A CNC full-automatic feeding and reloading composite robot

Abstract

The utility model discloses a kind of CNC full-automatic feeding and material changing composite robot, including AGV carrier, the surface of the AGV carrier is fixedly provided with mounting box, and the surface of mounting box is installed with mechanical arm, while the surface of mounting box is provided with rack on the other side, rack includes fixedly arranged in the surface of mounting box bin, and the inside of bin is fixedly provided with baffle, while the upside of baffle is provided with upper layer material space, and the downside of baffle is provided with lower layer material space.The CNC full-automatic feeding and material changing composite robot, by the rack on the AGV carrier design is to be able to dock and store two disc materials, can realize the bearing and transportation of two disc materials at a time, without artificial conveying processing material, artificial transfer link speed is limited by manpower handling capacity, substantially improve single material transportation capacity, reduce the return frequency of AGV carrier between equipment feeding point and downstream equipment, effectively improve overall material transportation efficiency.

Description

Technical Field

[0001] This utility model relates to the field of machine tool processing, specifically a CNC fully automatic feeding and material changing composite robot. Background Technology

[0002] CNC (Computer Numerical Control) is a type of automated machine tool controlled by a program. On industrial production lines, different parts of a workpiece need to be processed through different steps, requiring multiple clamping operations to move the workpiece to the next stage. Currently, most of these production lines rely on manual labor, with operators handling gripping and stacking. However, manual clamping is not only inaccurate, affecting processing quality, but also incurring high labor costs, low efficiency, and long production cycles. Furthermore, CNC machining often involves manually placing semi-finished parts into chucks before manually starting the CNC machining process. Due to human error, the finished product may not be properly positioned, directly causing product scrap and tool damage. Improper operation can also lead to injuries. During loading, operators need to control the conveying and stopping of workpieces on each machine. When a workpiece is at a certain position on the loading platform, the operator needs to stop it at the loading point, creating operational difficulties.

[0003] To address the aforementioned issues, a search revealed Chinese patent CN207104474U, which discloses an integrated CNC automatic loading and unloading system. The system includes a loading unit, an unloading unit, a CNC machine tool unit, and a six-axis robot. The CNC machine tool unit comprises a first CNC machine tool, a second CNC machine tool, and an electrical control box. The first and second CNC machine tools respectively complete the first and second machining operations of the workpiece. The six-axis robot is positioned between the first and second CNC machine tools. While the aforementioned device can solve the technical problem of inaccurate workpiece positioning, in actual use, during the process of loading or unloading materials by the robot, the materials need to be manually moved to the robot's working position, and the processed materials need to be manually moved out of the processing station. Manual material handling significantly reduces overall production efficiency. Robot loading and unloading itself has the advantages of automation and high speed, but the speed of manual handling is limited by human handling capacity. Especially in large-scale, continuous production scenarios, this efficiency loss will be amplified as the production scale expands. Utility Model Content

[0004] The purpose of this invention is to provide a CNC fully automatic feeding and material changing composite robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, a CNC fully automatic feeding and material changing composite robot is provided, including an AGV carrier. A mounting box is fixedly installed on the surface of the AGV carrier, and a robotic arm is installed on one side of the mounting box. A material rack is installed on the other side of the mounting box. The material rack includes a hopper fixedly installed on the surface of the mounting box, and a partition is fixedly installed inside the hopper. An upper material holding space is opened on the upper side of the partition, and a lower material holding space is opened on the lower side of the partition. A material feeding mechanism is fixed on the back of the hopper. Three materials are placed inside the lower and upper material holding spaces.

[0006] Furthermore, the end of the robotic arm is equipped with an electric gripper, and the output end of the electric gripper is respectively equipped with gripper A and gripper B. At the same time, gripper A and gripper B move outward or inward synchronously to grip or release the material.

