Material loading / unloading device and collaborative robot

Abstract

This utility model belongs to the field of collaborative robot technology, specifically relating to a material loading / unloading device and a collaborative robot. The material loading / unloading device includes: a mounting plate, one end of which is fixed to the output shaft of a robotic arm; several sets of suction cup assemblies disposed on one side of the mounting plate; several clamping cylinders disposed on the other side of the mounting plate; and several flattening assemblies disposed on the mounting plate. The flattening assemblies of this utility model can flatten the upper layer of blank material to be picked up in the blank tray before picking up the material, and then the suction cup assemblies pick up the blank material and place it into the machine tool for processing; after processing, the clamping cylinders clamp the finished material in the machine tool for unloading. This avoids the technical problem of easily damaging the workpiece when the blank material is placed in the tray inaccurately by manual handling, and the workpiece is easily damaged by the cylinder clamping.

Description

Technical Field

[0001] This utility model belongs to the field of collaborative robot technology, specifically relating to a material loading and unloading device and a collaborative robot. Background Technology

[0002] Currently, the processing and production of various parts are inseparable from machine tool processing or cleaning. In order to improve the continuity and stability of work, the use of collaborative robots for loading and unloading has become a trend.

[0003] When using collaborative robots for loading and unloading, the blanks are typically placed manually onto a blank tray, and then the collaborative robot uses a clamping cylinder to pick them up from the tray and place them into the machining position of the machine tool. However, in practical applications, the blanks are often mispositioned when placed manually on the tray, frequently resulting in the clamping cylinder damaging the blanks. Utility Model Content

[0004] The purpose of this invention is to provide a material loading / unloading device and a collaborative robot to solve the technical problem that existing collaborative robots using clamping cylinders are prone to damaging workpieces with inaccurate placement.

[0005] This application provides a material loading / unloading device, comprising:

[0006] The mounting plate is fixed at one end to the output shaft of the robotic arm;

[0007] Several sets of suction cup components are mounted on one side of the mounting plate;

[0008] Several clamping cylinders are mounted on the other side of the mounting plate; and

[0009] Several flattening components are mounted on the mounting plate;

[0010] The flattening component is used to flatten the blank material before picking it up, the suction cup component is used to pick up the blank material, and the clamping cylinder is used to clamp the finished material in the machine tool.

[0011] In one embodiment of this application, the mounting plate is provided with a plurality of flattening components for flattening the blank material before the suction cup assembly picks it up.

[0012] In one embodiment of this application, the flattening component includes:

[0013] Flatten the cylinder;

[0014] A leveling rod, one end of which is fixedly connected to the output end of a leveling cylinder; and

[0015] The flattening block is fixed to the other end of the flattening rod and is used to tap the blank.

[0016] In one embodiment of this application, the number of clamping cylinders is two arranged side by side;

[0017] The suction cup assemblies are arranged in two parallel sets; and

[0018] The number of the flattening components is four, with each pair corresponding to a set of suction cup components.

[0019] Accordingly, this application provides a collaborative robot, including:

[0020] Chassis;

[0021] The robotic arm is mounted on the chassis; and

[0022] The loading and unloading device described above is installed on the robotic arm.

[0023] In one embodiment of this application, the chassis is provided with a tray placement plate for placing blank trays and finished product trays.

[0024] In one embodiment of this application, a positioning plate is provided on one side of the material tray placement plate on the chassis;

[0025] The positioning plate is equipped with a positioning component for positioning the blank material before loading.

[0026] In one embodiment of this application, the positioning component includes:

[0027] The middle fixing block has side positioning surfaces on both sides;

[0028] Two lateral positioning cylinders are set on both sides of the middle fixed block and respectively cooperate with the corresponding side positioning surfaces of the middle fixed block;

[0029] Two upper positioning blocks are respectively set on the upper sides of the middle fixing block; and

[0030] Two vertical positioning cylinders are located on the lower sides of the middle fixed block, and each cylinder cooperates with the corresponding upper positioning block.

[0031] In one embodiment of this application, the positioning plate is further provided with a plurality of support blocks for supporting the blank material during positioning.

[0032] The beneficial effects of this utility model are:

[0033] Unlike existing technologies, this application provides a material loading / unloading device and a collaborative robot. The material loading / unloading device includes: a mounting plate, one end of which is fixed to the output shaft of a robotic arm; several sets of suction cup assemblies disposed on one side of the mounting plate; several clamping cylinders disposed on the other side of the mounting plate; and several flattening assemblies disposed on the mounting plate. The flattening assemblies of this invention can flatten the upper layer of blank material to be picked up in the blank tray before picking up the material, and then the suction cup assemblies suck up the blank material and place it into the machine tool for processing; after processing, the clamping cylinders clamp the finished material in the machine tool for unloading. This avoids the technical problem of easily damaging the workpiece when the blank material is placed in the tray inaccurately by manual handling, and the workpiece is easily damaged by the cylinder clamping.

