Robot feeding and discharging work station

Abstract

The utility model belongs to the technical field of collaborative robots, and particularly relates to a robot feeding and discharging work station. The material taking device of the robot feeding and discharging work station comprises two feeding and discharging assemblies and a first material taking clamping jaw. The first material taking clamping jaw is used for clamping a product in the product positioning groove to the pre-positioning mechanism under the driving of the mechanical arm; the loading and unloading assembly is used for loading a plurality of products on the pre-positioning mechanism under the driving of the mechanical arm; the interval width between the adjacent product positioning grooves is W1; after the pre-positioning mechanism positions the multiple products, the interval between every two adjacent products is W2, and W2 is larger than W1. The products are grabbed from the material disc to the pre-positioning mechanism through the independent clamping jaw, and when the number of the products on the pre-positioning mechanism reaches the one-time feeding number, the multiple products are fed to the machining equipment at the same time through the feeding and discharging assembly, so that the interval between the products on the material disc is reduced to be only larger than the width of one jaw head; and the time for grabbing the product from the charging tray to the pre-positioning mechanism by adopting the independent clamping jaw is the processing time of the equipment, so that the production takt is not delayed.

Description

Technical Field

[0001] The utility model belongs to the technical field of collaborative robots, and particularly relates to a robot loading and unloading workstation. Background Art

[0002] As the name implies, a collaborative robot is one that can cooperate with humans on the production line, giving full play to the efficiency of the robot and the intelligence of humans. Such a robot not only has a high cost performance, but also is safe and convenient, and can greatly promote the development of manufacturing enterprises.

[0003] In the machining industry, in order to achieve manual replacement of loading and unloading, collaborative robots are currently used for loading and unloading. Generally, the workpiece to be processed is placed on a tray and grabbed by a robotic arm to a lathe for processing. There is generally a workpiece storage area on the tray.

[0004] In the case of processing where multiple products are loaded at the same time, the grasping mechanism of the robotic arm is generally a plurality of juxtaposed jaw devices, and the products are placed at intervals on the tray waiting to be grabbed. However, the interval between products needs to be at least the width of two jaw heads, which also results in too small a space on the tray for product placement and low utilization rate. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a robot loading and unloading workstation to solve the technical problem in the prior art that the interval between product placements on the tray is too large, resulting in low space utilization rate.

[0006] To solve the above technical problem, the utility model provides a robot loading and unloading workstation, including:

[0007] A box body, on which a robotic arm is provided;

[0008] A tray, arranged on the box body; product positioning grooves are arranged at intervals on the tray;

[0009] A pre-positioning mechanism, arranged on one side of the tray, for placing a plurality of products to be loaded;

[0010] A material taking device, installed on the robotic arm; the material taking device includes two sets of loading and unloading components and a first material taking jaw; the first material taking jaw is used to clamp the product in the product positioning groove to the pre-positioning mechanism under the drive of the robotic arm; the loading and unloading components are used to load a plurality of products on the pre-positioning mechanism under the drive of the robotic arm; where

[0011] The interval width between adjacent product positioning grooves is W1;

[0012] After the pre-positioning mechanism positions the plurality of products, the interval between adjacent products is W2, and W2 > W1.

[0013] In one embodiment of the present application, the material taking device includes a mounting plate;

[0014] The middle part of the mounting plate is connected to the robotic arm;

[0015] The loading and unloading assemblies are respectively arranged on the upper and lower surfaces of the mounting plate;

[0016] The first material taking jaw is arranged on the side end face of the mounting plate.

[0017] In one embodiment of the present application, the loading and unloading assembly includes at least two second material taking jaws arranged at intervals.

[0018] In one embodiment of the present application, a plurality of fixing bars arranged in parallel at intervals are provided on the tray;

[0019] Product positioning grooves are arranged at intervals at the upper ends of the fixing bars.

[0020] In one embodiment of the present application, the pre-positioning mechanism includes:

[0021] A bottom plate, arranged on one side of the tray;

[0022] A fixing block, with a long stop edge extending in the x direction and short stop edges extending in the y direction and arranged at intervals at its upper end;

[0023] An x-direction moving device, fixed on the bottom plate, for driving a moving block to move in the x direction, and short top blocks corresponding to the short stop edges one by one are arranged on the moving block;

[0024] A y-direction moving device, fixed on the moving block, for driving a long top block to move; where

[0025] The x-direction moving device is used to drive each short top block to push the product to the side of the corresponding short stop edge;

[0026] The y-direction moving device is used to drive the long top block to push the product to the side of the long stop edge.

