Sucker material taking mechanism for feeding and discharging

Abstract

The utility model discloses a suction cup material taking mechanism for feeding and discharging. The suction cup material taking mechanism comprises a lifting module, a transferring robot and a material taking module. The lifting module is positioned beside a set position, and the lifting module is provided with a working end; one end of the transferring robot is in positioning connection with the working end, the other end of the transferring robot is an executing end, and the executing end is in positioning connection with the material taking module. Automatic feeding operation and product rolling shaping operation after feeding can be achieved through cooperation of the transferring robot, the material taking frame and the pressure applying roller; the transferring robot drives the material taking frame to transfer the products sucked by the sucking part to the set position or transfer the products from the set position, after the feeding operation is completed, the transferring robot drives the material taking frame to be perpendicular to the plane where the set position is located, at the moment, a groove opening of the mounting groove faces downwards, and then the products are fed into the mounting groove. And then the pressure applying wheel surface acts on the surface of the product and is driven by the transfer robot to roll.

Description

TECHNICAL FIELD

[0001] The utility model relates to a material taking mechanism technical field, concretely relates to a suction cup material taking mechanism for feeding and discharging. BACKGROUND

[0002] The machining center is a high-efficiency automatic machine tool suitable for machining complex parts and composed of mechanical equipment and a numerical control system, and the numerical control machining center is one of the numerical control machine tools with the highest output and the most extensive application in the world. At present, there is a composite assembled automatic production line comprising multiple machining centers to improve machining efficiency.

[0003] The arrangement of multiple machining centers means that there are multiple machining stations, which means that multiple machining stations need to be fed and discharged. At present, the operation of feeding the machining stations is mostly manual operation.

[0004] However, this operation method has certain limitations in specific implementation, as follows:

[0005] Firstly, manual operation is low in efficiency, and the operator is prone to fatigue and thus prone to errors during operation, i.e., the product is not placed at the specified position or the position deviates during placement.

[0006] Secondly, some enterprises will use a mechanical hand (or a mechanical hand carrying a vacuum suction cup, as the mechanical hand with a suction cup is typical, so the mechanical hand carrying a vacuum suction cup is described) to move the product to the specified position in order to speed up the efficiency and reduce the error rate and loss. However, this operation has a problem, i.e., the product is prone to shaking with the bumpy vehicle during transportation, causing the edge to collide and thus slightly deformed, so when the mechanical hand with a suction cup moves to the specified position (generally, the specified position refers to the carrier or jig), the product and the specified position are not well fitted (i.e., the deformed part of the product is suspended from the specified position), and the product is prone to looseness during the operation of fixing the product to the specified position (generally, the product is fixed to the specified position by vacuum suction).

[0007] Therefore, how to solve the above problems of the prior art has become a research topic of the utility model. CONTENT OF THE UTILITY MODEL

[0008] The utility model provides a suction cup material taking mechanism for feeding and discharging, aiming to solve the technical problems in the background technology.

[0009] To achieve the above object, the utility model discloses the technical scheme that a kind of suction cup material taking mechanism for feeding and discharging, for moving and loading product to set position, including lifting module, transfer robot and material taking module;

[0010] The lifting module is positioned at the side of the set position, and the lifting module has a working end, which is configured to move up and down in the vertical direction.

[0011] One end of the transfer robot is connected to the working end, and the other end is an execution end, which is connected to the material taking module.

[0012] The material taking module includes a material taking rack, a connecting assembly, and a pressure roller.

[0013] The material taking rack is connected to the execution end, and the material taking rack has a suction part for holding the product.

[0014] The material taking rack is provided with a mounting groove, and the pressure roller is positioned in the mounting groove through the connecting assembly.

[0015] The transfer robot is configured to drive the material taking rack to move the product held by the suction part to the set position or away from the set position, and when the product is moved to the set position, the material taking rack is driven to be perpendicular to the plane where the set position is located, the slot of the mounting groove is downward, the pressure roller surface acts on the surface of the product and is driven to roll by the transfer robot.

[0016] In the above scheme, the content is explained as follows:

[0017] In the above scheme, the set position generally refers to the station where the jig is placed, and can be specifically referred to Figure Eight The set position is horizontally arranged.

[0018] In the above scheme, the bottom end of the lifting module is generally fixed to the ground, and the lifting module is selected from a cylinder, a hydraulic cylinder, or a lead screw sleeve mechanism.

