A collaborative robot dual-machine-tool automation loading and unloading device

Abstract

This utility model belongs to the field of collaborative robot loading and unloading technology, and discloses a collaborative robot dual-machine tool automated loading and unloading device, including a grinding machine and a lathe. An integrated cabinet is arranged between the grinding machine and the lathe. The integrated cabinet includes a control cabinet, a robotic arm, and a mounting cabinet. The control cabinet and the robotic arm are fixedly installed on the upper end of the mounting cabinet. The control cabinet is located on one side of the robotic arm. A control system is set in the mounting cabinet for controlling the loading and unloading of the robotic arm. The control system controls the robotic arm to automatically complete the loading and unloading operations, quickly and accurately placing the workpiece into the designated position and removing it in a timely manner after processing, shortening the loading and unloading time and reducing downtime. The robotic arm is precisely controlled by the control system to ensure the positional accuracy during the loading and unloading process, avoiding processing quality problems caused by human operation errors.

Description

Technical Field

[0001] This utility model belongs to the field of collaborative robot loading and unloading technology, and relates to an automated loading and unloading device for a collaborative robot dual machine tool. Background Technology

[0002] In modern manufacturing, machine tools, as core processing equipment, undertake critical processing tasks for various parts, and their performance and operating efficiency directly affect the quality and efficiency of the entire production process. Machine tools can perform a variety of processing operations, covering many processes such as turning, milling, drilling, and grinding. These processes achieve precise shaping of the workpiece's shape, size, and surface quality by accurately controlling the relative movement between the tool and the workpiece, thereby meeting the stringent requirements of different industries for various parts.

[0003] In the machining process of machine tools, the loading and unloading stage is an indispensable and important component. The loading and unloading operation mainly involves accurately loading the workpieces to be processed and the necessary tools into the designated positions on the machine tool, and after the machining process is completed, removing the finished workpieces and any worn or replaceable tools from the machine tool. Traditional loading and unloading methods mainly rely on manual operation. Operators need to place the workpieces one by one onto the machine tool's fixtures or worktable, ensuring that the positional accuracy meets the machining requirements; at the same time, they also need to manually install and adjust various tools, such as cutting tools and grinding wheels. After the machining task is completed, the workpieces and tools are manually removed again.

[0004] When dealing with batch processing tasks, frequent loading and unloading operations consume a significant amount of time, leading to excessive machine downtime and reduced effective processing time. Operators, when fatigued, struggle to concentrate, affecting the accuracy and stability of their movements and increasing the probability of errors during processing. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide an automated loading and unloading device for a collaborative robot dual machine tool.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: This utility model provides a collaborative robot dual-machine tool automated loading and unloading device, including a grinding machine and a lathe. An integrated cabinet is provided between the grinding machine and the lathe. The integrated cabinet includes a control cabinet, a robotic arm and a mounting cabinet. The control cabinet and the robotic arm are fixedly installed on the upper end of the mounting cabinet. The control cabinet is located on one side of the robotic arm. A control system is provided in the mounting cabinet for controlling the loading and unloading of the robotic arm.

[0007] Furthermore, a material feeding platform is provided at the upper end of the control cabinet for placing the workpiece; a teach pendant is provided inside the control cabinet and is connected to the control system for transmitting operation commands.

[0008] Furthermore, the mounting cabinet is equipped with a solenoid valve, which is connected to the control system and controls the robotic arm to close or blow air according to the instructions of the control system.

[0009] Furthermore, the bottom of the mounting cabinet is provided with casters, which are fixedly connected to the mounting cabinet; and the side walls at both ends of the mounting cabinet are provided with fixed support feet.

[0010] Furthermore, the robotic arm includes a robotic arm body and a gripper disposed at the front end of the robotic arm body, and the robotic arm body is fixedly connected to the gripper via a connecting flange.

[0011] Furthermore, the upper end of the chuck is provided with a plurality of first connecting pieces, which are fixedly connected to the cylinder.

[0012] Furthermore, an air pipe port is provided at the end of the cylinder away from the chuck, and the air pipe port is connected to the solenoid valve and the chuck through an air inlet pipe for blowing away dust from the surface of the parts.

[0013] Furthermore, the cylinder is fixedly mounted on the sliding bar, and its relative position on the sliding bar can be manually adjusted.

[0014] Furthermore, a steering adjustment component is provided at the lower end of the trachea port, and the steering adjustment component is fixedly connected to the trachea port.

[0015] Furthermore, a second connecting piece is provided at the upper end of the connecting flange, which is fixedly connected to the sliding strip.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects: This utility model discloses an automated loading and unloading device for a collaborative robot dual-machine tool. The device uses a control system to automatically control the robotic arm to complete loading and unloading operations, quickly and accurately placing the workpiece into the designated position and removing it promptly after processing. This shortens loading and unloading time and reduces downtime. The robotic arm is precisely controlled by the control system to ensure positional accuracy during loading and unloading, avoiding processing quality problems caused by human error.

