Robot sling type workpiece transfer system

Abstract

The utility model provides a robot lifting appliance type workpiece transfer system, relates to the technical field of automobile production line transfer, and solves the problem that a transfer tool is limited in beat, low in positioning accuracy and poor in flexibility, so that a production line path is changed, and huge resistance is caused, the robot lifting appliance type workpiece transfer system comprises a robot, a lifting appliance and a prying body, the prying body is detachably connected with the lifting appliance, is arranged on the lifting appliance and is used for carrying a workpiece, and the robot rotates to drive the workpiece to be transferred. Compared with a traditional switching mode, a switching mode of combining the robot with the turnover machine or the roller bed is adopted, so that higher flexibility, higher rhythm and higher positioning accuracy are achieved, and later transformation or expansion is facilitated.

Description

Technical Field

[0001] This utility model relates to the field of automotive production line transfer technology, specifically to a robotic lifting workpiece transfer system. Background Technology

[0002] Nowadays, the workpiece transport on the production line of automobile factories, especially in the painting workshop, is quite complex. For example, there are pretreatment electrophoresis conveyors, roller bed conveyors, spraying conveyors, and primer conveyors. In order to ensure the continuity of the production process, workpieces need to be transferred between different types of conveyor lines. The traditional production line transfer method is to complete the transfer by means of transfer elevators or lifting roller beds. For example, the transfer between the pretreatment electrophoresis conveyor line (which is transported by a flip conveyor) and the roller bed conveyor line (which is transported by roller beds) often requires the cooperation of transfer elevators and longitudinal transfer machines to complete the transfer between production lines.

[0003] In current technology, the transfer of workpieces between different types of production lines is often accomplished through the cooperation of equipment with horizontal or vertical movement functions. This transfer method relies on the coordination between different equipment, which often results in limited cycle time and low positioning accuracy. In addition, this simple linear motion transfer method has poor flexibility and often occupies a large space, causing great resistance to subsequent production line modifications or changes in production line paths. Utility Model Content

[0004] To address this issue, this invention provides a robotic lifting workpiece transfer system to solve the problems of limited cycle time, low positioning accuracy, and poor flexibility of transfer tools, which result in significant resistance when changing production line paths.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a robotic lifting workpiece transfer system, installed on the side of the production line in the axial transport direction, comprising:

[0006] The robot is equipped with a base, a rotating mechanism, and a robotic arm. The base is located at the bottom of the robot, the rotating mechanism is located in the middle of the robot, and the rotating mechanism is connected to the base by a rotating shaft. The robotic arm is located above the robot, and the first end of the robotic arm is connected to the rotating mechanism.

[0007] The lifting device includes a support frame, a connecting device, a supporting device, and a testing device. The connecting device is fixedly mounted above the support frame and is detachably connected to the second end of the robotic arm. The supporting device includes several support arms, which are located on the lower inner side of the support frame. The testing device is fixed to the bottom of the support frame.

[0008] The pry body is provided with crossbeams, longitudinal beams, positioning holes, and support pins. Several crossbeams are provided, and two longitudinal beams are provided. The longitudinal beams are arranged parallel to each other in the horizontal direction, and the crossbeams are arranged vertically between the longitudinal beams. The positioning holes are fixed on the longitudinal beams. The support pins are fixed above the longitudinal beams and are arranged parallel to the crossbeams.

[0009] Preferably, the second end of the robotic arm is provided with a mounting plate, one side of which is fixedly connected to the second end of the robotic arm, and the other side of the mounting plate is provided with a plurality of bolts arranged in a circumferential manner.

[0010] Preferably, the first end of the robotic arm is positioned opposite to the second end of the robotic arm.

[0011] Preferably, the support frame includes a support beam and a frame body, with the frame body symmetrically arranged at opposite ends of the support beam.

[0012] Preferably, the frame is configured as a trapezoid or a triangle.

[0013] Preferably, the connecting device includes a connecting plate and a flange, the flange being fixed above the connecting plate, and the flange having a plurality of bolt holes.

[0014] Preferably, the bolts and bolt holes are in the same position and have the same number.