[0019] In the above scheme, the transfer robot generally refers to a mechanical hand area, and the transfer robot can realize flexible feeding.

[0020] In the above scheme, the suction part can be selected as a suction cup.

[0021] In the above scheme, the material taking rack moves the product held by the suction part to the set position or away from the set position, which means that the material taking rack can not only realize feeding operation, but also realize discharging operation.

[0022] Further technical scheme, the material taking rack has a first mounting surface and a second mounting surface.

[0023] The suction part is arranged on the first mounting surface and the second mounting surface;

[0024] When the product is moved to or away from the set position, the transfer robot is configured to drive the first mounting surface or the second mounting surface on the material taking rack to be parallel to the plane where the set position is located.

[0025] When loading, sometimes there are products on the material taking rack that need to be loaded, and the products at the set position also need to be unloaded, so the above design allows the material taking rack to load and unload through the first mounting surface and the second mounting surface.

[0026] Further, the suction part includes a plurality of vacuum suction cups, and the plurality of vacuum suction cups are arranged apart. The vacuum suction cup can be one or more, and the above design allows the plurality of vacuum suction cups to cooperate when the product is suctioned and loaded, which not only ensures the stability of suction, but also has a small volume, which is different from a vacuum suction cup that occupies a small space and does not affect the normal suction and fixation of the product.

[0027] Further, the connecting assembly includes a fixed plate, a linear bearing, an elastic member, and a bridge arranged in sequence along the direction from the groove bottom to the groove opening of the mounting groove;

[0028] The fixed plate is positioned and connected with the groove bottom of the mounting groove, and one end of the linear bearing is positioned and connected with the fixed plate.

[0029] The bridge is arranged at the other end of the linear bearing, and the elastic member acts between the bridge and the linear bearing, so that the bridge has a tendency to move away from the groove bottom of the mounting groove.

[0030] The pressure roller is arranged on the bridge, and the circumferential surface of the pressure roller is the pressure surface.

[0031] The above design allows the pressure roller to roll without causing the product to be pressed out of a large indentation due to excessive pressure, because the elastic member can release part of the rolling pressure by compressing itself.

[0032] Further, the linear bearing and the elastic member are matched, and at least two linear bearings are arranged.

[0033] The above design allows the edge in the length direction of the bridge to be parallel to the axis of the pressure roller, which is more fixed, and the edge in the length direction of the bridge can also be fully arranged in the mounting groove. The specific structure can be as shown in Figure Five

[0034] ​In a further technical solution, the transfer robot includes at least five motion axes.

[0035] The above design enables the transfer robot to operate flexibly in multiple degrees of freedom.

[0036] In a further technical solution, the actuator and the material handling rack are connected by a flange for positioning.

[0037] The above design allows for quick assembly and disassembly of the actuator and the material handling rack.

[0038] The terms "first," "second," etc., used in this article do not specifically refer to order or sequence, nor are they intended to limit this case; they are merely used to distinguish components or operations described using the same technical terms.

[0039] The terms "connection" or "positioning" as used in this article can refer to two or more components or devices making direct physical contact with each other, or making indirect physical contact with each other, or to two or more components or devices operating or moving with each other.

[0040] The terms “include,” “including,” and “have” used in this article are all open-ended, meaning they include but are not limited to.

[0041] Unless otherwise specified, the terms used herein generally have their ordinary meaning in the context of the art, the subject matter, and the specific context. Certain terms used to describe this case will be discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the case.

[0042] The terms “front,” “back,” “up,” “down,” “left,” and “right” used in this article are directional terms. In this case, they are only used to describe the positional relationship between the structures and are not intended to limit the specific direction of the protection scheme or its actual implementation.

