Robot feeding and discharging device and turning system

Abstract

The utility model belongs to the technical field of machining, and particularly relates to a robot feeding and discharging device and a turning system. The robot feeding and discharging device comprises an overturning assembly and a transferring assembly. The overturning assembly comprises a first clamping assembly and a driving part, the first clamping assembly is connected to the driving part and used for clamping a workpiece, and the driving part is used for driving the first clamping assembly to rotate; the transferring assembly comprises a multi-freedom-degree mechanical arm and a second clamping assembly, the second clamping assembly is connected to the mechanical arm and used for clamping the workpiece, and the mechanical arm is used for driving the second clamping assembly to transfer the workpiece between the first clamping assembly and the designated position. By means of the robot feeding and discharging device in the technical scheme, automation of the multi-face machining process of the workpiece can be achieved, and the production efficiency is effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of machining, specifically relates to a robot feeding and discharging device and turning machining system. BACKGROUND

[0002] In modern industrial production process, more and more enterprises realize the automation of workpiece production by improving the structure of numerical control lathe, or introduce industrial robot to control the feeding and discharging of workpiece. In some production processes, workpiece needs to be processed on both sides, in this case, some equipment must be used according to the established processing procedure, first process one side of the workpiece, then turn it over to the other side, and then continue to process the next process.

[0003] In the prior art, for the workpiece needing double-sided processing, the turning and transfer of the workpiece need manual transition, and it is difficult to realize overall automation.

[0004] Therefore, it is urgent to provide a robot feeding and discharging device and turning machining system with high automation degree to solve the above problems. UTILITY MODEL CONTENTS

[0005] The utility model aims at solving how to improve the automation degree of feeding and discharging. The purpose is realized by the following technical scheme:

[0006] The first aspect of the utility model provides a robot feeding and discharging device, which comprises:

[0007] The turning component comprises a first clamping component and a driving part, the first clamping component is connected to the driving part, the first clamping component is used for clamping the workpiece, and the driving part is used for driving the first clamping component to rotate.

[0008] The transfer component comprises a second clamping component and a multi-degree-of-freedom mechanical arm, the second clamping component is connected to the mechanical arm, the second clamping component is used for clamping the workpiece, and the mechanical arm is used for driving the second clamping component to transfer the workpiece between the first clamping component and the specified position.

[0009] The robot feeding and discharging device in the technical scheme can be used for workpieces needing multi-surface machining. After the workpiece completes machining of a first surface, the workpiece is clamped by the second clamping assembly in the transfer assembly, and is transferred to the first clamping assembly of the turnover assembly. The first clamping assembly clamps the workpiece, and meanwhile, the driving member drives the first clamping assembly to rotate, so that the first clamping assembly drives the workpiece to rotate. After the workpiece is turned over, the second clamping assembly clamps the workpiece to a specified position, and the transfer of the workpiece is completed, so that machining of a second surface can be performed. The robot feeding and discharging device in the technical scheme can realize automation of the multi-surface machining process of the workpiece, and effectively improve production efficiency.

[0010] In addition, the robot feeding and discharging device can further have the following additional technical features.

[0011] In some embodiments of the utility model, the first clamping assembly comprises a plurality of first clamping jaws and a first fixing part, the first clamping jaws are connected to the first fixing part, the first fixing part is connected to the driving member, and the first fixing part is used to drive the plurality of first clamping jaws to move closer to or farther away from each other.

[0012] In some embodiments of the utility model, the first clamping assembly is an electric clamping jaw, the first fixing part is a clamping jaw mounting port, and the first clamping jaw is connected to the clamping jaw mounting port.

[0013] In some embodiments of the utility model, the driving member comprises a rotary motor, the clamping jaw mounting port is connected to the rotary motor, and the rotary motor is used to drive the clamping jaw mounting port to rotate.

[0014] In some embodiments of the utility model, the second clamping assembly comprises a plurality of second clamping jaws and a second fixing part, the second clamping jaws are connected to the second fixing part, and the second fixing part is used to drive the plurality of second clamping jaws to move closer to or farther away from each other.

[0015] In some embodiments of the utility model, the turnover assembly further comprises a first mounting frame, the first clamping assembly is connected to the first mounting frame, the first mounting frame comprises a first base and a connecting plate extending in a vertical direction, the bottom of the connecting plate is connected to the first base, and the turnover assembly is connected to the top of the connecting plate.

[0016] In some embodiments of the utility model, the transfer assembly comprises a second mounting frame, the second mounting frame and the first mounting frame are arranged at intervals, and the mechanical arm is connected to the second mounting frame.