[0015] Preferably, the detection device includes a reflector and a photoelectric switch, and four sets of the reflector and the photoelectric switch are provided, and the reflector and the photoelectric switch are electrically connected.

[0016] Preferably, the reflector and the photoelectric switch are symmetrically arranged at the bottom of the frame, and the output ends of the reflector are arranged to face each other.

[0017] Preferably, one end of the support arm is provided with a positioning pin, and the number of positioning pins is the same as the number of positioning holes.

[0018] The application employs the above technical solution and has at least the following beneficial effects:

[0019] This embodiment uses a combination of robot and flipping machine or rolling bed for handover, which has higher flexibility, higher cycle time and positioning accuracy compared to traditional handover methods, and is easier to modify or expand later.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a structural schematic diagram provided by an embodiment of the present utility model;

[0023] Figure 2 This is a schematic diagram of robot application provided by an embodiment of the present utility model;

[0024] Figure 3 This is a schematic diagram of the installation disk structure provided in an embodiment of the present utility model;

[0025] Figure 4 This is a schematic diagram of the lifting device structure provided in an embodiment of this utility model;

[0026] Figure 5 This is a schematic diagram of the detection equipment provided in an embodiment of the present utility model;

[0027] Figure 6 This is a schematic diagram of the detection position provided in an embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of the skid structure provided in an embodiment of the present utility model;

[0029] Figure 8 This is a schematic diagram illustrating the application of the device provided in this embodiment of the utility model;

[0030] Figure 9 This is a flowchart of the steps provided in the embodiment of this utility model;

[0031] In the diagram: 1. Robot; 2. Lifting device; 3. Skid; 11. Base; 12. Rotating mechanism; 13. Robotic arm; 21. Support frame; 22. Connecting device; 23. Supporting device; 24. Testing device; 31. Crossbeam; 32. Longitudinal beam; 33. Positioning hole; 34. Support pin; 131. Mounting plate; 132. Bolt; 211. Support beam; 212. Frame; 221. Connecting plate; 222. Flange; 223. Bolt hole; 231. Support arm; 232. Positioning pin; 241. Reflector; 242. Photoelectric switch. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0033] A specific embodiment of this utility model provides a robotic lifting workpiece transfer system, combined with the attached... Figure 1 As shown, the device in this embodiment is set on the side of the straight transport direction of the production line, and mainly includes a robot 1, a lifting device 2, and a skid 3. The robot 1 is fixed on the production ground and is detachably connected to the lifting device 2. The skid 3 is set on the lifting device to carry the workpiece, and the workpiece is transferred by rotating the robot 1.

[0034] Specifically, the robot 1 is provided with a base 11, a rotating mechanism 12 and a robotic arm 13. The base 11 is located at the bottom of the robot 1, the rotating mechanism 12 is located in the middle of the robot 1 and the rotating mechanism 12 is connected to the base 11 by a rotating shaft; the robotic arm 13 is located above the robot 1 and the first end of the robotic arm 13 is connected to the rotating mechanism 12.

[0035] In one feasible embodiment, robot 1 employs, as follows: Figure 2 The four-axis robot shown has four rotating mechanisms and four axes. The first axis is located at the connection with the base 11 and is used for the horizontal rotation of the robot 1. The second axis is located between the first and second axes and is used for the rotational adjustment of the second axis. The third axis is located between the second and third axes and is used for the vertical rotational adjustment of the third axis. The fourth axis is located at the connection with the lifting device 2 and is used for the horizontal rotational adjustment of the lifting device 2.

[0036] like Figure 4 As shown, the lifting device 2 is equipped with a support frame 21, a connecting device 22, a supporting device 23, and a testing device 24. The connecting device 22 is fixedly installed above the support frame 21 and is detachably connected to the second end of the robotic arm 13. The supporting device 23 includes several support arms 231, which are arranged symmetrically on the inner side of the support frame 21. The testing device 24 is fixed to the bottom of the support frame 21.

