Manipulator automatic feeding and discharging device

Abstract

The utility model provides a mechanical arm automatic feeding and discharging device which comprises a feeding disc, a discharging disc and a feeding and discharging mechanism, the feeding disc is provided with a first jacking device, the feeding disc is connected with an automatic limiting mechanism corresponding to the first jacking device, the front end of the feeding disc is connected with a to-be-machined material base, and the discharging disc is provided with an inclined partition plate. The feeding and discharging mechanism comprises a supporting column, a cross beam, lifting devices and mechanical claws, a conveying belt is arranged on the cross beam, the conveying belt is connected with a moving platform, the moving platform is connected with the lifting devices through guide rail assemblies, lifting rods of the two lifting devices are connected with the mechanical claws, and the lifting rods of the two lifting devices are connected with the mechanical claws. Automatic production is achieved through the automatic feeding and discharging device of the mechanical arm, the labor intensity of manual carrying and clamping is reduced, and the production efficiency is improved; and through the design of the feeding and discharging mechanism, synchronous feeding and discharging operation can be achieved, the feeding and discharging time is shortened, and the production efficiency is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic processing equipment, and particularly relates to a manipulator automatic loading and unloading device. Background Technique

[0002] The polishing and grinding equipment for processing the outer surface of a rotating shaft is a device specifically used for polishing and grinding the outer circle of cylindrical parts. This equipment is designed to improve production efficiency, reduce operation difficulty, and reduce production costs. This polishing and grinding equipment for processing the outer surface of a rotating shaft has shown great application potential in the high-end equipment manufacturing field with its high efficiency, high precision, and easy operation.

[0003] When processing workpieces, the process of sending the workpieces to a processing lathe or a processing station usually adopts manual loading. First, it is impossible to achieve automatic production, manual handling is required, it is time-consuming and laborious during clamping, the labor intensity is high and there is a certain danger. Once in a fatigue state after long-term work, misoperations and other dangers are likely to occur, and the improvement of production efficiency is limited, unable to meet the needs of mass production. Second, positioning problems often occur and are unavoidable when manually loading workpieces, which will cause large errors and greatly affect the accuracy of the processed workpieces.

[0004] Most of the manipulators used for loading and unloading on automatic equipment drive the jaws to move through three-dimensional motion modules to complete the operations of loading and unloading. The existing manipulators perform the work of loading and unloading through a single arm, which cannot be carried out synchronously, affecting production efficiency and prolonging the time of loading and unloading. Content of the Utility Model

[0005] The purpose of the utility model is to provide a manipulator automatic loading and unloading device, aiming to solve the problems of low production efficiency, high operation difficulty, high cost, potential safety hazards, and affected accuracy existing in the manual loading and single-arm manipulator unloading processes of the existing polishing and grinding equipment for processing the outer surface of a rotating shaft.

[0006] To achieve the above purpose, the utility model adopts the following technical solutions:

[0007] Provide a manipulator automatic loading and unloading device, including:

[0008] A loading tray for storing materials to be processed, a first lifting device is arranged at the bottom of the loading tray, the telescopic rod of the first lifting device penetrates through the loading tray, the loading tray is connected with an automatic limiting mechanism corresponding to the first lifting device, and at least two groups of material seats to be processed are connected to the front end of the loading tray;

[0009] The blanking tray is used to place the processed materials. The blanking tray is provided with an inclined partition, and a second lifting device is arranged below the inclined partition. A material trough is arranged above the inclined partition of the blanking tray.

[0010] The loading and unloading mechanism includes columns, a cross beam, a lifting device and a manipulator claw. The cross beam is connected to the columns, and a conveyor belt is arranged on the cross beam. The conveyor belt is connected to a moving platform. The moving platform is respectively connected to the lifting devices through guide rail assemblies corresponding to the loading tray and the blanking tray. The lifting rods of the two lifting devices are connected to the manipulator claw.

[0011] Preferably, the automatic limiting mechanism includes a rotating shaft, and limiting blocks are respectively connected to both ends of the rotating shaft. One end of the rotating shaft is connected to a third lifting device through a connecting rod, and at least two groups of limiting claws are arranged in the middle of the rotating shaft in an array.

[0012] Preferably, the workpiece holder to be processed includes an adjusting seat and a movable plate movably connected to the adjusting seat. The adjusting seat is in an L-shaped structure, and waist-shaped adjusting holes are respectively opened at both ends of the adjusting seat. A V-shaped groove is opened at the upper end of the movable plate.

[0013] Preferably, two parallel partitions are movably clamped inside the loading tray. The parallel partitions are arranged at both ends of the workpiece to be processed for arranging the workpieces to be processed in parallel.

[0014] Preferably, the inner bottom end surface of the loading tray is inclined downward towards the first lifting device.

[0015] Preferably, the inclined partition adopts a two-stage inclination, and the second lifting device is arranged between the two inclined surfaces.

