A robot loading assembly

Abstract

The utility model provides a kind of robot feeding assembly, including feeding machine, mechanical arm module and the pipe shrinking machine positioning stage being arranged in the both sides of mechanical arm module, feeding machine is located the rear end of mechanical arm module, and the feeding end of feeding machine and the discharging end of pipe shrinking machine positioning stage are equipped with protective grating, feeding machine includes base and the inclined ramp feeding mechanism being fixedly arranged on the upper end of base, and mechanical arm module includes mechanical base, system operation panel, six-axis robot and clamping mechanism.The utility model has the beneficial effects that: replace artificial to realize copper pipe automatic distribution feeding, improve the consistency of pipe shrinking size;Width adjusting side plate adapts different copper pipe, and anti-piling structure solves the problem of material jam;Double-stage cooperation robot realizes double pipe shrinking machine alternate feeding, reduces standby efficiency;Protective grating guarantees safety, modular structure is convenient for maintenance, and optimization processing procedure.

Description

Technical Field

[0001] This utility model mainly relates to the field of automated feeding equipment technology, specifically to a robot feeding assembly. Background Technology

[0002] Copper tube shrinking is a key process in the forming of pipe fittings in industries such as refrigeration and sanitary ware. It requires the precise feeding of copper tubes to the processing station of the shrinking machine to complete the diameter reduction process. Currently, in small- to medium-batch copper tube shrinking production scenarios, most companies still use manual feeding: operators must manually place each copper tube onto the positioning table of the shrinking machine. This is not only inefficient and difficult to match the high-speed processing rhythm of the shrinking machine, but also leads to excessive labor intensity due to long-term repetitive picking and placing actions. At the same time, the positioning accuracy of manual operation is greatly affected by the operator's condition. Deviations in the placement of copper tubes can easily result in unqualified shrinking dimensions, and the surface of the copper tubes is easily scratched by manual contact, affecting the appearance and performance of the fittings. In addition, there are certain mechanical injury safety hazards caused by manual close proximity to the operating shrinking machine.

[0003] In some large-scale production scenarios, although automated feeding equipment has been introduced, existing equipment still has many inconveniences: for example, when using a vibratory feeder, copper tubes are slender and long, which can easily cause jamming and stacking during vibration, resulting in poor material distribution stability. Moreover, the structure adjustment of the vibratory feeder is cumbersome, and when it is necessary to switch to copper tubes of different diameters and lengths, a lot of time must be spent on readjustment, resulting in low equipment compatibility. On the other hand, the solution of using a simple ramp feeding device lacks a dedicated anti-stacking and precise material distribution structure, which can easily cause multi-layer stacking and material jamming of copper tubes during the ramp descent. Furthermore, most devices can only supply material to a single tube shrinking machine and cannot achieve alternating feeding of multiple tube shrinking machines, resulting in low overall equipment utilization and difficulty in meeting the continuous and efficient requirements of mass production. Utility Model Content

[0004] 1. The technical problem to be solved by the utility model: This utility model provides a robot loading assembly to solve the technical problems existing in the background art.

[0005] 2. Technical Solution: To achieve the above objectives, the technical solution provided by this utility model is as follows: a robot loading assembly, including a loading machine, a robotic arm module, and a tube shrinking machine positioning platform disposed on both sides of the robotic arm module. The loading machine is located at the rear end of the robotic arm module. The loading end of the loading machine and the unloading end of the tube shrinking machine positioning platform are both provided with protective light grids. The loading machine includes a base and a ramp loading mechanism fixed to the upper end of the base. The robotic arm module includes a mechanical base, a system operation panel, a six-axis robot, and a gripping mechanism.

[0006] Furthermore, the inclined feeding mechanism includes two feeding bins fixed on the machine base, and the unloading end of the feeding bin is provided with a lifting and distributing component, which is embedded in the machine base.

[0007] Furthermore, the feeding hopper includes two side plates, with a ramp plate and a width-adjusting side plate between the two side plates. Anti-stacking pressure plates are provided on the inner sides of both the side plates and the width-adjusting side plates, and baffle plates are also provided at the front ends of the side plates and the width-adjusting side plates.

