Machine tool material taking robot

Abstract

The utility model discloses a machine tool material taking automatic device, including punch device, detection device still include: feeding device, discharging device and feeding and discharging robot, feeding device, discharging device, punch device, detection device follow the circumferential distribution of feeding and discharging robot in proper order, feeding and discharging robot includes: robot body, the executive end of robot body is connected mounting bracket, and mounting bracket is installed and is grabbed mechanism and suction mechanism, the utility model discloses an integrated suction mechanism and grabbing mechanism through feeding and discharging robot, has realized the suction feeding of the workpiece to be processed and the grabbing discharging of workpiece after stamping, and the automation degree is high, has reduced the manual intervention, has improved production efficiency, and suction mechanism and grabbing mechanism division of labour is clear, can adapt to the taking of different form workpieces, has improved the versatility of device.

Description

Technical Field

[0001] This utility model relates to the technical field of workpiece stamping, and in particular to an automatic material handling device for machine tools. Background Technology

[0002] In traditional machine tool processing, material handling and loading / unloading operations are typically performed manually. Manual operation is not only labor-intensive but also inefficient, making it difficult to meet the demands of large-scale, high-efficiency production. Furthermore, manual operation poses safety hazards, easily leading to workplace injuries due to fatigue or negligence. In addition, the precision and consistency of manual operation are difficult to guarantee, potentially affecting product quality. With the continuous development of industrial automation technology, automating machine tool material handling has become crucial for improving production efficiency, ensuring production safety, and enhancing product quality. Existing automated machine tool material handling devices have limitations in structural design and functional implementation, failing to efficiently and stably complete loading, unloading, and material transfer operations during processing. Therefore, developing a new type of automated machine tool material handling device is of significant practical importance. Utility Model Content

[0003] In view of the above-mentioned problems in the existing material feeding operation, the present invention aims to provide an automatic material handling device for machine tools.

[0004] The specific technical solution is as follows: An automatic material handling device for machine tools includes a stamping device and a detection device, and further includes a loading device, a unloading device, and a loading / unloading robot. The loading device, the unloading device, the stamping device, and the detection device are sequentially distributed along the circumference of the loading / unloading robot. The loading / unloading robot includes: The robot body has an execution end connected to a mounting frame. The mounting frame is equipped with a gripping mechanism and a suction mechanism. The suction mechanism is used to pick up the workpiece to be processed supplied by the feeding device, and the gripping mechanism is used to grip the stamped workpiece. The suction mechanism includes a plurality of vacuum suction cups, and the plurality of vacuum suction cups are located on the same plane; The gripping mechanism includes at least two gripping components, which are arranged opposite to each other and are used to grip both sides of the workpiece respectively. Each gripping component includes two gripping claws.

[0005] As a further improvement and optimization of this solution, the two-finger gripper is a pneumatic gripper.

[0006] As a further improvement and optimization of this solution, each of the gripping components further includes: a lifting cylinder, the lifting cylinder being mounted on the mounting frame, the output end of the lifting cylinder being connected to a mounting base, and the two-finger gripper being mounted on the mounting base.

[0007] As a further improvement and optimization of this solution, the robot body is a six-axis robot.

[0008] As a further improvement and optimization of this solution, the feeding device includes: a feeding rack, on which a storage box for storing several plate-shaped parts to be processed is formed, the top of the storage box is open, and several parts to be processed are stacked vertically in the storage box.

[0009] As a further improvement and optimization of this solution, the circumferential portion of the opening of the storage box has several inclined guide plates.

[0010] As a further improvement and optimization of this solution, at least one side of the storage box has an observation slot that extends through the storage box.

[0011] As a further improvement and optimization of this solution, the feeding device includes: Upper conveyor belt; A lower conveyor belt, located below the upper conveyor belt, is used to transport empty collection boxes; A transfer conveyor belt is located at the feed end of the upper conveyor belt and the discharge end of the lower conveyor belt, and can be moved longitudinally operably. When the transfer conveyor belt is aligned with the discharge end of the lower conveyor belt, the lower conveyor belt can transport empty collection boxes onto the transfer conveyor belt. When the transfer conveyor belt is aligned with the feed end of the upper conveyor belt, the transfer conveyor belt can transport collection boxes fully loaded with processed workpieces onto the upper conveyor belt.

