A loading and unloading manipulator for a flexible manufacturing system

Abstract

This utility model relates to a loading / unloading robot for flexible manufacturing systems. The loading / unloading robot includes a frame, a vertical motion axis, a horizontal telescopic motion axis, a claw device, and a tray. The frame has a gantry frame structure; the vertical motion axis is driven by a first servo drive unit to achieve vertical reciprocating motion; the horizontal telescopic motion axis is a two-stage synchronous telescopic mechanism, with a second servo drive unit driving a first telescopic arm to reciprocate horizontally, and the first telescopic arm driving a second telescopic arm to reciprocate horizontally along with the first telescopic arm via a synchronous belt transmission device; the movement speed of the second telescopic arm is twice that of the first telescopic arm; the claw device picks up the tray, and under the drive of the vertical and horizontal telescopic motion axes, the automatic loading and unloading of the tray and workpiece in the flexible manufacturing system is completed; it has the characteristics of large load capacity, wide reach range, stable and efficient loading and unloading, as well as compact structure and small footprint; it is used in flexible manufacturing systems to realize automated and flexible production and processing of target workpieces.

Description

Technical Field

[0001] This utility model belongs to the field of industrial automation, and specifically relates to a loading and unloading robot for flexible manufacturing systems. Background Technology

[0002] With the arrival of the "Industry 4.0" era, the level of automation and intelligence in industrial production is increasing. On the one hand, traditional production models are upgrading to automated and intelligent production models; on the other hand, the large-scale assembly line production model of the era of mass production is being challenged by today's personalized and differentiated demands. Flexible manufacturing technology and flexible manufacturing systems are being further developed and applied, gradually becoming a superior production model. Flexible manufacturing systems can simultaneously meet the requirements of automation, digitalization, and intelligence in the production process, reducing human intervention and achieving minimal or even unmanned operations. They can achieve rapid changeover of target workpieces and are compatible with the processing of different models and types of workpieces. They can ensure the stability and continuity of the production process, effectively reduce production management costs and overall production costs, and improve product quality. They have significant advantages in multi-variety, small-batch production.

[0003] Loading and unloading robots are a key component of flexible manufacturing systems, serving as actuators for material handling and conveying. The size, structure, travel range, load capacity, operating speed, and loading / unloading methods of loading and unloading robots have a significant impact on flexible manufacturing systems, even determining their overall structure and layout.

[0004] In existing technologies, the loading and unloading robots used in flexible manufacturing systems are mostly six-axis articulated robots and various forms of gantry robots. Six-axis articulated robots suffer from drawbacks such as high cost, low load capacity, low positioning accuracy, and large footprint. As a general-purpose industrial robot, they are insufficient to meet the needs of some specific flexible manufacturing systems. Gantry robots typically require a high mounting height, with the support column located below the main motion axis beam, which imposes significant limitations on the arrangement of storage devices and workpiece loading stations in flexible manufacturing systems. Furthermore, they usually require sufficient loading and unloading space on the machine tool, imposing numerous restrictions on the machine tool structure and resulting in a limited range of applicable machine tools and poor compatibility. Utility Model Content

