Feeding and discharging robot and feeding and discharging module

Abstract

The utility model provides a feeding and discharging robot and a feeding and discharging module. A material frame hook claw placing frame capable of placing a material frame hook claw is arranged on a first mounting seat for mounting a mechanical arm; the configured material frame hook claw comprises a main beam and hook claws fixedly arranged below the two ends of the main beam, and a clamping piece is further fixedly arranged above the middle of the main beam so that the mechanical arm can clamp the material frame hook claw through the clamping piece. When stacking and unstacking are needed, the mechanical arm can obtain the material frame taking and placing capacity through the material frame clamping claw, and the feeding and discharging robot can be reused as the stacking and unstacking robot for the material frames. The feeding and discharging robot and the feeding and discharging module can be repeatedly used for stacking and unstacking of material frames, the requirement for a special stacking robot is reduced, and the production cost is reduced; and moreover, working conflicts among different robots can be avoided through reuse, the reliability and smoothness of flow switching between feeding and discharging operation and material frame stacking operation are improved, and then the production efficiency can be improved.

Description

Technical Field

[0001] This utility model relates to the field of automation technology, and in particular to a loading and unloading robot and a loading and unloading module. Background Technology

[0002] Gears are core components in mechanical transmission, and their machining accuracy directly affects the smoothness, noise, and lifespan of the equipment. The gear machining process typically includes steps such as material selection, blank forming, gear profile machining, heat treatment, finishing, and inspection. Each stage of the process requires different equipment, and gear materials need to be transferred between various pieces of equipment on the production line.

[0003] In automated workshops, materials are typically transported via material carts. These carts deliver materials to corresponding workstations, where automated robotic arms load and unload them. To improve material handling efficiency, multiple crates are stacked within the material carts. When a crate is full or empty, an empty crate needs to be stacked, or the empty crate needs to be removed to expose the full crate below. Current technologies primarily design robotic arms for the structural characteristics of materials, lacking the ability to handle crates, necessitating the addition of palletizing robots and increasing production costs. Utility Model Content

[0004] Based on this, the purpose of this utility model is to provide a loading and unloading robot and a loading and unloading module to solve the problem that the existing loading and unloading robotic arms lack the ability to pick up and place material frames, and that additional palletizing robots are required for material frame stacking, which increases production costs.

[0005] This utility model provides a loading and unloading robot, comprising: a robotic arm mounted on a first mounting base, and a material frame hook, wherein...

[0006] The first mounting base is also provided with a material frame hook holder for placing the material frame hook;

[0007] The material frame hook includes a main beam and hooks fixedly disposed below both ends of the main beam. A gripping component is also fixedly disposed above the middle part of the main beam so that the robotic arm can grip the material frame hook through the gripping component.

[0008] Optionally, the material frame hook mounting frame includes a second mounting base, a crossbeam, and a positioning frame, wherein,

[0009] The second mounting base is fixedly disposed on the side wall of the first mounting base;

[0010] The crossbeam is fixedly mounted on the second mounting base and extends horizontally outward;

[0011] The positioning frame is fixedly mounted on the crossbeam. The positioning frame has a U-shaped structure, and both side plates have placement openings at the top. The width of the placement opening is greater than or equal to the width of the main beam of the material frame hook claw.

[0012] Optionally, the second mounting base includes two L-shaped corner brackets spaced apart vertically, the crossbeam is clamped and fixed between the two L-shaped corner brackets and screwed to the L-shaped corner brackets, and the L-shaped corner brackets also include reinforcing ribs connecting the two plate surfaces.

[0013] Optionally, the top of the two side plates of the positioning frame are also inclined outward, and a guide plate is also attached to the middle side of the main beam, with the two ends of the guide plate being inclined.

[0014] Optionally, at least one of the positioning frame and the crossbeam is provided with an in-situ detection sensor on its side wall, with the sensing end of the in-situ detection sensor facing the placement opening.

[0015] Optionally, reinforcing ribs are also provided between the two side plates and the bottom plate of the positioning frame.

[0016] This utility model also provides a loading and unloading module, including the above-mentioned loading and unloading robot and a material cart positioning frame, wherein the material cart positioning frame is disposed on the adjacent side of the material frame hook and claw mounting frame.