[0037] like Figure 5As shown, the skid body 3 is provided with a crossbeam 31, a longitudinal beam 32, a positioning hole 33, and a support pin 34. Several crossbeams 31 are provided, and two longitudinal beams 32 are provided. The longitudinal beams 32 are arranged parallel to each other in the horizontal direction, and the crossbeams 31 are arranged vertically between the longitudinal beams 32. The positioning hole 33 is fixed on the longitudinal beam 32. The support pin 34 is fixed above the longitudinal beam 32 and is arranged parallel to the crossbeam 31.

[0038] Specifically, the second end of the robotic arm 13 is provided with a mounting plate 131. One side of the mounting plate 131 is fixedly connected to the second end of the robotic arm 13, and the other side of the mounting plate 131 is provided with a number of bolts 132 arranged in a circle. The first end and the second end of the robotic arm 13 are arranged opposite to each other.

[0039] Specifically, the connection point between the robotic arm 13 and the rotating mechanism 12 is the base point. The robotic arm 13 can make lever movements at this base point to raise or lower the lifting device connected to the robotic arm 13.

[0040] Specifically, the support frame 21 includes a support beam 211 and a frame body 212. A connecting device 22 is provided above the support beam 211. The connecting device 22 includes a connecting plate 221 and a flange 222. Bolt holes 223 are arranged in a circular pattern on the flange 222, with the same position and number as the bolts 132. The connection between the mechanical arm 13 and the support frame 21 of the lifting device 2 can be realized through the connection of the bolts 132 and the bolt holes 223. Triangular or trapezoidal frame bodies 222 are symmetrically arranged at both ends of the support beam 221. Four support arms 231 are provided on the inner side of the two bottom corners of the frame body 222. The support arms 231 installed on the frame bodies 222 on both sides are symmetrically arranged, so that the lifting direction of the support arms 231 is towards the inside of the lifting device 2 and upward.

[0041] Specifically, a positioning pin 232 is provided at the opposite end of the connection between the support arm 231 and the frame 222. A detection device 24 is provided at the bottom of the crossbar at the bottom of the frame 222. The detection device includes a reflector 241 and a photoelectric switch 242. The reflector 241 and the photoelectric switch 242 are electrically connected and there are four sets of them, which are symmetrically arranged in pairs at the bottom of the frame 222, and the output surfaces of the reflector 241 face each other.

[0042] Specifically, the positioning hole 33 of the skid body 3 can be fixedly connected to the positioning pin 232 installed on the support arm 231, so that the skid body 3 can be installed on the lifting device 2.

[0043] like Figure 2-7As shown, the mounting plate 131 of the robotic arm 13 can be connected to the support frame 21 of the lifting device 2, enabling the robot 1 to use the lifting device 2 to transport the skid 3; the positioning pin 232 is used to insert itself into the positioning hole 33 of the skid 3 to fix the skid 3 and prevent it from sliding or tipping over; the main function of the support arm 231 is to support the skid 3, and it is equipped with positioning pins 232 to prevent the skid 3 from tilting; the photoelectric switch 242 and the reflector 241 are used to detect whether the position of the skid 3 is correct when the robot 1 lifts the skid 3; when the skid 3 is in the correct position, all four photoelectric switches 24 are blocked by the skid 3; if the skid 3 is displaced, one of the photoelectric switches 242 will not be able to sense the skid 3 and will then sound an alarm.

[0044] Example 1:

[0045] When the device in this embodiment is transported to the pretreatment electrophoresis section of the painting workshop, such as Figure 8 , Figure 9 As shown: The workpiece is transported to the electrophoresis inlet of the pretreatment process via a roller bed. The clamping and positioning device clamps and positions the skid 3 carrying the workpiece and sends a positioning signal to the robot 1 via the PLC. After receiving the instruction, the robot 1 uses the lifting device 2 to lift the skid 3 (before the lifting device 2 lifts the skid 3, the robot 1 sends a signal to open the clamping and positioning device). The lifting device 2 is equipped with photoelectric switches 242 and reflectors 241 on both sides. The purpose is to detect the position of the skid 3 and prevent the skid 3 from tipping over if it is not in the correct position. The robot 1 will only lift the skid 3 after the detection device 24 has detected all of the skid 3. After the detection device 24 identifies the skid 3, the robot 1 transfers the skid 3 and the workpiece to the turnover conveyor. The turnover conveyor carries the workpiece through each pretreatment electrophoresis process to perform pretreatment electrophoresis treatment on the workpiece. After the pretreatment electrophoresis is completed, the turnover conveyor carries the workpiece to the pretreatment electrophoresis outlet, and then the robot 1 transfers the workpiece from the turnover conveyor to the roller bed and transports it to the next coating process.