[0008] Furthermore, the lifting and distributing assembly includes a top plate and a lifting cylinder, with the top plate inserted into the gap at the front end between the baffle plate and the side plate.

[0009] Furthermore, a limiting strip is provided at the lower end of the top plate, and a V-shaped receiving groove is also provided at the upper end of the top plate.

[0010] Furthermore, the gripping mechanism includes a connecting plate with two finger cylinders, and the connecting plate is connected to the end effector of the six-axis robot.

[0011] 3. Beneficial effects: Compared with the prior art, the technical solution provided by this utility model has the following advantages: By linking the ramp feeding mechanism with the lifting and distributing components, the automatic storage, orderly descent, and precise single-tube distributing of copper tubes are achieved, completely replacing the repetitive manual handling. At the same time, the standardized gripping and positioning of the six-axis robot avoids the precision fluctuations of manual operation, effectively ensuring the dimensional consistency of subsequent tube shrinking processing, replacing manual labor and improving processing consistency.

[0012] The adjustable side plate of the feeding hopper can be quickly adjusted through the long strip mounting holes to accommodate copper pipes of different diameters, making the adjustment operation more convenient; the combination of the anti-stacking pressure plate and the V-shaped receiving groove completely solves the problems of jamming and stacking in traditional feeding equipment, greatly improves the smoothness of the feeding process, and solves the adaptation and jamming problems of existing automated equipment.

[0013] The symmetrically arranged positioning platforms for the tube shrinking machines, combined with the flexible operating radius of the six-axis robot, enable alternating feeding of the two tube shrinking machines, reducing the downtime of the tube shrinking machines, effectively improving the continuous efficiency of mass production, and increasing equipment utilization and production efficiency.

[0014] It should be noted that the structures not described in this utility model are the same as or can be implemented using existing technology, and will not be elaborated here, as they do not involve the design points and improvement directions of this utility model. Attached Figure Description

[0015] Figure 1This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the feeding machine structure of this utility model; Figure 3 This is a schematic diagram of the inclined feeding mechanism of this utility model; Figure 4 This is a schematic diagram of the top plate structure of this utility model; Figure 5 This is an exploded view of the robotic arm module structure of this utility model.

[0016] Figure label: 1. Base; 2. Inclined feeding mechanism; 201. Feeding bin; 2011. Side plate; 2012. Inclined plate; 2013. Width adjustment side plate; 2014. Anti-stacking pressure plate; 2015. Baffle plate; 202. Lifting and distributing assembly; 2021. Top plate; 2022. Lifting cylinder; 2023. Limiting strip; 2024. V-shaped receiving groove; 3. Tube shrinking machine positioning platform; 4. Protective light curtain; 5. Mechanical base; 6. System operation panel; 7. Six-axis robot; 8. Gripping mechanism; 801. Connecting plate; 802. Finger cylinder. Detailed Implementation

[0017] To facilitate understanding of this utility model, a more comprehensive description of the utility model will be given below with reference to the accompanying drawings, which show several embodiments of the utility model. However, the utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the utility model will be more thorough and complete.

[0018] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "page", "bottom", "inner", "outer", "clockwise", "counterclockwise", 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 are not intended to 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.

[0019] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0020] In this utility model, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," "provided with," and "located in" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0021] See attached document Figure 1-5 A robot loading assembly includes a loading machine, a robotic arm module, and a tube shrinking machine positioning platform 3 located on both sides of the robotic arm module. The loading machine is located at the rear end of the robotic arm module. Both the loading end of the loading machine and the unloading end of the tube shrinking machine positioning platform 3 are equipped with protective light grids 4. The loading machine includes a base 1 and a ramp loading mechanism 2 fixed on the upper end of the base 1. The base 1 contacts the ground through adjustable support feet at the bottom to ensure the stability of the equipment. The tube shrinking machine positioning platforms 3 are symmetrically distributed on both sides of the robotic arm module. The bottom of the platform is equipped with casters, which can flexibly adjust the spacing according to the installation position of the tube shrinking machine. The protective light grids 4 are respectively installed at the loading end of the loading machine (i.e., the unloading area of ​​the ramp loading mechanism 2) and the unloading end of the tube shrinking machine positioning platform 3. The signal output end of the light grid is electrically connected to the control system of the robotic arm module to form a safety protection area. The robotic arm module includes a mechanical base 5, a system operation panel 6, a six-axis robot 7, and a gripping mechanism 8.

