Six-axis stamping robot feeding device

Abstract

The utility model discloses a six-axis stamping robot feeding device, and belongs to the technical field of robot feeding, and the six-axis stamping robot feeding device comprises a six-axis robot, a wrist part rotating shaft arranged on the six-axis robot, and a fixing frame arranged at the output end of the wrist part rotating shaft; multiple sets of fixing plates and sleeve bases arranged on the fixing plates are arranged at the lower end of the fixing frame at equal intervals, negative pressure suction cups are installed on the sleeve bases, and cleaning mechanisms are arranged on the sides, away from the negative pressure suction cups, of the sleeve bases; the synchronous plate, the protection box and the cleaning plate are driven by the air cylinder to move towards the plate raw material, at the moment, the cleaning plate is lower than the negative pressure suction cup, the brush rotates at least two circles along the output end of the motor in the protection box, and the suction position of the negative pressure suction cup is wiped and cleaned. And meanwhile, the non-woven fabric block and the negative pressure suction cup are wiped in the area frequently making contact with the materials, and the adsorption area of the plate raw materials and the area, making contact with the materials, of the negative pressure suction cup are cleaned at the same time.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of robot feeding, and particularly relates to a six-axis stamping robot feeding device. BACKGROUND

[0002] Stamping is a forming processing method for applying external force to plates, strips, pipes and profiles by a press and a die, so that plastic deformation or separation is generated, and thus a workpiece with a required shape and size is obtained. Usually, in order to improve the stamping efficiency, a six-axis robot is used to cooperate with a negative pressure suction disc to feed.

[0003] However, when feeding by using the negative pressure suction disc, the plate materials for stamping are not the same, and some of the materials have impurities on the surfaces, including metal chips or hard particles. During the working process of the suction disc, the impurities are contacted and rubbed, which causes surface damage, gradual decline of adsorption and sealing performance, and reduction of the service life of the suction disc. In severe cases, the material is separated during the adsorption of the plate.

[0004] Therefore, the application provides a six-axis stamping robot feeding device to solve the above problems. SUMMARY

[0005] The application provides a six-axis stamping robot feeding device, and aims to solve the problem that the existing suction disc is often contacted and rubbed with impurities during the working process, which causes surface damage, gradual decline of adsorption and sealing performance, and reduction of the service life of the suction disc.

[0006] To achieve the above object, the application provides the following technical scheme: a six-axis stamping robot feeding device, comprising a six-axis robot, a wrist rotating shaft arranged on the six-axis robot, a fixing frame arranged at an output end of the wrist rotating shaft, a plurality of groups of fixing plates equidistantly arranged at a lower end of the fixing frame, a sleeve arranged on the fixing plate, and a negative pressure suction disc arranged on the sleeve.

[0007] A cleaning mechanism is arranged on a side of the sleeve away from the negative pressure suction disc, and an adjusting assembly for connecting the cleaning mechanism is arranged at an upper end of the fixing frame.

[0008] The cleaning mechanism comprises a protective box arranged on the side of the sleeve away from the negative pressure suction disc, a cleaning plate arranged at the lower end of the sleeve, a motor mounted in the protective box, an output end of the motor fixedly connected with a shaft rod on the cleaning plate, a non-woven fabric block mounted at the upper end of the cleaning plate, and a brush mounted at the lower end of the cleaning plate; when cleaning, the output end of the cylinder drives the synchronous plate to move downward together with the protective box and the cleaning plate until the lower end of the brush contacts the surface of the plate material, at the same time, the non-woven fabric block is flush with the contact area of the negative pressure suction disc and the plate material, the motor in the protective box drives the cleaning plate to rotate, and after rotating the cleaning plate at least twice, the protective box is reset by the cylinder, so as to realize the cleaning operation.