[0043] The working principle and advantages of this utility model are as follows:

[0044] In this invention, the automated feeding operation and the product rolling and shaping operation after feeding can be realized through the cooperation of the transfer robot, the picking rack and the pressure roller. Specifically, the transfer robot drives the picking rack to transfer the product held by the suction part to the set position or to move it away from the set position, thus realizing the automatic loading and unloading operation. After the feeding operation is completed, the transfer robot can drive the picking rack to be perpendicular to the plane where the set position is located. At this time, the groove opening of the mounting groove is facing downward, that is, the pressure roller surface is facing the product. Then the pressure roller surface will act on the product surface and be rolled by the transfer robot. Attached Figure Description

[0045] AppendixFigure 1 It is the overall structure schematic view in the embodiment of the utility model;

[0046] The Figure 2 It is the overall main view structure schematic view in the embodiment of the utility model;

[0047] The Figure 3 It is the overall left view structure schematic view in the embodiment of the utility model;

[0048] The Figure 4 It is the overall overhead structure schematic view in the embodiment of the utility model;

[0049] The Figure 5 It is the taking material module solid drawing in the embodiment of the utility model;

[0050] The Figure 6 It is the taking material module main view structure schematic view in the embodiment of the utility model;

[0051] The Figure 7 It is the taking material module overhead structure schematic view in the embodiment of the utility model;

[0052] The Figure 8 It is the taking material module left view structure schematic view when rolling product in the embodiment of the utility model;

[0053] The Figure 9 It is the connecting assembly solid drawing in the embodiment of the utility model;

[0054] The Figure 10 It is the connecting assembly main view structure schematic view in the embodiment of the utility model;

[0055] The Figure 11 It is the connecting assembly overhead structure schematic view in the embodiment of the utility model;

[0056] The Figure 12 It is the connecting assembly left view structure schematic view in the embodiment of the utility model.

[0057] In the above drawing: 1, lifting module; 2, transfer robot; 3, taking material module; 4, working end; 5, taking material frame; 6, connecting assembly; 7, pressure roller; 8, suction part; 9, installation groove; 10, pressure wheel surface; 11, first installation surface; 12, second installation surface; 13, fixed plate; 14, linear bearing; 15, elastic member; 16, bridge. Specific implementation

[0058] The utility model will be further described in connection with the drawings and embodiments:

[0059] Embodiment: The following will be clearly explained by the drawings and detailed description, any person skilled in the art can change and modify the technology taught by the present case without departing from the spirit and scope of the present case.

[0060] The terms used herein are only for describing specific embodiments, and are not intended to limit the present case. The singular form, such as "a", "this", "this", "this" and "this", as used herein, also includes the plural form.

[0061] Referring to the accompanying drawings Figures 1-12 As shown in the drawings, a suction disc taking mechanism for feeding and discharging is used to move the product to the set position, which includes a lifting module 1, a transfer robot 2 and a taking module 3.

[0062] The lifting module 1 is positioned beside the set position, and the lifting module 1 has a working end 4 configured to move up and down in the vertical direction.

[0063] One end of the transfer robot 2 is connected with the working end 4, and the other end is an execution end, which is connected with the taking module 3.

[0064] The taking module 3 includes a taking rack 5, a connecting assembly 6 and a pressure roller 7.

[0065] The taking rack 5 is connected to the execution end, and the taking rack 5 has a suction part 8 for holding the product.

[0066] The taking rack 5 is provided with a mounting groove 9, and the pressure roller 7 is positioned in the mounting groove 9 through the connecting assembly 6, and the pressure roller 7 has a pressure wheel surface 10.

[0067] The transfer robot 2 is configured to drive the taking rack 5 to move the product held by the suction part 8 to the set position or away from the set position, and when the product is moved to the set position, the taking rack 5 is driven to be perpendicular to the plane where the set position is located, the slot of the mounting groove 9 is downward, the pressure wheel surface 10 acts on the surface of the product and is driven to roll by the transfer robot 2.

[0068] In this embodiment, the set position generally refers to the station where the jig is placed, and the specific can be referred to Figure Eight The set position is horizontally arranged.

[0069] In this embodiment, the bottom end of the lifting module 1 is generally fixed to the ground, and the lifting module 1 is selected by cylinder, hydraulic cylinder or lead screw sleeve mechanism.

[0070] In this embodiment, the transfer robot 2 generally refers to the mechanical hand area, and the transfer robot 2 can realize flexible feeding.

[0071] In this embodiment, the suction part 8 can be selected as a suction cup.

[0072] In this embodiment, the product suctioned by the suction part 8 of the material taking frame 5 is moved to or away from the set position, that is, the material taking frame 5 can not only realize the feeding operation, but also realize the discharging operation.

