Automatic feeding and discharging device for six-axis mechanical arm to grab pressed blanks

Abstract

The utility model relates to an automatic loading and unloading device for a six-axis manipulator to grab a pressed blank, which comprises a rack, a skip car fixing frame is arranged at the rear end of the rack, and a manipulator mounting platform and a tray up-down conveying mechanism are respectively arranged on two sides of the rack in front of the skip car fixing frame. A six-axis manipulator is mounted on the manipulator mounting platform, the tray up-and-down conveying mechanism comprises an up-and-down moving module and a tray conveying module, vertical lifting and horizontal moving of a tray supporting seat are achieved through cooperation of the up-and-down moving module and the tray conveying module, and a tray is conveyed into a working area of the six-axis manipulator. And various working procedures can be completed by matching with a six-axis manipulator. By adopting the device, the production efficiency and productivity of the metal ceramic numerical control blade and the complex special-shaped part can be comprehensively improved, the production cost is reduced, and the product quality and competitiveness are improved.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical device technology, specifically an automated loading and unloading device for a six-axis robotic arm to grip and press blanks. Background Technology

[0002] In the current global wave of Industry 4.0 and smart manufacturing, enterprises are accelerating their transformation towards highly automated and intelligent production models to cope with increasingly fierce market competition and ever-growing customer demands. This transformation is not only about improving production efficiency and reducing costs, but also about enhancing product quality and strengthening the company's overall competitiveness. This trend is particularly evident in the production of metal-ceramic CNC cutting tools and complex, irregularly shaped parts.

[0003] Current technologies have achieved a certain degree of automation in the processes of material handling, tray placement, and tray management for pressing soft blanks. However, existing equipment still reveals some shortcomings in practical applications. For example, structural design flaws prevent it from fully meeting the production needs of complex and ever-changing products; the existing equipment uses chain drive, which results in low operational accuracy and susceptibility to damage; impractical material selection necessitates frequent parts replacements, thus limiting production efficiency; furthermore, traditional equipment has significant limitations in terms of intelligence, failing to achieve real-time monitoring and intelligent scheduling of the production process, and remains difficult for employees to operate.

[0004] To address these issues, enterprises need to improve their automation levels to better adapt to the development trend of intelligent manufacturing. In the process of manufacturing related equipment, enterprises not only need to solve the pain points encountered in production, but also need to reduce the operational difficulty for employees and improve production efficiency through a higher level of intelligence. Therefore, there is an urgent need to design a highly automated production device to improve the production efficiency of metal-ceramic CNC cutting tools and complex irregular-shaped parts. Utility Model Content

[0005] To address the problems existing in the prior art, the main objective of this utility model is to propose an automated loading and unloading device for gripping and pressing blanks with a six-axis robotic arm, thereby comprehensively improving the production efficiency and capacity of CNC cutting tools for metal ceramics and complex irregular parts, reducing production costs, and enhancing product quality and competitiveness.

[0006] To solve the above-mentioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution:

[0007] An automated loading and unloading device for gripping and pressing blanks by a six-axis robotic arm. The device includes a frame, and a material cart fixing frame is provided at the rear end of the frame. The material cart fixing frame includes two sets of connecting plates arranged in parallel. Each connecting plate is provided with a material cart guide groove and a first clamping cylinder.

[0008] Mechanical hand installation platform and material tray up-down conveying mechanism are arranged on both sides of the front of the material car fixing frame of the rack, a six-axis mechanical hand is installed on the mechanical hand installation platform, and the material tray up-down conveying mechanism comprises an up-down moving module and a material tray conveying module;

[0009] The up-down moving module comprises a support plate, a guide rail, a screw linear module and a servo motor, the guide rail is installed on the support plate, a sliding block is arranged on the guide rail, an installation plate is arranged on the sliding block, an installation groove is formed in the installation plate, the screw linear module is arranged in the guide rail and connected with the servo motor, the screw linear module is connected with the installation plate, and the servo motor is installed on the upper end of the support plate.

[0010] The material tray conveying module comprises a support base, a material tray support table, a belt driving module and a driving motor, the support base is arranged in the installation groove, the material tray support table is installed on the support base, the belt driving module is installed on the material tray support table and connected with the driving motor, and a material tray clamping chuck is arranged on the belt driving module.

