axis loading and unloading robot.

[0024] In the figure: 1 centering platform, 11 baffle, 12 universal ball head, 13 guide plate, 14 support frame, 2 five-axis loading robot, 21 Z-axis linear guide rail 1, 22 slide table 1, 23 hollow shield 1, 24 suction cup assembly 1, 25 strip plate 1, 26 lifting bracket, 27 stepper motor 1, 28 hinge support 1, 29 rotating table, 210 lifting plate, 211 cylinder, 212 hinge support 2, 213 X-axis linear guide rail 1, 214 slide rail, 215 slider, 216 Y-axis linear guide rail, 3 truss, 4 three-axis unloading robot, 41 hollow shield 2, 42 Z-axis linear guide rail 2, 43 slide table 3, 44 stepper motor 2, 45 suction cup assembly 2, 46 strip plate 2, 47 X-axis linear guide rail 2. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] In the description of this application, if the orientation description is involved, for example, the orientation or position relationship indicated by "upper", "lower", "front", "back", "left", "right", etc. is based on the attached Figure 3The orientation or position relationship shown is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation of the present application. When a feature is referred to as being "set", "fixed", or "connected" to another feature, it can be directly set, fixed, or connected to the other feature, or it can be indirectly set, fixed, or connected to the other feature.

[0027] See also Figure 1-7 The present application provides the following technical solutions: a multi-axis loading and unloading system with a centering platform, comprising a multi-axis loading and unloading robot, a centering platform and a truss 3; wherein the loading and unloading robot comprises a five-axis loading robot 2 and a three-axis unloading robot 4.

[0028] The centering platform is arranged below the five-axis loading robot 2, and the centering platform includes a support frame 14, the upper surface of the support frame 14 is provided with a guide plate 13 inclined to the right front, the upper surface of the guide plate 13 is arrayed with universal ball heads 12, and the front side and right side of the guide plate 13 are provided with baffles 11.

[0029] Specifically, after the plate to be processed is placed on the upper surface of the guide plate 13, the plate automatically slides to the baffle 11 under the action of gravity, thereby quickly completing the centering of the plate.

[0030] The five-axis loading robot 2 includes an X-axis linear slide 213 installed on the truss 3, the X-axis linear slide 213 is connected to the Y-axis linear slide 216 through a slide 22, the slide of the Y-axis linear slide 216 is installed with a Z-axis linear slide 21, the slide of the Z-axis linear slide 21 is installed with a lifting bracket 26, the lifting bracket 26 is installed with a stepper motor 27, the output shaft of the stepper motor 27 is connected to a rotating table 29, the rotating table 29 is connected to a lifting plate 210 through a pitch mechanism, and the lifting plate 210 is connected to a suction cup assembly 24 through a strip plate 25 arranged on its lower surface.

[0031] Specifically, when the plate is stamped and loaded, the suction cup assembly 24 sucks up the plate on the centering platform, and then the stepper motor 27 rotates the plate to a certain angle, the Z-axis linear slide 21 lifts the plate, and then the X-axis linear slide 213 and the Y-axis linear slide 216 drive the plate to move in the horizontal plane, thereby quickly placing the plate on the processing station.

[0032] The three-axis unloading robot 4 includes an X-axis linear slide rail 2 47 installed on the truss 3, the X-axis linear slide rail 2 47 is connected to the Z-axis linear slide rail 2 42 through a slide table 3 43, a stepper motor 2 44 is installed on the slide table of the Z-axis linear slide rail 2 42, and the output shaft of the stepper motor 2 44 is connected to the suction cup assembly 2 45 through a strip plate 2 46.

[0033] Specifically, when unloading, the X-axis linear slide 47 and the Z-axis linear slide 42 are started to move the suction cup assembly 45 to the upper surface of the plate workpiece, and the suction cup assembly 45 sucks up the stamped plate, and then the X-axis linear slide 47, the Z-axis linear slide 42 and the stepper motor 44 work together to remove the plate from the workbench.

[0034] Furthermore, a notch is provided at the intersection of the two baffles 11 .

[0035] Specifically, if metal debris falls on the guide plate 13, the debris will be automatically discharged through the gap, thereby avoiding the influence of the metal debris on the centering process.

[0036] Furthermore, the five-axis loading robot 2 and the three-axis unloading robot 4 are respectively arranged at two ends of the truss 3.

[0037] Specifically, the five-axis loading robot 2 and the three-axis unloading robot 4 do not interfere with each other during operation.

[0038] Furthermore, the pitch mechanism includes a cylinder 211, which is rotatably connected to the lifting plate 210 via a hinge. The telescopic end of the cylinder 211 is connected to the rotating table 29 via a hinge support 212, and a hinge support 1 28 is provided on the outer side of the rotating table 29 away from the hinge support 212.

[0039] Specifically, the pitch of the suction cup assembly 24 can be adjusted by the cylinder 211, so that when the suction cup assembly 24 grabs the metal sheet on the upper surface of the centering platform, the suction cup assembly 24 can be flush with the surface of the metal sheet, thereby effectively preventing the metal sheet from falling off during grabbing.

[0040] Furthermore, the X-axis linear slide 213 and the Z-axis linear slide 21 are both gear rack linear guides, the Y-axis linear slide 216 is a linear motor, the slide table of the linear motor is connected to the slider 215, the slider 215 is slidably connected to the slide rail 214, the slide rail 214 is installed on the slide table 22, and the outer side surface of the slide table 22 is installed with a hollow shield 23, and the Y-axis linear slide 216 and the Z-axis linear slide 21 are both installed in the hollow shield 23.

