Narrow-channel automatic feeding and discharging robot device and automatic production line thereof

Abstract

The utility model discloses a narrow channel automatic feeding and discharging robot device and an automatic production line thereof, the robot device is provided with a robot base, the length of the robot base extends along the length direction of a narrow channel, a machine position and a stock bin position are sequentially arranged in the length space of the robot base, the machine position is provided with a vertical lifting shaft, and the stock bin position is provided with a horizontal lifting shaft. A mechanical arm is arranged in the upward space of the vertical lifting shaft, a tray stock bin is arranged in the upward space of the stock bin position, and a tray positioning mechanism is arranged in the upward space of the tray stock bin. The problem that a feeding and discharging robot cannot be well arranged in a narrow channel between existing machining centers is solved, the narrow channel automatic feeding and discharging robot device and the automatic production line of the narrow channel automatic feeding and discharging robot device are more suitable for transferring materials on the narrow channel, the occupied space is small, and the site utilization rate can be increased under the same area.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic robots, in particular to a narrow channel automatic loading and unloading robot device and an automated production line thereof. Background Art

[0002] In view of the problems of high labor intensity, low production efficiency, unstable product quality, etc. in the manual operation of workpiece transportation and loading and unloading between various processes in the original production of most enterprises, existing enterprises will introduce robots (six-axis joint robots) to assist the automated production of machining centers (CNC). Machining centers are high-efficiency automated machine tools composed of mechanical equipment and CNC systems suitable for machining complex parts. CNC machining centers are currently one of the most productive and widely used CNC machine tools in the world. Therefore, the robots used by enterprises in machining centers need to be laid out according to the original space and site. Generally, it is necessary to set up material racks on the channel on one side of the machining center to allow robots to automatically load and unload materials.

[0003] In the process of realizing the present invention, the inventor found that the existing use of robots for loading and unloading materials in the machining center during the machining process has the following problems:

[0004] 1. The existing silo needs to occupy the space of the outer channel of the machining center, which takes up a lot of space, is not conducive to the layout of the machining center, and is not convenient for loading and unloading;

[0005] 2. Due to the limitation of the production workshop space, the placement of the machining center machine tools needs to be relatively compact. The automatic loading and unloading of the existing machining center is affected by the volume and space. One machining center can only use one loading and unloading robot, which is costly.

[0006] 3. The channel between the two machining centers is relatively narrow, and conventional loading and unloading robots cannot be used in narrow channels.

[0007] In view of this, how to solve the problem that the narrow passages between existing machining centers cannot well arrange loading and unloading robots has become a topic to be studied and solved by the present utility model. Utility Model Content

[0008] The utility model aims to provide a narrow channel automatic loading and unloading robot device and an automated production line thereof.

[0009] In order to achieve the above-mentioned object, the first aspect of the utility model proposes a narrow channel automatic loading and unloading robot device, the robot device is arranged in a narrow channel, and machining centers are arranged on both sides of the length extension direction of the narrow channel. The innovation lies in:

[0010] The robot device comprises a robot base whose length extends along the length direction of the narrow channel, and a machine position and a material bin position are sequentially arranged in the length space of the robot base.

[0011] A vertical lifting shaft is arranged at the machine position, and a mechanical arm is arranged in the upward space of the vertical lifting shaft, wherein the mechanical arm comprises at least three movable shafts.

[0012] A pallet silo is arranged in the space upward from the silo position, and a pallet positioning mechanism is arranged in the space upward from the pallet silo position.

[0013] A clamp is connected to the end of the robotic arm, and the clamp is driven to move and rotate by the vertical lifting shaft and the robotic arm; in addition to the connection with the end of the robotic arm, the clamp has multiple material transfer racks facing all around and downward, and at least two of the material transfer racks are equipped with grabbing parts.

[0014] To achieve the above-mentioned purpose, the second aspect of the utility model proposes an automated production line, which has machining centers arranged in pairs, with a narrow channel between the paired machining centers, and a narrow channel automatic loading and unloading robot device as described in the first aspect of the utility model is arranged in the narrow channel.

