Movable telescopic feeding trolley for flexible line

Abstract

The utility model provides a movable telescopic feeding trolley for a flexible line, and relates to the technical field of movable telescopic feeding trolleys for flexible lines, and the movable telescopic feeding trolley comprises a track, an A-axis walking mechanism, a B-axis lifting mechanism and two C-axis transplanting feeding mechanisms. Compared with the prior art, the device is simple in structure, convenient to use, stable in operation and not prone to damage, feeding and discharging are conducted on a plurality of machine tools, a six-axis robot does not need to be additionally provided with a moving crane to become a seven-axis robot, and the cost of the robot is reduced; according to the automatic feeding and discharging device, feeding and discharging of workpieces with more weights can be achieved, complex principle functions and complex control system functions are avoided, the industrial manufacturing cost is reduced, feeding and discharging of the workpieces with more weights are achieved, and the machining waiting time is shortened, so that the round-trip machining efficiency of the robot is improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of a flexible wire movable telescopic feeding trolley, in particular to a flexible wire movable telescopic feeding trolley. BACKGROUND

[0002] In an existing mechanical processing factory, a joint coordinate type robot is used for feeding and discharging, and in a processing factory with multiple machine tools, more robots are needed to work, if a joint robot is used for feeding and discharging for multiple machine tools, multiple six-axis robots are needed, a movable trolley is increased to become a seven-axis robot, the cost of the robot is increased; this can only meet the feeding and discharging of workpieces with a weight of less than 500 Kg, the principle function is complex, the control system function is complex, the industrial manufacturing cost is high, and the feeding and discharging of workpieces with a weight of more than 500 Kg cannot be realized; in the feeding and discharging process of the robot, the robot needs to take out the processed workpiece from the machine tool, then put it back into the warehouse, take the workpiece to be processed from the warehouse, and then move to the side of the machine tool and put the workpiece into the machine tool; in this process, 3-5 minutes of round trip time is needed, according to the processing efficiency, the waiting time of the machine tool is wasted, and the round trip time of the robot reduces the processing efficiency of the machine tool, and therefore there are defects. CONTENT OF THE UTILITY MODEL

[0003] In view of the above technical problems, the application adopts a simple component mechanism, uses double-station carrying to realize the feeding and discharging process of the robot without round trip movement, and improves the processing efficiency; the application adopts a stable integrated movable rectangular coordinate robot mechanism, can realize the feeding and discharging of workpieces with a weight of 100-2000 Kg, greatly expands the heavy load carrying capacity of the robot which cannot be realized, and reduces the use of manual labor and mechanical jibs.

[0004] The application is implemented as follows:

[0005] The application provides a flexible wire movable telescopic feeding trolley, which comprises the following components:

[0006] A track is fixed to the ground, and the track comprises a ground rail, a connecting piece, a foot fixing plate, a support plate, a horizontal adjusting nut, a track adjusting nut and a tray library connecting plate;

[0007] An A-axis walking mechanism comprises a base, a stand, a first protection, a roller device, an A-axis servo motor, an A-axis speed reducer, an A-axis gear, an A-axis rack and a guide device, and the A-axis walking mechanism is connected in rolling mode with four roller devices connected to the base;

[0008] A B-axis lifting mechanism comprises a lifting slide saddle, a guide wheel, a lateral guide wheel device, a rolling guide rail, a B-axis servo motor, a B-axis speed reducer, a B-axis driving sprocket, a B-axis driving long shaft, a B-axis driving shaft, a B-axis driven sprocket and a B-axis chain.

[0009] The C-axis transplanting and feeding mechanism includes a fixed bracket, a guide plate, a gear bracket, a cam follower, a C-axis servo motor, a C-axis reducer, a C-axis drive gear, a C-axis rack, a driven chain, a driven guide rail, a driven chain gear, a driven chain buckle, a second protection and a pallet.

[0010] In one embodiment of the present application, the A-axis servo motor, the A-axis reducer and the A-axis gear are driven and connected to the base, the A-axis gear and the A-axis rack on the track through a combined installation.

[0011] In one embodiment of the present application, the two columns are mounted on the base, and the B-axis drive sprocket and the rolling guide are mounted on the base.

[0012] In one embodiment of the present application, the B-axis lifting mechanism is connected to the four guide wheels on the lifting saddle through rolling.

[0013] In one embodiment of the present application, the B-axis servo motor, the B-axis reducer, the B-axis drive sprocket, the B-axis drive long shaft, the B-axis drive shaft, the B-axis driven sprocket, and the B-axis chain are installed on the lifting saddle by combination.

[0014] In one embodiment of the present application, the B-axis lifting mechanism is driven and connected via the B-axis driving sprocket and the B-axis driven sprocket mounted on the base.

