Robot workpiece transfer system

Abstract

The utility model provides a kind of robot workpiece conveying system of transfer hanging, including six-axis robot, workpiece transfer fixture and the workpiece fixture rod of placing workpiece, the six-axis robot is connected with the workpiece transfer fixture, the upper and lower ends of the workpiece transfer fixture are respectively equipped with clamping mechanism, the clamping mechanism includes a pair of clamping cylinder being oppositely arranged, at least two clamping follow-up wheels are equipped on the clamping cylinder, oppositely arranged clamping cylinder respectively drives respective clamping follow-up wheel to clamp or loosen workpiece fixture rod, the six-axis robot drives the workpiece fixture rod and sky chain or ground chain butt joint.The utility model has the beneficial effects of: providing a kind of robot workpiece conveying system of transfer hanging, can be transferred hanging between sky chain and ground chain, improves transfer efficiency.

Description

Technical Field

[0001] This utility model relates to a transfer system, and more particularly to a robot-driven workpiece transfer system. Background Technology

[0002] Traditional suspended or ground-rail chain systems operate independently and are generally transported manually, resulting in low transport efficiency. Summary of the Invention

[0003] To address the problems in the existing technology, this utility model provides a robot-driven workpiece transfer system.

[0004] This utility model provides a robot-driven workpiece transfer system, including a six-axis robot, a workpiece transfer fixture, and a workpiece jig rod for placing workpieces. The six-axis robot is connected to the workpiece transfer fixture. The upper and lower ends of the workpiece transfer fixture are respectively provided with clamping mechanisms. The clamping mechanism includes a pair of clamping cylinders arranged in opposite directions. Each clamping cylinder is provided with at least two clamping follower wheels. The clamping cylinders arranged in opposite directions drive their respective clamping follower wheels to clamp or release the workpiece jig rod. The six-axis robot drives the workpiece jig rod to connect with an overhead chain or a ground chain.

[0005] As a further improvement of this utility model, the clamping mechanism also includes a guide limiting plate for guiding the workpiece fixture rod, and the guide limiting plate is provided with a V-shaped guide limiting groove.

[0006] As a further improvement of this utility model, the clamping cylinder is connected to a cylinder finger connecting plate, and the clamping follower wheel is disposed on the cylinder finger connecting plate.

[0007] As a further improvement of this utility model, the cylinder finger connecting plate is connected to a clamping guide limiting plate, and the workpiece fixture rod is located between the clamping guide limiting plate and the guide limiting plate.

[0008] As a further improvement of this utility model, the robot conveying workpiece transfer system also includes a top chain fixture rod, the lower end of which is provided with a T-shaped structure, and the upper end of which is provided with a square rod. The clamping mechanism is clamped on the square rod of the workpiece fixture rod, and a hook is connected above the square rod of the workpiece fixture rod. The hook is hung on the T-shaped structure of the top chain fixture rod.

[0009] As a further improvement of this utility model, the T-shaped structure of the chain fixture rod includes a horizontally arranged cylindrical rod.

[0010] As a further improvement of this utility model, the top chain fixture rod is connected to the top chain.

[0011] As a further improvement of this utility model, the robot conveying workpiece transfer system also includes a ground chain fixture rod. The workpiece fixture rod has a U-shaped notch at its bottom and a positioning pin on the ground chain fixture rod. When the workpiece that has been clamped and transferred is placed on the ground chain fixture rod, the positioning pin is guided through the U-shaped notch.

[0012] As a further improvement of this utility model, the ground chain fixture rod is connected to the ground chain.

[0013] The beneficial effects of this utility model are: it provides a robot workpiece transfer system that can transfer between overhead and ground chains, thereby improving transfer efficiency. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other solutions can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is an overall schematic diagram of a robot-driven workpiece transfer system according to this utility model;

[0016] Figure 2 This is a schematic diagram of the connection of the workpiece fixture rod of a robot workpiece conveying and transfer system according to this utility model;

[0017] Figure 3 This is a schematic diagram of the clamping mechanism of a robot workpiece conveying and transfer system according to this utility model;

[0018] Figure 4 This is a bottom schematic diagram of the clamping mechanism of a robot workpiece conveying and transfer system according to this utility model;

[0019] Figure 5 This is a schematic diagram of the connection of the overhead chain fixture rod of a robot workpiece conveying and transfer system according to this utility model;

[0020] Figure 6 This is a schematic diagram of the connection of the ground chain fixture rod in a robot workpiece conveying and transfer system according to this utility model. Detailed Implementation

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0022] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 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 based on the specific circumstances.