[0007] Furthermore, the feeding mechanism feeds materials into the lower and upper material storage spaces. The feeding mechanism includes a fixed plate fixedly connected to the side wall of the silo, and a mounting frame is fixedly mounted on the surface of the fixed plate. At the same time, a drive motor is fixedly mounted on the side wall of the mounting frame.

[0008] Furthermore, a lead screw is installed at the output shaft end of the drive motor, and a drive seat is screwed onto the outer side of the lead screw. A feeding platform is fixedly installed at the end of the drive seat, and a lower feeding assembly and an upper feeding assembly are respectively installed on both sides of the feeding platform.

[0009] Furthermore, the feeding platform is driven to reciprocate laterally via a fixed plate, a lead screw, and a drive seat. The lower feeding assembly and the upper feeding assembly have the same structure. The upper feeding assembly includes a feeding motor fixedly connected to the end of the feeding platform, and the output shaft of the feeding motor is equipped with gears.

[0010] Furthermore, a material-pushing rack is installed at the bottom of the gear, and a slider is installed at the bottom of the material-pushing rack. The slider is slidably disposed inside the slide rail provided at the end of the material-pushing table. The dimensions of the material-pushing rack and the gear are matched, and the material-pushing rack and the gear are meshed together.

[0011] Furthermore, guide rails are installed on both sides of the surface of the fixed plate, and guide seats are installed on both sides of the bottom of the feeding table, with the guide seats slidably mounted on the guide rails.

[0012] Compared with the prior art, the beneficial effects of this utility model are: 1. This solution utilizes a rack design on the AGV carrier that can hold two trays of materials, enabling the simultaneous loading and transport of two trays without the need for manual material handling. The speed of manual material handling is limited by human carrying capacity, significantly increasing the amount of material transported per trip and reducing the number of round trips between the AGV carrier's loading point and downstream equipment, thus effectively improving overall material transport efficiency. The rack features a two-tiered design, with an upper and lower storage space, each capable of holding one tray of materials. This layered structure maximizes vertical space while ensuring sufficient storage for two trays, saving horizontal space occupied by the rack on the AGV carrier. This results in a more rational spatial layout for the AGV carrier and facilitates subsequent material handling by the robotic arm. 2. In this solution, when the material rack needs to be fed, the drive motor moves the feeding platform to the vicinity of the feeding port, which facilitates the smooth entry of materials into the material rack. The lower feeding component and the upper feeding component installed at both ends of the feeding platform respectively use gears and feeding racks to feed materials. The gear and rack transmission method has the characteristics of high transmission accuracy and good stability, which can ensure the accuracy of feeding action and avoid the material failing to enter or be positioned normally due to feeding deviation. Attached Figure Description

[0013] Figure 1 This is a front view schematic diagram of the material feeding and changing composite robot of this utility model; Figure 2 This is a bottom view of the material feeding and changing composite robot of this utility model; Figure 3 This is a schematic diagram of the structural rack and its connection structure of this utility model; Figure 4 This is a top view of the structural material rack of this utility model; Figure 5 This is a schematic diagram of the structural fixing plate and its surface connection structure of this utility model.

[0014] The diagram is labeled as follows: 1. AGV carrier; 2. Mounting box; 3. Robotic arm; 31. Electric gripper; 311. Gripper A; 312. Gripper B; 4. Material rack; 40. Material; 41. Hopper; 42. Partition; 43. Upper material storage space; 44. Lower material storage space; 45. Material feeding mechanism; 450. Fixing plate; 451. Drive motor; 452. Lead screw; 453. Mounting frame; 454. Material feeding platform; 4541. Drive base; 4542. Lower material feeding assembly; 4543. Upper material feeding assembly; 45431. Material feeding motor; 45432. Gear; 45433. Material feeding rack; 455. Guide rail. Detailed Implementation

[0015] Please see Figure 1-5This utility model provides a CNC fully automatic feeding and material changing composite robot, including an AGV carrier 1. An installation box 2 is fixedly installed on the surface of the AGV carrier 1, and a robotic arm 3 is installed on one side of the surface of the installation box 2. At the same time, a material rack 4 is installed on the other side of the surface of the installation box 2. The material rack 4 includes a hopper 41 fixedly installed on the surface of the installation box 2, and a partition 42 is fixedly installed inside the hopper 41. An upper material holding space 43 is opened on the upper side of the partition 42, and a lower material holding space 44 is opened on the lower side of the partition 42. A material feeding mechanism 45 is fixedly installed on the back of the hopper 41. Three materials 40 are placed inside the lower material holding space 44 and the upper material holding space 43.