[0015] In one embodiment of the present application, a double-station conveying mechanism is formed by installing a two-stage telescopic C-axis transplanting and feeding mechanism on the B-axis lifting mechanism.

[0016] In one embodiment of the present application, the double-station conveying mechanism is fixed by a fixed bracket, the double-station conveying mechanism and the lifting saddle are rollingly connected through the cam follower installed on the guide plate, the guide plate is fixedly connected to the gear bracket, a C-axis rack is installed on the guide plate, and the guide plate and the driven guide rail are rollingly connected through the cam follower.

[0017] In one embodiment of the present application, the driven chain buckle is installed at both ends of the driven guide rail, and the driven chain buckle has chain teeth buckled on the driven chain.

[0018] In one embodiment of the present application, the driven chain buckle is fixed to a lifting saddle which has chain teeth and is buckled with the driven chain.

[0019] The beneficial effects of the present application are: compared with the prior art, the present application has simple structure, convenient device, stable operation, is not easy to be damaged, and requires a six-axis robot to increase a mobile crane to become a seven-axis robot to increase the cost of the robot to load and unload multiple machine tools; this can only meet the loading and unloading of 500Kg workpieces, the principle function is complex, the control system function is complex, the industrial manufacturing cost is high, and the loading and unloading of workpieces above 500Kg cannot be realized; during the loading and unloading of the robot, the robot needs to take out the machined workpiece from the machine tool and then put it back into the warehouse, and then take out the workpiece to be machined from the warehouse and then move to the machine tool to put in the workpiece, which needs 3-5 minutes of round trip time, and according to the processing efficiency, the waiting time wastes the processing time of the machine tool, and the round trip time of the robot reduces the processing efficiency of the machine tool. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation to the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0021] Figure 1 The structural schematic diagram of the track is provided for the embodiments of the present application;

[0022] Figure 2 The structural schematic diagram of the first protection is provided for the embodiments of the present application;

[0023] Figure 3 The structural schematic diagram of the lifting slide saddle is provided for the embodiments of the present application;

[0024] Figure 4 The structural schematic diagram of the C-axis rack is provided for the embodiments of the present application;

[0025] Figure 5 The structural schematic diagram of the driven guide rail is provided for the embodiments of the present application;

[0026] Figure 6 The structural schematic diagram of the Figure 5 The structural schematic diagram of the A part in the middle is enlarged.

[0027] In the figure: 1, track; 101, ground rail; 102, connecting piece; 103, foot fixing plate; 104, support plate; 105, horizontal adjusting nut; 106, track adjusting nut; 107, tray warehouse connecting plate;

[0028] 2. A-axis travel mechanism; 201. Base; 202. Column; 203. First protection; 204. Roller device; 205. A-axis servo motor; 206. A-axis reducer; 207. A-axis gear; 208. A-axis rack; 209. Guide device;

[0029] 3. B-axis lifting mechanism; 301. Lifting saddle; 302. Guide wheel; 303. Lateral guide wheel assembly; 304. Rolling guide rail; 305. B-axis servo motor; 306. B-axis reducer; 307. B-axis drive sprocket; 308. B-axis drive shaft; 309. B-axis drive shaft; 310. B-axis driven sprocket; 311. B-axis chain;

[0030] 4. C-axis transfer feeding mechanism; 401. Fixed bracket; 402. Guide plate; 403. Gear bracket; 404. Cam follower; 405. C-axis servo motor; 406. C-axis reducer; 407. C-axis drive gear; 408. C-axis rack; 409. Driven chain; 410. Driven guide rail; 411. Driven chain gear; 413. Driven chain buckle; 414. Second protection;

[0031] 6. Pallet. DETAILED DESCRIPTION

[0032] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0033] like Figures 1-6 As shown, according to an embodiment of the present application, a movable telescopic feeding trolley for a flexible line includes:

[0034] Track 1 is fixed to the ground and consists of a ground rail 101, a connector 102, a ground fixing plate 103, a support plate 104, a leveling nut 105, a track adjustment nut 106, and a pallet library connecting plate 107. The end faces of the guide rail 1 are spliced ​​in a 45° bevel. After splicing, one side is fixed and limited with a positioning block. The bilaterally symmetrical 45° bevel connection increases the stability of the guide rail 1 and prevents it from shifting due to movement.