[0017] This utility model discloses a collaborative robot dual-machine tool automated loading and unloading device, which can quickly move and change production according to production tasks, and quickly adjust the production rhythm and product variety. It is suitable for the construction of flexible production lines and has a higher degree of automation flexibility.

[0018] This utility model discloses a collaborative robot dual-machine tool automated loading and unloading device. Through the control system, the loading and unloading operations of the robotic arm between the grinding machine and the lathe can be uniformly coordinated, realizing the automated collaborative operation of the two machine tools, improving production efficiency, and meeting the needs of large-scale production.

[0019] This utility model discloses an automated loading and unloading device for a collaborative robot dual-machine tool. Based on the fact that the collaborative robot processing area does not require safety guardrails or other facilities, humans and collaborative robots work in the same processing area, resulting in a higher degree of human-machine collaboration compared to traditional industrial robots. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a collaborative robot dual-machine tool automated loading and unloading device according to the present invention; Figure 2 This is a schematic diagram of the integrated cabinet in an embodiment of the present utility model; Figure 3 This is a schematic diagram of the claw structure in an embodiment of the present invention; Figure 4 This is a schematic diagram of the connecting flange in an embodiment of this utility model.

[0021] Figure label: 1-Grinding machine; 2-Lathe; 3-Integrated cabinet; 4-Control cabinet; 41-Loading platform; 42-Processed part; 43-Teach pendant; 5-Robotic arm; 51-Robotic arm body; 52-Claw; 53-Connecting flange; 54-First connecting piece; 55-Cylinder; 56-Air pipe port; 57-Sliding bar; 58-Steering adjustment component; 59-Second connecting piece; 6-Mounting cabinet; 61-Control system; 62-Solenoid valve; 63-Universal wheel; 64-Support foot. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0023] Example 1 A collaborative robot dual-machine tool automated loading and unloading device, such as Figure 1As shown, the system includes a grinding machine 1 and a lathe 2. An integrated cabinet 3 is provided between the grinding machine 1 and the lathe 2. The integrated cabinet 3 includes a control cabinet 4, a robotic arm 5 and an installation cabinet 6. The control cabinet 4 and the robotic arm 5 are fixedly installed on the upper end of the installation cabinet 6. The control cabinet 4 is located on one side of the robotic arm 5. The installation cabinet 6 is equipped with a control system 61 for controlling the loading and unloading of the robotic arm 5.

[0024] First, the grinding machine 1 and lathe 2 are arranged according to the production process requirements, and space is reserved for the integrated cabinet 3. The integrated cabinet 3 is placed between the grinding machine 1 and the lathe 2 to facilitate efficient material transfer between the two machines by the robotic arm 5. The integrated cabinet 3 consists of a control cabinet 4, the robotic arm 5, and a mounting cabinet 6. The control system 61 inside the mounting cabinet 6 can accurately plan the movement trajectory of the robotic arm 5 and control the sequence and time interval of loading and unloading actions. When the robotic arm 5 grabs the workpiece 42, the control system 61 will control the movement of each joint of the robotic arm body 51 according to the preset program to ensure that the chuck 52 can accurately reach the designated position on the unloading table 41 and grab the workpiece 42. At the same time, the control system 61 can also monitor the operating status of the device in real time, such as the position of the robotic arm 5, the pressure of the cylinder 55, and other parameters. If any abnormality is detected, corresponding protective measures will be taken.

[0025] The solenoid valve 62, installed inside the mounting cabinet 6, is connected to the control system 61. Based on the electrical signals issued by the control system 61, it precisely controls the opening and closing of the air path and the direction of airflow. The solenoid valve 62 has two main functions: First, it controls the closing action of the robotic arm 5. After the robotic arm 5 completes the gripping or placement of the workpiece, the control system 61 issues a command, and the solenoid valve 62 quickly cuts off the air path, causing the gripper 52 to close tightly, ensuring that the workpiece 42 will not fall. Second, it controls the air blowing operation. When it is necessary to clean the surface of the part, the solenoid valve 62 opens the air path, allowing compressed air to blow through the air pipe port 56 onto the gripper 52, thereby removing dust and impurities from the surface of the part and ensuring processing quality.

[0026] like Figure 2 As shown, the bottom of the mounting cabinet 6 is equipped with casters 63, which are fixedly connected to the mounting cabinet 6 by bolts. During movement, the casters push the mounting cabinet 6 to reach the designated position. Support legs 64 are fixedly attached to the side walls at both ends of the mounting cabinet 6. When fixation is required, the support legs 64 are lowered to contact the ground.