[0009] Preferably, the adjusting assembly comprises a limiting frame symmetrically arranged on the fixing frame, a synchronous plate slidingly arranged between the two limiting frames, and a cylinder arranged on the fixing frame, a positioning slot is arranged on the synchronous plate, and a movable rod is arranged in the positioning slot; the output end of the cylinder is connected with the synchronous plate, and the limiting of the limiting frame at both ends of the synchronous plate is provided, so that the synchronous plate can be prevented from deviating and shaking when the cylinder drives the synchronous plate to move up and down.

[0010] Preferably, one end of the movable rod close to the protective box is fixedly connected with a fixed seat, the lower end of the fixed seat is fixedly connected with a positioning rod, and the lower end of the positioning rod is detachably connected with the upper end of the protective box; the positioning rod and the protective box are threadedly connected, so that they can be detached for maintenance when the motor has a problem.

[0011] Preferably, the other end of the movable rod away from the fixed seat is fixedly connected with a positioning screw, and the positioning screw is fixedly connected with the synchronous plate through a nut.

[0012] Preferably, the fixed seat, the movable rod and the positioning rod are integrally formed.

[0013] Preferably, the side of the sleeve away from the negative pressure suction disc is fixedly connected with a limiting seat, and the protective box is slidingly connected with the limiting seat.

[0014] Preferably, the output end of the cylinder is fixedly connected with the lower end of the synchronous plate, and the base of the cylinder is fixedly connected with the fixing frame through bolts.

[0015] The six-axis stamping robot loading device is configured to install a cleaning mechanism on the side of the sleeve away from the negative pressure suction cup. Before the robot uses the negative pressure suction cup to load the sheet material, the cylinder drives the synchronous plate, the protective box and the cleaning plate to move toward the sheet material. At this time, the cleaning plate is lower than the height of the negative pressure suction cup, and the brush rotates at least two circles along the output end of the motor inside the protective box to wipe and clean the position where the negative pressure suction cup adsorbs the sheet material. At the same time, the non-woven fabric block and the area where the negative pressure suction cup often contacts the material are wiped, and the adsorption area of ​​the sheet material and the area where the negative pressure suction cup contacts the material are cleaned respectively and simultaneously, thereby improving the service life of the negative pressure suction cup.

[0016] The six-axis stamping robot loading device has an adjustment slot on the synchronization plate for adjusting the position of the cleaning plate synchronously with the fixed plate. When the fixed plate is adjusted to adapt to plate materials of different specifications, the entire cleaning mechanism can slide in the adjustment slot through the movable rod and then be fixed with a nut to synchronously adjust the position, making the operation of the cleaning mechanism more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of a six-axis stamping robot loading device;

[0018] Figure 2 This is a schematic diagram of the structure after the cleaning plate moves downward and is adjusted;

[0019] Figure 3 It is a structural diagram of the protective box;

[0020] Figure 4 This is a structural diagram of the cleaning plate in a cleaning state;

[0021] Figure 5 This is a structural diagram of the cleaning plate in reset state;

[0022] Figure 6 for Figure 2 Schematic diagram of the structure enlarged at point A in the middle.

[0023] In the figure: 1. Six-axis robot; 2. Wrist rotation axis; 3. Fixed frame; 31. Fixed plate; 32. Negative pressure suction cup; 33. Sleeve; 4. Cleaning mechanism; 41. Cleaning plate; 42. Non-woven fabric block; 43. Brush; 44. Protective box; 45. Limit seat; 46. Fixed seat; 47. Movable rod; 48. Positioning screw; 49. Positioning rod; 5. Adjustment assembly; 51. Limit frame; 52. Synchronous plate; 53. Cylinder; 54. Adjustment slot. DETAILED DESCRIPTION

[0024] With reference to the drawings and embodiments disclosed herein, it will be obvious to those skilled in the art that the embodiments described are only a part of all embodiments of the present application, and not all the embodiments. Based on the embodiments disclosed in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0025] The present embodiment provides a six-axis punching robot feeding device, as shown in the drawings, the six-axis punching robot feeding device comprises a six-axis robot 1, a wrist rotation shaft 2 arranged on the six-axis robot 1, a fixed frame 3 arranged at the output end of the wrist rotation shaft 2, a plurality of sets of fixed plates 31 equidistantly arranged at the lower end of the fixed frame 3, and a sleeve 33 arranged on the fixed plate 31, and a negative pressure suction disc 32 mounted on the sleeve 33. Figures 1-6

[0026] The side of the sleeve 33 away from the negative pressure suction disc 32 is provided with a cleaning mechanism 4, and the upper end of the fixed frame 3 is provided with an adjusting assembly 5 connected with the cleaning mechanism 4.