[0017] In some embodiments of the utility model, first base plate, first support column and first top plate, first base plate is connected to the bottom of first support column, first top plate is connected to the top of first support column, connecting plate is connected to first top plate.

[0018] The utility model also proposes a turning system, the turning system includes first processing platform, second processing platform and robot loading and unloading device in above -mentioned embodiment, first processing platform is used for processing the first face of workpiece, second processing platform is used for processing the second face of workpiece, transfer assembly is used for making workpiece transfer between first processing platform, turnover assembly and second processing platform.

[0019] In some embodiments of the utility model, the turning system further comprises a material rack and a workpiece tray, the material rack is placed between the first processing platform and the second processing platform, the workpiece tray is placed on the material rack, and the workpiece tray is used to place the workpiece to be processed and the workpiece processed. BRIEF DESCRIPTION OF DRAWINGS

[0020] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not intended to limit the scope of the application. Moreover, like reference numerals designate like parts throughout the several views in the drawings. In the drawings:

[0021] Figure 1 The structure schematic view of the robot loading and unloading device according to the embodiment of the utility model is schematically shown;

[0022] Figure 2 The partial structure schematic view of the turnover assembly according to the embodiment of the utility model is schematically shown;

[0023] Figure 3 The structure schematic view of the transfer assembly according to the embodiment of the utility model is schematically shown;

[0024] Figure 4 The structure schematic view of the connecting plate according to the embodiment of the utility model is schematically shown;

[0025] Figure 5 The structure schematic view of the first base according to the embodiment of the utility model is schematically shown;

[0026] Figure 6 The structure schematic view of the second mounting bracket according to the embodiment of the utility model is schematically shown;

[0027] Figure 7A structure schematic diagram of the turning machining system according to the embodiment of the utility model is shown schematically.

[0028] Figure 8 A partial structure schematic diagram of the turning machining system according to the embodiment of the utility model is shown schematically.

[0029] The various reference signs in the drawings represent the following:

[0030] 100, turnover assembly; 110, first clamping assembly; 111, first clamping jaw; 112, first fixed part; 120, driving piece; 130, first mounting frame; 131, first base; 1311, first bottom plate; 1312, first support column; 1313, first top plate; 1314, first reinforcing rib; 132, connecting plate; 200, transfer assembly; 210, mechanical arm; 220, second clamping assembly; 221, second clamping jaw; 222, second fixed part; 230, second mounting frame; 231, second bottom plate; 232, second support column; 233, second top plate; 234, second reinforcing rib; 300, first machining table; 400, second machining table; 500, material rack; 510, workpiece tray; 600, workbench; 610, industrial control computer; 620, robot control box; 630, robot teach pendant; 640, programmable logic controller. DETAILED DESCRIPTION

[0031] Exemplary embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. While example embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0032] It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and "has" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order in which they are described, unless specifically identified as an order dependent step. It is also to be understood that additional or alternative steps can be employed.

[0033] Although the terms first, second, third, etc. can be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can be only used to distinguish one element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and the like used herein do not imply a sequence or an order, but rather are used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of example embodiments.

[0034] For ease of description, spatial relative terms can be used herein to describe the relationship of one element or feature to another element or feature as shown in the figures, such as "inner", "outer", "inner side", "outer side", "under", "below", "above", "upper", and the like. Such spatial relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, an element described as "below" or "under" another element or feature would then be oriented "above" or "over" the other element or feature. Thus, the example term "below" can include both the above and below orientations.

[0035] Figure 1 The structural schematic diagram of the robot feeding and discharging device according to the embodiment of the present application is schematically shown. Figure 1 The robot feeding and discharging device is provided, which comprises a turnover assembly 100 and a transfer assembly 200; the turnover assembly 100 comprises a first clamping assembly 110 and a driving member 120, the first clamping assembly 110 is connected to the driving member 120, the first clamping assembly 110 is used for clamping a workpiece, and the driving member 120 is used for driving the first clamping assembly 110 to rotate; the transfer assembly 200 comprises a multi-degree-of-freedom mechanical arm 210 and a second clamping assembly 220, the second clamping assembly 220 is connected to the mechanical arm 210, the second clamping assembly 220 is used for clamping a workpiece, and the mechanical arm 210 is used for driving the second clamping assembly 220 to transfer the workpiece between the first clamping assembly 110 and a designated position.

