Six-axis stamping robot provided with automatic feeding and discharging mechanism

Abstract

The utility model discloses a six-axis stamping robot provided with an automatic feeding and discharging mechanism, and belongs to the technical field of robot feeding and discharging. The six-axis stamping robot provided with the automatic feeding and discharging mechanism comprises a six-axis robot body and a wrist rotating shaft arranged on the six-axis robot body, and a material conveying frame is installed at the output end of the wrist rotating shaft; a plurality of assembling rods and negative pressure suction cups arranged on the assembling rods are arranged at the lower end of the material conveying frame at equal intervals, and steel sheet workpiece raw materials are arranged at the lower ends of the negative pressure suction cups. The anti-falling mechanisms are symmetrically installed on the material conveying frame, the fixing bases connected with the output ends of the air cylinders are matched with the guide rails, the guide rods, the anti-falling plates and the cushion blocks, in the process that steel sheet workpiece raw materials are sucked and lifted by the negative pressure suction cups in a negative pressure mode, the output ends of the air cylinders are contracted, and then the cushion blocks are adjusted to the position below the steel sheet workpiece raw materials. The symmetrically-distributed cushion blocks provide anti-falling protection for the steel sheet workpiece raw materials, and the situation that the materials fall off in the feeding and discharging process is avoided.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of robot feeding and discharging, and particularly relates to a six-axis stamping robot provided with an automatic feeding and discharging mechanism. BACKGROUND

[0002] A manipulator can imitate some action functions of a human hand and arm, and is used for automatically operating a device to grab, carry and operate a tool according to a fixed program. The manipulator can replace human labor to realize production mechanization and automation, and can operate in a harmful environment to protect the safety of the human body, and is widely applied to the fields of mechanical manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] When existing workpieces are stamped, a six-axis robot is used to feed and discharge plate-shaped workpiece raw materials through a suction cup. The suction cup type feeding and discharging method does not need manual intervention and is high in efficiency. However, the suction cup interface is not flat and the suction contact is insufficient, which also leads to the risk of falling during the transportation of the workpiece raw materials.

[0004] Therefore, the application provides a six-axis stamping robot provided with an automatic feeding and discharging mechanism to solve the above problems. SUMMARY

[0005] The application provides a six-axis stamping robot provided with an automatic feeding and discharging mechanism, and aims to solve the problems that the existing robot negative pressure suction cup has the problems of uneven suction cup interface and insufficient suction contact, which also leads to the risk of falling during the transportation of the workpiece raw materials.

[0006] To achieve the above-mentioned purpose, the application provides the following technical scheme: a six-axis stamping robot provided with an automatic feeding and discharging mechanism, comprising a six-axis robot and a wrist rotating shaft arranged on the six-axis robot, an output end of the wrist rotating shaft is provided with a material conveying frame, a plurality of assembly rods are equidistantly arranged at a lower end of the material conveying frame, and a negative pressure suction cup is arranged on the assembly rod, a steel sheet workpiece raw material is arranged at a lower end of the negative pressure suction cup, the output end of the wrist rotating shaft on the six-axis robot is connected to the center of the upper end of the material conveying frame, the assembly rod arranged on the material conveying frame is fixed to the negative pressure suction cup, and after the negative pressure suction cup is connected to a vacuum device through a hose, the negative pressure suction cup realizes suction of the steel sheet workpiece raw material and realizes transportation;

[0007] A anti-falling mechanism for preventing falling is symmetrically arranged on the material conveying frame.

[0008] The anti-falling mechanism comprises a cylinder mounted on the six-axis robot and a fixed seat connected to the output end of the cylinder, a groove is formed in the material conveying frame, an anti-falling plate is hinged at the groove, the anti-falling plate is connected to the fixed seat through a connecting rod, and a pad is arranged at the lower end of the anti-falling plate.

[0009] Preferably, the fixed seat and the anti-falling plate correspondingly have a hinge seat mounted thereon, and the two ends of the connecting rod are hingedly connected to the hinge seats of the fixed seat and the anti-falling plate.

[0010] Preferably, the anti-falling mechanism further comprises guide rails symmetrically arranged on the material conveying frame, a guide rod is slidably connected to the end of the guide rail away from the material conveying frame, and the end of the guide rod away from the guide rail is connected to the fixed seat. The guide rail limits the guide rod, so that when the telescopic end of the cylinder pushes the fixed seat to move, the mechanical arm is prevented from deviating when the fixed seat moves due to excessive movement.

[0011] Preferably, the anti-falling plate is provided with a movable groove for movement of the pad, and the two sides of the anti-falling plate are provided with adjusting grooves in communication with the movable groove, mainly for up and down adjustment of the pad, so that the pad can adapt to materials of different thicknesses.