[0027] The cleaning mechanism 4 comprises a protective box 44 arranged on the side of the sleeve 33 away from the negative pressure suction disc 32, and a cleaning plate 41 arranged at the lower end of the sleeve 33, a motor is mounted in the protective box 44, the output end of the motor is fixedly connected with a shaft rod on the cleaning plate 41, a non-woven fabric block 42 is mounted on the upper end of the cleaning plate 41, and a brush 43 is mounted on the lower end of the cleaning plate 41.

[0028] Specifically, when cleaning, the output end of the cylinder 53 drives the synchronous plate 52 to move downward with the protective box 44 and the cleaning plate 41 until the lower end of the brush 43 contacts the surface of the plate material, at the same time, the non-woven fabric block 42 is flush with the contact area of the negative pressure suction disc 32 and the plate material, the motor in the protective box 44 drives the cleaning plate 41 to rotate, and at least two rotations of the cleaning plate 41 are required before the protective box 44 is reset by the cylinder 53, at this time, the negative pressure suction disc 32 can be used to adsorb and feed the plate material, wherein the motor in each protective box 44 is connected with a synchronous starter through a wire for synchronous starting and synchronous closing.

[0029] The adjusting assembly 5 comprises a limiting frame 51 symmetrically mounted on the fixed frame 3, a synchronous plate 52 slidingly mounted between the two limiting frames 51, and a cylinder 53 arranged on the fixed frame 3, a positioning groove 54 is formed in the synchronous plate 52, a movable rod 47 is arranged in the positioning groove 54, the output end of the cylinder 53 is fixedly connected with the lower end of the synchronous plate 52, and the base of the cylinder 53 is fixedly connected with the fixed frame 3 through bolts.

[0030] ​More specifically, the output end of the air cylinder 53 is connected with the synchronization plate 52, and is limited by the limiting frame 51 at both ends of the synchronization plate 52, so that the air cylinder 53 can drive the synchronization plate 52 to move up and down without deviation and shaking, and the position adjusting groove 54 opened on the synchronization plate 52 is used for adjusting the movement of the movable rod 47, so as to realize the synchronous movement adjustment of the fixed plate 31 and adapt to different specifications of the plate raw material.

[0031] The end of the movable rod 47 close to the protective box 44 is fixedly connected with a fixed seat 46, the lower end of the fixed seat 46 is fixedly connected with a positioning rod 49, the lower end of the positioning rod 49 is detachably connected with the upper end of the protective box 44, and the end of the movable rod 47 away from the fixed seat 46 is fixedly connected with a positioning screw 48, the positioning screw 48 is fixedly connected with the synchronization plate 52 through a nut, and the fixed seat 46, the movable rod 47 and the positioning rod 49 are integrally formed.

[0032] Further, the protective box 44 protects the motor inside, and the protective box 44 is provided with a ventilation hole for heat dissipation of the motor, and the positioning rod 49 is threadedly connected with the protective box 44 and can be detached, so that the motor can be repaired separately when a problem occurs in the later period.

[0033] The side of the sleeve seat 33 away from the negative pressure suction disc 32 is fixedly connected with a limiting seat 45, and the protective box 44 is slidably connected with the limiting seat 45.

[0034] It should be noted that the limiting seat 45 limits and guides the upward and downward movement of the protective box 44.