[0046] Example 2:

[0047] When two roller bed production lines are handed over, after the workpiece arrives from the previous production line, robot 1 receives the instruction to transfer the workpiece to the roller bed of the next production line, and the roller bed carries the workpiece to the process processing point.

[0048] This embodiment uses a combination of robot and flipping machine or rolling bed for handover, which has higher flexibility, higher cycle time and positioning accuracy compared to traditional handover methods, and is easier to modify or expand later.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A robotic lifting workpiece transfer system, installed on the side of the production line in the straight transport direction, characterized in that, include: A robot (1) is provided with a base (11), a rotating mechanism (12) and a robotic arm (13). The base (11) is located at the bottom of the robot (1), and the rotating mechanism (12) is located at the middle position of the robot (1). The rotating mechanism (12) is connected to the base (11) by a rotating shaft. The robotic arm (13) is located above the robot (1), and the first end of the robotic arm (13) is connected to the rotating mechanism (12). The lifting device (2) is provided with a support frame (21), a connecting device (22), a supporting device (23), and a testing device (24). The connecting device (22) is fixedly installed above the support frame (21) and is detachably connected to the second end of the robotic arm (13). The supporting device (23) includes several support arms (231) which are located on the lower inner side of the support frame (21). The testing device (24) is fixed at the bottom of the support frame (21). The pry bar (3) is provided with a crossbeam (31), a longitudinal beam (32), a positioning hole (33), and a support pin (34). There are several crossbeams (31) and two longitudinal beams (32). The longitudinal beams (32) are arranged parallel to each other in the horizontal direction, and the crossbeams (31) are arranged vertically between the longitudinal beams (32). The positioning hole (33) is fixed on the longitudinal beam (32). The support pin (34) is fixed above the longitudinal beam (32) and is arranged parallel to the crossbeam (31).

2. The robotic lifting workpiece transfer system according to claim 1, characterized in that: The second end of the robotic arm (13) is provided with a mounting plate (131). One side of the mounting plate (131) is fixedly connected to the second end of the robotic arm (13). The other side of the mounting plate (131) is provided with a number of bolts (132) arranged in a circular pattern.

3. The robotic lifting workpiece transfer system according to claim 2, characterized in that: The first end of the robotic arm (13) is positioned opposite to the second end of the robotic arm (13).

4. The robotic lifting workpiece transfer system according to claim 1, characterized in that: The support frame (21) includes a support beam (211) and a frame (212), with the frame (212) symmetrically arranged at opposite ends of the support beam (211).

5. The robotic lifting workpiece transfer system according to claim 4, characterized in that: The frame (212) is configured as a trapezoid or a triangle.

6. The robotic lifting workpiece transfer system according to claim 2, characterized in that: The connecting device (22) includes a connecting plate (221) and a flange (222). The flange (222) is fixed above the connecting plate (221). The flange (222) is provided with a plurality of bolt holes (223) arranged in a circular pattern.

7. The robotic lifting workpiece transfer system according to claim 6, characterized in that: The bolt (132) and the bolt (223) have the same hole position and the same number.

8. The robotic lifting workpiece transfer system according to claim 5, characterized in that: The detection device (24) includes a reflector (241) and a photoelectric switch (242). Four sets of the reflector (241) and the photoelectric switch (242) are provided, and the reflector (241) and the photoelectric switch (242) are electrically connected.

9. The robotic lifting workpiece transfer system according to claim 8, characterized in that: The reflector (241) and the photoelectric switch (242) are symmetrically arranged at the bottom of the frame (212), and the output end of the reflector (241) is set to face each other.

10. The robotic lifting workpiece transfer system according to claim 4, characterized in that: One end of the support arm (231) is provided with a positioning pin (232), and the number of positioning pins (232) is the same as the number of positioning holes (33).

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