[0016] Working Principle: During operation, this device uses an AGV carrier 1 to reach the designated equipment loading point. The material rack 4 on the AGV carrier 1 can hold two trays of materials 40. After receiving the materials 40 at the equipment loading point, the AGV carrier 1 moves to the downstream equipment. The robotic arm 3 places the materials 40 from the two trays into the downstream equipment and simultaneously picks up the processed materials 40 and places them back into the material rack 4. The material rack 4 is designed with two layers: an upper material holding space 43 and a lower material holding space 44. Each layer can hold one tray of materials 40, and each tray can hold three pieces of materials 40. The material rack 4 is equipped with a material feeding mechanism 45, which includes a fixed plate 450, a drive motor 451, a lead screw 452, a mounting frame 453, and a feeding platform 454. This mechanism feeds materials into the upper material holding space 43 and the lower material holding space 44. Material 40 is simultaneously fed; when material needs to be fed into the material rack 4, the drive motor 451 drives the feeding table 454 to move to the vicinity of the feeding port. The feeding table 454 has a lower feeding component 4542 and an upper feeding component 4543 installed at both ends. The lower feeding component 4542 and the upper feeding component 4543 both feed material through gears 45432 and feeding racks 45433. When the entire pallet of material 40 enters 1 / 3 of the material rack 4, the feeding motor 45431 drives the feeding rack 45433 to push it out. The feeding motor 45431 is a stepper motor and the drive motor 451 is a servo motor. The drive motor 451 drives the idler wheel on the feeding rack 45433 of the feeding mechanism 45 to contact the pallet and push the entire pallet to the inside of the material rack 4 to the end position, realizing the feeding and changing of materials on the CNC. When the robotic arm 3 grips the material 40, it does so through the electric gripper 31 at its end. Preferably, a slide rail structure can be set at the gripper A311 and gripper B312 on the electric gripper 31, which can effectively reduce the gap between the electric grippers and provide accuracy and stability. At the same time, a camera can also be installed on the electric gripper 31 to position the AGV carrier 1. The entire set of components is installed on the robotic arm 3. The robotic arm 3 drives the gripper assembly to load and unload the material 40.

[0017] In a preferred embodiment, the end of the robotic arm 3 is equipped with an electric gripper 31, and the output end of the electric gripper 31 is equipped with gripper A311 and gripper B312 respectively. At the same time, gripper A311 and gripper B312 move outward or inward synchronously to grip or release the material 40.

[0018] In a preferred embodiment, the feeding mechanism 45 feeds the material 40 inside the lower material storage space 44 and the upper material storage space 43. The feeding mechanism 45 includes a fixed plate 450 fixedly connected to the side wall of the hopper 41, and a mounting frame 453 is fixedly fixed on the surface of the fixed plate 450. At the same time, a drive motor 451 is fixedly installed on the side wall of the mounting frame 453.

[0019] A lead screw 452 is installed at the output shaft end of the drive motor 451, and a drive seat 4541 is screwed onto the outer side of the lead screw 452. A feeding platform 454 is fixedly provided at the end of the drive seat 4541, and a lower feeding assembly 4542 and an upper feeding assembly 4543 are respectively installed on both sides of the feeding platform 454.