[0012] As a further improvement and optimization of this solution, it also includes: A first support frame, on which a transfer frame is slidably mounted longitudinally, and the transfer conveyor belt is mounted on the transfer frame; A drive mechanism, which is connected to the transfer frame in a transmission manner, is used to drive the transfer frame to interact longitudinally; The second support frame is on which both the upper and lower conveyor belts are mounted, and the conveying directions of the upper conveyor belt, the lower conveyor belt, and the transfer conveyor belt are parallel.

[0013] As a further improvement and optimization of this solution, the driving mechanism is a linear slide, and the transfer frame is connected to the slide of the linear slide.

[0014] The positive effects of the above technical solution compared with the existing technology are: (1) This utility model integrates a suction mechanism and a gripping mechanism through a loading and unloading robot, which realizes the suction and loading of the workpiece to be processed and the gripping and unloading of the stamped workpiece. The automation level is high, reducing manual intervention and improving production efficiency. The suction mechanism and the gripping mechanism have clear division of labor and can adapt to the picking and placing of workpieces of different shapes, thus improving the versatility of the device.

[0015] (2) The feeding device of this utility model realizes the automatic supply of empty collection boxes and the automatic transfer of full-load collection boxes through the coordinated work of the upper conveyor belt, the lower conveyor belt and the transfer conveyor belt, thereby improving the feeding efficiency and realizing the automation and continuity of the production process. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an automatic material handling device for machine tools according to the present invention; Figure 2 This is a schematic diagram of the loading and unloading robot of an automatic material handling device for machine tools according to this utility model; Figure 3 This is a schematic diagram of the gripping mechanism and suction mechanism of an automatic material handling device for machine tools according to this utility model; Figure 4 This is a schematic diagram of the feeding device of an automatic material handling device for machine tools according to the present invention; Figure 5 This is a schematic diagram of the unloading device of an automatic material handling device for machine tools according to the present invention; In the attached diagram: 1. Loading / unloading robot; 2. Loading device; 3. Stamping device; 4. Detection device; 5. Unloading device; 6. Workpiece to be processed; 7. Stamped workpiece; 8. Collection box; 11. Robot body; 12. Mounting frame; 13. Suction mechanism; 14. Gripping mechanism; 131. Vacuum suction cup; 141. Two-finger gripper; 142. Lifting cylinder; 21. Loading rack; 22. Storage box; 23. Guide plate; 51. Upper conveyor belt; 52. Lower conveyor belt; 53. Transfer conveyor belt; 54. First support frame; 55. Linear slide; 56. Transfer frame; 57. Second support frame. Detailed Implementation

[0017] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0018] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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 limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] 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 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 based on the specific circumstances.

[0020] Figure 1 This is a schematic diagram of the structure of an automatic material handling device for machine tools according to the present invention; Figure 2 This is a schematic diagram of the loading and unloading robot of an automatic material handling device for machine tools according to this utility model; Figure 3 This is a schematic diagram of the gripping mechanism and suction mechanism of an automatic material handling device for machine tools according to this utility model; Figure 4 This is a schematic diagram of the feeding device of an automatic material handling device for machine tools according to the present invention; Figure 5 This is a schematic diagram of the unloading device of an automatic machine tool material handling device according to the present invention. Figures 1-5 The diagram illustrates a preferred embodiment of an automatic machine tool material handling device, comprising a stamping device 3, a detection device 4, and further including a loading device 2, a unloading device 5, and a loading / unloading robot 1. The loading device 2, unloading device 5, stamping device 3, and detection device 4 are sequentially distributed along the circumference of the loading / unloading robot 1. The loading / unloading robot 1 includes a robot body 11, with its execution end connected to a mounting frame 12. The mounting frame 12 is equipped with a gripping mechanism 14 and a suction mechanism 13. The suction mechanism 13 is used to suction the workpiece 6 supplied by the loading device 2, and the gripping mechanism 14 is used to grip the stamped workpiece 7. The suction mechanism 13 includes a plurality of vacuum suction cups 131, which are located on the same plane. The gripping mechanism 14 includes at least two gripping components, which are arranged opposite each other and used to grip both sides of the workpiece respectively. Each gripping component includes two-finger grippers 141.