[0011] As a preferred scheme of the automatic feeding and discharging device for six-axis mechanical hand grabbing and pressing blank, the two sides of the material tray support table are provided with supports, and a material tray placing table is arranged on the supports.

[0012] As a preferred scheme of the automatic feeding and discharging device for six-axis mechanical hand grabbing and pressing blank, a material tray positioning plate is arranged on the supports, and the material tray positioning plate is fixedly installed on the supports through a second pressing cylinder.

[0013] As a preferred scheme of the automatic feeding and discharging device for six-axis mechanical hand grabbing and pressing blank, a feeding connection base is arranged on the belt driving module, and the material tray clamping chuck is installed on the feeding connection base.

[0014] As a preferred scheme of the automatic feeding and discharging device for six-axis mechanical hand grabbing and pressing blank, two groups of internal hexagonal bolts are arranged side by side on the installation plate, and lower ends of the internal hexagonal bolts are connected with the screw linear module.

[0015] As a preferred scheme of the automatic feeding and discharging device for six-axis mechanical hand grabbing and pressing blank, a drag chain groove is arranged on one side of the support plate, and a drag chain is arranged in the drag chain groove.

[0016] As a preferred scheme of the automatic feeding and discharging device for six-axis mechanical hand grabbing and pressing blank, the material car guide groove is arranged at the upper end and the lower end of the connecting plate.

[0017] The automatic feeding and discharging device for six-axis mechanical hand grabbing and pressing blank has the following beneficial effects:

[0018] The utility model provides a kind of six-axis manipulator's automatic feeding and discharging device of grabbing compacts, introduce six-axis manipulator technology, the tray in the material car fixed on rack is transported to tray support table by tray up-down transport mechanism, successfully transport tray to six-axis manipulator, can be matched six-axis manipulator to complete multiple processes;The device has high stability and reliability, can accurately complete the tasks such as soft blank grabbing, carrying, deburring, weighing, tray placing and feeding and discharging, significantly improve production efficiency, reduce manpower cost and safety risk. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced as follows, obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to the structure shown in these drawings without creative labor.

[0020] Figure 1 It is the three-dimensional structure schematic diagram in one embodiment of the six-axis manipulator's automatic feeding and discharging device of grabbing compacts of the utility model (six-axis manipulator and material car are not shown in the drawing).

[0021] Figure 2 It is Figure 1 Side view.

[0022] Figure 3 It is Figure 1 Rear view.

[0023] Figure 4 It is the structure schematic diagram of up-down moving module in the six-axis manipulator's automatic feeding and discharging device of grabbing compacts of the utility model.

[0024] Figure 5 It is the structure schematic diagram of tray transport module in the six-axis manipulator's automatic feeding and discharging device of grabbing compacts of the utility model.

[0025] Figure 6 It is the connection schematic diagram of up-down moving module and tray transport module in the six-axis manipulator's automatic feeding and discharging device of grabbing compacts of the utility model.

[0026] In the figure: 1-frame; 2-carriage fixing frame; 201-connection plate; 202-carriage guide groove; 203-first pressing cylinder; 3-robot installation platform; 4-up and down moving module; 401-supporting plate; 402-guide rail; 403-screw linear module; 404-servo motor; 405-sliding block; 406-mounting plate; 407-mounting groove; 408-internal hexagonal bolt; 409-cable chain; 5-tray conveying module; 501-supporting base; 502-tray supporting table; 503-belt drive module; 504-driving motor; 505-tray clamping chuck; 506-bracket; 507-tray placing table; 508-tray positioning plate; 509-second pressing cylinder; 510-feeding connecting base; 511-tray.

[0027] The realization, functional features and advantages of the utility model will be further explained in combination with embodiments with reference to the drawings. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments will be described clearly and completely below, obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0029] As an embodiment of the utility model, see Figures 1 to 3 The embodiment provides an automatic feeding and discharging device for six-axis robot grabbing and pressing, which comprises a frame 1, a carriage fixing frame 2 is arranged at the rear end of the frame 1, the carriage fixing frame 2 comprises two groups of connection plates 201 arranged in parallel, the connection plates 201 are each provided with a carriage guide groove 202 and a first pressing cylinder 203; a robot installation platform 3 and a tray up and down conveying mechanism are respectively arranged on the two sides of the front of the carriage fixing frame 2 on the frame 1, a six-axis robot is installed on the robot installation platform 3, and the tray up and down conveying mechanism comprises an up and down moving module 4 and a tray conveying module 5;