[0017] Optionally, the material cart positioning frame is provided with two sets of positioning components arranged in parallel.

[0018] Optionally, it also includes a positioning floor, wherein the material cart positioning frame and the first mounting seat are fixedly mounted on the corresponding mounting position of the positioning floor.

[0019] The loading and unloading robot provided by this utility model includes: a robotic arm mounted on a first mounting base, and a material frame hook. The first mounting base also includes a material frame hook mounting frame for holding the material frame hook. The material frame hook includes a main beam and hooks fixedly mounted below both ends of the main beam. A gripping component is fixedly mounted above the middle of the main beam, allowing the robotic arm to grip the material frame hook. When palletizing or depalletizing is required, the robotic arm can grip the material frame hook to gain the ability to pick up and place the material frame, making the loading and unloading robot reusable as a palletizing and depalletizing robot for material frames. The loading and unloading robot provided by this utility model can be reused for palletizing and depalletizing material frames, reducing the need for dedicated palletizing robots and lowering production costs. Furthermore, reuse avoids work conflicts between different robots, improves the reliability and smoothness of process switching between loading / unloading operations and material frame stacking operations, and thus improves production efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the loading and unloading robot in this embodiment of the utility model;

[0021] Figure 2 This is a schematic diagram of the hook and claw assembly of the loading and unloading robot in this embodiment of the present utility model;

[0022] Figure 3 This is a schematic diagram of the overall structure of the loading and unloading module in an embodiment of this utility model.

[0023] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this utility model. Detailed Implementation

[0024] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this utility model will be more thorough and complete.

[0025] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0027] To address the issue that existing loading and unloading robotic arms lack the ability to pick up and place material frames, requiring additional palletizing robots for material frame stacking needs and increasing production costs, this invention provides a loading and unloading robot and module. The robot has a material frame hook holder mounted on a first mounting base for the robotic arm. The configured material frame hook includes a main beam and hooks fixedly positioned below both ends of the main beam. A gripping component is also fixedly mounted above the middle of the main beam, allowing the robotic arm to grip the material frame hooks. When palletizing or depalletizing is required, the robotic arm can pick up and place material frames by gripping the hooks. This allows the loading and unloading robot to be reused as a palletizing and depalletizing robot, reducing the need for dedicated palletizing robots and lowering production costs.

[0028] Specifically, please refer to Figure 1 and Figure 2 The diagram shows the structural details of the loading and unloading robot in this embodiment, corresponding to the workstation height on the production line. The robotic arm 120 is mounted on the first mounting base 110, which is equipped with a claw assembly 200 to extend the robotic arm's ability to pick up and place material frames.

[0029] The hook assembly 200 includes a material frame hook and a material frame hook mounting frame for placing the material frame hook. The material frame hook mounting frame is fixedly installed on the first mounting base 110 so that the hook assembly 200 can be placed nearby in the activity area of ​​the robotic arm 120, making it convenient for the robotic arm 120 to grip the material frame hook.

[0030] The material frame hook includes a main beam 221 and hooks 222 fixedly installed below both ends of the main beam 221. A gripping component 201 is also fixedly installed above the middle part of the main beam 221 so that the robotic arm 120 can grip the material frame hook through the gripping component 201.

[0031] In this embodiment, the gripper 201 has an overall T-shaped structure so that the gripper of the robotic arm 120 can hook under the brim of the T-shaped structure, improving the gripping and fixing effect. Furthermore, the gripper 201 has a square cross-section to prevent the robotic arm 120 from rotating after gripping, ensuring stability. The specific structure of the gripper 201 can be adapted to the actual gripper structure of the robotic arm 120, and this application does not impose any particular limitation on it.

[0032] To facilitate the placement of the material frame hooks, in this embodiment, the material frame hook placement frame includes a second mounting base 211, a crossbeam 212, and a positioning frame 213. The second mounting base 211 is fixedly mounted on the side wall of the first mounting base 110. The crossbeam 212 is fixedly mounted on the second mounting base 211 and extends horizontally outward relative to the first mounting base 110. The positioning frame 213 is fixedly mounted on the crossbeam 212. The positioning frame 213 has a U-shaped structure, and both side plates have placement openings at their tops. The width of the placement openings is greater than or equal to the width of the main beam 221 of the material frame hook, so that the material frame hooks can be placed on the positioning frame 213. When the main beam 221 is positioned on the positioning frame 213, it is perpendicular to the crossbeam 212, so that the hooks 222 at both ends are staggered from the crossbeam 212.