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] like Figures 1 to 6 As shown, a robot-driven workpiece transfer system includes a six-axis robot 1, a workpiece transfer fixture 2, and a workpiece jig rod 3 for placing workpieces 4. The six-axis robot 1 is connected to the workpiece transfer fixture 2.

[0026] The workpiece transfer fixture 2 is provided with clamping mechanisms 21 at its upper and lower ends. Each clamping mechanism 21 includes a pair of clamping cylinders 215 arranged in opposite directions (i.e., opposite directions of movement). Each clamping cylinder 215 is provided with at least two clamping follower wheels 211. Preferably, each clamping cylinder 215 is provided with two clamping follower wheels 211. The workpiece fixture rod 3 is clamped by four clamping follower wheels 211 arranged in a grid pattern.

[0027] The opposing clamping cylinders 215 drive their respective clamping follower wheels 211 to clamp or release the workpiece fixture rod 3. The six-axis robot 1 drives the workpiece fixture rod 3 to dock with the overhead chain 5 or the ground chain 6, which can be transferred between the overhead chain and the ground chain, thus improving the transfer efficiency.

[0028] The clamping mechanism 21 also includes a guide limiting plate 214 for guiding the workpiece fixture rod 3, and the guide limiting plate 214 is provided with a V-shaped guide limiting groove.

[0029] The guide limit plate 214 is located below the clamping follower wheel 211.

[0030] The clamping cylinder 215 is connected to a cylinder finger connecting plate 213, and the clamping follower wheel 211 is disposed on the cylinder finger connecting plate 213.

[0031] The cylinder finger connecting plate 213 is connected to a clamping guide limiting plate 212, and the workpiece fixture rod 3 is located between the clamping guide limiting plate 212 and the guide limiting plate 214.

[0032] The robot workpiece transfer system also includes a top chain fixture rod 51. The lower end of the top chain fixture rod 51 is provided with a T-shaped structure 511, and the upper end of the workpiece fixture rod 3 is provided with a square rod 31. The clamping mechanism 21 clamps on the square rod 31 of the workpiece fixture rod 3. A hook 32 is connected above the square rod 31 of the workpiece fixture rod 3, and the hook 32 hangs on the T-shaped structure 511 of the top chain fixture rod 51.

[0033] The T-shaped structure of the Tianlian jig rod 51 includes a horizontally arranged cylindrical rod.

[0034] The top chain fixture rod 51 is connected to the top chain 5.

[0035] This utility model provides a robot workpiece conveying and transfer system, which improves the structure of the overhead chain jig rod 51. The traditional overhead chain jig rod is D-shaped, which is unstable in conveying. It is improved to T-shaped, which increases the stability of the hanging and conveying. In addition, the traditional overhead chain jig rod is a cylindrical column. This utility model improves it to a structure with a round top and a round bottom (with a square rod 31 set on the top), which facilitates the robot to quickly clamp and position the direction.

[0036] The robot conveying workpiece transfer system also includes a ground chain jig rod 61. The workpiece jig rod 3 has a U-shaped notch 33 below it and a positioning pin on the ground chain jig rod 61. When the workpiece that has been transferred is placed on the ground chain jig rod 61, the positioning pin is guided through the U-shaped notch 33.

[0037] The present invention provides a robot workpiece transfer system, which improves the structure of the ground chain jig rod 61 by adding directional positioning to the ground chain. This positioning is set on the ground chain jig rod 61 and is transported together with the ground chain 6. A U-shaped notch 33 is opened below the workpiece jig rod 3. When the workpiece that has been transferred is placed on the ground chain jig rod, the positioning pin is introduced through the U-shaped notch 33, thereby fixing the transport direction of the ground chain.