[0020] The feeding table 454 is driven to move laterally and reciprocate through the fixed plate 450, the lead screw 452 and the drive seat 4541. The lower feeding assembly 4542 and the upper feeding assembly 4543 have the same structure. The upper feeding assembly 4543 includes a feeding motor 45431 fixedly connected to the end of the feeding table 454, and the output shaft of the feeding motor 45431 is equipped with a gear 45432.

[0021] A material-pushing rack 45433 is installed at the bottom of the gear 45432, and a slider is installed at the bottom of the material-pushing rack 45433. The slider is slidably disposed inside the slide rail provided at the end of the material-pushing table 454. The dimensions of the material-pushing rack 45433 and the gear 45432 are matched, and the material-pushing rack 45433 and the gear 45432 are meshed together.

[0022] Guide rails 455 are installed on both sides of the surface of the fixed plate 450, and guide seats are installed on both sides of the bottom of the feeding table 454. The guide seats are slidably mounted on the guide rails 455.

[0023] like Figure 1-4As shown: The material rack 4 on the AGV carrier 1 is designed to dock and store two trays of materials 40, enabling the carrying and transportation of two trays of materials 40 at one time. This eliminates the need for manual handling of the processed materials 40, significantly increasing the amount of materials 40 transported in a single trip and reducing the number of round trips between the AGV carrier 1 and the downstream equipment, thus effectively improving the overall material transportation efficiency. At the same time, the material rack 4 adopts a two-layer design, with an upper material storage space 43 and a lower material storage space 44. Each layer can store one tray of materials 40. This layered structure fully utilizes vertical space while ensuring the storage capacity of two trays of materials 40, saving the horizontal space occupied by the material rack 4 on the AGV carrier 1. This makes the spatial layout of the AGV carrier 1 more reasonable and facilitates the subsequent gripping operation of the robotic arm 3 on the materials 40. One tray of materials 40 can store three items of materials 40, enabling centralized storage and transportation of small items of materials 40, avoiding the problem of small items of materials 40 being scattered or lost during transportation. It also facilitates the robotic arm 3 to operate multiple items of materials 40 at once, further improving work efficiency. The material feeding mechanism 45 designed in the material rack 4 includes a fixed plate 450, a drive motor 451, a lead screw 452, a mounting bracket 453, and a feeding platform 454. It can simultaneously feed materials 40 in the upper material storage space 43 and the lower material storage space 44, ensuring that the upper and lower material storage spaces 40 are fed and positioned synchronously, avoiding the problem of materials 40 being scattered or lost during transportation. The time difference caused by the layered operation improves the overall material 40 processing speed of the material rack 4. When the material rack 4 needs to be fed, the drive motor 451 drives the feeding table 454 to move to the vicinity of the feeding port, so that the material 40 can smoothly enter the material rack 4. The lower feeding component 4542 and the upper feeding component 4543 installed at both ends of the feeding table 454 respectively, both feed material through gear 45432 and feeding rack 45433. The transmission method of gear 45432 and rack has the characteristics of high transmission accuracy and good stability, which can ensure the accuracy of feeding action and avoid the material 40 from failing to enter or be positioned normally due to feeding deviation. When the entire pallet of material 40 enters 1 / 3 of the material rack 4, the feeding motor 45431 drives the feeding rack 45433 to push it out. The feeding motor 45431 is a stepper motor, which has precise position control capabilities, accurately controlling the pushing distance and speed of the feeding rack 45433. This ensures timely feeding assistance when the material 40 enters the appropriate position, further guaranteeing the accuracy of the material 40's positioning. The drive motor 451 is a servo motor. The servo motor drives the idler wheel on the feeding rack 45433 of the feeding mechanism 45 to contact the pallet, pushing the entire pallet inwards towards the end position of the material rack 4. The servo motor has advantages such as fast response speed, wide speed range, and high control precision. The system can precisely control the force and speed of the idler wheel on the pallet, ensuring that the pallet reaches the final position smoothly and accurately, avoiding collisions and deviations during the pallet's movement. This ensures that the subsequent robotic arm 3 can accurately grasp the material 40, while also protecting the structural safety of the material 40 and the material rack 4. Furthermore, after the AGV carrier 1 receives the material 40 at the equipment loading point and moves to the downstream equipment, the robotic arm 3 can simultaneously place the material 40 from both pallets into the downstream equipment and pick up the processed material 40 and place it back into the material rack 4. This allows for the simultaneous loading and unloading of material 40 and the recovery of finished products, reducing the time consumed by individual operations, further optimizing the production process, and improving overall production efficiency. Obviously, the embodiments described above 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 should fall within the scope of protection of this utility model.