[0027] In one embodiment of the present application, a plurality of purging nozzles are further arranged on the mounting plate.

[0028] In one embodiment of the present application, moving wheels are arranged at the bottom of the box body.

[0029] In one embodiment of the present application, fixing pins are arranged at the bottom of the box body.

[0030] In one embodiment of the present application, W2 > 2W1.

[0031] The beneficial effects of the present utility model are as follows. The material taking device of the robot loading and unloading workstation of the present utility model includes two sets of loading and unloading components and a first material taking jaw. The first material taking jaw is used to clamp the product in the product positioning groove under the drive of the robotic arm and place it on the pre-positioning mechanism. The loading and unloading components are used to load multiple products on the pre-positioning mechanism under the drive of the robotic arm. The interval width between adjacent product positioning grooves is W1. After the pre-positioning mechanism positions the multiple products, the interval between adjacent products is W2, and W2 > W1. By using a separate jaw to grab the product from the tray to the pre-positioning mechanism, when the number of products at the pre-positioning mechanism reaches the one-time loading quantity, then the multiple products are simultaneously loaded onto the processing equipment through the loading and unloading components, so that the interval between the products on the tray can be reduced to only wider than the width of one jaw head. And the time for using a separate jaw to grab the product from the tray to the pre-positioning mechanism is the processing time of the equipment, and it will not delay the production beat.

[0032] Other features and advantages of the present utility model will be described in the following specification, and part of them will become obvious from the specification or be understood by implementing the present utility model. The objectives and other advantages of the present utility model are achieved and obtained by the structures specifically pointed out in the specification and the drawings.

[0033] To make the above objectives, features, and advantages of the present utility model more obvious and understandable, the following specifically gives preferred embodiments and, in conjunction with the accompanying drawings, makes the following detailed description. Description of the Drawings

[0034] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 It is a schematic diagram of two juxtaposed jaws simultaneously grabbing two products in the prior art;

[0036] Figure 2 It is a perspective view of the robot loading and unloading workstation of the present utility model;

[0037] Figure 3 It is a partial schematic diagram of the tray of the robot loading and unloading workstation of the present utility model;

[0038] Figure 4 It is a schematic diagram of the material taking device of the robot loading and unloading workstation of the present utility model;

[0039] Figure 5It is a schematic diagram of the pre-positioning mechanism of the robot loading and unloading workstation of the present utility model.

[0040] In the figure:

[0041] Box body 1, robotic arm 11, moving wheels 12, fixing pins 13;

[0042] Material tray 2, fixing strip 21, product positioning groove 22;

[0043] Pre-positioning mechanism 3, bottom plate 31, fixing block 32, long retaining edge 321, short retaining edge 322, x-direction moving device 33, moving block 331, short top block 332, y-direction moving device 34, long top block 341;

[0044] Material taking device 4, mounting plate 41, loading and unloading assembly 42, second material taking jaw 421, first material taking jaw 43, purging nozzle 44. Specific embodiments

[0045] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the scope of protection of the present utility model.

[0046] Refer to Figure 1 , in some application scenarios, when multiple juxtaposed jaws are used to grasp products, the spacing width between adjacent products should be at least greater than the width of two jaw heads. In this case, the space on the material tray cannot be utilized efficiently. Based on this, an embodiment of the present application provides a robot loading and unloading workstation, which uses a single jaw to grasp products from the material tray to the pre-positioning mechanism. When the number of products at the pre-positioning mechanism reaches the one-time feeding quantity (for example, 4), the loading and unloading assembly is used to feed multiple products onto the processing equipment at the same time. This reduces the spacing between products on the material tray by half, only requiring a width greater than the width of one jaw head. Moreover, the time for using a single jaw to grasp products from the material tray to the pre-positioning mechanism is the processing time of the equipment and does not delay the production rhythm. This not only improves the use space of the material tray, but also the pre-positioning mechanism can ensure the positioning accuracy of the products grasped by the loading and unloading assembly, without the need for precise positioning when the products are placed on the material tray.