[0005] The purpose of this invention is to provide a loading / unloading robot for flexible manufacturing systems. This robot can be positioned between a storage pallet and a five-axis machining center, integrating seamlessly with the machine tool, storage pallet, workpiece loading station, and protective devices of the flexible manufacturing system. It meets the requirements of flexible manufacturing systems for high load capacity, long transport stroke, and small footprint for the loading / unloading robot. Furthermore, without modifying the structure of the five-axis machining center, it can avoid obstruction by the machine tool's cradle tailstock, enabling rapid and stable loading and unloading of pallets and workpieces between the five-axis machine tool's worktable and the storage pallet.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A loading / unloading robot for a flexible manufacturing system mainly consists of a frame, a vertical motion axis, a horizontal telescopic motion axis, a crank arm, a claw device, and a tray. The frame adopts a gantry frame structure, with four columns welded together by a crossbeam. The vertical motion axis includes a mounting base, a slide, a first linear guide pair, a first servo drive unit, and a first gear and rack transmission device. The mounting base has a rectangular frame structure, and the slide has a structure with an inverted U-shaped groove in the middle. The mounting base is nested within the gantry frame of the frame, and a guide rail pressure plate is provided on the mounting base, which is pressed onto the side of the first linear guide pair by screws. The slide is connected to the mounting base via the first linear guide pair and moves along the first linear guide pair under the drive of the first servo drive unit and the first gear and rack transmission device. The linear guide pair performs reciprocating motion in the vertical direction; the first linear guide pair consists of a first linear guide and a first guide slider; the first drive unit consists of a first servo motor and a first planetary reducer, and the first gear of the first gear and rack transmission device is connected and installed on the output shaft of the first planetary reducer; the first servo drive unit is installed and fixed on the left side of the slide, and the first gear passes through the clearance hole on the left side of the slide and meshes with the first rack for transmission; the first guide of the first linear guide pair and the first rack of the first gear and rack transmission device are installed and fixed on the adapter mounting base, and the first slider and the first servo drive unit of the first linear guide pair are installed on the slide.

[0008] Furthermore, the horizontal telescopic motion shaft includes a first telescopic arm, a second telescopic arm, a second linear guide pair, a second servo drive unit, a second gear and rack transmission device, a third linear guide pair, and a synchronous belt drive device; the first telescopic arm has a U-shaped cross-section structure, forming a large inverted U-shaped groove along its length; the second telescopic arm is a square tube structure with a slider and a crank arm mounting flange; the first telescopic arm is suspended and mounted in the inverted U-shaped groove of the slide block via the second linear guide pair; the second linear guide pair consists of a second linear guide and a second guide slider, and the second linear guide of the second linear guide pair and the second rack of the second gear and rack transmission device are mounted and fixed on the top surface of the first telescopic arm. The second slider of the linear guide pair is suspended and mounted on the top surface of the inverted U-shaped groove of the slide block; the second servo drive unit includes a second servo motor and a second planetary reducer, and the second gear of the second gear rack transmission device is connected and mounted on the output shaft of the second planetary reducer; the second servo drive unit is mounted and fixed directly above the inverted U-shaped groove of the slide block, and the second gear passes through the clearance hole in the middle of the inverted U-shaped groove of the slide block and meshes with the second rack for transmission; the first telescopic arm reciprocates along the direction of the second linear guide under the drive of the second servo drive unit and the second gear rack transmission device; the second telescopic arm is suspended and mounted on the bottom surface of the first telescopic arm through the third linear guide pair, and the square tube of the second telescopic arm is located in the inverted U-shaped groove of the first telescopic arm.