[0041] Specifically, the rack of the X-axis linear slide rail 213 is fixed on the truss 3, the gear is connected to the output shaft of the motor installed on the slide 22, the slide 22 is slidably connected to the truss 3, and the hollow shield 23 can protect the gear rack to prevent it from pinching the operator during work.

[0042] More specifically, the motor of the Z-axis linear slide 21 is installed on the slider 215, and the rack of the Z-axis linear slide 21 is slidably connected to the slider 215. The slider 215 is a U-shaped plate. When the Z-axis linear slide 21 is started, its rack can move up and down.

[0043] Furthermore, the X-axis linear slide rail 47 and the Z-axis linear slide rail 42 are both gear rack linear guide rails, a hollow shield 41 is installed on the slide table 43, and the Z-axis linear slide rail 42 is arranged in the hollow shield 41.

[0044] Specifically, the installation method of the X-axis linear slide rail 247 is consistent with that of the X-axis linear slide rail 1 213, the installation method of the Z-axis linear slide rail 242 is consistent with that of the Z-axis linear slide rail 1 21, and the function of the hollow shield 241 is the same as that of the hollow shield 1 23.

[0045] During use: When loading, the material plate is sucked up by the suction cup assembly 24, and then the five-axis loading robot 2 places the plate on the centering platform 1. The plate automatically slides to the baffle 11 under the action of gravity, thereby quickly completing the centering of the plate.

[0046] After the alignment is completed, the suction cup assembly 24 lifts the sheet material again and sends it to the processing station. After the processing is completed, the three-axis unloading robot 4 quickly removes the sheet material from the processing station.

[0047] It is worth noting that the input ends of the five-axis loading robot 2 and the three-axis unloading robot 4 are electrically connected to the output end of the external power supply through an external control switch.

[0048] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A multi-axis loading and unloading system with a centering platform, characterized in that: It includes a multi-axis loading and unloading robot, a centering platform and a truss (3); wherein the loading and unloading robot includes a five-axis loading robot (2) and a three-axis unloading robot (4); The centering platform is arranged below the five-axis loading robot, and comprises a support frame (14). The upper surface of the support frame (14) is provided with a guide plate (13) inclined toward the right front. The upper surface of the guide plate (13) is provided with a universal ball head (12) in an array. The front side surface and the right side surface of the guide plate (13) are both provided with a baffle (11). The five-axis loading robot (2) comprises an X-axis linear slide rail (213) mounted on a truss (3); the X-axis linear slide rail (213) is connected to a Y-axis linear slide rail (216) via a slide table (22); a Z-axis linear slide rail (21) is mounted on the slide table of the Y-axis linear slide rail (216); a lifting bracket (26) is mounted on the slide table of the Z-axis linear slide rail (21); a stepping motor (27) is mounted on the lifting bracket (26); an output shaft of the stepping motor (27) is connected to a rotating table (29); the rotating table (29) is connected to a lifting plate (210) via a pitch mechanism; the lifting plate (210) is connected to a suction cup assembly (24) via a strip plate (25) arranged on its lower surface; The three-axis unloading robot (4) comprises an X-axis linear slide rail 2 (47) mounted on a truss (3); the X-axis linear slide rail 2 (47) is connected to a Z-axis linear slide rail 2 (42) via a slide table 3 (43); a stepper motor 2 (44) is mounted on the slide table of the Z-axis linear slide rail 2 (42); and an output shaft of the stepper motor 2 (44) is connected to a suction cup assembly 2 (45) via a strip plate 2 (46).

2. A multi-axis loading and unloading system with a centering platform according to claim 1, characterized in that: A notch is provided at the intersection of the two baffles (11).

3. The multi-axis loading and unloading system with a centering platform according to claim 1, characterized in that: The five-axis loading robot (2) and the three-axis unloading robot (4) are respectively arranged at two ends of the truss (3).

4. The multi-axis loading and unloading system with a centering platform according to claim 1, characterized in that: The pitch mechanism comprises a cylinder (211), the cylinder (211) being rotatably connected to the lifting plate (210) via a hinge, the telescopic end of the cylinder (211) being connected to the rotating platform (29) via a second hinge support (212), and a first hinge support (28) being provided at one end of the outer side surface of the rotating platform (29) away from the second hinge support (212).

5. The multi-axis loading and unloading system with a centering platform according to claim 1, characterized in that: The X-axis linear slide rail 1 (213) and the Z-axis linear slide rail 1 (21) are both gear rack linear guide rails, the Y-axis linear slide rail (216) is a linear motor, the slide table of the linear motor is connected to the slider (215), the slider (215) is slidably connected to the slide rail (214), the slide rail (214) is installed on the slide table 1 (22), the outer side surface of the slide table 1 (22) is installed with a hollow shield 1 (23), and the Y-axis linear slide rail (216) and the Z-axis linear slide rail 1 (21) are both installed in the hollow shield 1 (23).

6. The multi-axis loading and unloading system with a centering platform according to claim 1, characterized in that: The X-axis linear slide rail 2 (47) and the Z-axis linear slide rail 2 (42) are both gear rack linear guide rails. A hollow shield 2 (41) is installed on the slide table 3 (43), and the Z-axis linear slide rail 2 (42) is arranged in the hollow shield 2 (41).

Images