[0047] Specifically, refer to Figure 2, in an embodiment of the present application, a robot loading and unloading workstation includes: a box body 1, on which a robotic arm 11 is provided; a tray 2, arranged on the box body 1; a plurality of product positioning grooves 22 are arranged on the tray 2 at intervals; a pre-positioning mechanism 3, arranged on one side of the tray 2, for placing a plurality of products to be loaded; a picking device 4, installed on the robotic arm 11; the picking device 4 includes two sets of loading and unloading components 42 and a first picking gripper 43; the first picking gripper 43 is used to clamp the product in the product positioning groove 22 to the pre-positioning mechanism 3 under the drive of the robotic arm 11; the loading and unloading components 42 are used to load the plurality of products on the pre-positioning mechanism 3 under the drive of the robotic arm 11; wherein the interval width between adjacent product positioning grooves 22 is W1; after the pre-positioning mechanism 3 positions the plurality of products, the interval between adjacent products is W2, and W2 > W1.

[0048] See Figure 4 , optionally, the picking device 4 includes a mounting plate 41; the middle part of the mounting plate 41 is connected to the robotic arm 11; the upper and lower surfaces of the mounting plate 41 are respectively provided with the loading and unloading components 42; the side end face of the mounting plate 41 is provided with the first picking gripper 43.

[0049] In this embodiment, the loading and unloading component 42 includes at least two second picking grippers 421 arranged at intervals.

[0050] Optionally, both the first picking gripper 43 and the second picking gripper 421 can be finger cylinders.

[0051] See Figure 3 , optionally, a plurality of fixing bars 21 arranged in parallel at intervals are arranged on the tray 2; the product positioning grooves 22 are arranged at intervals at the upper ends of the fixing bars 21.

[0052] See Figure 5 , preferably, the pre-positioning mechanism 3 includes:

[0053] a bottom plate 31, arranged on one side of the tray 2; the bottom plate 31 can be fixed on one side of the tray 2 or can be fixed on the box body 1;

[0054] a fixing block 32, at its upper end, there is a long stop edge 321 extending in the x direction and short stop edges 322 extending in the y direction arranged at intervals;

[0055] an x-direction moving device 33, fixed on the bottom plate 31, for driving a moving block 331 to move in the x direction, and short top blocks 332 corresponding to the short stop edges 322 one by one are arranged on the moving block 331; the x-direction moving device 33 can be a cylinder;

[0056] The y-direction moving device 34 is fixed on the moving block 331 and is used to drive the long top block 341 to move; the y-direction moving device 34 can be a cylinder; wherein

[0057] The x-direction moving device 33 is used to drive each short top block 332 to push the product to the side of the corresponding short stop edge 322;

[0058] The y-direction moving device 34 is used to drive the long top block 341 to push the product to the side of the long stop edge 321.

[0059] In this embodiment, preferably, a plurality of purge nozzles 44 are further provided on the mounting plate 41.

[0060] During a loading and unloading process, the rotating shaft at the end of the robotic arm 11 drives the mounting plate 41 to rotate, making the first pick-up gripper 43 face downward. Then the robotic arm 11 drives the first pick-up gripper 43 to grab the product 100 on the tray 2 and place it between the short stop edge 32 and the short top block 332 on the pre-positioning mechanism 3. When the number of products 100 on the pre-positioning mechanism 3 reaches the quantity for one-time loading, the x-direction moving device 33 and the y-direction moving device 34 of the pre-positioning mechanism 3 act to position the product 100. The rotating shaft at the end of the robotic arm 11 drives the mounting plate 41 to rotate, making an upper and lower loading and unloading assembly 42 face downward. The robotic arm 11 drives the upper and lower loading and unloading assembly 42 to grab the positioned multiple products to the processing equipment. The rotating shaft at the end of the robotic arm 11 drives the mounting plate 41 to rotate, making the idle other upper and lower loading and unloading assembly 42 face downward. The robotic arm 11 drives it to grab the processed product, and then uses the purge nozzles 44 to purge the processing. Then the rotating shaft at the end of the robotic arm 11 drives the mounting plate 41 to rotate, making the upper and lower loading and unloading assembly 42 that grabs the positioned multiple products face downward for loading. After the loading is completed, the robotic arm 11 drives the upper and lower loading and unloading assembly 42 that grabs the processed product to place the finished product at the finished product collection position, and then repeats the material picking.