[0036] The robot feeding and discharging device in the technical solution can be used for workpieces that need to be processed on multiple surfaces. After the workpiece is processed on the first surface, the second clamping assembly 220 in the transfer assembly 200 clamps the workpiece, and the workpiece is transferred to the first clamping assembly 110 of the turnover assembly 100. The first clamping assembly 110 clamps the workpiece, and at the same time, the driving member 120 drives the first clamping assembly 110 to rotate. The first clamping assembly 110 drives the workpiece to rotate, and after the workpiece is turned over, the second clamping assembly 220 clamps the workpiece to a specified position, and the transfer of the workpiece is completed to process the second surface. The robot feeding and discharging device in the technical solution can realize the automation of the workpiece multi-surface processing process, and effectively improve the production efficiency.

[0037] It can be understood that the robot feeding and discharging device in the technical solution is also applicable to the case where the workpiece needs to be processed on more than two surfaces, as long as the movement path of the transfer assembly 200 is reasonably planned according to the use requirement. According to the actual requirement, the turnover angle can be 180° or 90°, etc. Since the workpiece needs to be turned over during the replacement process, the degree of freedom of the mechanical arm 210 is also relatively high. A six-degree-of-freedom mechanical arm 210 can be selected according to the use requirement. The arm span of the mechanical arm 210 is selected according to the use requirement, which is not limited here.

[0038] Further, Figure 2 A partial structure schematic view of the turnover assembly 100 according to the embodiment of the utility model is schematically shown. The first clamping assembly 110 includes a plurality of first clamping jaws 111 and a first fixed part 112. The first clamping jaws 111 are connected to the first fixed part 112, and the first fixed part 112 is connected to the driving member 120. The first fixed part 112 is used to drive the plurality of first clamping jaws 111 to move close to or away from each other.

[0039] Optionally, the number of first clamping jaws 111 is two. The two first clamping jaws 111 can move close to or away from each other under the drive of the fixed part. The distance between the two first clamping jaws 111 is adjusted to clamp and release the workpiece.

[0040] Further, the first clamping assembly 110 is an electric clamping jaw, the first fixed part 112 is a clamping jaw mounting port, and the first clamping jaw 111 is connected to the clamping jaw mounting port.

[0041] The electric clamping jaw is a clamp that relies on an electric actuator to realize the clamping function. The opening and closing movement of the first clamping jaw 111 is driven by the electric motor to realize the clamping and release of the object.

[0042] Further, the driving member 120 includes a rotary motor. The clamping jaw mounting port is connected to the rotary motor, and the rotary motor is used to drive the clamping jaw mounting port to rotate.

[0043] Further, Figure 3A structure schematic view of the transfer assembly 200 according to the embodiment of the present application is schematically shown. Referring to Figure 3 The second clamping assembly 220 comprises a plurality of second clamping jaws 221 and a second fixing part 222, the second clamping jaws 221 are connected to the second fixing part 222, and the second fixing part 222 is used for driving the plurality of second clamping jaws 221 to approach or move away from each other.

[0044] Optionally, the second clamping assembly 220 is an electric clamping jaw, the second fixing part 222 is an electric jaw body, and the second clamping jaw 221 is connected to the electric jaw body.

[0045] Further, Figure 4 A structure schematic view of the connecting plate 132 according to the embodiment of the present application is schematically shown. Figure 5 A structure schematic view of the first base 131 according to the embodiment of the present application is schematically shown. Referring to Figure 4 And Figure 5 The turnover assembly 100 further comprises a first mounting frame 130, the first clamping assembly 110 is connected to the first mounting frame 130, the first mounting frame 130 comprises a first base 131 and a connecting plate 132 extending in the vertical direction, the bottom of the connecting plate 132 is connected to the first base 131, and the turnover assembly 100 is connected to the top of the connecting plate 132.

[0046] By arranging the first mounting frame 130 to support the first clamping assembly 110, the first clamping assembly 110 is at a suitable height. It can be understood that the arrangement of the first base 131 can provide stable support for the first clamping assembly 110, and by arranging the connecting plate 132, the height of the first clamping assembly 110 is further increased, which facilitates the cooperation of the first clamping assembly 110 and the second clamping assembly 220.

[0047] Further, the first base 131 comprises a first bottom plate 1311, a first support column 1312 and a first top plate 1313, the first bottom plate 1311 is connected to the bottom of the first support column 1312, the first top plate 1313 is connected to the top of the first support column 1312, and the connecting plate 132 is connected to the first top plate 1313.