[0024] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0025] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application 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 this application described herein can be implemented in sequences other than those illustrated or described herein.

[0026] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A CNC fully automatic feeding and changing composite robot, comprising an AGV carrier (1), characterized in that: The AGV carrier (1) is fixedly provided with a mounting box (2), and a robotic arm (3) is installed on one side of the mounting box (2). At the same time, a material rack (4) is provided on the other side of the mounting box (2). The material rack (4) includes a hopper (41) fixedly provided on the surface of the mounting box (2). A partition (42) is fixedly provided inside the hopper (41). An upper material storage space (43) is opened on the upper side of the partition (42), and a lower material storage space (44) is opened on the lower side of the partition (42). A material feeding mechanism (45) is fixedly provided on the back of the hopper (41). Three materials (40) are placed inside the lower material storage space (44) and the upper material storage space (43).

2. The CNC fully automatic feeding and changing composite robot according to claim 1, characterized in that: The end of the robotic arm (3) is equipped with an electric gripper (31), and the output end of the electric gripper (31) is equipped with gripper A (311) and gripper B (312) respectively. At the same time, gripper A (311) and gripper B (312) move outward or inward simultaneously to grip or release the material (40).

3. The CNC fully automatic feeding and changing composite robot according to claim 1, characterized in that: The feeding mechanism (45) feeds the material (40) inside the lower material storage space (44) and the upper material storage space (43). The feeding mechanism (45) includes a fixed plate (450) fixedly connected to the side wall of the silo (41), and a mounting frame (453) is fixed on the surface of the fixed plate (450). At the same time, a drive motor (451) is fixedly installed on the side wall of the mounting frame (453).

4. The CNC fully automatic feeding and changing composite robot according to claim 3, characterized in that: The output shaft end of the drive motor (451) is equipped with a lead screw (452), and a drive seat (4541) is screwed onto the outside of the lead screw (452). A feeding platform (454) is fixedly provided at the end of the drive seat (4541), and a lower feeding assembly (4542) and an upper feeding assembly (4543) are respectively installed on both sides of the feeding platform (454).

5. The CNC fully automatic feeding and changing composite robot according to claim 4, characterized in that: The feeding platform (454) is driven to move laterally and reciprocate through a fixed plate (450), a lead screw (452) and a drive seat (4541). The lower feeding assembly (4542) and the upper feeding assembly (4543) have the same structure. The upper feeding assembly (4543) includes a feeding motor (45431) fixedly connected to the end of the feeding platform (454), and the output shaft of the feeding motor (45431) is equipped with a gear (45432).

6. The CNC fully automatic feeding and changing composite robot according to claim 5, characterized in that: The bottom of the gear (45432) is equipped with a material-pulling rack (45433), and the bottom of the material-pulling rack (45433) is equipped with a slider. The slider is slidably disposed inside the slide rail provided at the end of the material-pulling table (454). The dimensions of the material-pulling rack (45433) and the gear (45432) are matched, and the material-pulling rack (45433) and the gear (45432) are meshed and connected.

7. The CNC fully automatic feeding and changing composite robot according to claim 4, characterized in that: Guide rails (455) are installed on both sides of the surface of the fixed plate (450), and guide seats are installed on both sides of the bottom of the feeding table (454). The guide seats are slidably mounted on the guide rails (455).

Images