[0016] Preferably, fixing blocks are respectively connected to the end faces of the moving platform corresponding to the two lifting devices. The lifting device is connected to the fixing block. The lifting rod of the lifting device penetrates through the fixing block and is connected to a movable block, and the movable block is connected to the manipulator claw.

[0017] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0018] The automatic loading and unloading device for a manipulator provided by the utility model realizes automated production through the automatic loading and unloading device of the manipulator, reduces the labor intensity of manual handling and clamping, and improves production efficiency; through the design of the loading and unloading mechanism, the operations of loading and unloading can be carried out synchronously, shortening the loading and unloading time and further improving production efficiency; the loading tray is connected with an automatic limiting mechanism, which can automatically limit the loading quantity and loading time of the workpieces to be processed; the unloading tray is provided with an inclined partition plate, which can smoothly guide the processed workpieces into the material trough, facilitating subsequent processing and collection; the fixed positions of the loading tray and the unloading tray enable the workpieces to be processed and the processed workpieces to be accurately positioned, avoiding the generation of errors and improving the accuracy of the processed workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 is a three-dimensional view of the present utility model;

[0021] Figure 2 is a front view of the present utility model;

[0022] Figure 3 is a top view of the present utility model.

[0023] In the figure: 1. Loading tray; 2. First lifting device; 4. Automatic limiting mechanism; 5. Seat for workpieces to be processed; 6. Unloading tray; 7. Inclined partition plate; 8. Second lifting device; 9. Material trough; 10. Loading and unloading mechanism; 11. Support pillar; 12. Cross beam; 13. Lifting device; 14. Manipulator claw; 15. Conveyor belt; 16. Moving platform; 17. Guide rail assembly; 18. Rotating shaft; 19. Limiting block; 20. Third lifting device; 21. Limiting claw; 22. Adjusting seat; 23. Movable plate; 24. Waist-shaped adjusting hole; 25. V-shaped groove; 26. Flush partition plate; 27. Fixed block; 28. Movable block. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model. Obviously, the described embodiments are only some of the embodiments of the present utility model, rather than all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0025] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0026] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0027] The following Figures 1 to 3 describes a manipulator automatic loading and unloading device of the present utility model.

[0028] As Figures 1 to 3 shown, the present utility model provides a manipulator automatic loading and unloading device, including:

[0029] A loading tray 1, the loading tray 1 is used for storing materials to be processed. A first lifting device 2 is provided at the bottom of the loading tray 1, and the telescopic rod of the first lifting device 2 penetrates through the loading tray 1. The loading tray 1 is correspondingly connected with an automatic limiting mechanism 4 for the first lifting device 2, and at least two groups of material seats 5 to be processed are connected to the front end of the loading tray 1;

[0030] An unloading tray 6, the unloading tray 6 is used for placing processed materials. The unloading tray 6 is provided with an inclined partition 7, and a second lifting device 8 is provided below the inclined partition 7. A material trough 9 is provided above the inclined partition 7 of the unloading tray 6;

[0031] A loading and unloading mechanism 10, the loading and unloading mechanism 10 includes a support column 11, a cross beam 12, a lifting device 13 and a manipulator claw 14. The cross beam 12 is connected to the support column. A conveyor belt 15 is provided on the cross beam 12, the conveyor belt 15 is connected with a moving platform 16, the moving platform 16 is correspondingly connected with a lifting device 13 through a guide rail assembly 17 for the loading tray 1 and the unloading tray 6 respectively, and the lifting rods of the two lifting devices 13 are connected with a manipulator claw 14. The lifting device 13 is a cylinder.

[0032] Preferably, the automatic limiting mechanism 4 includes a rotating shaft 18, with limiting blocks 19 connected to both ends of the rotating shaft 18 respectively. One end of the rotating shaft 18 is connected to a third lifting device 20 through a connecting rod, and at least two groups of limiting claws 21 are arranged and penetrated through the middle of the rotating shaft 18. Due to the action of the third lifting device 20, the rotating shaft 18 can automatically reset to a set position, which is used to limit the time and quantity of the workpieces to be processed placed on the workpiece seat 5 to be processed each time when loading materials.

[0033] Preferably, the workpiece seat 5 to be processed includes an adjusting seat 22 and a movable plate 23 movably connected to the adjusting seat 22. The adjusting seat 22 has an L-shaped structure, and waist-shaped adjusting holes 24 are respectively opened at both ends of the adjusting seat 22. A V-shaped groove 25 is opened at the upper end of the movable plate 23. The movable connection between the movable plate 23 and the adjusting seat 22 allows the position of the workpiece to be adjusted within a certain range.