[0033] To improve the support reliability of the crossbeam 212, in this embodiment, the crossbeam 212 is provided with concave reinforcing ribs, which are arranged along the extension direction of the crossbeam 212.

[0034] To improve the reliability of the fixed installation of the crossbeam 212, in this embodiment, the second mounting base 211 includes two L-shaped corner brackets spaced vertically apart. The crossbeam 212 is clamped and fixed between the two L-shaped corner brackets and screwed to the L-shaped corner brackets. The L-shaped corner brackets also include reinforcing ribs connecting their two plates, which can ensure the reliability of the horizontal fixation of the crossbeam 212. This can improve the stability of the placement position of the material frame hook on the material frame hook mounting frame, and avoid deviation from the predetermined position during use, so that the robotic arm 120 can identify and grip the material frame hook.

[0035] The robotic arm 120 can identify and grasp the material frame hooks using, for example, visual recognition technology. Alternatively, the material frame hooks can be positioned stably, and when it is necessary to grasp the material frame hooks, the robotic arm 120 can be controlled to move to a fixed point according to a predetermined program to grasp the material frame hooks. The specific method of identifying and grasping the material frame hooks can be selected according to the actual situation, and this application does not impose any particular limitations on it.

[0036] To facilitate the placement of the material frame hooks, in this embodiment, the tops of the two side plates of the positioning frame 213 are also inclined outwards, and a guide plate 223 is also attached to the middle side of the main beam 221. The two sides of the guide plate 223 are inclined, which can guide the placement position of the guide plate 223, ensuring that the main beam 221 can be placed in the center on the positioning frame 213, ensuring the placement stability of the material frame hooks, and reducing the risk of falling.

[0037] To facilitate confirmation of whether the system is equipped with a material frame hook, in this embodiment, an on-site detection sensor 202 is still provided on the side wall of the positioning frame 213. The sensing end of the on-site detection sensor 202 faces the placement opening (upward) and is used to detect whether the material frame hook is located on the material frame hook mounting frame. The detection result can be used to determine whether the material frame hook is correctly placed on the material frame hook mounting frame when the system is powered on, so as to confirm that the loading and unloading robot can be reused as a stacking robot.

[0038] If the system does not detect the material frame hooks when it starts up, it can remind the staff to add and install the material frame hooks. The detection results can also be used to judge the current process. In the loading and unloading process, the material frame hooks should be placed on the material frame hook placement frame. In the stacking and destacking process, there should be no material frame hooks on the material frame hook placement frame. The judgment results can be used for self-checking of the current process to avoid misoperation caused by process errors. This can improve the reliability of the reusable function of the loading and unloading robot and ensure production efficiency.

[0039] To improve the support reliability of the positioning frame 213, in this embodiment, reinforcing ribs are also provided between the two side plates and the bottom plate of the positioning frame 213.

[0040] This utility model also provides a loading and unloading module, such as Figure 3As shown, the system includes the aforementioned loading and unloading robot and a material cart positioning frame 300. The material cart positioning frame 300 is located on the side of the crossbeam, adjacent to the material frame hook mounting frame, so that the material frame hook assembly can be arranged close to the material cart positioning frame 300 at intervals, avoiding collisions between the material frames 410 stacked in the material carts 400 positioned in the material cart positioning frame 300 and the material frame hooks in the mounting state.

[0041] To ensure efficient loading and unloading, the material cart positioning frame 300 is equipped with two sets of positioning components arranged in parallel, one for positioning the loading cart and the other for positioning the unloading cart. The material cart positioning frame 300 can be equipped with a rotary clamping cylinder and a contact sensor to achieve cart positioning. When the material cart is pushed into the positioning space of the material cart positioning frame 300 and comes into contact with the contact sensor located on the rear wall of the space, the rotary clamping cylinder's rotary shaft rotates. The limiting block fixedly connected to the rotary shaft rotates and retracts to pre-tighten, clamping the side wall of the material cart onto the material cart positioning frame 300.