[0015] The relevant contents of this utility model are explained as follows:

[0016] 1. In the above technical solution of the utility model, in order to solve the problem that the narrow channel between the existing machining centers cannot arrange the loading and unloading robots well, a narrow channel automatic loading and unloading robot device is arranged at the narrow channel between the two machining centers to load and unload the two machining centers. In the narrow channel automatic loading and unloading robot device, the robot device is arranged in the narrow channel, and the robot device has a robot base extending along the length direction of the narrow channel. The machine position and the material bin position are sequentially arranged on the length space of the robot base, so that the various parts of the robot device are arranged along the length direction of the narrow channel, reducing the space occupied in the width direction and avoiding collision and interference; at the same time, The machine position is provided with a vertical lifting shaft, a robotic arm is provided in the upward space of the vertical lifting shaft, an electric box is installed at the bottom of the silo position, a pallet silo is provided in the upward space of the electric box, and a pallet positioning mechanism is provided in the upward space of the pallet silo. The upward space of the machine position and the silo position is utilized to reduce the space occupied in the width direction. At the same time, a robotic arm is provided in the upward space of the vertical lifting shaft, which can make full use of the vertical stroke of the robotic arm. The movement trajectory of the clamping claw at the end of the robotic arm has a large depth range, making it more suitable for transferring materials in narrow channels, occupying less space, and improving site utilization under the same area.

[0017] 2. In the above technical solution, the robot base is a rectangular plate structure, and fixed legs and moving wheels are provided at the four corners of the bottom of the robot base, so as to better arrange the various mechanisms on the machine position and the material bin position to adapt to the characteristics of the narrow channel. The moving wheels make the entire robot device easy to move, and the fixed legs make the robot device at the loading and unloading position better fixed.

[0018] 3. In the above technical solution, an electric box is installed at the bottom of the silo position, and the pallet silo is set in the space above the electric box, so that the electric box can be better arranged on the entire robot device. At the same time, the position will not occupy too much space in the silo position, and it is just arranged above and below the pallet silo to avoid occupying the side space.

[0019] 3. In the above technical solution, the robot base is provided with a double-layer bracket above its material bin, wherein the electric box is placed in the bracket at the bottom layer, a support plate is provided on the top of the bracket at the bottom layer, the pallet bin is located in the bracket at the upper layer and is placed above the support plate, and the pallet positioning mechanism is provided in the bracket at the upper layer. With this reasonable structural design, the electric box and pallet bin at the material bin position can more reasonably utilize the corresponding space, thereby improving space utilization.

[0020] 4. In the above technical solution, a teaching pendant is also provided on the outer side of the bracket located at the upper layer, so that the robot arm can perform relevant teaching operations on the driving operation trajectory of the gripper to avoid interference, make the operation trajectory more reasonable and reduce working hours.

[0021] 5. In the above technical solution, the robot arm includes six axes, so that the gripper can move in multiple dimensions and have multiple postures, so that the gripper can arrange the grasping part at various positions on its material transfer rack to correspond to materials in various states.

[0022] 6. In the above technical solution, a gripping part is provided on the material transfer rack below the clamping claw, and a gripping part is provided on at least three of the four material transfer racks facing the surroundings, and the gripping part facing the surroundings is a suction cup. This reasonable structure can realize the conversion and placement of at least 4 kinds of materials, and the function is more comprehensive.

[0023] 7. In the above technical solution, the grabbing parts on each of the material transfer racks are arranged in pairs, so as to make it more convenient to adsorb, take and place the materials.

[0024] 8. In this utility model, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0025] 9. In the present utility model, the orientation or position relationship indicated by the terms "center", "upper", "lower", "axial", "bottom", "inner", "outer", etc. is based on the orientation or position assembly relationship shown in the drawings, which 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 operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0026] 10. In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0027] Due to the application of the above scheme, the utility model has the following advantages and effects compared with the prior art:

[0028] The utility model aims at the problem that the loading and unloading robots cannot be well arranged in the narrow passage between the existing machining centers. A narrow passage automatic loading and unloading robot device is arranged at the narrow passage between the two machining centers to load and unload the two machining centers. In the narrow passage automatic loading and unloading robot device, the robot device is arranged in the narrow passage. The robot device has a robot base with a length extending along the length direction of the narrow passage. The machine position and the material bin position are sequentially arranged on the length space of the robot base, so that the various parts of the robot device are arranged along the length direction of the narrow passage, reducing the space occupied in the width direction and avoiding collision and interference. At the same time, a robot position is arranged at the machine position. There is a vertical lifting shaft, and a robotic arm is arranged in the upward space of the vertical lifting shaft. An electric box is installed at the bottom of the silo position, a pallet silo is arranged in the upward space of the electric box, and a pallet positioning mechanism is arranged in the upward space of the pallet silo. The upward space of the machine position and the silo position can also be used to reduce the space occupied in the width direction. At the same time, a robotic arm is arranged in the upward space of the vertical lifting shaft, which can make full use of the vertical stroke of the robotic arm. The movement trajectory of the clamping claw at the end of the robotic arm has a large depth range, making it more suitable for transferring materials in narrow channels, occupying less space, and improving site utilization under the same area. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a three-dimensional structural diagram of a narrow channel automatic loading and unloading robot device according to an embodiment of the utility model (viewing angle 1);