[0035] In use, first, the six-axis robot 1 moves to the upper side of the plate raw material with the wrist rotating shaft 2, at this time, the air cylinder 53 drives the synchronization plate 52 to move downward until the lower end of the brush 43 is in contact with the surface of the plate raw material, and the non-woven fabric block 42 is flush with the contact area of the negative pressure suction disc 32 and the plate raw material, the motor in the protective box 44 drives the cleaning plate 41 to rotate, and at least rotates twice with the cleaning plate 41, at this time, the brush 43 cleans the impurities on the surface of the plate raw material, and the non-woven fabric block 42 provides cleaning operation for the negative pressure suction disc 32, after the cleaning operation is completed, the motor in the protective box 44 is closed, and the position of the cleaning plate 41 is flush with the movable rod 47, the output end of the air cylinder 53 lifts the synchronization plate 52 upward, so that the position of the cleaning plate 41 is higher than that of the negative pressure suction disc 32, at this time, the cleaned negative pressure suction disc 32 can be used to adsorb and load the plate raw material, so as to prolong the service life of the negative pressure suction disc 32 and reduce the cost.

[0036] The above merely provides the preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art, according to the technical solution and concept of the present application, can make equivalent replacements or changes within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A six-axis stamping robot loading device, comprising a six-axis robot (1), a wrist rotation axis (2) arranged on the six-axis robot (1), and a fixing frame (3) arranged at the output end of the wrist rotation axis (2), wherein a plurality of sets of fixing plates (31) and a sleeve (33) arranged on the fixing plates (31) are equidistantly arranged at the lower end of the fixing frame (3), and a negative pressure suction cup (32) is installed on the sleeve (33); Its characteristics are: A cleaning mechanism (4) is provided on the side of the sleeve (33) away from the negative pressure suction cup (32), and an adjustment component (5) for connecting to the cleaning mechanism (4) is provided on the upper end of the fixing frame (3); The cleaning mechanism (4) comprises a protective box (44) arranged on a side of the sleeve (33) away from the negative pressure suction cup (32), and a cleaning plate (41) arranged at the lower end of the sleeve (33). A motor is installed inside the protective box (44), and the output end of the motor is fixedly connected to the shaft on the cleaning plate (41). A non-woven fabric block (42) is installed at the upper end of the cleaning plate (41), and a brush (43) is installed at the lower end of the cleaning plate (41).

2. The six-axis stamping robot loading device according to claim 1, characterized in that: The adjustment assembly (5) comprises a limiting frame (51) symmetrically mounted on the fixing frame (3), a synchronization plate (52) slidably mounted between the two limiting frames (51), and a cylinder (53) arranged on the fixing frame (3). The synchronization plate (52) is provided with an adjustment groove (54), and a movable rod (47) is arranged in the adjustment groove (54).

3. The six-axis stamping robot loading device according to claim 2, characterized in that: One end of the movable rod (47) close to the protective box (44) is fixedly connected to a fixing seat (46), the lower end of the fixing seat (46) is fixedly connected to a positioning rod (49), and the lower end of the positioning rod (49) is detachably connected to the upper end of the protective box (44).

4. The six-axis stamping robot loading device according to claim 3, characterized in that: One end of the movable rod (47) away from the fixed seat (46) is fixedly connected to a positioning screw (48), and the positioning screw (48) is fixedly connected to the synchronization plate (52) via a nut.

5. The six-axis stamping robot loading device according to claim 4, characterized in that: The fixing seat (46), the movable rod (47) and the positioning rod (49) are integrally formed.

6. The six-axis stamping robot loading device according to claim 1, characterized in that: The side of the sleeve (33) away from the negative pressure suction cup (32) is fixedly connected to the limiting seat (45), and the protection box (44) is slidably connected to the limiting seat (45).

7. The six-axis stamping robot loading device according to claim 2, characterized in that: The output end of the cylinder (53) is fixedly connected to the lower end of the synchronization plate (52), and the base of the cylinder (53) is fixedly connected to the fixing frame (3) by bolts.

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