[0030] See Figures 4 to 6 The up and down moving module 4 comprises a supporting plate 401, a guide rail 402, a screw linear module 403 and a servo motor 404, the guide rail 402 is installed on the supporting plate 401, a sliding block 405 is arranged on the guide rail 402, a mounting plate 406 is arranged on the sliding block 405, a mounting groove 407 is formed in the mounting plate 406, the screw linear module 403 is arranged in the guide rail 402 and connected with the servo motor 404, the screw linear module 403 is connected with the mounting plate 406, and the servo motor 404 is installed at the upper end of the supporting plate 401;

[0031] The material tray conveying module 5 includes a support base 501, a material tray support platform 502, a belt drive module 503, and a drive motor 504. The support base 501 is disposed in the mounting groove 407. The material tray support platform 502 is mounted on the support base 501. The belt drive module 503 is mounted on the material tray support platform 502 and connected to the drive motor 504. The belt drive module 503 is provided with a material tray clamping chuck 505.

[0032] A six-axis robotic arm is a highly flexible, programmable automated device capable of simulating the complex movements of a human arm to achieve precise and efficient material handling and processing operations. Specifically, a six-axis robotic arm can replace manual labor in tedious tasks such as picking up, placing, and managing flexible blanks, not only improving work efficiency but also reducing the labor intensity of employees. Based on the weight, size, and difficulty of grasping the flexible blanks, this embodiment selects a high-precision six-axis robotic arm, the LRMate200iD.

[0033] In this device, a material cart fixing frame 2 is set on the frame 1. The material cart can be quickly installed in the designated position through the material cart guide groove 202 set on the connecting plate 201. Then, the first clamping cylinder 203 is used to fix the material cart to prevent the material cart from moving or shaking, and to ensure the smooth progress of subsequent steps. A robot arm mounting platform 3 is set on the platform of the frame 1 to install a six-axis robot arm. At the same time, a material tray lifting and lowering mechanism is also provided to take out the material tray 511 in the material cart and transport it to the working area of ​​the six-axis robot arm so as to automate the production operation.

[0034] The material tray conveying mechanism of this device includes a vertical moving module 4 and a material tray conveying module 5, which respectively realize the vertical lifting and horizontal movement of the material tray support. First, since the mounting plate 406 is equipped with a support base 501 via the mounting slot 407, the linear screw module 403 can drive the mounting plate 406 to slide on the guide rail 402, allowing the tray conveying module 5 to move up and down on the guide rail 402. When the tray 511 needs to be picked up, the tray conveying module 5 moves downward to the fixed position of the material cart, and the belt drive module 503 drives the tray clamping chuck 505 to move horizontally. After moving to the material cart, the tray 511 is picked up. Then, the tray clamping chuck 505 is driven back to the initial position by the belt drive module 503. At this time, the tray 511 is successfully taken out and placed on the tray support platform 502. Finally, the entire tray conveying module 5 moves upward on the guide rail 402 and moves to the horizontal position of the six-axis robot, which is convenient for subsequent operations. Similarly, when the tray 511 needs to be placed, it is achieved by cooperating with the up and down moving module 4 and the tray conveying module 5.

[0035] In a preferred embodiment, the tray support platform 502 is provided with brackets 506 on both sides, and the tray placement platform 507 is provided on the brackets 506 to ensure the stability of the tray 511.

[0036] As a further preferred embodiment, a tray positioning plate 508 can also be provided on the support 506, which is fixedly installed on the support 506 by a second pressing cylinder 509. The tray positioning plate 508 is positioned higher than the tray placing table 507 and can clamp and position the tray 511. In addition, the position of the second pressing cylinder 509 can be changed according to different specifications of the tray.

[0037] As a preferred embodiment, the belt transmission module 503 is provided with a feeding connection base 510, and the tray clamping chuck 505 is installed on the feeding connection base 510. The belt transmission module 503 is driven by the transmission motor 504, and the feeding connection base 510 is arranged on the moving track of the belt transmission module 503, which facilitates the installation of the tray clamping chuck 505.

[0038] As a preferred embodiment, two groups of inner hexagonal bolts 408 are arranged side by side on the mounting plate 406, and the lower ends of the inner hexagonal bolts 408 are connected with the lead screw linear module 403.