[0034] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention are realized and obtained through the structures particularly pointed out in the description and the accompanying drawings.

[0035] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0036] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0037] Figure 1 This is a perspective view of a preferred embodiment of the material loading and unloading device of this utility model;

[0038] Figure 2 This is a schematic diagram of a preferred embodiment of the material loading and unloading device of this utility model;

[0039] Figure 3 This is a perspective view of a collaborative robot according to a preferred embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of a positioning component according to a preferred embodiment of the present invention.

[0041] In the picture:

[0042] Mounting plate 1, suction cup assembly 2, clamping cylinder 3, flattening assembly 4, flattening cylinder 41, flattening rod 42, flattening block 43, chassis 100, raw material 101, finished material 102, robotic arm 200, loading and unloading device 300, material tray placement plate 400, raw material tray 401, finished material tray 402, positioning plate 500, positioning assembly 600, intermediate fixing block 610, side positioning surface 611, horizontal positioning cylinder 620, upper positioning block 630, vertical positioning cylinder 640, support block 650. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0044] This application provides a material loading / unloading device and a collaborative robot, which are described in detail below. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments of this application. Furthermore, the descriptions of each embodiment have their own emphasis; parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments.

[0045] See Figure 1 and Figure 2 In one embodiment, the loading and unloading device includes: a mounting plate 1, one end of which is fixed to the output shaft of the robotic arm 200; a plurality of suction cup assemblies 2, disposed on one side of the mounting plate 1; a plurality of clamping cylinders 3, disposed on the other side of the mounting plate 1; and a plurality of flattening assemblies 4, disposed on the mounting plate 1; wherein the flattening assemblies 4 are used to flatten the blank 101 before material handling, the suction cup assemblies 2 are used to pick up the blank 101, and the clamping cylinders 3 are used to clamp the finished material 102 in the machine tool.

[0046] In this embodiment, the robotic arm 200 can move the mounting plate 1 to pick up and place materials. Before picking up the blank 101, when the blank 101 is placed in the tray manually, it may be tilted and pressed against the side wall of the tray, resulting in an uneven surface. The blank 101 can be flattened by the flattening component 4, making it easier for the suction cup component 2 to pick up the blank 101. When unloading the finished product 102 processed in the machine tool, if the suction cup is still used, the suction cup will fail to pick up the product due to the processing coolant, lubricant, and debris on the product surface. Therefore, in this embodiment, by setting up a clamping cylinder 3 to clamp the finished product 102 in the machine tool, the unloading can be successful.

[0047] See Figure 2 Optionally, the flattening assembly 4 includes: a flattening cylinder 41; a flattening rod 42, one end of which is fixedly connected to the output end of the flattening cylinder 41; and a flattening block 43, fixed to the other end of the flattening rod 42, for striking the blank 101.

[0048] In this embodiment, the end of the flattening rod 42 can extend to a position close to the middle of the blank 101, facilitating the flattening block 43 to strike it. When the output shaft of the flattening cylinder 41 extends, the flattening rod 42 can drive the flattening block 43 to strike the blank 101. The flattening block 43 can be made of elastic material to avoid damaging the surface of the blank 101.

[0049] Optionally, the number of clamping cylinders 3 is two arranged side by side; the number of suction cup assemblies 2 is two sets arranged side by side; and the number of flattening assemblies 4 is four, with each pair corresponding to one set of suction cup assemblies 2. In this embodiment, each blank 101 can be flattened by two flattening assemblies 4 to improve the flattening effect. The number of clamping cylinders 3 and suction cup assemblies 2 is two each, allowing for simultaneous loading and unloading of two products.

[0050] Based on the above embodiments, see Figure 3 An embodiment of this application also provides a collaborative robot, including: a chassis 100; a robotic arm 200 mounted on the chassis 100; and a loading / unloading device 300 as described above, mounted on the robotic arm 200.

[0051] Optionally, the chassis 100 is provided with a tray placement plate 400 for placing the blank tray 401 and the finished product tray 402. The tray placement plate 400 may be provided with corresponding grooves for positioning the corresponding trays.

[0052] In some application scenarios, because the position of the blank 101 placed in the blank tray 401 is different from the fixed position of the blank 101 in the machine tool, it is necessary to locate the position of the blank 101 before loading, and then load it accurately through the loading and unloading device 300.