[0042] When all the material in the topmost material box of the loading cart is removed and loaded onto the production line, the topmost material box of the unloading cart is usually just full. At this time, the loading and unloading robot can switch to the stacking and destacking mode, grip the material box hooks, and transfer the empty material box of the topmost material box of the loading cart to the unloading cart according to the material box hooks. Then, the material box hooks are put back on the material box hook mounting frame, and the loading and unloading mode is switched again.

[0043] To ensure that the actual relative position of the material cart positioning frame 300 and the loading / unloading robot matches the design requirements, this embodiment also includes a positioning floor 301, with the material cart positioning frame 300 and the first mounting seat 110 fixedly mounted on the corresponding mounting position of the positioning floor 301.

[0044] The loading / unloading robot and module provided by this utility model are equipped with a material frame hook mounting frame on the first mounting seat of the robotic arm. The configured material frame hooks include a main beam and hooks fixedly installed at both ends of the main beam. A gripping component is also fixedly installed above the middle of the main beam so that the robotic arm can grip the material frame hooks through the gripping component. When palletizing and depalletizing are required, the robotic arm can obtain the ability to pick up and put down the material frames by gripping the material frame hooks. This allows the loading / unloading robot to be reused as a palletizing and depalletizing robot for material frames, reducing the need for dedicated palletizing robots and lowering production costs. Moreover, reuse can avoid work conflicts between different robots, improve the reliability and smoothness of process switching between loading / unloading operations and material frame stacking operations, and thus improve production efficiency.

[0045] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0046] The embodiments described above are merely illustrative of several specific implementations of this utility model, and while the descriptions are detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A loading and unloading robot, characterized in that, include: The robotic arm mounted on the first mounting base, and the material frame hook, wherein... The first mounting base is also provided with a material frame hook holder for placing the material frame hook; The material frame hook includes a main beam and hooks fixedly disposed below both ends of the main beam. A gripping component is also fixedly disposed above the middle part of the main beam so that the robotic arm can grip the material frame hook through the gripping component.

2. The loading and unloading robot according to claim 1, characterized in that, The material frame hook mounting frame includes a second mounting base, a crossbeam, and a positioning frame, wherein... The second mounting base is fixedly disposed on the side wall of the first mounting base; The crossbeam is fixedly mounted on the second mounting base and extends horizontally outward; The positioning frame is fixedly mounted on the crossbeam. The positioning frame has a U-shaped structure, and both side plates have placement openings at the top. The width of the placement opening is greater than or equal to the width of the main beam of the material frame hook claw.

3. The loading and unloading robot according to claim 2, characterized in that, The second mounting base includes two L-shaped corner brackets spaced vertically apart. The crossbeam is clamped and fixed between the two L-shaped corner brackets and screwed to the L-shaped corner brackets. The L-shaped corner brackets also include reinforcing ribs connecting their two surfaces.

4. The loading and unloading robot according to claim 2, characterized in that, The tops of the two side plates of the positioning frame are also inclined outwards, and a guide plate is also attached to the middle side of the main beam, with the two ends of the guide plate being inclined.

5. The loading and unloading robot according to claim 2, characterized in that, At least one of the positioning frame and the crossbeam is provided with an in-situ detection sensor on its side wall, with the sensing end of the in-situ detection sensor facing the placement opening.

6. The loading and unloading robot according to claim 2, characterized in that, The positioning frame is also provided with reinforcing ribs between the two side plates and the bottom plate.

7. A loading and unloading module, characterized in that, The invention includes the loading and unloading robot as described in any one of claims 1 to 6, and a material cart positioning frame, wherein the material cart positioning frame is disposed on the adjacent side of the material frame hook and claw mounting frame.

8. The loading and unloading module according to claim 7, characterized in that, The material cart positioning frame has two sets of positioning components arranged side by side.

9. The loading and unloading module according to claim 7, characterized in that, It also includes a positioning floor, and the material cart positioning frame and the first mounting seat are fixedly installed on the corresponding mounting positions of the positioning floor.

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