[0039] As a preferred embodiment, the support plate 401 is provided with a drag chain slot on one side, and a drag chain 409 is arranged in the drag chain slot, which facilitates the arrangement and control of the device wires.

[0040] As a preferred embodiment, the dolly guide groove 202 is arranged at the upper and lower ends of the connecting plate 201, and the connecting plate 201 is designed to match the size of the dolly. The dolly guide groove 202 corresponds to the four corners of the dolly.

[0041] As a preferred embodiment, in order to realize automatic operation, the device can also be provided with a control system, which adopts PLC as the core controller, responsible for the logic control and data processing of the entire system. At the same time, it also integrates a motion control card and a servo driver to realize precise motion control of the robot.

[0042] Specifically, according to the requirements of the production process, the PLC control program is written and debugged and optimized in detail. The program can accurately control the motion trajectory, speed and acceleration of the robot, etc. to realize precise grabbing and placing actions. At the same time, an intuitive and easy-to-operate human-computer interaction interface is designed to display device status, parameter setting, fault diagnosis and alarm information, etc. functions. Emergency stop buttons and safety gratings are installed at key positions of the device to ensure that the device can be stopped quickly in emergency situations. Limit switches and other devices are also provided to prevent the robot from moving out of range. In the implementation process, we ensure the effectiveness and reliability of these safety devices.

[0043] The automatic feeding and discharging device for six-axis mechanical hand grabbing and pressing blank has high stability and reliability, can accurately complete the tasks of soft blank grabbing, carrying, deburring, weighing, tray placing and feeding and discharging, and remarkably improves production efficiency, reduces labor cost and safety risk.

[0044] The above is only the preferred embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent structural transformation or direct / indirect application in other related technical fields made under the utility model concept of the utility model is included in the patent protection range of the utility model.

Claims

1. A six-axis robot automated loading and unloading device for gripping a green compact, characterized in that, The device comprises a rack, a trolley fixing frame is arranged at the rear end of the rack, the trolley fixing frame comprises two groups of connecting plates arranged in parallel, the connecting plates are each provided with a trolley guide groove and a first pressing cylinder; Mechanical hand installation platforms and material disc up-and-down conveying mechanisms are respectively arranged on both sides of the rack in front of the trolley fixing frame, a six-axis mechanical hand is installed on the mechanical hand installation platform, and the material disc up-and-down conveying mechanism comprises an up-and-down moving module and a material disc conveying module; The up-and-down moving module comprises a support plate, a guide rail, a screw linear module and a servo motor, the guide rail is installed on the support plate, a sliding block is arranged on the guide rail, an installation plate is arranged on the sliding block, an installation groove is formed in the installation plate, the screw linear module is arranged in the guide rail and connected with the servo motor, the screw linear module is connected with the installation plate, and the servo motor is installed on the upper end of the support plate; The material disc conveying module comprises a support base, a material disc support table, a belt driving module and a driving motor, the support base is arranged in the installation groove, the material disc support table is installed on the support base, the belt driving module is installed on the material disc support table and connected with the driving motor, and a material disc clamping chuck is arranged on the belt driving module.

2. The automatic loading and unloading device for pressing blank of six-axis robot gripper according to claim 1, characterized in that, Support frames are arranged on both sides of the material disc support table, and a material disc placing table is arranged on the support frames.

3. The automatic loading and unloading device for pressing blank of six-axis robot gripper according to claim 2, characterized in that, A material disc positioning plate is arranged on the support frames, and the material disc positioning plate is fixedly installed on the support frames by a second pressing cylinder.

4. The automatic loading and unloading device for green compact gripping by six-axis robot according to claim 1, characterized in that, A feeding connection base is arranged on the belt driving module, and the material disc clamping chuck is installed on the feeding connection base.

5. The automatic loading and unloading device for pressing blank of six-axis robot gripper according to claim 1, characterized in that, Two groups of inner hexagonal bolts are arranged side by side on the installation plate, and lower ends of the inner hexagonal bolts are connected with the screw linear module.

6. The automatic loading and unloading device for green compact according to any one of claims 1 to 5, wherein, A drag chain groove is arranged on one side of the support plate, and a drag chain is arranged in the drag chain groove.

7. The automatic loading and unloading device for pressing blank of six-axis robot gripper according to claim 6, characterized in that, The trolley guide grooves are arranged at the upper and lower ends of the connecting plates.

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