[0009] Furthermore, the synchronous belt drive device includes a synchronous belt, a synchronous belt idler pulley, a synchronous belt idler pulley mounting base, a synchronous belt fixing plate, a synchronous belt pressure plate, a synchronous belt connecting block, and a synchronous belt tensioning mechanism. The synchronous belt is a free-end synchronous belt. The synchronous belt idler pulleys are mounted on both ends of the first telescopic arm via the synchronous belt idler pulley mounting base. The synchronous belt passes through the synchronous belt idler pulleys. The two free ends are fixed to the top surface of the inverted U-shaped groove of the slide block via the synchronous belt fixing plate and the synchronous belt pressure plate. The left synchronous belt idler pulley is moved horizontally by the tension adjusting screw of the synchronous belt tensioning mechanism to adjust the tension of the synchronous belt. One side of the free end of the synchronous belt is located above the first telescopic arm, and the other side is located in the inverted U-shaped groove below the first telescopic arm. Within the inverted U-shaped groove, it is connected and fixed to the second telescopic arm via the synchronous belt pressure plate and the synchronous belt connecting block. The first telescopic arm is in the... When the two servo drive units drive the movement, the synchronous belt idler pulley follows the movement of the first telescopic arm. The synchronous belt and the synchronous belt idler pulley form a mechanism similar to a movable pulley system. The free end of the synchronous belt is the fixed end of the movable pulley system, and the synchronous belt connecting block connecting the synchronous belt to the second telescopic arm is the moving end. When the first telescopic arm moves, it drives the second telescopic arm to move through the synchronous belt transmission device, and the movement speed of the second telescopic arm is twice that of the first telescopic arm. The crank arm is set on the front end face of the second telescopic arm, forming an inverted L-shaped structure. The hook claw device is connected to the bottom surface of the crank arm. The hook claw device consists of a hook column with a conical surface and a hook block with a conical hole. The hook block is installed on the side of the pallet. The workpiece to be processed is clamped on the pallet. Under the drive of the motion shaft, the hook claw device moves the pallet and the workpiece through the cooperation of the hook column and the hook block to realize loading and unloading.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] The overall structure of this utility model is narrow at the bottom and wide at the front and back, and the upper part adopts a nestable structure with multiple suspension installations and U-shaped grooves. The overall structure is compact and makes full use of the space between the storage pallet and the five-axis machining tool, effectively reducing the system's floor space.

[0012] This utility model features a gantry frame frame. The frame structure has good structural rigidity and vibration and impact resistance, providing reliable and stable support for a robot with high load and high speed.

[0013] The vertical motion axis of this invention is arranged inside the gantry frame of the machine tool, driving the horizontal telescopic motion axis. The motion stroke is large and does not affect the load of the horizontal telescopic motion axis. The pallet and workpiece can easily pass over the tailstock of the five-axis machine tool cradle and reach the worktable between the two tailstocks on the left and right sides of the machine tool cradle. The large stroke vertical motion axis can be used with machine tools with different worktable heights and can be quickly integrated with various machine tools to form a flexible manufacturing system.

[0014] The cantilever telescopic structure of the horizontal telescopic motion shaft of this utility model doubles the stroke of the horizontal shaft without increasing the length of the horizontal arm. The horizontal telescopic motion shaft is suspended and installed, and the pallet and workpiece reciprocate under the telescopic arm. When extended, the pallet and workpiece are at the foremost position of the robot arm, and when retracted, the pallet and workpiece return to the position near the rear end under the horizontal telescopic motion shaft. The horizontal motion shaft has a large stroke, the loading and unloading robot arm can reach a wide range, and the horizontal length of the robot arm can be effectively controlled.

[0015] The synchronous belt drive device of this utility model is arranged on the upper and lower sides of the first telescopic arm and located in the middle of the robot. It has a simple and compact structure, smooth transmission, high precision, and convenient adjustment of synchronous belt tension.

[0016] This utility model uses a pallet hook device to hook pallets and workpieces for transportation. The hook device has a simple structure, occupies little space, has a large load capacity, is stable and reliable in hooking and transportation, and is very inexpensive.

[0017] This invention enables the loading and unloading of pallets and workpieces by extending into the machine tool from the side door. It does not interfere with or affect the processing machine tool in terms of spatial structure, does not require structural adjustments to the processing machine tool, and does not occupy the front door and operating surface space of the machine tool. It can be integrated with different types of processing machine tools to quickly build a flexible manufacturing system. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the overall structure of the motion shaft of this utility model;

[0020] Figure 3 This is a schematic diagram of the telescopic arm structure of this utility model;

[0021] Figure 4 This is a rear view of the motion shaft structure of this utility model;

[0022] Figure 5 This is a schematic diagram of the synchronous belt drive device of this utility model;