[0027] The control cabinet 4 is mounted on top of the mounting cabinet 6 and positioned to one side of the robotic arm 5. The unloading platform 41 reduces friction and collisions of the workpiece 42 during placement, ensuring it is accurately positioned for easy gripping by the robotic arm 5. A teach pendant 43 inside the control cabinet 4 is connected to the control system 61. The teach pendant 43 transmits various operating commands to the control system 61, such as setting the movement trajectory of the robotic arm 5, the time interval between loading and unloading, and the processing parameters of the workpiece. When the same or similar processing tasks are required, the control system 61 can directly call the parameters to control the robotic arm 5 to automatically complete the loading and unloading operations, improving production efficiency.

[0028] The robotic arm 5 consists of a robotic arm body 51 and a gripper 52 located at the front end of the robotic arm body 51. The robotic arm body 51 adopts a multi-joint structure design, which has high flexibility and degree of freedom, and can realize various complex movements in three-dimensional space. The robotic arm body 51 is fixedly connected to the gripper 52 through a connecting flange 53. The connecting flange 53 is fixed to the robotic arm body 51 and the gripper 52 by bolts, ensuring that the gripper 52 can accurately grasp and place the workpiece 42 under the drive of the robotic arm body 51.

[0029] The upper end of the gripper 52 is provided with several first connecting pieces 54, two in this embodiment, which are fixedly connected to the cylinder 55. The cylinder 55 can realize the opening and closing action of the gripper 52 under the action of compressed air. The end of the cylinder 55 away from the gripper 52 is provided with an air pipe port 56, which is connected to the solenoid valve 62 and the gripper 52 through an air inlet pipe. During operation, when it is necessary to grip the workpiece 42, the control system 61 issues a command, and the solenoid valve 62 controls the cylinder 55 to intake air, causing the piston rod of the cylinder 55 to extend and push the gripper 52 to open; when the workpiece 42 reaches the designated position, the solenoid valve 62 controls the cylinder 55 to reverse, causing the piston rod to retract, the gripper 52 to close, and tightly grip the workpiece 42.

[0030] Cylinder 55 is fixedly mounted on sliding bar 57, which adopts a high-precision linear guide design. The relative position of cylinder 55 on sliding bar 57 can be manually adjusted according to actual processing requirements. During adjustment, simply loosen the fixing bolts between cylinder 55 and sliding bar 57, move cylinder 55 to the appropriate position, and then tighten the fixing bolts. By adjusting the position of cylinder 55, the distance between cylinder 55 and chuck 52 can be changed, allowing chuck 52 to better adapt to workpieces 42 of different sizes, improving gripping stability and accuracy. Figure 3 As shown.

[0031] A directional adjustment component 58 is provided at the lower end of the air pipe port 56, and the directional adjustment component 58 is fixedly connected to the air pipe port 56. The directional adjustment component 58 adopts a universal ball joint design, which can rotate freely within a 360-degree range. By adjusting the directional adjustment component 58, the blowing direction of the air pipe port 56 can be changed. When it is necessary to clean the surface of the part, the operator can adjust the directional adjustment component 58 according to the shape of the part and the distribution of dust, so that the blowing direction of the air pipe port 56 can accurately cover the surface of the part, thereby improving the cleaning effect and ensuring the processing quality.

[0032] A second connecting piece 59 is provided at the upper end of the connecting flange 53. The second connecting piece 59 is fixedly connected to the sliding strip 57, enhancing the connection stability between the various parts of the robotic arm 5. The second connecting piece 59 is connected to the sliding strip 57 and the connecting flange 53 by bolts, ensuring that the cylinder 55 can maintain a stable position during the movement of the robotic arm 5, without shaking or displacement, thereby ensuring the accuracy and reliability of the opening and closing action of the gripper 52 and the air blowing cleaning operation. Figure 4 As shown.

[0033] This utility model relates to an automated loading and unloading device for a collaborative robot dual-machine tool, with the following workflow: First, the workpiece 42 to be processed is placed on the unloading platform 41 of the control cabinet 4. The parameters of the control system 61 are set via the teach pendant 43, including the movement trajectory of the robotic arm 5, the time interval between loading and unloading, and the processing parameters of the workpiece. According to the received instructions, the control system 61 controls the robotic arm body 51 to move the gripper 52 above the unloading platform 41. During the movement, the joints of the robotic arm body 51 move in a coordinated manner according to a preset program, ensuring that the gripper 52 accurately reaches the designated position. When the gripper 52 reaches above the unloading platform 41, the control system 61 controls the solenoid valve 62 to allow air to enter the cylinder 55, causing the gripper 52 to open. The robotic arm body 51 continues to descend, causing the gripper 52 to clamp the workpiece 42. The solenoid valve 62 controls the cylinder 55 to reverse direction, causing the gripper 52 to close and firmly grasp the workpiece 42. The robotic arm body 51 then rises and is lifted off the unloading platform 41.