[0030] Figure 2 This is a three-dimensional structural diagram of a narrow channel automatic loading and unloading robot device according to an embodiment of the utility model (viewing angle 2);

[0031] Figure 3 This is a front view of the automatic loading and unloading robot device for narrow channels according to an embodiment of the utility model;

[0032] Figure 4 A three-dimensional schematic diagram of the clamping jaws in the embodiment of the utility model (viewing angle 1);

[0033] Figure 5 A three-dimensional schematic diagram of the clamping jaws in the embodiment of the utility model (viewing angle 2)

[0034] Figure 6 It is a bottom view of the clamping jaws in the embodiment of the utility model.

[0035] The various parts of the above drawings are shown as follows:

[0036] 1 Robot base

[0037] 11 Machine Position

[0038] 12 Storage bins

[0039] 13 Fixed feet

[0040] 14 Moving wheels

[0041] 15 Bracket

[0042] 2 vertical lifting axes

[0043] 3 Robotic Arm

[0044] 4 jaws

[0045] 41 Material transfer rack

[0046] 42 Grabbing unit

[0047] 5. Electric box

[0048] 6 Pallet silo

[0049] 7 Pallet positioning mechanism

[0050] 8 Teach pendant. DETAILED DESCRIPTION

[0051] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0052] The utility model aims to solve the problem that the narrow channels between existing machining centers cannot well arrange loading and unloading robots. The proposed narrow channel automatic loading and unloading robot device and its automated production line are more suitable for the transfer of materials in narrow channels, occupy less space, and can improve site utilization under the same area.

[0053] Embodiment 1, as Figures 1 to 3 As shown, embodiment 1 of the utility model proposes a narrow channel automatic loading and unloading robot device, the robot device is arranged in a narrow channel, machining centers are set on both sides of the length extension direction of the narrow channel, the robot device has a robot base 1 whose length extends along the length direction of the narrow channel, and a machine position 11 and a material bin position 12 are sequentially arranged in the length space of the robot base 1.

[0054] A vertical lifting shaft 2 is provided at the machine position 11, and a mechanical arm 3 is provided in the upward space of the vertical lifting shaft 2, and the mechanical arm 3 includes at least three movable shafts. The vertical lifting shaft 2 carries the mechanical arm 3 and the gripper 4 thereon to rise and fall, which facilitates the robot to maximize the working range in a limited space. The mechanical arm 3 mainly cooperates with the gripper 4 and the vertical lifting shaft 2 to realize the product posture conversion and the product picking and placing functions.

[0055] An electric box 5 is installed at the bottom of the silo position 12 , a pallet silo 6 is arranged in the space above the electric box 5 , and a pallet positioning mechanism 7 is arranged in the space above the pallet silo 6 .

[0056] The end of the mechanical arm 3 is connected to a clamping claw 4, which is driven by the vertical lifting shaft 2 and the mechanical arm 3 to move and rotate the clamping claw 4; Figures 4 to 6 As shown, the clamp 4 has multiple material transfer racks 41 facing the surroundings and downwards, except for the end connection with the mechanical arm 3, and at least two of the material transfer racks 41 are equipped with a gripping portion 42. The clamp 4 cooperates with the mechanical arm 3 and the vertical lifting shaft 2 to mainly be responsible for the conversion and placement of various materials.

[0057] The working process of the first embodiment of the present invention can be referred to as follows: the raw material is manually placed on the pallet silo 6 through the raw material pallet, the robotic arm 3 and the clamp 4 place the entire pallet of the product in the pallet positioning mechanism 7, and after the product is precisely positioned, the robot takes it away and places it on the processing table inside the processing center. After processing, the robot takes the product away and places it on the cooked material pallet of the pallet silo 6.