[0023] Wherein: 1 is the frame, 2 is the adapter mounting base, 3 is the slide, 4 is the first telescopic arm, 5 is the second telescopic arm, 6 is the crank arm, 7 is the workpiece, 8 is the pallet, 9 is the hook claw device, 10 is the first linear guide rail, 11 is the first guide rail slider, 12 is the guide rail pressure plate, 13 is the first rack, 14 is the first gear, 15 is the first planetary reducer, 16 is the first servo motor, 17 is the second linear guide rail, 18 is the second guide rail slider, 19 is the second rack, 20 is the second gear, 21 is the second planetary reducer, 22 is the second servo motor, 23 is the third linear guide rail, 24 is the third guide rail slider, 25 is the synchronous belt idler pulley, 26 is the synchronous belt idler pulley mounting base, 27 is the synchronous belt, 28 is the synchronous belt pressure plate, 29 is the synchronous belt fixing plate, 30 is the synchronous belt connecting block, 31 is the synchronous belt tensioning mechanism, 32 is the hook column, and 33 is the hook block. Detailed Implementation

[0024] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] This utility model provides a loading and unloading robot for flexible manufacturing systems, enabling automated loading and unloading of machine tools and achieving automated and flexible production processing of target workpieces. Figures 1 to 5 As shown, it includes a frame 1, a vertical motion axis, a horizontal telescopic motion axis, a crank arm 6, a hook claw device, and a tray 8; the frame 1 adopts a gantry frame structure, and the four columns are welded together by crossbeams.

[0026] The vertical motion axis includes a transition mounting base 2, a slide 3, a first linear guide pair, a first servo drive unit, and a first gear and rack transmission device. The transition mounting base 2 adopts a rectangular frame structure design, with the first linear guide 10 and the first rack 13 mounted on both sides of the back. The front is the flange of the transition mounting base 2, which is nested within the gantry frame of the frame 1. The slide 3 has an inverted U-shaped groove structure in the middle, which is connected to the transition mounting base 2 through the first linear guide pair. It is located in the rectangular gap in the middle of the transition mounting base 2 and reciprocates vertically along the first linear guide under the drive of the first servo drive unit and the first gear and rack transmission device. The first drive unit consists of a first servo motor 16 and a first planetary reducer 15, with the first gear 14 mounted on the first servo motor 16. A planetary reducer 15 is mounted on its output shaft. A first servo drive unit is fixed on the left side of the slide block 3. A first gear 14 passes through the clearance hole on the left side of the slide block 3 and meshes with a first rack 13 for transmission. The first linear guide rail 10 and the first rack 13 are fixed on the adapter mounting base 2. The spacing of the mounting screw holes of the first linear guide rail 10 is half that of the standard linear guide rail, increasing the number of guide rail mounting holes. The side reference surface of the first linear guide rail 10 rests on the guide rail mounting bearing surface on the adapter mounting base 2. The guide rail pressure plate 12 presses the other side of the first linear guide rail 10 with screws. The guide rail is installed and fixed stably and reliably, can withstand large vibrations and impacts, and has good precision retention. The first guide rail slider 11 is mounted on the slider mounting surface of the slide block 3. The vertical motion axis, driven by the first servo drive unit, drives the slide block 3, the first servo drive unit, and the second servo drive unit on the motion axis to perform vertical reciprocating motion.

[0027] The horizontal telescopic motion shaft includes a first telescopic arm 4, a second telescopic arm 5, a second linear guide pair, a second servo drive unit, a second gear and rack transmission device, a third linear guide pair, and a synchronous belt drive device. The first telescopic arm 4 has an inverted U-shaped cross-section, forming a large inverted U-shaped groove along its length. The second telescopic arm 5 is a square tube structure with a third guide slider 24 and a crank arm 6 mounting flange. The first telescopic arm 4 is suspended in the inverted U-shaped groove of the slide block 3 via the second linear guide pair, and the second linear guide 17 of the second linear guide pair and the second rack 19 of the second gear and rack transmission device are also included. The first telescopic arm 4 is fixed on the top surface, and the second linear guide slide block 18 is suspended on the top surface of the inverted U-shaped groove of the slide block 3. The second telescopic arm 5 is suspended on the bottom surface of the first telescopic arm 4 through the third linear guide slide block. The third linear guide 23 is installed under the first telescopic arm, and the third guide slide block 24 is installed on the flange of the second telescopic arm 5. The square tube of the second telescopic arm 5 is nested in the inverted U-shaped groove of the first telescopic arm 4. The nesting structure of the first telescopic arm and the second telescopic arm is very compact, which effectively reduces the height dimension of the horizontal telescopic movement, thereby reducing the overall height of the loading and unloading robot.