[0073] In the utility model, the cooperation of the transfer robot 2, the material taking frame 5 and the pressure roller 7 can realize the automatic feeding operation and the product rolling and shaping operation after feeding, specifically, the product suctioned by the suction part 8 of the material taking frame 5 driven by the transfer robot 2 is moved to or away from the set position, that is, the automatic feeding and discharging operation is realized, and after the feeding operation is completed, the material taking frame 5 driven by the transfer robot 2 is perpendicular to the plane where the set position is located, at this time, the slot of the mounting groove 9 is downward, that is, the pressure wheel surface 10 is opposite to the product, then the pressure wheel surface 10 acts on the surface of the product and is rolled by the transfer robot 2.

[0074] In some specific embodiments, the material taking frame 5 has a first mounting surface 11 and a second mounting surface 12;

[0075] The first mounting surface 11 and the second mounting surface 12 are both provided with the suction part 8;

[0076] When the product is moved to or away from the set position, the transfer robot 2 is configured to drive the first mounting surface 11 or the second mounting surface 12 on the material taking frame 5 to be parallel to the plane where the set position is located.

[0077] When feeding, sometimes there are products on the material taking frame 5 that need to be placed and fed, and the products at the set position also need to be discharged and taken away, therefore, by means of the above design, the material taking frame 5 can realize the feeding and discharging operation through the first mounting surface 11 and the second mounting surface 12.

[0078] Specifically, the transfer robot 2 drives the material taking frame 5 to be parallel to the plane where the set position is located, for example, when feeding is needed, the first mounting surface 11 on the material taking frame 5 is parallel to the plane where the set position is located, then the suction part 8 on the first mounting surface 11 lowers the product, so that the product is attached to the jig.

[0079] When discharging is needed, the second mounting surface 12 on the material taking frame 5 is parallel to the plane where the set position is located, then the suction part 8 on the second mounting surface 12 sucks the product on the jig.

[0080] In some embodiments, the suction part 8 comprises a plurality of vacuum suction cups arranged at a distance. The vacuum suction cup can be one or more, and by virtue of the above design, when the product is suctioned and fed, the plurality of vacuum suction cups cooperate to not only ensure stability of suction, but also have a small volume, unlike a single vacuum suction cup, which occupies a small space and does not affect normal suction and fixation of the product.

[0081] In some embodiments, the connecting assembly 6 comprises, in sequence from the bottom of the mounting groove 9 to the opening of the mounting groove 9, a fixed plate 13, a linear bearing 14, an elastic member 15, and a bridge 16.

[0082] The fixed plate 13 is positioned and connected to the bottom of the mounting groove 9, and one end of the linear bearing 14 is positioned and connected to the fixed plate 13.

[0083] The bridge 16 is arranged at the other end of the linear bearing 14, and the elastic member 15 acts between the bridge 16 and the linear bearing 14, so that the bridge 16 has a tendency to move away from the bottom of the mounting groove 9.

[0084] The pressure roller 7 is arranged on the bridge 16, and the circumferential surface of the pressure roller 7 is the pressure surface 10.

[0085] By virtue of the above design, when the pressure roller 7 performs a rolling operation, it will not cause the product to be pressed out of a large indentation due to excessive pressure, because the elastic member 15 can release part of the rolling pressure by compressing itself.

[0086] Specifically, when the pressure surface 10 on the pressure roller 7 is in contact with the product, the transfer robot 2 can drive the pressure roller 7 to perform a rolling operation by driving the material taking frame 5.

[0087] In this process, once the pressure applied by the pressure roller 7 to the product is large, the elastic member 15 (e.g., a spring) can release part of the rolling pressure by compressing itself, so that the pressure roller 7 performs a rolling operation without causing the product to be pressed out of a large indentation due to excessive pressure.

[0088] Once the pressure decreases, the elastic member 15 resets, so that the pressure roller 7 does not separate from the product.

[0089] In some embodiments, the linear bearing 14 is arranged in matching with the elastic member 15, and the linear bearing 14 is arranged at least in two, and all the linear bearings 14 are arranged along the length direction of the bridge 16.

[0090] By virtue of the above design, the edge in the length direction of the bridge 16 is parallel to the axis of the pressure roller 7, so that the fixation is more secure, and the edge in the length direction of the bridge 16 can also be arranged in the mounting groove 9, and the specific structure can be as shown inFigure Five As shown.

[0091] In some embodiments, the transfer robot 2 comprises at least five movement axes. With the above design, the transfer robot 2 can achieve flexible operation in multiple degrees of freedom.