[0058] Through the implementation of the first embodiment of the utility model, a narrow channel automatic loading and unloading robot device is set at the narrow channel between two machining centers to load and unload the two machining centers. In the narrow channel automatic loading and unloading robot device, the robot device is arranged in the narrow channel, and the robot device has a robot base 1 with a length extending along the length direction of the narrow channel. A machine position 11 and a material bin position 12 are sequentially arranged on the length space of the robot base 1, so that the various parts of the robot device are arranged along the length direction of the narrow channel, reducing the space occupied in the width direction and avoiding collision and interference; at the same time, a vertical lifting shaft 2 is arranged at the machine position 11, and a vertical lifting shaft 2 is arranged at the vertical lifting shaft 2 A robot arm 3 is arranged in the upward space, an electric box 5 is installed at the bottom of the silo position 12, a pallet silo 6 is arranged in the upward space of the electric box 5, and a pallet positioning mechanism 7 is arranged in the upward space of the pallet silo 6. The upward space of the machine position 11 and the silo position 12 is utilized to reduce the space occupied in the width direction. At the same time, a robot arm 3 is arranged in the upward space of the vertical lifting shaft 2, which can make full use of the vertical stroke of the robot arm 3. The movement trajectory of the clamping claw 4 at the end of the robot arm 3 has a large depth range, making it more suitable for transferring materials in narrow channels, occupying less space, and improving site utilization under the same area.

[0059] In the first embodiment of the utility model, the robot base 1 is a rectangular plate-like structure, and fixed legs 13 and moving wheels 14 are provided at the four corners of the bottom of the robot base 1, so as to better arrange the various mechanisms on the machine position 11 and the material bin position 12 to adapt to the characteristics of the narrow channel. The moving wheels 14 make the overall robot device easy to move, and the fixed legs 13 make the robot device at the loading and unloading position better fixed.

[0060] In the first embodiment of the utility model, the robot base 1 is provided with a double-layer bracket 15 above its material bin position 12, wherein the electric box 5 is placed in the bracket 15 at the bottom layer, a support plate is provided on the top of the bracket 15 at the bottom layer, the pallet bin 6 is located in the upper bracket 15 and is placed above the support plate, and the pallet positioning mechanism 7 is arranged in the upper bracket 15. With this reasonable structural design, the electric box 5 and the pallet bin 6 on the material bin position 12 can more reasonably utilize the corresponding space, thereby improving the space utilization rate.

[0061] In the first embodiment of the utility model, a teaching pendant 8 is also arranged outside the bracket 15 located at the upper layer, so as to enable the robot arm 3 to perform relevant teaching operations on the driving operation trajectory of the clamping claw 4, avoid interference, make the operation trajectory more reasonable, and reduce working hours. The teaching pendant 8 can be installed on the teaching pendant 8 bracket 15, located on one side in the width direction.

[0062] In the first embodiment of the present invention, the robot arm 3 includes six axes, so that the gripper 4 can move in multiple dimensions and have multiple postures, so that the gripper 4 can arrange the grasping part 42 at various positions on its material transfer rack 41 to correspond to materials in various states.

[0063] In the first embodiment of the utility model, a grabbing portion 42 is provided on the material transfer rack 41 located below the clamp 4, and a grabbing portion 42 is provided on at least three of the four material transfer racks 41 facing the periphery, and the grabbing portion 42 facing the periphery is a suction cup. This reasonable structure realizes the conversion and placement of at least four kinds of materials, and the function is more comprehensive.

[0064] In the first embodiment of the present invention, the grabbing parts 42 on each of the material transfer racks 41 are arranged in pairs, so as to facilitate the adsorption, taking and placing of materials.

[0065] Embodiment 2: Embodiment 2 of the present invention proposes an automated production line having machining centers arranged in pairs, wherein the paired machining centers have a narrow channel between them, and a narrow channel automatic loading and unloading robot device as described in Embodiment 1 of the present invention is arranged in the narrow channel.

[0066] Embodiment three, embodiment three of the utility model proposes an automated production line, embodiment three of the utility model proposes an automated production line, the automated production line has machining centers arranged in pairs, a narrow channel between the paired machining centers, and a narrow channel automatic loading and unloading robot device as described in embodiment one of the utility model is arranged in the narrow channel.

[0067] In the third embodiment of the utility model, the robot device has a robot base 1 whose length extends along the length direction of the narrow channel, and a machine position 11 and a material bin position 12 are sequentially arranged in the length space of the robot base 1. The robot base 1 is a rectangular plate-like structure, and fixed legs 13 and moving wheels 14 are arranged at the four corners of the bottom of the robot base 1. The robot base 1 is provided with a double-layer bracket 15 above its material bin position 12. A teaching pendant 8 is also arranged on the outside of the bracket 15.

[0068] In the third embodiment of the present invention, a vertical lifting shaft 2 is provided at the machine position 11, and a mechanical arm 3 is provided in the upward space of the vertical lifting shaft 2, wherein the mechanical arm 3 includes six movable axes.