[0012] Preferably, the pad is provided with a positioning screw rod movably connected with the adjusting groove, and the positioning screw rod is fixedly connected with the anti-falling plate by bolts.

[0013] Preferably, the pad is provided with a rubber sleeve, and the surface of the rubber sleeve is distributed with convex particles.

[0014] The six-axis stamping robot with an automatic feeding and discharging mechanism is provided with symmetrically arranged anti-falling mechanisms on the material conveying frame. The fixed seat connected to the output end of the cylinder cooperates with the guide rail, the guide rod, the anti-falling plate and the pad to provide anti-falling protection for the steel sheet workpiece raw material from the bottom by the symmetrically distributed pads when the steel sheet workpiece raw material is negatively adsorbed and lifted by the multiple negative pressure suction cups, so as to avoid the material falling off during the feeding and discharging process and improve the safety of material transportation. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a structural schematic view of a six-axis stamping robot with an automatic feeding and discharging mechanism.

[0016] Figure 2 It is a structural schematic view of the extended state of the output end of the cylinder.

[0017] Figure 3 It is a schematic diagram of the structure in the anti-slip state;

[0018] Figure 4 It is a schematic diagram of the structure in the state without anti-slipping;

[0019] Figure 5 It is a structural diagram of the fixed seat;

[0020] Figure 6 This is a schematic diagram of the structure of the pad.

[0021] In the figure: 1. Six-axis robot; 11. Wrist rotation axis; 2. Material transport rack; 21. Assembly rod; 22. Negative pressure suction cup; 3. Steel sheet workpiece raw material; 4. Anti-slip mechanism; 41. Cylinder; 42. Guide rail; 43. Guide rod; 44. Fixed seat; 45. Connecting rod; 5. Anti-slip plate; 51. Spacer; 52. Positioning screw; 53. Movable slot; 54. Adjustment slot. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0023] This embodiment provides a six-axis stamping robot equipped with an automatic loading and unloading mechanism. Figures 1-6 As shown, the six-axis stamping robot equipped with an automatic loading and unloading mechanism includes a six-axis robot 1 and a wrist rotation axis 11 provided on the six-axis robot 1. The output end of the wrist rotation axis 11 is installed with a material transport frame 2. The lower end of the material transport frame 2 is equidistantly provided with a plurality of assembly rods 21 and a negative pressure suction cup 22 provided on the assembly rods 21. The lower end of the negative pressure suction cup 22 is provided with a steel sheet workpiece raw material 3.

[0024] The material transport rack 2 is symmetrically provided with an anti-falling mechanism 4 for preventing the material from falling off;

[0025] The anti-slip mechanism 4 includes a cylinder 41 installed on the six-axis robot 1 and a fixed seat 44 connected to the output end of the cylinder 41. A groove is provided on the material transport rack 2, and an anti-slip plate 5 is hinged at the groove. The anti-slip plate 5 is connected to the fixed seat 44 through a connecting rod 45. A pad 51 is provided at the lower end of the anti-slip plate 5. A hinge seat is installed on the side of the fixed seat 44 corresponding to the anti-slip plate 5. The two ends of the connecting rod 45 are hinged to the hinge seats on the fixed seat 44 and the anti-slip plate 5 respectively.

[0026] Specifically, the output end of the wrist rotation shaft 11 of the six-axis robot 1 is connected to the upper end center of the material conveying frame 2, the assembly rod 21 installed on the material conveying frame 2 is fixed through the negative pressure suction cup 22, and after the negative pressure suction cup 22 is connected to the vacuum device through a hose, the negative pressure is realized to adsorb the steel sheet workpiece raw material 3 to realize the transfer, the two ends of the guide rod 43 are respectively hinged to the anti-falling plate 5 and the fixed seat 44, and when the output end of the air cylinder 41 is stretched to push the fixed seat 44 to move, the anti-falling plate 5 is pulled by the connecting rod 45 to move to the designated position, after the material conveying frame 2 is lifted, the anti-falling protection is realized by the contraction of the extension end of the air cylinder 41.

[0027] The anti-falling mechanism 4 further comprises guide rails 42 symmetrically arranged on the material conveying frame 2, and the guide rails 42 are slidably connected to the guide rods 43 at one end away from the material conveying frame 2.

[0028] More specifically, one end of the guide rod 43 is fixed to the fixed seat 44, and the other end is movably inserted into the guide rail 42, and the guide rail 42 provides a limit for the guide rod 43, so that when the extension end of the air cylinder 41 pushes the fixed seat 44 to move, the mechanical arm is prevented from moving too much and causing the fixed seat 44 to move off track during movement, thereby playing a role in guiding and limiting movement.