[0022] The feeding machine includes a base 1 and a ramp feeding mechanism 2 fixed to the upper end of the base 1, which is used to feed copper tubes in batches. The base 1 is welded from an aluminum profile frame and integrates the driving element of the lifting and distributing component 202 inside. The front is equipped with operation buttons and status indicator lights to facilitate the operator to control the feeding process. The ramp feeding mechanism 2 includes a feeding bin 201, which is fixed to the table of the base 1 by a mounting plate at the bottom and can store multiple copper tubes at the same time. The unloading end of the feeding bin 201 is correspondingly provided with the lifting and distributing component 202. The main body of the lifting and distributing component 202 is embedded inside the base 1, and only the top plate 2021 is exposed on the table of the base 1.

[0023] The feeding hopper 201 consists of two side plates 2011, a ramp plate 2012, an adjustable side plate 2013, an anti-stacking pressure plate 2014, and a baffle plate 2015. The side plates 2011 are fixed to the machine base 1. The adjustable side plate 2013 connects to the side plate 2011 via elongated mounting holes, allowing for the adjustment of the position of the adjustable side plate 2013 to accommodate copper pipes of different diameters. The ramp plate 2012 is installed at an angle between the two side plates 2011, and its surface has anti-slip textures, allowing the copper pipes to move along the ramp plate 2012 under their own weight. 12. Slide to the lower end of the material; the anti-stacking pressure plate 2014 is fixed to the inner side of the side plate 2011 and the width adjustment side plate 2013 respectively, and is in a downward inclined state. The distance between its lower end and the ramp plate 2012 is slightly larger than the diameter of a single copper tube, which can prevent the copper tube from stacking during the downward movement; the baffle plate 2015 is set at the front end of the side plate 2011 and the width adjustment side plate 2013. Its height is higher than the diameter of a single copper tube. It is used to limit the downward stroke of the copper tube and concentrate the copper tube at the baffle plate 2015, which is convenient for the lifting and distributing component 202 to grab.

[0024] The lifting and distributing assembly 202 includes a top plate 2021 and a lifting cylinder 2022. The lifting cylinder 2022 is vertically fixed to a mounting plate inside the base 1, and the top of its piston rod is threadedly connected to the bottom of the top plate 2021. The top plate 2021 is inserted into the front gap between the baffle plate 2015 and the side plate 2011, and its upper end is provided with multiple V-shaped receiving grooves 2024 for accurately receiving copper pipes sliding down to the baffle plate 2015. The lower end of the top plate 2021 is provided with... With limit bar 2023, when lifting cylinder 2022 drives top plate 2021 to rise to a specified height, limit bar 2023 contacts the table surface of machine base 1 to prevent top plate 2021 from rising excessively and leaving the working area; when copper tube slides down slope plate 2012 to baffle plate 2015, lifting cylinder 2022 drives top plate 2021 to rise, V-shaped receiving groove 2024 lifts single copper tube from the material pile, realizing individual material distribution and ensuring the accuracy of subsequent robotic arm gripping.

[0025] The robotic arm module includes a mechanical base 5, a system operation panel 6, a six-axis robot 7, and a gripping mechanism 8 for transferring copper pipes. The mechanical base 5 adopts a frustum-shaped shell structure, integrating the control system and power supply unit of the six-axis robot 7. It is equipped with lockable casters at the bottom for easy overall movement and positioning. The system operation panel 6 is mounted on the side wall of the mechanical base 5 via a bracket. The panel features a touchscreen, an emergency stop button, and control buttons for setting loading parameters, monitoring equipment status, and manual operation. The six-axis robot 7 uses an AUBO- The i5 collaborative robot has its base fixed to the top of the mechanical base 5 with bolts. It is lightweight and highly flexible, and can cover the material distribution area of ​​the feeder and the working area of ​​the positioning platform 3 of the tube shrinking machine on both sides. The gripping mechanism 8 includes a connecting plate 801 and two finger cylinders 802. The connecting plate 801 is connected to the end joint of the six-axis robot 7 through a flange. The two finger cylinders 802 are fixed parallel to the connecting plate 801. The gripper of the finger cylinder 802 is provided with anti-slip rubber pads on the inner side for stable gripping of copper tubes on the top plate 2021.