[0028] The second servo drive unit includes a second servo motor 22 and a second planetary reducer 21. The second gear 20 of the second gear and rack transmission device is mounted on the output shaft of the second planetary reducer 21. The second servo drive unit is mounted and fixed directly above the inverted U-shaped groove of the slide block 3. The second gear 20 passes through the clearance hole in the middle of the inverted U-shaped groove of the slide block 3 and meshes with the second rack 19 for transmission. The first telescopic arm 4 reciprocates horizontally along the second linear guide rail 17 under the drive of the second servo drive unit and the second gear and rack transmission device.

[0029] The synchronous belt drive device includes a synchronous belt 27, synchronous belt idler pulleys 25, synchronous belt idler pulley mounting base 26, synchronous belt fixing plate 29, synchronous belt pressure plate 28, synchronous belt connecting block 30, and synchronous belt tensioning mechanism 31. The synchronous belt 27 is a free-end synchronous belt with a belt-like structure. The synchronous belt idler pulleys 25 are mounted on both ends of the first telescopic arm 4 via the synchronous belt idler pulley mounting base 26. The synchronous belt 27 passes through the two synchronous belt idler pulleys 25 and the top surface of the inverted U-shaped groove of the first telescopic arm 4. The two free ends of the synchronous belt are fixed to the top surface of the inverted U-shaped groove of the slide block 3 via the synchronous belt fixing plate 29 and the synchronous belt pressure plate 28. The left synchronous belt idler pulley 25 is pulled horizontally by the tension adjusting screw of the synchronous belt tensioning mechanism 31 to adjust the tension of the synchronous belt 27. One side of the free end of the synchronous belt is located on the first telescopic arm 4. Above, on the other side, is an inverted U-shaped groove located below the first telescopic arm 4. Within the inverted U-shaped groove, it is connected and fixed to the second telescopic arm 5 via a timing belt pressure plate 28 and a timing belt connecting block 30. When the first telescopic arm 4 is driven by the second servo drive unit, the timing belt idler pulley 25 moves along with the first telescopic arm 4. The timing belt 27 and the timing belt idler pulley 25 form a mechanism similar to a movable pulley group. The two ends of the timing belt 27 are the fixed ends of the movable pulley group, and the timing belt connecting block 30, which connects the timing belt 27 to the second telescopic arm 5, is the moving end of the movable pulley group. When the first telescopic arm 4 moves horizontally, it drives the timing belt idler pulley 25 to move horizontally and rotate simultaneously. This drives the second telescopic arm 5 to move horizontally via the timing belt 27, and the movement speed of the second telescopic arm 5 is twice that of the first telescopic arm 4.