[0092] In some embodiments, the execution end is connected with the magazine 5 through a flange positioning. With the above design, the execution end and the magazine 5 can be quickly disassembled.

[0093] Working principle:

[0094] The transfer robot 2 drives the magazine 5 to move the product held by the holding part 8 to a set position or away from the set position, that is, to achieve automatic feeding and unloading operation. Specifically, the transfer robot 2 drives the magazine 5 to be parallel to the plane where the set position is located. For example, when feeding is needed, the first mounting surface 11 on the magazine 5 is parallel to the plane where the set position is located. Then the holding part 8 on the first mounting surface 11 releases the product, so that the product is attached to the jig.

[0095] When unloading is needed, the second mounting surface 12 on the magazine 5 is parallel to the plane where the set position is located. Then the holding part 8 on the second mounting surface 12 sucks the product on the jig.

[0096] After the feeding operation is completed, the transfer robot 2 can drive the magazine 5 to be perpendicular to the plane where the set position is located. At this time, the slot of the mounting groove 9 is downward, that is, the pressing wheel surface 10 is opposite to the product. Then the pressing wheel surface 10 acts on the surface of the product and is rolled by the transfer robot 2.

[0097] The above embodiments are only for illustrating the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and to implement it, and cannot limit the protection scope of the present application. Any equivalent changes or modifications made according to the spirit and essence of the present application shall be covered within the protection scope of the present application.

Claims

1. A suction disc taking mechanism for loading and unloading, for moving a product to a set position, characterized in that: The lifting module (1), the transfer robot (2) and the taking module (3) are included. The lifting module (1) is positioned beside the set position, and has a working end (4) configured to move up and down along the vertical direction. One end of the transfer robot (2) is connected with the working end (4), and the other end is an execution end connected with the taking module (3). The taking module (3) includes a taking frame (5), a connecting assembly (6) and a pressure roller (7). The taking frame (5) is connected with the execution end, and has a suction part (8) for holding products. The taking frame (5) is provided with a mounting groove (9), the pressure roller (7) is positioned in the mounting groove (9) through the connecting assembly (6), and the pressure roller (7) has a pressure wheel surface (10). The transfer robot (2) is configured to drive the taking frame (5) to transfer the products held by the suction part (8) to or from the set position, and when the products are transferred to the set position, the taking frame (5) is driven to be perpendicular to the plane where the set position is located, the slot of the mounting groove (9) is downward, the pressure wheel surface (10) acts on the surface of the products and is driven to roll by the transfer robot (2).

2. The suction disc taking mechanism for loading and unloading according to claim 1, characterized in that: The taking frame (5) has a first mounting surface (11) and a second mounting surface (12). The first mounting surface (11) and the second mounting surface (12) are provided with the suction part (8). When the products are transferred to or from the set position, the transfer robot (2) is configured to drive the first mounting surface (11) or the second mounting surface (12) on the taking frame (5) to be parallel to the plane where the set position is located.

3. The chuck taking mechanism for loading and unloading according to claim 1 or 2, characterized in that: The suction part (8) includes a plurality of vacuum suction cups.

4. The suction disc taking mechanism for loading and unloading according to claim 1, characterized in that: The connecting assembly (6) includes a fixed plate (13), a linear bearing (14), an elastic member (15) and a bridge (16) arranged in sequence along the direction from the groove bottom to the groove opening of the mounting groove (9). The fixed plate (13) is connected with the groove bottom of the mounting groove (9), and one end of the linear bearing (14) is connected with the fixed plate (13). The bridge (16) is arranged at the other end of the linear bearing (14), and the elastic member (15) acts between the bridge (16) and the linear bearing (14) to make the bridge (16) have a tendency to move away from the groove bottom of the mounting groove (9). The pressure roller (7) is arranged on the bridge (16), and the circumferential surface of the pressure roller (7) is the pressure wheel surface (10).

5. The suction disc taking mechanism for loading and unloading according to claim 4, characterized in that: The linear bearing (14) and the elastic member (15) are arranged in matching, and the linear bearing (14) is arranged in at least two, and all the linear bearings (14) are arranged along the length direction of the bridge (16).

6. The suction disc taking mechanism for loading and unloading according to claim 1, characterized in that: The transfer robot (2) includes at least five movement axes.

7. The suction disc taking mechanism for loading and unloading according to claim 1, characterized in that: The execution end and the taking frame (5) are connected through a flange.

Images