[0021] Specifically, the loading and unloading robot 1 starts according to the preset program. The robot body 11 moves the mounting frame 12 to the top of the loading device 2, and the vacuum suction cup 131 of the suction mechanism 13 adsorbs the workpiece 6 to be processed in the loading device 2. Then the robot body 11 moves the workpiece 6 to the stamping device 3 for stamping. After stamping, the robot body 11 moves the mounting frame 12 to the side of the stamping device 3, and the two two-finger grippers 141 of the two gripping components of the gripping mechanism 14 grip the two sides of the stamped workpiece 7 respectively. Then the robot body 11 moves the workpiece to the detection device 4 for detection, and the qualified workpiece is placed into the unloading device 5 for unloading.

[0022] In this application, the loading and unloading robot 1 integrates a suction mechanism 13 and a gripping mechanism 14, which realizes the suction and loading of the workpiece 6 to be processed and the gripping and unloading of the stamped workpiece. The degree of automation is high, reducing manual intervention and improving production efficiency. The suction mechanism 13 and the gripping mechanism 14 have clear division of labor and can adapt to the picking and placing of workpieces of different shapes, thus improving the versatility of the device.

[0023] Specifically, in this application, several vacuum suction cups 131 are connected to a vacuum pump through pipelines. The vacuum suction cups 131 form a negative pressure to adsorb the workpiece and form a positive pressure to release the workpiece. It should be noted that the vacuum pump forms positive and negative pressures inside the vacuum suction cups 131, which is a mature existing method. The specific principle and structure will not be described in detail here.

[0024] Furthermore, as a preferred embodiment, the two-finger gripper 141 is a pneumatic gripper. When gripping the stamped workpiece 7, the pneumatic system supplies air to the pneumatic gripper, causing the two-finger gripper 141 to close and clamp the workpiece; when placing the workpiece, the pneumatic system exhausts air, and the two-finger gripper 141 releases the workpiece. The pneumatic gripper has advantages such as fast response speed, adjustable clamping force, and simple structure, and can quickly and stably complete the gripping and releasing actions of the workpiece, further improving production efficiency while reducing equipment failure rate.

[0025] Furthermore, in a preferred embodiment, each gripping component further includes: a lifting cylinder 142, which is mounted on the mounting frame 12. The output end of the lifting cylinder 142 is connected to a mounting base, and a two-finger gripper 141 is mounted on the mounting base. When a workpiece needs to be gripped, the lifting cylinder 142 extends, pushing the mounting base and the two-finger gripper 141 down to a suitable position, and the two-finger gripper 141 grips the workpiece. After gripping, the lifting cylinder 142 retracts, causing the mounting base and the two-finger gripper 141 to rise, raising the workpiece to a suitable height for transfer. When placing the workpiece, the lifting cylinder 142 extends again, allowing the two-finger gripper 141 to reach the placement position and release the workpiece. Subsequently, the lifting cylinder 142 retracts and resets. The lifting cylinder 142 allows the two-finger gripper 141 to be adjusted in the vertical direction, increasing the flexibility and adaptability of the gripping mechanism 14, enabling it to better handle the gripping and placement of workpieces at different heights, and further improving the practicality and working efficiency of the device.

[0026] Furthermore, as a preferred embodiment, the robot body 11 is a six-axis robot. Through the coordinated movement of its six joints, the six-axis robot enables the mounting frame 12 to move flexibly and adjust its posture in three-dimensional space. In various stages such as loading, stamping, inspection, and unloading, the six-axis robot can accurately move the suction mechanism 13 or the gripping mechanism 14 to the target position to complete the corresponding operations.