[0030] The crank arm 6 is connected to the end of the second telescopic arm 5 to form an inverted L-shaped structure. The hook claw device is connected to the bottom surface of the crank arm 6 and can pass over the obstruction of the cradle tailstock of the five-axis machining center to place the pallet 8 and the workpiece on the machine tool worktable. The hook device consists of a hook column 32 with a conical surface and a hook block 33 with a conical hole. The hook block 33 is connected to the side of the pallet, and the workpiece 7 to be processed is clamped on the pallet 8. Driven by the motion axis, the hook claw device moves the pallet 8 and the workpiece 7 through the cooperation of the hook column 32 and the hook block 33 to realize loading and unloading. The horizontal telescopic motion axis can be completely retracted to the left side of the frame 1. The second telescopic arm 5, the crank arm 6, and the hook claw device are located directly below the horizontal telescopic motion axis. Since the pallet 8 and the workpiece 7 are connected to the hook claw device, the pallet 8 and the workpiece 7 are also retracted to the lower side of the telescopic motion axis and close to the left end of the first telescopic arm 4. The combination structure of the inverted L-shaped second telescopic arm 5 and crank arm 6, along with the hook and claw device, is compact and small in size. It can effectively realize the rapid loading and unloading of the pallet 8 and the workpiece 7 in the case of limited space around the machine tool table. The hook and claw device has a simple structure, low cost, and is easy to maintain.

[0031] The working process of this utility model is as follows:

[0032] In a flexible manufacturing system, the loading / unloading robot operates with a storage pallet on one side and a machine tool on the other. The robot moves pallets containing workpieces between the storage pallet and the machine tool, automating the loading / unloading process. An example is a flexible manufacturing system consisting of a six-station rotary storage pallet, a five-axis machining center, and the loading / unloading robot. The six-station rotary pallet stores six pallets, each with a fixture for different workpieces mounted via standard threaded holes, allowing for quick fixture changes. Workpieces are clamped and fixed to the pallets using these fixtures. Under the control of the flexible manufacturing system, the storage pallet rotates and positions itself according to loading / unloading requirements, rotating and positioning the pallet containing the workpiece to its loading position within the storage pallet.

[0033] The first servo motor of the loading / unloading robot starts, and after being reduced in speed by the first planetary reducer, the driving force is transmitted to the first gear. The first gear rotates and meshes with the first rack, driving the slide to move downward along the first linear guide. The slide drives the telescopic arm, the crank arm, and the hook device to move downward together until the hook column of the hook device is a certain distance below the hook block. The first servo motor stops, maintaining the relative height between the hook column and the hook block. At this time, the hook column is on one side of the hook block on the pallet and is offset from the hook block by a certain distance. The second servo motor drives the second planetary reducer to rotate the second gear. The second gear meshes with the second rack, driving the first telescopic arm to rotate downward. The telescopic arm moves horizontally along the second linear guide pair, while the second guide slider of the second linear guide pair remains stationary. The second linear guide mounted on the first telescopic arm moves relative to the slide block and the second guide slider. The movement of the first telescopic arm drives the timing belt idler wheel mounted on the first telescopic arm to move horizontally. At the same time, the timing belt idler wheel moves horizontally relative to the fixed end of the timing belt, and one side of the fixed end of the timing belt drives the timing belt idler wheel to rotate. The horizontal movement and rotation of the timing belt idler wheel drives the second telescopic arm connected to the other side of the timing belt to move horizontally at twice the speed of the first telescopic arm. The second telescopic arm drives the crank arm and hook column to move forward to directly below the hook block. Subsequently, the first servo motor drives the slide to move upward, causing the hook column to move upward relative to the hook block. During the movement, the conical surface of the hook column enters the conical hole of the hook block. The cone and the conical hole cooperate and press and lock each other, hooking the hook block and driving the tray and workpiece to move upward together to a certain height. The second servo motor drives the first telescopic arm, driving the second telescopic arm, the crank arm, the hook column, the hook block, the tray, and the workpiece to move forward and enter the interior of the processing machine tool. The tray and workpiece pass over the cradle tailstock of the five-axis processing machine tool and reach directly above the machine tool's quick change table. The second servo motor stops rotating. The first servo motor drives the motion axis to move downward as a whole, placing the tray and workpiece on the machine tool's quick change table, and continues to move downward for a distance. The hook column and the hook block automatically separate, with the hook column located directly below the hook block. At the current position, the second telescopic arm is above the cradle tailstock of the five-axis machine tool, and the crank arm is between the cradle tailstock and the worktable, avoiding the space limitations of the cradle tailstock. The horizontal telescopic motion axis retracts a certain distance, and the hook column deviates from directly below the hook block; the vertical motion axis and the horizontal motion axis interpolate the movement, and the crank arm and hook column move along the left side of the cradle inclined to the upper left, leaving the cradle tail seat and hook block to reach a safe height; the horizontal motion axis continues to move and retracts to above the storage pallet, completing the pallet loading process.