[0034] Preferably, two groups of flush partitions 26 are movably clamped inside the loading tray 1. The flush partitions 26 are arranged at both ends of the workpieces to be processed for the flush arrangement of the workpieces to be processed. By arranging the movably clamped flush partitions 26 inside the loading tray 1, the workpieces to be processed can be automatically sorted and arranged, ensuring that the workpieces to be processed enter the processing process at a consistent position.

[0035] Preferably, the inner bottom end surface of the loading tray 1 is inclined downward towards the first lifting device 2. The inclined bottom end surface enables the workpieces to be processed to automatically slide towards the first lifting device 2 under the action of gravity, reducing the need for additional mechanical or manual operations to move the materials. The materials automatically slide towards the lifting device, accelerating the loading process and improving the overall production efficiency.

[0036] Preferably, the inclined partition 7 adopts a two-stage inclination, and the second lifting device 8 is arranged between the two inclined surfaces. The two-stage inclination design allows the materials to be processed in segments during the sliding process, and the materials can be monitored, adjusted or processed at different stages, improving the flexibility and accuracy of the processing.

[0037] Preferably, fixed blocks 27 are respectively connected to the end surfaces of the moving platform 16 corresponding to the two lifting devices 13. The lifting devices 13 are connected to the fixed blocks 27. The lifting rods of the lifting devices 13 penetrate through the fixed blocks 27 and are connected to movable blocks 28, and the movable blocks 28 are connected to the mechanical claws 14.

[0038] An automatic loading and unloading device for a manipulator provided by the utility model realizes automated production through the automatic loading and unloading device of the manipulator, reduces the labor intensity of manual handling and clamping, and improves production efficiency; through the design of the loading and unloading mechanism 10, the operations of loading and unloading can be carried out synchronously, shortening the loading and unloading time and further improving production efficiency; the loading tray 1 is connected with an automatic limiting mechanism 4, which can automatically limit the loading quantity and loading time of the materials to be processed; the unloading tray 6 is provided with an inclined partition plate 7, which can smoothly guide the processed materials into the material chute 9, facilitating subsequent processing and collection; the fixed positions of the loading tray 1 and the unloading tray 6 enable the materials to be processed and the processed materials to be accurately positioned, avoiding the generation of errors and improving the precision of the processed workpieces.

[0039] The above are only the embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification of the present utility model, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present utility model.

Claims

1. A robot automatic loading and unloading device, characterized in that: include: A loading tray, the loading tray is used to store materials to be processed, a first lifting device is arranged at the bottom of the loading tray, a telescopic rod of the first lifting device passes through the loading tray, the loading tray is connected with an automatic limit mechanism corresponding to the first lifting device, and at least two groups of material seats to be processed are connected to the front end of the loading tray; A material tray, the material tray is used to place processed materials, the material tray is provided with an inclined partition, and a second lifting device is provided below the inclined partition, and the material tray is provided with a material trough above the inclined partition; The loading and unloading mechanism includes a pillar, a crossbeam, a lifting device and a mechanical gripper, the crossbeam is connected to the pillar, a conveyor belt is arranged on the crossbeam, the conveyor belt is connected to a moving platform, the moving platform is connected to the lifting device corresponding to the loading tray and the unloading tray respectively through a guide rail assembly, and the lifting rods of the two lifting devices are connected to the mechanical gripper.

2. The automatic loading and unloading device of a manipulator according to claim 1 is characterized in that: The automatic limiting mechanism comprises a rotating shaft, both ends of which are respectively connected to limiting blocks, wherein one end of the rotating shaft is connected to a third lifting device via a connecting rod, and at least two groups of limiting claws are arranged and penetrated in the middle of the rotating shaft.

3. The automatic loading and unloading device of a manipulator according to claim 1 is characterized in that: The material seat to be processed includes an adjustment seat and a movable plate movably connected to the adjustment seat. The adjustment seat is L-shaped, and waist-shaped adjustment holes are respectively opened at both ends of the adjustment seat. The upper end of the movable plate is opened with a V-shaped groove.

4. The automatic loading and unloading device of a manipulator according to claim 1 is characterized in that: The inner movable clamp of the loading tray is provided with two groups of flush partitions, and the flush partitions are arranged at both ends of the material to be processed for flush arrangement of the material to be processed.

5. A robot automatic loading and unloading device according to claim 1 or 4, characterized in that: The inner bottom end surface of the loading tray is tilted downward toward the first lifting device.

6. The automatic loading and unloading device of a manipulator according to claim 1 is characterized in that: The inclined partition adopts a two-stage inclination, and the second jacking device is arranged between the two inclined surfaces.

7. The automatic loading and unloading device of a manipulator according to claim 1 is characterized in that: The end surfaces of the motion platform are respectively connected with fixed blocks corresponding to the two lifting devices, the lifting devices are connected to the fixed blocks, the lifting rods of the lifting devices penetrate the fixed blocks and are connected with movable blocks, and the movable blocks are connected to the mechanical grippers.

Images