[0069] In the third embodiment of the utility model, an electric box 5 is installed at the bottom of the silo position 12, a pallet silo 6 is arranged in the space above the electric box 5, and a pallet positioning mechanism 7 is arranged in the space above the pallet silo 6. The electric box 5 is placed in the bracket 15 at the bottom layer, a support plate is arranged on the top of the bracket 15 at the bottom layer, the pallet silo 6 position 12 is placed in the bracket 15 at the upper layer and above the support plate, and the pallet positioning mechanism 7 is arranged in the bracket 15 at the upper layer.

[0070] In the third embodiment of the present invention, a clamping jaw 4 is connected to the end of the robot arm 3, and the clamping jaw 4 is driven to move and rotate by the vertical lifting shaft 2 and the robot arm 3; in addition to the connection with the end of the robot arm 3, the clamping jaw 4 has five material transfer racks 41 facing the surroundings and downwards, and a grabbing portion 42 is provided on the material transfer rack 41 located below the clamping jaw 4, and a grabbing portion 42 is provided on at least three of the four material transfer racks 41 facing the surroundings, and the grabbing portion 42 facing the surroundings is a suction cup, and the grabbing portions 42 on the material transfer racks 41 are arranged in pairs.

[0071] The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with the technology to understand the content of the utility model and implement it accordingly, and they cannot be used to limit the protection scope of the utility model. Any equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A narrow channel automatic loading and unloading robot device, the robot device is arranged in a narrow channel, and processing centers are set on both sides of the length extension direction of the narrow channel, characterized in that: The robot device comprises a robot base (1) whose length extends along the length direction of the narrow passage, and a machine position (11) and a material bin position (12) are sequentially arranged in the length space of the robot base (1); A vertical lifting shaft (2) is arranged at the machine position (11), and a mechanical arm (3) is arranged in the upward space of the vertical lifting shaft (2), wherein the mechanical arm (3) comprises at least three movable shafts; A pallet silo (6) is arranged in the space upward from the silo position (12), and a pallet positioning mechanism (7) is arranged in the space upward from the pallet silo (6); The end of the mechanical arm (3) is connected to a clamping claw (4), and the clamping claw (4) is driven to move and rotate by the vertical lifting shaft (2) and the mechanical arm (3); in addition to the connection with the end of the mechanical arm (3), the clamping claw (4) has a plurality of material transfer racks (41) facing all around and downward, and at least two of the material transfer racks (41) are equipped with a grasping portion (42).

2. The narrow channel automatic loading and unloading robot device according to claim 1 is characterized in that: The robot base (1) is a rectangular plate-shaped structure, and fixed legs (13) and / or moving wheels (14) are arranged at the four corners of the bottom of the robot base (1).

3. The narrow channel automatic loading and unloading robot device according to claim 1 is characterized in that: An electrical box (5) is installed at the bottom of the silo position (12), and the pallet silo (6) is arranged in the space above the electrical box (5).

4. The narrow channel automatic loading and unloading robot device according to claim 3 is characterized in that: The robot base (1) is provided with a double-layer bracket (15) above its material bin position (12), wherein the electric box (5) is placed in the bracket (15) located at the bottom layer, and a support plate is provided on the top of the bracket (15) at the bottom layer, the pallet material bin (6) is located in the bracket (15) at the upper layer and is placed above the support plate, and the pallet positioning mechanism (7) is arranged in the bracket (15) located at the upper layer.

5. The narrow channel automatic loading and unloading robot device according to claim 4 is characterized in that: A teaching pendant (8) is also arranged on the outer side of the bracket (15) located at the upper layer.

6. The narrow channel automatic loading and unloading robot device according to claim 1 is characterized in that: The mechanical arm (3) comprises six axes.

7. The narrow channel automatic loading and unloading robot device according to claim 1 is characterized in that: A grabbing portion (42) is provided on the material transfer rack (41) below the clamp (4), and grabbing portions (42) are provided on at least three of the four material transfer racks (41) facing the periphery, and the grabbing portions (42) facing the periphery are suction cups.

8. The narrow channel automatic loading and unloading robot device according to claim 1 or 7, characterized in that: The grabbing parts (42) on the material transfer rack (41) are arranged in pairs.

9. An automated production line, characterized in that: The automated production line has machining centers arranged in pairs, with a narrow channel between the machining centers arranged in pairs, and a narrow channel automatic loading and unloading robot device as described in any one of claims 1 to 7 is arranged in the narrow channel.

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