[0034] After the material is loaded, the quick-change worktable of the machine tool automatically locks the pallet holding the workpiece to be processed, the automatic door on the left side of the machine tool closes, and the machine tool begins to process the workpiece; the machine tool automatically completes workpiece processing, in-machine quality inspection of the workpiece, and cleaning of the workpiece and the pallet; the quick-change worktable releases the pallet, the automatic door of the machine tool opens, and the automatic workpiece processing process is completed.

[0035] After the workpiece is processed, the unloading process of the processed workpiece pallet inside the machine tool is executed. The storage pallet rotates to the unloading position and is positioned; the loading and unloading robot moves forward along the horizontal telescopic axis and extends into the machine tool, while the vertical and horizontal axes interpolate to drive the crank arm and hook column to move diagonally downward and to the right along the inclined surface of the machine tool cradle tailstock until the hook column is a certain distance to the left of the hook block and the hook column is a certain distance below the hook block. The horizontal telescopic motion axis moves forward a certain distance, and the hook column reaches directly below the hook block; the vertical motion axis moves upward, and the hook column and hook block cooperate to squeeze and lock, driving the pallet and workpiece upward to the set height; the horizontal telescopic motion axis retracts backward, driving the pallet to directly above the unloading position of the pallet in the storage pallet hopper; the vertical motion axis moves downward, and the pallet reaches the pallet position in the storage pallet hopper, the hook column separates from the pallet hook block, and reaches a position a certain distance directly below the hook block; the horizontal telescopic arm motion axis retracts a certain distance until the hook column and hook block are completely misaligned, and moves along the vertical motion axis to the set safe height, completing the unloading process of the pallet and workpiece.

[0036] Under the control of the workpiece processing sequence and internal operating logic set by the flexible manufacturing system, the automated production and processing of each workpiece to be processed is completed sequentially. During the automatic machining stage, the system can perform material change and fixture replacement operations on the finished workpieces in the storage pallet. After fixture replacement and material change are completed, the system operation sets the workpiece processing status and processing program, and starts automatic operation, with the loading and unloading robot cyclically loading and unloading each pallet and workpiece. Thus, the flexible manufacturing system can continuously process the same or different target workpieces without stopping the machine, realizing automated, flexible, and intelligent production and processing.

[0037] The scope of protection of this utility model includes, but is not limited to, the above embodiments. The scope of protection of this utility model is defined by the claims. Any substitutions, modifications and improvements to this technology that are easily conceived by those skilled in the art shall fall within the scope of protection of this utility model.

Claims

1. A loading and unloading robot for a flexible manufacturing system, characterized by: The system includes a frame (1), a vertical motion axis, a horizontal telescopic motion axis, a crank arm (6), a hook device (9), and a tray (8); the frame (1) is a gantry frame structure; the vertical motion axis includes a transition mounting base (2), a slide (3), a first linear guide pair, a first gear and rack transmission device, and a first servo drive unit; the vertical motion axis is mounted on the frame (1) via the transition mounting base (2); the transition mounting base (2) is provided with a first linear guide (10) and a first rack (13), and a first guide slider (11) is mounted on the slide (3); The horizontal telescopic motion shaft includes a first telescopic arm (4), a second telescopic arm (5), a second servo drive unit, a synchronous belt drive device, a second linear guide pair, a second gear and rack drive device, and a third linear guide pair. The first telescopic arm (4) is suspended on the slide block (3) by the second guide slider (18). The second telescopic arm (5) is suspended on the third linear guide (23) below the first telescopic arm (4) by the third guide slider (24). The crank arm (6) is set on the front end face of the second telescopic arm (5) and forms an inverted L-shaped structure with the second telescopic arm (5). The hook claw device (9) is installed on the bottom surface of the crank arm (6) and hooks the tray (8) by the hook column (32) and the hook block (33) set on the tray (8).