[0061] Preferably, W2 is greater than twice of W1.

[0062] In this embodiment, optionally, moving wheels 12 are provided at the bottom of the box body 1 to facilitate the loading and unloading of the mobile robot workstation.

[0063] In this embodiment, optionally, fixing pins 13 are provided at the bottom of the box body 1 for fixing the robot loading and unloading workstation during work.

[0064] It should be noted that the control module of the robotic arm 11 can be arranged inside the box body 1; the robotic arm 11 can be a robotic arm 11 using existing technologies. This application does not improve the control methods of the robotic arm 11 and each cylinder. Those skilled in the art can exactly use existing software programs for control. This application aims to improve the structure of the robot loading and unloading workstation.

[0065] All the components (components without specific structures) selected in this application are common standard components or components known to those skilled in the art. Their structures and principles can be learned by those skilled in the art through technical manuals or by conventional experimental methods.

[0066] In the description of the embodiments of the present utility model, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection.

[0067] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "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. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0068] Based on the above inspiration from the ideal embodiments of the present utility model, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this utility model. The technical scope of this utility model is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A robot loading and unloading workstation, characterized in that, Comprising: A box body (1) with a robotic arm (11) disposed thereon; A tray (2) disposed on the box body (1); product positioning grooves (22) are provided on the tray (2) at intervals; A pre-positioning mechanism (3) disposed on one side of the tray (2) for placing a plurality of products to be loaded; A material taking device (4) mounted on the robotic arm (11); the material taking device (4) includes two sets of loading and unloading components (42) and a first material taking gripper (43); the first material taking gripper (43) is used to clamp the product in the product positioning groove (22) and move it to the pre-positioning mechanism (3) under the drive of the robotic arm (11); the loading and unloading components (42) are used to load a plurality of products on the pre-positioning mechanism (3) under the drive of the robotic arm (11); wherein The interval width between adjacent product positioning grooves (22) is W1; After the pre-positioning mechanism (3) positions the plurality of products, the interval between adjacent products is W2, and W2 > W1.

2. The robot loading and unloading workstation according to claim 1, wherein The material taking device (4) includes a mounting plate (41); The middle of the mounting plate (41) is connected to the robotic arm (11); The upper and lower surfaces of the mounting plate (41) are respectively provided with the loading and unloading components (42); The side end face of the mounting plate (41) is provided with the first material taking gripper (43).

3. The robot loading and unloading workstation according to claim 2, wherein The loading and unloading component (42) includes at least two second material taking grippers (421) arranged at intervals.

4. The robot loading and unloading workstation according to claim 2, wherein A plurality of fixing bars (21) arranged in parallel at intervals are provided on the tray (2); The product positioning grooves (22) are provided at intervals at the upper ends of the fixing bars (21).

5. The robot loading and unloading workstation according to claim 3, wherein The pre-positioning mechanism (3) includes: A bottom plate (31) disposed on one side of the tray (2); A fixing block (32) having a long stop edge (321) extending in the x direction and short stop edges (322) extending in the y direction and arranged at intervals at its upper end; An x-direction moving device (33) fixed on the bottom plate (31) for driving a moving block (331) to move in the x direction, and short top blocks (332) corresponding to the short stop edges (322) one by one are provided on the moving block (331); A y-direction moving device (34) fixed on the moving block (331) for driving a long top block (341) to move; wherein The x-direction moving device (33) is used to drive each short top block (332) to push the product to the side of the corresponding short stop edge (322); The y-direction moving device (34) is used to drive the long top block (341) to push the product to the side of the long stop edge (321).

6. The robot loading and unloading workstation according to claim 2, wherein A plurality of purge nozzles (44) are further provided on the mounting plate (41).

7. The robot loading and unloading workstation according to claim 1, wherein The bottom of the box body (1) is provided with moving wheels (12).

8. The robot loading and unloading workstation according to claim 1, wherein The bottom of the box body (1) is provided with fixing pins (13).

9. The robot loading and unloading workstation according to claim 1, wherein W2 > 2W1.

Images