[0035] The A-axis walking mechanism 2 comprises a base 201, a stand 202, a first guard 203, a roller device 204, an A-axis servo motor 205, an A-axis speed reducer 206, an A-axis gear 207, an A-axis rack 208 and a guide device 209. The A-axis walking mechanism 2 is connected with the four roller devices 204 connected to the base 201. Two stands 202 are installed on the base 201. A B-axis driving sprocket 307 and a rolling guide rail 304 are installed on the base 201. The A-axis servo motor 205, the A-axis speed reducer 206 and the A-axis gear 207 are combined and installed with the base 201, the A-axis gear 207 and the A-axis rack 208 on the track 1. The A-axis servo motor 205 drives the A-axis gear 207 to rotate, so that the A-axis walking mechanism 2 moves left and right on the track 1.

[0036] The B-axis lifting mechanism 3 comprises a lifting slide saddle 301, a guide wheel 302, a lateral guide wheel device 303, a rolling guide rail 304, a B-axis servo motor 305, a B-axis speed reducer 306, a B-axis driving sprocket 307, a B-axis driving long shaft 308, a B-axis driving shaft 309, a B-axis driven sprocket 310 and a B-axis chain 311. The B-axis lifting mechanism 3 is connected with the four guide wheels 302 on the lifting slide saddle 301. The B-axis servo motor 305, the B-axis speed reducer 306, the B-axis driving sprocket 307, the B-axis driving long shaft 308, the B-axis driving shaft 309, the B-axis driven sprocket 310 and the B-axis chain 311 are combined and installed on the lifting slide saddle 301. The B-axis lifting mechanism 3 is driven by the B-axis driving sprocket 307 and the B-axis driven sprocket 310 installed on the base 201. A two-stage telescopic C-axis transplant feeding mechanism 4 is installed on the B-axis lifting mechanism 3 to form a double-station conveying mechanism. The double-station conveying mechanism is fixed by a fixed support 401. The double-station conveying mechanism is connected with the lifting slide saddle 301 through a cam follower 404 installed on a guide plate 402. The guide plate 402 is fixedly connected with a gear rack support 403. The guide plate 402 is provided with a C-axis rack 408. The guide plate 402 is connected with a driven guide rail 410 through the cam follower 404. The B-axis lifting mechanism 3 is driven by the B-axis driving sprocket 307 and the B-axis driven sprocket 310 installed on the base 201. When the B-axis servo motor 305 is started, the sprocket drives the B-axis lifting mechanism 3 to move up and down.

[0037] The C-axis transplanting and feeding mechanism 4 includes a fixed bracket 401, a guide plate 402, a gear bracket 403, a cam follower 404, a C-axis servo motor 405, a C-axis reducer 406, a C-axis driving gear 407, a C-axis rack 408, a driven chain 409, a driven guide rail 410, a driven chain gear 411, a driven chain buckle 413, a second protection 414 and a tray 6. Driven chain buckles 413 are installed at both ends of the driven guide rail 410. The driven chain buckle 413 has chain teeth buckled with the driven chain buckle 413. The driving chain 409 and the driven chain buckle 413 are fixed to the lifting saddle 301, which has sprockets and is locked with the driven chain 409. The driven chain buckle 413 is fixed to the lifting saddle 301, which has sprockets and is locked with the driven chain 409. When the C-axis servo motor 405 starts, the C-axis drive gear 407 moves back and forth, thereby driving the driven chain 409 to rotate and drive the driven guide rail 410 to extend and retract to form a two-stage retraction mechanism, which drives the pallet 6 placed on the driven guide rail 410 to move back and forth.

[0038] Specifically, the working principle of the flexible line movable telescopic feeding trolley is as follows: when the machine tool sends information after the processing is completed, the control system processes the information and assigns instructions to the robot of the present invention, and the A-axis servo motor 205 drives the robot to move through the track 1 to the pre-processed workpiece in the inventory, and after measuring the position;

[0039] Station 1, C-axis servo motor 405, C-axis reducer 406, C-axis transfer feeding mechanism 4, after detecting the workpiece position, B-axis servo motor 305 drives the transmission and B-axis drive sprocket 307 to drive the B-axis lifting mechanism 3 to lift the workpiece to be processed, and then the C-axis servo motor 405, C-axis drive gear 407 returns to the middle position;

[0040] A-axis servo motor 205A-axis gear 207, the robot transports the workpiece to the machine tool;

[0041] Station 2, C-axis servo motor 405, C-axis reducer 406, C-axis transfer feeding mechanism 4, after detecting the workpiece position, B-axis servo motor 305 drives the B-axis drive sprocket 307 to drive the B-axis lifting mechanism 3 to lift the workpiece that has been processed in the machine tool upwards, and then the C-axis servo motor 405 and C-axis drive gear 407 return to the middle position;

[0042] Station 1, C-axis servo motor 405, C-axis reducer 406, C-axis transfer feeding mechanism 4, after detecting the workpiece position, B-axis servo motor 305 drives the B-axis drive sprocket 307 to drive the B-axis lifting mechanism 3 downward to lower the workpiece to be processed, and then the C-axis servo motor 405 and C-axis drive gear 407 return to the middle position;

[0043] Then the workpiece at station 2 is transported to the finished product warehouse, and one cycle of work is completed.