2. The loading and unloading robot for a flexible manufacturing system according to claim 1, wherein: The slide (3) reciprocates vertically along the first linear guide pair under the drive of the first servo drive unit and the first gear and rack transmission device.

3. The loading and unloading robot for flexible manufacturing system according to claim 1, wherein: The first telescopic arm (4) is provided with a second linear guide rail (17) and a second rack (19) on its upper part and a third linear guide rail (23) on its lower part; the synchronous belt drive device is provided on the first telescopic arm (4); the second servo drive unit drives the first telescopic arm (4) to move horizontally along the second linear guide rail (17) through the second rack (19) and the second gear (20), and the first telescopic arm (4) drives the second telescopic arm (5) to move horizontally along the third linear guide rail (23) through the synchronous belt drive device. The second telescopic arm (5) moves synchronously with the first telescopic arm (4) and moves in the same direction. The movement speed of the second telescopic arm (5) is twice that of the first telescopic arm (4).

4. The loading and unloading robot for a flexible manufacturing system according to claim 1, wherein: The adapter mounting base (2) is nested within the gantry frame of the frame (1).

5. The loading and unloading robot for flexible manufacturing system according to claim 1, wherein: The horizontal telescopic motion axis can be fully retracted to the left side of the frame (1), with the tray (8) and workpiece (7) located directly below the horizontal telescopic motion axis and close to the left end of the first telescopic arm (4).

6. The loading and unloading robot for a flexible manufacturing system according to claim 1, wherein: The adapter mounting base (2) is provided with a guide rail pressure plate (12), which is pressed onto the side of the first linear guide rail (10) by screws.

7. The loading and unloading robot for a flexible manufacturing system according to claim 1, wherein: The first servo drive unit includes a first planetary reducer (15) and a first servo motor (16), and the second servo drive unit includes a second planetary reducer (21) and a second servo motor (22). Both the first servo drive unit and the second servo drive unit are mounted on the slide (3).

8. The loading and unloading robot for a flexible manufacturing system according to claim 1, wherein: The slide (3) and the first telescopic arm (4) have an inverted U-shaped groove structure. The first telescopic arm (4) is nested in the inverted U-shaped groove of the slide (3), and the second telescopic arm (5) is nested in the inverted U-shaped groove of the first telescopic arm (4).

9. The loading and unloading robot for a flexible manufacturing system according to claim 1, wherein: The synchronous belt drive device includes a synchronous belt idler pulley (25), a synchronous belt idler pulley mounting base (26), a synchronous belt (27), a synchronous belt pressure plate (28), a synchronous belt fixing plate (29), a synchronous belt connecting block (30), and a synchronous belt tensioning mechanism (31); the synchronous belt idler pulley (25) is located at both ends of the first telescopic arm (4); the synchronous belt (27) is a free-end synchronous belt that passes through the two synchronous belt idler pulleys (25). The two free ends of the synchronous belt (27) are installed and fixed on the top surface of the inverted U-shaped groove of the slide block (3) through the synchronous belt pressure plate (28) and the synchronous belt fixing plate (29), and the middle position on the other side is fixed on the second telescopic arm (5) through the synchronous belt pressure plate (28).

10. A loading / unloading robot for a flexible manufacturing system according to claim 9, characterized in that: The synchronous belt drive device is equipped with a synchronous belt tensioning mechanism (31). The left synchronous belt idler pulley (25) is pulled horizontally by the tensioning adjustment screw of the synchronous belt tensioning mechanism (31) to adjust the tension of the synchronous belt (27).

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