[0027] Furthermore, as a preferred embodiment, the feeding device 2 includes: a feeding rack 21, on which a storage box 22 for storing a plurality of plate-shaped workpieces 6 to be processed is formed. The top of the storage box is open, and the plurality of workpieces 6 to be processed are stacked vertically inside the storage box 22. The operator places the plate-shaped workpieces 6 vertically into the storage box 22, and the suction mechanism 13 of the loading and unloading robot 1 picks up the workpieces 6 from the top opening of the storage box 22. As processing proceeds, the number of workpieces 6 in the storage box 22 gradually decreases. The design of the storage box 22 can store workpieces 6 in batches, reducing the number of times manual loading is required and improving the continuity of production. The top opening facilitates the suction mechanism 13 to pick up the workpieces 6. The structure is simple and practical, which is conducive to improving the feeding efficiency.

[0028] Furthermore, as a preferred embodiment, the circumferential portion of the opening of the storage box 22 has several inclined guide plates 23. The guide plates 23 improve the ease of placing the workpiece 6 to be processed into the storage box 22.

[0029] Furthermore, as a preferred embodiment, at least one side of the storage box has an observation slot extending through the storage box. Operators can observe the remaining quantity of the workpieces 6 to be processed within the storage box 22 at any time through the observation slot, and replenish the workpieces 6 in a timely manner based on the observation results, avoiding production interruptions due to a shortage of workpieces 6.

[0030] Furthermore, as a preferred embodiment, the unloading device 5 includes: an upper conveyor belt 51, a lower conveyor belt 52, and a transfer conveyor belt 53. The upper conveyor belt is located below the upper conveyor belt 51 and is used to transport empty collection boxes 8. The transfer conveyor belt 53 is located at the feeding end of the upper conveyor belt 51 and the unloading end of the lower conveyor belt 52, and can be operably moved longitudinally. When the transfer conveyor belt 53 is aligned with the unloading end of the lower conveyor belt 52, the lower conveyor belt 52 can transport empty collection boxes 8 onto the transfer conveyor belt 53. When the transfer conveyor belt 53 is aligned with the feeding end of the upper conveyor belt 51, the transfer conveyor belt 53 can transport collection boxes 8 fully loaded with processed workpieces onto the upper conveyor belt 51.

[0031] In the initial state of this application, the transfer conveyor belt 53 is flush with the unloading end of the lower conveyor belt 52, and the lower conveyor belt 52 transports the empty collection box 8 onto the transfer conveyor belt 53. Then, the transfer conveyor belt 53 moves longitudinally to be flush with the feeding end of the upper conveyor belt 51, and transports the empty collection box 8 onto the upper conveyor belt 51. The loading and unloading robot 1 places the qualified processed workpiece into the collection box 8 on the upper conveyor belt 51. When the collection box 8 is full, the upper conveyor belt 51 transports the full collection box 8 away, and at the same time, the transfer conveyor belt 53 returns to the position flush with the unloading end of the lower conveyor belt 52, repeating the above process. This unloading device 5, through the coordinated work of the upper conveyor belt 51, the lower conveyor belt 52 and the transfer conveyor belt 53, realizes the automatic supply of empty collection boxes 8 and the automatic transfer of full collection boxes 8, improves unloading efficiency, and realizes the automation and continuity of the production process.

[0032] Furthermore, as a preferred embodiment, it also includes a first support frame 54, a drive mechanism, and a second support frame 57. A transfer frame 56 is longitudinally slidably mounted on the first support frame 54, and a transfer conveyor belt 53 is mounted on the transfer frame 56. The drive mechanism is connected to the transfer frame 56 for driving the transfer frame 56 to interact longitudinally. The upper conveyor belt 51 and the lower conveyor belt 52 are both mounted on the second support frame 57, and the conveying directions of the upper conveyor belt 51, the lower conveyor belt 52, and the transfer conveyor belt 53 are parallel. The design of the first support frame 54 and the transfer frame 56 provides a stable support structure for the longitudinal movement of the transfer conveyor belt 53. The drive mechanism can control the moving position of the transfer frame 56, ensuring the accuracy of the docking of the transfer conveyor belt 53 with the upper and lower conveyor belts 52. The second support frame 57 integrates the upper conveyor belt 51 and the lower conveyor belt 52, making the entire unloading device 5 compact and rationally laid out, improving space utilization, and ensuring the stability of the conveying process.