[0053] See Figure 3 A positioning plate 500 is provided on one side of the material tray placement plate 400 on the chassis 100; a positioning component 600 is provided on the positioning plate 500 for positioning the blank material 101 before loading.

[0054] For details, see Figure 4The positioning component 600 includes: a middle fixing block 610, on both sides of which are respectively provided with side positioning surfaces 611; two transverse positioning cylinders 620, on both sides of the middle fixing block 610, respectively cooperating with the corresponding side positioning surfaces 611 of the middle fixing block 610; two upper positioning blocks 630, respectively on the upper side of both sides of the middle fixing block 610; and two vertical positioning cylinders 640, on the lower side of both sides of the middle fixing block 610, respectively cooperating with the corresponding upper positioning blocks 630.

[0055] In this embodiment, the two sides of the intermediate fixing block 610 can be stepped surfaces, with its vertical side surface being the side positioning surface 611, and its horizontal surface being used to support the side edge of the blank 101; the upper positioning block 630 can also be provided with stepped surfaces, with its vertical side surface being used for positioning, and its horizontal surface being used to support the upper edge of the blank 101. In this embodiment, when the lateral positioning cylinder 620 moves toward the intermediate fixing block 610, it presses the blank 101 laterally against the side positioning surface 611 of the intermediate fixing block 610; when the vertical positioning cylinder 640 moves toward the upper positioning block 630, it presses the blank 101 vertically against the upper positioning block 630, thereby completing the positioning of the corresponding blank 101.

[0056] Optionally, the positioning plate 500 is further provided with a plurality of support blocks 650 for supporting the blank 101 during positioning.

[0057] It should be noted that all the devices (parts whose specific structures are not specified) selected in this application are general standard parts or parts known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0058] In the description of the embodiments of this utility model, unless otherwise explicitly specified and limited, the terms "installation", "connection" and "linking" should be interpreted broadly, for example, they can be fixed connections, detachable connections, or integral connections.

[0059] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0060] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification.

Claims

1. A material loading / unloading device, characterized in that, include: Mounting plate (1), one end of which is fixed to the output shaft of robotic arm (200); Several sets of suction cup assemblies (2) are disposed on one side of the mounting plate (1); Several clamping cylinders (3) are disposed on the other side of the mounting plate (1); and Several flattening components (4) are mounted on the mounting plate (1); The flattening component (4) is used to flatten the blank (101) before picking up the material, the suction cup component (2) is used to pick up the blank (101), and the clamping cylinder (3) is used to clamp the finished material (102) in the machine tool.

2. The loading and unloading device according to claim 1, characterized in that, The flattening component (4) includes: Flatten the cylinder (41); A flattening rod (42), one end of which is fixedly connected to the output end of a flattening cylinder (41); and A flattening block (43) is fixed to the other end of a flattening rod (42) and is used to strike the blank (101).

3. The loading and unloading device according to claim 2, characterized in that, The clamping cylinders (3) are arranged in two parallel rows; The number of suction cup assemblies (2) is two sets arranged side by side; and The number of the flattening components (4) is four, with each pair corresponding to a set of suction cup components (2).

4. A collaborative robot, characterized in that, include: Chassis (100); A robotic arm (200) is mounted on a chassis (100); as well as The loading and unloading device (300) as described in any one of claims 1-3 is mounted on the robotic arm (200).

5. The loading and unloading device according to claim 4, characterized in that, The chassis (100) is provided with a material tray placement plate (400) for placing the blank material tray (401) and the finished product material tray (402).

6. The loading and unloading device according to claim 5, characterized in that, A positioning plate (500) is provided on one side of the material tray placement plate (400) on the chassis (100). The positioning plate (500) is provided with a positioning component (600) for positioning the blank (101) before loading.

7. The loading and unloading device according to claim 6, characterized in that, The positioning component (600) includes: The middle fixing block (610) has side positioning surfaces (611) on both sides. Two transverse positioning cylinders (620) are set on both sides of the intermediate fixed block (610) and respectively cooperate with the corresponding side positioning surfaces (611) of the intermediate fixed block (610); Two upper positioning blocks (630) are respectively disposed on the upper sides of the middle fixing block (610); and Two vertical positioning cylinders (640) are set on the lower sides of the middle fixing block (610) and cooperate with the corresponding upper positioning blocks (630).

8. The loading and unloading device according to claim 7, characterized in that, The positioning plate (500) is also provided with several support blocks (650) for supporting the blank material (101) during positioning.

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