[0026] This robot is used in conjunction with a copper tube shrinking machine. The copper tube shrinking machine is installed at the front end of the shrinking machine's positioning platform 3. The specific workflow is as follows: Material loading and storage: Multiple copper tubes are placed in batches on the ramp plate 2012 of the loading bin 201. The copper tubes slide down the ramp plate 2012 to the baffle plate 2015 by their own weight. The anti-stacking pressure plate 2014 prevents the copper tubes from stacking.

[0027] Material distribution and lifting: Lifting cylinder 2022 drives the top plate 2021 to rise, and V-shaped receiving groove 2024 lifts up the single copper tube to complete the material distribution.

[0028] Clamping and Transfer: The six-axis robot 7 drives the clamping mechanism 8 to move to the material distribution area of ​​the feeder. The finger cylinder 802 clamps the copper tube and then transfers the copper tube to one of the tube shrinking machine positioning platforms 3.

[0029] Alternating operation: After the copper tube on the positioning platform 3 of one tube shrinking machine is shrunk, the six-axis robot 7 switches to the positioning platform 3 of another tube shrinking machine to unload the material, realizing alternating feeding of the two tube shrinking machines and improving processing efficiency.

[0030] In summary, the robot loading assembly in this embodiment achieves automatic material distribution and continuous loading of copper tubes through the structural design of ramp loading and lifting material distribution. With the flexible transfer of the six-axis collaborative robot, it can serve two tube shrinking machines at the same time, which greatly improves the automation level and production efficiency of copper tube shrinking processing. The setting of the protective light grid ensures the safety of personnel during the operation of the equipment.

[0031] The above-described embodiments are merely illustrative of certain implementations of this utility model, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A robot loading assembly, characterized in that: The system includes a feeder, a robotic arm module, and a tube shrinking machine positioning platform (3) located on both sides of the robotic arm module. The feeder is located at the rear end of the robotic arm module. The feeder end of the feeder and the unloading end of the tube shrinking machine positioning platform (3) are both equipped with protective light grids (4). The feeder includes a base (1) and a ramp feeder mechanism (2) fixed on the upper end of the base (1). The robotic arm module includes a mechanical base (5), a system operation panel (6), a six-axis robot (7), and a gripping mechanism (8).

2. The robot loading assembly according to claim 1, characterized in that: The inclined feeding mechanism (2) includes two feeding bins (201) fixed on the base (1). The feeding bins (201) are provided with a lifting and distributing component (202) at the unloading end. The lifting and distributing component (202) is embedded in the base (1).

3. The robot loading assembly according to claim 2, characterized in that: The feeding hopper (201) includes two side plates (2011), with a ramp plate (2012) and a width-adjusting side plate (2013) between the two side plates (2011). Anti-stacking pressure plates (2014) are provided on the inner sides of both the side plates (2011) and the width-adjusting side plate (2013). A baffle plate (2015) is also provided at the front end of the side plates (2011) and the width-adjusting side plate (2013).

4. The robot loading assembly according to claim 3, characterized in that: The lifting and distributing assembly (202) includes a top plate (2021) and a lifting cylinder (2022), wherein the top plate (2021) is inserted into the gap at the front end between the baffle plate (2015) and the side plate (2011).

5. The robot loading assembly according to claim 4, characterized in that: The top plate (2021) is provided with a limiting strip (2023) at its lower end, and a V-shaped receiving groove (2024) is also provided at its upper end.

6. The robot loading assembly according to claim 1, characterized in that: The gripping mechanism (8) includes a connecting plate (801), on which two finger cylinders (802) are provided. The connecting plate (801) is connected to the end of the six-axis robot (7).

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