[0034] The robotic arm 5 moves the workpiece 42 to the machining position on the grinder 1 or lathe 2. During the movement, the control system 61 monitors the position and movement of the robotic arm 5 in real time, ensuring that the workpiece 42 accurately reaches the machining position. Once the workpiece 42 reaches the machining position, the robotic arm 5 places it on the fixture of the grinder 1 or lathe 2 and ensures that the workpiece 42 is securely fixed. Then, the grinder 1 or lathe 2 begins the machining operation on the workpiece 42.

[0035] During the transport of the workpiece 42, if surface cleaning is required, the control system 61 controls the solenoid valve 62 to activate, and the cylinder 55 blows air into the jaws 52 through the air pipe port 56 to remove dust and impurities from the surface of the workpiece. The operator can adjust the blowing time and intensity in real time using the teach pendant 43 to ensure the cleaning effect.

[0036] After processing, the robotic arm 5 removes the machined part from the grinder 1 or lathe 2. The process of removing the part is similar to the process of gripping the machined part 42. The control system 61 controls the robotic arm body 51 to move the chuck 52 above the part, open the chuck 52, lock the part, close the chuck 52, and then lift the part. The machined part is then placed on the unloading table 41, completing the loading and unloading process.

[0037] When the air pressure of solenoid valve 62 is below 0.4 MPa, robotic arm 5 locks and triggers an alarm. If chuck 52 fails to grasp workpiece 42, it will be displayed on teach pendant 43. A laser scanner is installed on the outer surface of integrated cabinet 3. When it detects a worker entering the processing area, control system 61 controls robotic arm 5 to pause.

[0038] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the utility model described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

Claims

1. A collaborative robot dual-machine tool automated loading and unloading device, characterized in that: The system includes a grinding machine (1) and a lathe (2). An integrated cabinet (3) is provided between the grinding machine (1) and the lathe (2). The integrated cabinet (3) includes a control cabinet (4), a robotic arm (5) and an installation cabinet (6). The control cabinet (4) and the robotic arm (5) are fixedly installed on the upper end of the installation cabinet (6). The control cabinet (4) is located on one side of the robotic arm (5). A control system (61) is provided inside the installation cabinet (6) for controlling the loading and unloading of the robotic arm (5).

2. The automated loading and unloading device for a collaborative robot dual-machine tool according to claim 1, characterized in that: The control cabinet (4) is provided with a feeding platform (41) at the upper end, which is used to place the workpiece (42). The control cabinet (4) is equipped with a teach pendant (43), which is connected to the control system (61) and is used to transmit operation commands.

3. The automated loading and unloading device for a collaborative robot dual-machine tool according to claim 2, characterized in that: The installation cabinet (6) is equipped with a solenoid valve (62), which is connected to the control system (61) and controls the robotic arm (5) to close or blow air according to the instructions of the control system (61).

4. The automated loading and unloading device for a collaborative robot dual-machine tool according to claim 3, characterized in that: The bottom of the mounting cabinet (6) is provided with casters (63), and the casters (63) are fixedly connected to the mounting cabinet (6); The mounting cabinet (6) has fixed support feet (64) on the side walls at both ends.

5. The automated loading and unloading device for a collaborative robot dual-machine tool according to claim 3, characterized in that: The robotic arm (5) includes a robotic arm body (51) and a claw (52) disposed at the front end of the robotic arm body (51). The robotic arm body (51) is fixedly connected to the claw (52) through a connecting flange (53).

6. The automated loading and unloading device for a collaborative robot dual-machine tool according to claim 5, characterized in that: The upper end of the claw (52) is provided with a plurality of first connecting pieces (54), and the first connecting pieces (54) are fixedly connected to the cylinder (55).

7. The automated loading and unloading device for a collaborative robot dual-machine tool according to claim 6, characterized in that: The cylinder (55) is provided with an air pipe port (56) at the end away from the chuck (52). The air pipe port (56) is connected to the solenoid valve (62) and the chuck (52) through an air inlet pipe and is used to blow away dust from the surface of the parts.

8. The automated loading and unloading device for a collaborative robot dual-machine tool according to claim 7, characterized in that: The cylinder (55) is fixedly mounted on the sliding bar (57) and its relative position on the sliding bar (57) can be manually adjusted.

9. The automated loading and unloading device for a collaborative robot dual-machine tool according to claim 8, characterized in that: A steering adjustment component (58) is provided at the lower end of the tracheal port (56), and the steering adjustment component (58) is fixedly connected to the tracheal port (56).

10. The automated loading and unloading device for a collaborative robot dual-machine tool according to claim 9, characterized in that: The upper end of the connecting flange (53) is provided with a second connecting piece (59), which is fixedly connected to the sliding strip (57).

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