[0048] Optionally, the first support column 1312 is a hollow column structure, and the cross section of the first support column 1312 in the horizontal direction is a square. The first base 131 adopts this structure form, and can stably support the turnover assembly 100. In other embodiments, the first support column 1312 can be a cylindrical column, a prism column or other shapes, which are not limited here, as long as the first bottom plate 1311 and the first top plate 1313 can be stably connected. Optionally, a first reinforcing rib 1314 is arranged between the first bottom plate 1311 and the first support column 1312, and the first reinforcing rib 1314 is a right-angled triangular plate structure, one of the right-angled edges is connected with the first bottom plate 1311, and the other right-angled edge is connected with the side surface of the first support column 1312. By arranging the first reinforcing rib 1314, the connection stability between the first bottom plate 1311 and the first support column 1312 can be effectively increased. Optionally, a plurality of first reinforcing ribs 1314 are arranged along the circumference of the first support column 1312.

[0049] Further, Figure 6 The structure schematic diagram of the second mounting rack 230 according to the embodiment of the present application is schematically shown. The transfer assembly 200 comprises the second mounting rack 230, the second mounting rack 230 and the first mounting rack 130 are arranged at intervals, and the mechanical arm 210 is connected to the second mounting rack 230.

[0050] It can be understood that the first mounting rack 130 and the second mounting rack 230 are arranged according to the site layout requirements, so as to ensure that they not only meet the working requirements in the feeding and discharging process, but also leave a certain operable space. Optionally, the second base comprises a second bottom plate 231, a second support column 232 and a second top plate 233, the second bottom plate 231 is connected to the bottom of the second support column 232, the second top plate 233 is connected to the top of the second support column 232, and the mechanical arm 210 is connected to the second top plate 233. Optionally, a second reinforcing rib 234 is arranged between the second bottom plate 231 and the second support column 232, so as to increase the connection stability between the second bottom plate 231 and the second support column 232.

[0051] Further, Figure 7 The structure schematic diagram of the turning machining system according to the embodiment of the present application is schematically shown. Referring to Figure 7 The present application also provides a turning machining system, which comprises a first machining table 300, a second machining table 400 and the robot feeding and discharging device in the above technical solution, the first machining table 300 is used for machining the first face of a workpiece, the second machining table 400 is used for machining the second face of the workpiece, and the transfer assembly 200 is used for transferring the workpiece between the first machining table 300, the turnover assembly 100 and the second machining table 400.

[0052] In the embodiment, the first machining table 300 and the second machining table 400 are both slant bed gang tool lathe. In other embodiments, the first machining table 300 and the second machining table 400 are selected according to the machining requirement of the workpiece. Alternatively, the first machining table 300 and the second machining table 400 are respectively located on the two sides of the robot loading and unloading device.

[0053] The turning machining system in the technical solution further comprises an industrial control computer 610, a robot control box 620, a robot teach pendant 630, a programmable logic controller 640 and a workbench 600. The industrial control computer 610 detects and controls the production process and the electromechanical equipment and the process equipment. The robot control box 620 is a key component in the robot system, responsible for controlling and coordinating the movement and function of each component of the robot. The robot teach pendant 630 is an important tool for robot programming and debugging. The programmable logic controller 640 is a general programmable controller for controlling the production process and the machine equipment. The industrial control computer 610, the robot control box 620, the robot teach pendant 630 and the programmable logic controller 640 are placed on the workbench 600.

[0054] Further, Figure 8 The partial structure schematic diagram of the turning machining system according to the embodiment of the utility model is schematically shown. Referring to Figure 8 The turning machining system further comprises a material rack 500 and a workpiece tray 510, the material rack 500 is placed between the first machining table 300 and the second machining table 400, the workpiece tray 510 is placed on the material rack 500, and the workpiece tray 510 is used for placing the workpiece to be machined and the workpiece machined.

[0055] Alternatively, the material rack 500 is placed between the first machining table 300 and the second machining table 400, which can facilitate the grabbing of the transfer assembly 200. The material rack 500 comprises a support column and a platform, the support column is connected to the bottom of the platform and is used for supporting the platform, and the workpiece tray 510 is placed on the platform. It can be understood that the structure of the workpiece tray 510 is set according to the shape of the workpiece, which is not specifically described here.