[0029] The anti-falling plate 5 is provided with a movable groove 53 for the movement of the cushion block 51, and the anti-falling plate 5 is provided with an adjusting groove 54 on both sides and in communication with the movable groove 53.

[0030] It should be noted that the movable groove 53 and the adjusting groove 54 provided on the anti-falling plate 5 are mainly used for the up-down adjustment of the cushion block 51, so that the cushion block 51 can adapt to materials of different thicknesses.

[0031] The cushion block 51 is provided with a positioning screw 52 for movable connection with the adjusting groove 54, the positioning screw 52 is fixedly connected to the anti-falling plate 5 through bolts, the cushion block 51 is externally provided with a rubber sleeve, and the surface of the rubber sleeve is distributed with convex particles.

[0032] It is worth mentioning that the rubber sleeve provided on the cushion block 51 plays a role in preventing scratching and protecting the material in contact, and the distributed convex particles increase the friction.

[0033] In use, the anti-falling mechanism 4 is symmetrically installed on the material rack 2, and the fixed seat 44 connected to the output end of the air cylinder 41 cooperates with the guide rail 42, the guide rod 43, the anti-falling plate 5 and the pad 51. During the process of lifting the steel sheet workpiece raw material 3 by the plurality of negative pressure suction cups 22, the air cylinder 41 is retracted, and the pad 51 is adjusted to be below the steel sheet workpiece raw material 3. The symmetrically distributed pads 51 provide anti-falling protection for the steel sheet workpiece raw material 3, avoiding the situation of material falling during the feeding and discharging process. When the steel sheet workpiece raw material 3 is moved to the above of the specified stamping position by the wrist rotating shaft 11, the output end of the air cylinder 41 is stretched to separate the pad 51 from the steel sheet workpiece raw material 3. At this time, the anti-falling plate 5 adjusts the pad 51 to a position away from the steel sheet workpiece raw material 3. After the pad 51 no longer provides limiting for the steel sheet workpiece raw material 3, the steel sheet workpiece raw material 3 can fall to the specified position, improving the safety of material transportation.

[0034] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can make equivalent replacements or changes according to the technical solution and concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A six-axis stamping robot equipped with an automatic loading and unloading mechanism, comprising a six-axis robot (1) and a wrist rotation axis (11) arranged on the six-axis robot (1), a material transport rack (2) being installed at the output end of the wrist rotation axis (11), a plurality of assembly rods (21) being equidistantly arranged at the lower end of the material transport rack (2) and a negative pressure suction cup (22) being arranged on the assembly rods (21), a steel sheet workpiece raw material (3) being arranged at the lower end of the negative pressure suction cup (22); Its characteristics are: The material transport rack (2) is symmetrically provided with an anti-slip mechanism (4) for preventing slipping; The anti-slip mechanism (4) includes a cylinder (41) mounted on the six-axis robot (1) and a fixed seat (44) connected to the output end of the cylinder (41); a groove is provided on the material transport rack (2); an anti-slip plate (5) is hingedly connected to the groove; the anti-slip plate (5) is connected to the fixed seat (44) via a connecting rod (45); and a pad (51) is provided at the lower end of the anti-slip plate (5).

2. The six-axis stamping robot equipped with an automatic loading and unloading mechanism according to claim 1, characterized in that: A hinge seat is installed on one side of the fixing seat (44) corresponding to the anti-slip plate (5), and both ends of the connecting rod (45) are hinged to the hinge seats on the fixing seat (44) and the anti-slip plate (5), respectively.

3. The six-axis stamping robot equipped with an automatic loading and unloading mechanism according to claim 1, characterized in that: The anti-slip mechanism (4) further comprises guide rails (42) symmetrically arranged on the material transport rack (2), wherein one end of the guide rail (42) away from the material transport rack (2) is slidably connected to a guide rod (43), and one end of the guide rod (43) away from the guide rail (42) is connected to a fixed seat (44).

4. The six-axis stamping robot equipped with an automatic loading and unloading mechanism according to claim 1, characterized in that: The anti-slip plate (5) is provided with a movable groove (53) for the cushion block (51) to move, and both sides of the anti-slip plate (5) are provided with adjustment grooves (54) connected to the movable groove (53).

5. The six-axis stamping robot equipped with an automatic loading and unloading mechanism according to claim 4, characterized in that: The cushion block (51) is provided with a positioning screw (52) for being movably connected to the adjustment groove (54), and the positioning screw (52) is fixedly connected to the anti-slip plate (5) by means of bolts.

6. The six-axis stamping robot equipped with an automatic loading and unloading mechanism according to claim 5, characterized in that: The outer sleeve of the cushion block (51) is provided with a rubber sleeve, and convex particles are distributed on the surface of the rubber sleeve.

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