[0038] This utility model provides a robot workpiece conveying and transfer system, featuring a newly designed clamping mechanism 21 that solves problems such as directional positioning and conveying clamping correction. The new structure uses two parallel, opening and closing clamping cylinders 215 for clamping. Each cylinder's finger connecting plate 213 is equipped with two clamping follower wheels 211. When the robot moves the clamping mechanism 21 to the clamping position, the guide limiting plate 214 uses a V-shaped guide limiting groove to vertically guide and limit the position of the conveyed workpiece fixture rod 3 (preventing the conveyed workpiece from being out of or beyond the clamping position). Then, the clamping cylinders... Cylinder 215 begins clamping. During clamping, the guide limit plate 212 is held in place to limit the guide limit plate 214 in the opposite direction. Within the clamping range of the four clamping follower wheels 211 (to prevent the conveyed workpiece from being out of the clamping position or exceeding the clamping position), since the upper clamping position of the workpiece jig rod 3 is a square rod 31, the four clamping follower wheels 211 will automatically correct the direction of the clamping position of the workpiece jig rod 3 during the clamping process and then clamp it. The clamping follower wheels 211 solve the problem of the workpiece and the jig not being able to be clamped during the clamping process, and also solve the guiding problem.

[0039] The ground chain fixture rod 61 is connected to the ground chain 6.

[0040] This utility model provides a robot-driven workpiece transfer system, the working scenario of which is as follows:

[0041] 1. The overhead conveyor and the ground conveyor are two independent conveyor lines that perform different production processes;

[0042] 2. When the overhead or ground chain transports the work to the transfer area, it is recognized by the robot transfer system;

[0043] 3. When the robot transfer system identifies a workpiece, it performs an online tracking, gripping, and transfer operation. The transfer can be performed from the overhead chain to the ground chain, or from the ground chain to the overhead chain, alternating between the two to achieve transfer between the ground chain and the overhead chain.

[0044] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the protection scope of the present invention.

Claims

1. A robot-driven workpiece transfer system, characterized in that: The device includes a six-axis robot, a workpiece transfer fixture, and a workpiece jig rod for placing workpieces. The six-axis robot is connected to the workpiece transfer fixture. The upper and lower ends of the workpiece transfer fixture are respectively provided with clamping mechanisms. Each clamping mechanism includes a pair of clamping cylinders arranged in opposite directions. Each clamping cylinder is provided with at least two clamping follower wheels. The clamping cylinders arranged in opposite directions drive their respective clamping follower wheels to clamp or release the workpiece jig rod. The six-axis robot drives the workpiece jig rod to connect with an overhead chain or a ground chain.

2. The robot-driven workpiece transfer system according to claim 1, characterized in that: The clamping mechanism also includes a guide limiting plate for guiding the workpiece fixture rod, and the guide limiting plate is provided with a V-shaped guide limiting groove.

3. The robot-driven workpiece transfer system according to claim 2, characterized in that: The clamping cylinder is connected to a cylinder finger connecting plate, and the clamping follower wheel is disposed on the cylinder finger connecting plate.

4. The robot-driven workpiece transfer system according to claim 3, characterized in that: The cylinder finger connecting plate is connected to a clamping guide limiting plate, and the workpiece fixture rod is located between the clamping guide limiting plate and the guide limiting plate.

5. The robot-driven workpiece transfer system according to claim 1, characterized in that: The robot workpiece transfer system also includes a top chain fixture rod, the lower end of which has a T-shaped structure and the upper end of which has a square rod. The clamping mechanism is clamped on the square rod of the workpiece fixture rod, and a hook is connected to the upper part of the square rod of the workpiece fixture rod. The hook is hung on the T-shaped structure of the top chain fixture rod.

6. The robot-driven workpiece transfer system according to claim 5, characterized in that: The T-shaped structure of the Tianlian jig rod includes a horizontally arranged cylindrical rod.

7. The robot workpiece transfer system according to claim 5, characterized in that: The top chain fixture rod is connected to the top chain.

8. The robot-driven workpiece transfer system according to claim 1, characterized in that: The robot workpiece transfer system also includes a ground chain fixture rod. The workpiece fixture rod has a U-shaped notch at its bottom and a positioning pin on it. When the workpiece being transferred is placed on the ground chain fixture rod, the positioning pin is guided through the U-shaped notch.

9. The robot-driven workpiece transfer system according to claim 8, characterized in that: The ground chain fixture rod is connected to the ground chain.

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