[0044] Compared with the prior art, the device has simple structure, is convenient, is stable in operation and is not easy to be damaged, and in the process of feeding and discharging workpieces on multiple machine tools, a six-axis robot is not needed, a mobile crane is added to become a seven-axis robot, and the cost of the robot is reduced; more heavy workpieces can be fed and discharged, the principle function is avoided from being complex, the control system function is avoided from being complex, the industrial manufacturing cost is reduced, more heavy workpieces can be fed and discharged, the processing waiting time is reduced, and the processing efficiency of the robot is increased.

[0045] The above is only an embodiment of the present application and is not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

Claims

1. A movable telescopic feeding trolley for a flexible line, characterized in that: include: The track (1) is fixed to the ground, and the track (1) comprises a ground rail (101), a connector (102), a ground fixing plate (103), a support plate (104), a horizontal adjustment nut (105), a track adjustment nut (106) and a pallet library connection plate (107); The A-axis running mechanism (2) comprises a base (201), a column (202), a first guard (203), a roller device (204), an A-axis servo motor (205), an A-axis reducer (206), an A-axis gear (207), an A-axis rack (208) and a guide device (209), wherein the A-axis running mechanism (2) is connected to the four roller devices (204) connected to the base (201) by rolling. The B-axis lifting mechanism (3) comprises a lifting saddle (301), a guide wheel (302), a lateral guide wheel device (303), a rolling guide rail (304), a B-axis servo motor (305), a B-axis reducer (306), a B-axis driving sprocket (307), a B-axis driving long shaft (308), a B-axis driving rotating shaft (309), a B-axis driven sprocket (310) and a B-axis chain (311); The C-axis transplanting and feeding mechanism (4) comprises a fixed bracket (401), a guide plate (402), a tooth bracket (403), a cam follower (404), a C-axis servo motor (405), a C-axis reducer (406), a C-axis driving gear (407), a C-axis rack (408), a driven chain (409), a driven guide rail (410), a driven chain tooth (411), a driven chain buckle (413), a second guard (414) and a tray (6).

2. A movable telescopic feeding trolley for a flexible line according to claim 1, characterized in that: The A-axis servo motor (205), the A-axis reducer (206) and the A-axis gear (207) are drivingly connected to the base (201), the A-axis gear (207) and the A-axis rack (208) on the track (1) through combined installation.

3. The movable telescopic feeding trolley for flexible lines according to claim 2, characterized in that: The two upright columns (202) are mounted on the base (201), and the B-axis driving sprocket (307) and the rolling guide rail (304) are mounted on the base (201).

4. The movable telescopic feeding trolley for flexible lines according to claim 3, characterized in that: The B-axis lifting mechanism (3) is connected to the four guide wheels (302) on the lifting saddle (301) through rolling.

5. The movable telescopic feeding trolley for flexible lines according to claim 4, characterized in that: The B-axis servo motor (305), the B-axis reducer (306), the B-axis driving sprocket (307), the B-axis driving long shaft (308), the B-axis driving rotating shaft (309), the B-axis driven sprocket (310), and the B-axis chain (311) are assembled and mounted on the lifting saddle (301).

6. The movable telescopic feeding trolley for flexible lines according to claim 5, characterized in that: The B-axis lifting mechanism (3) is driven and connected via the B-axis driving sprocket (307) and the B-axis driven sprocket (310) mounted on the base (201).

7. The movable telescopic feeding trolley for flexible lines according to claim 6, characterized in that: A double-station conveying mechanism is formed by installing a two-stage telescopic C-axis transplanting and feeding mechanism (4) on the B-axis lifting mechanism (3).

8. The movable telescopic feeding trolley for flexible lines according to claim 7, characterized in that: The double-station conveying mechanism is fixed by a fixed bracket (401), the double-station conveying mechanism and the lifting saddle (301) are rollingly connected via the cam follower (404) installed on the guide plate (402), the guide plate (402) is fixedly connected to the gear bracket (403), a C-axis rack (408) is installed on the guide plate (402), and the guide plate (402) is rollingly connected to the driven guide rail (410) via the cam follower (404).

9. The movable telescopic feeding trolley for a flexible line according to claim 8, characterized in that: The driven chain buckle (413) is installed at both ends of the driven guide rail (410), and the driven chain buckle (413) has chain teeth buckled on the driven chain (409).

10. The movable telescopic feeding trolley for a flexible line according to claim 9, characterized in that: The driven chain buckle (413) is fixed to the lifting saddle (301) and has chain teeth and is buckled with the driven chain (409).

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