[0033] Furthermore, as a preferred embodiment, the driving mechanism is a linear slide table 55, and the transfer frame 56 is connected to the slide table of the linear slide table 55. The linear slide table 55 drives the slide table to make precise reciprocating motion in a straight line. Since the transfer frame 56 is connected to the slide table, it drives the transfer frame 56 and the transfer conveyor belt 53 to move accurately in the longitudinal direction, realizing docking and separation with the upper and lower conveyor belts 52. The linear slide table 55 has the advantages of high motion accuracy, high speed, and good stability, which can ensure the positional accuracy of the transfer conveyor belt 53 during longitudinal movement, improve the working reliability and efficiency of the entire unloading device 5, and reduce failures and production interruptions caused by positional deviations.

[0034] The above description is only a preferred embodiment of the present utility model and does not limit the implementation method and protection scope of the present utility model. Those skilled in the art should realize that all solutions obtained by equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic material handling device for machine tools, comprising a stamping device and a detection device, characterized in that, It also includes: a loading device, a unloading device, and a loading / unloading robot, wherein the loading device, the unloading device, the stamping device, and the detection device are sequentially distributed along the circumference of the loading / unloading robot, and the loading / unloading robot includes: The robot body has an execution end connected to a mounting frame. The mounting frame is equipped with a gripping mechanism and a suction mechanism. The suction mechanism is used to pick up the workpiece to be processed supplied by the feeding device, and the gripping mechanism is used to grip the stamped workpiece. The suction mechanism includes a plurality of vacuum suction cups, and the plurality of vacuum suction cups are located on the same plane; The gripping mechanism includes at least two gripping components, which are arranged opposite to each other and are used to grip both sides of the workpiece respectively. Each gripping component includes two gripping claws.

2. The automatic material handling device for machine tools according to claim 1, characterized in that, The two-finger gripper is a pneumatic gripper.

3. The automatic material handling device for machine tools according to claim 1, characterized in that, Each of the gripping components further includes: a lifting cylinder, the lifting cylinder being mounted on the mounting frame, the output end of the lifting cylinder being connected to a mounting base, and the two-finger gripper being mounted on the mounting base.

4. The automatic material handling device for machine tools according to claim 1, characterized in that, The robot body is a six-axis robot.

5. The automatic material handling device for machine tools according to claim 1, characterized in that, The feeding device includes a feeding rack, on which a storage box for storing several plate-shaped parts to be processed is formed. The top of the storage box is open, and several parts to be processed are stacked vertically inside the storage box.

6. The automatic material handling device for machine tools according to claim 5, characterized in that, The storage box has several inclined guide plates on the circumferential part of its opening.

7. The automatic material handling device for machine tools according to claim 5, characterized in that, The storage box has an observation slot extending through it on at least one side.

8. The automatic material handling device for machine tools according to claim 1, characterized in that, The feeding device includes: Upper conveyor belt; A lower conveyor belt, located below the upper conveyor belt, is used to transport empty collection boxes; A transfer conveyor belt is located at the feed end of the upper conveyor belt and the discharge end of the lower conveyor belt, and can be moved longitudinally operably. When the transfer conveyor belt is aligned with the discharge end of the lower conveyor belt, the lower conveyor belt can transport empty collection boxes onto the transfer conveyor belt. When the transfer conveyor belt is aligned with the feed end of the upper conveyor belt, the transfer conveyor belt can transport collection boxes fully loaded with processed workpieces onto the upper conveyor belt.

9. The automatic material handling device for machine tools according to claim 8, characterized in that, Also includes: A first support frame, on which a transfer frame is slidably mounted longitudinally, and the transfer conveyor belt is mounted on the transfer frame; A drive mechanism, which is connected to the transfer frame in a transmission manner, is used to drive the transfer frame to interact longitudinally; The second support frame is on which both the upper and lower conveyor belts are mounted, and the conveying directions of the upper conveyor belt, the lower conveyor belt, and the transfer conveyor belt are parallel.

10. The automatic material handling device for machine tools according to claim 9, characterized in that, The driving mechanism is a linear slide, and the transfer frame is connected to the slide of the linear slide.

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