[0056] The working process of the turning machining system provided by the technical solution is as follows:

[0057] The mechanical arm 210 drives the second clamping assembly 220 to move to the workpiece tray 510, and the second clamping assembly 220 clamps the workpiece; the mechanical arm 210 moves, so that the second clamping assembly 220 moves to the first machining table 300 and places the workpiece on the first machining table 300; the first machining table 300 processes the workpiece in the first process; after the first process is completed, the mechanical arm 210 drives the second clamping assembly 220 to take the workpiece from the first machining table 300, and places the workpiece on the first clamping assembly 110 of the turnover assembly 100, and the workpiece is turned over by 180°; the second clamping assembly 220 takes the workpiece after the turnover is completed and places the workpiece on the second machining table 400; after the second clamping assembly 220 exits, the second machining table 400 processes the workpiece in the second process; after the second process is completed, the second clamping assembly 220 takes the workpiece from the second machining table 400 and places the workpiece on the workpiece tray 510, and another workpiece is clamped; the above work is repeated until all workpieces are processed.

[0058] The above merely provides the preferred embodiment of the present application, and the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, and all the changes or replacements should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A robot loading and unloading device, characterized in that, The utility model relates to a workpiece overturning and transferring device, which comprises a overturning assembly (100) and a transferring assembly (200). The overturning assembly (100) comprises a first clamping assembly (110) and a driving member (120), the first clamping assembly (110) is connected to the driving member (120), the first clamping assembly (110) is used for clamping a workpiece, and the driving member (120) is used for driving the first clamping assembly (110) to rotate. The transferring assembly (200) comprises a second clamping assembly (220) and a multi-degree-of-freedom mechanical arm (210), the second clamping assembly (220) is connected to the mechanical arm (210), the second clamping assembly (220) is used for clamping the workpiece, and the mechanical arm (210) is used for driving the second clamping assembly (220) to transfer the workpiece between the first clamping assembly (110) and a specified position.

2. The robotic loading and unloading device of claim 1, wherein, The first clamping assembly (110) comprises a plurality of first clamping jaws (111) and a first fixing part (112), the first clamping jaws (111) are connected to the first fixing part (112), the first fixing part (112) is connected to the driving member (120), and the first fixing part (112) is used for driving a plurality of the first clamping jaws (111) to move close to or away from each other.

3. The robotic loading and unloading device of claim 2, wherein, The first clamping assembly (110) is an electric clamping jaw, the first fixing part (112) is a clamping jaw mounting port, and the first clamping jaw (111) is connected to the clamping jaw mounting port.

4. The robotic loading and unloading device of claim 3, wherein, The driving member (120) comprises a rotary motor, the clamping jaw mounting port is connected to the rotary motor, and the rotary motor is used for driving the clamping jaw mounting port to rotate.

5. The robotic loading and unloading device of claim 1, wherein, The second clamping assembly (220) comprises a plurality of second clamping jaws (221) and a second fixing part (222), the second clamping jaws (221) are connected to the second fixing part (222), and the second fixing part (222) is used for driving a plurality of the second clamping jaws (221) to move close to or away from each other.

6. The robotic loading and unloading device of claim 1, wherein, The overturning assembly (100) further comprises a first mounting frame (130), the first clamping assembly (110) is connected to the first mounting frame (130), the first mounting frame (130) comprises a first base (131) and a connecting plate (132) extending in a vertical direction, the bottom of the connecting plate (132) is connected to the first base (131), and the overturning assembly (100) is connected to the top of the connecting plate (132).

7. The robotic loading and unloading device of claim 6, wherein, The transferring assembly (200) comprises a second mounting frame (230), the second mounting frame (230) and the first mounting frame (130) are arranged at intervals, and the mechanical arm (210) is connected to the second mounting frame (230).

8. The robotic loading and unloading device of claim 7, wherein, The first base (131) comprises a first bottom plate (1311), a first support column (1312) and a first top plate (1313), the first bottom plate (1311) is connected to the bottom of the first support column (1312), the first top plate (1313) is connected to the top of the first support column (1312), and the connecting plate (132) is connected to the first top plate (1313).

9. A turning system, characterized by The turning system further comprises a material rack (500) and a workpiece tray (510), the material rack (500) is placed between the first machining table (300) and the second machining table (400), and the workpiece tray (510) is placed on the material rack (500), and the workpiece tray (510) is used for placing the workpiece to be machined and the workpiece machined.

10. The turning system of claim 9, wherein, The turning system further comprises a material rack (500) and a workpiece tray (510), the material rack (500) is placed between the first machining table (300) and the second machining table (400), and the workpiece tray (510) is placed on the material rack (500), and the workpiece tray (510) is used for placing the workpiece to be machined and the workpiece machined.

Images