Method for reloading workpiece

A method for reloading workpieces includes providing a manipulator having a connecting base and a plurality of grasping assemblies arranged on the connecting base, providing a plurality of original workpieces and a plurality of machined workpieces positioned in a plurality of machining positions, grasping the original workpieces by at least one grasping assembly, with at least one grasping assembly vacant, grasping one machined workpiece by one vacant grasping assembly, rotating the connecting base, so that one original workpiece is placed in one machining position by one grasping assembly, further rotating the connecting base until another vacant grasping assembly is opposite to another machining position, and repeating grasping the machined workpieces from the machining positions and placing the original workpieces on the machining positions until a last original workpiece is placed on one machining position. The manipulator used in the present method for reloading workpieces is also provided.

BACKGROUND

1. Technical Field

The present disclosure relates generally to methods for reloading workpieces and, more particularly, to a method for reloading workpieces using a manipulator.

2. Description of Related Art

Industrial robotic machines are widely used in the manufacturing industry to achieve high efficiency. A manipulator generally has a claw for holding a workpiece in a machining process.

A typical industrial robotic machine includes a first manipulator and a second manipulator, each manipulator including a main body and a plurality of claws assembled at an end of the main body. The first manipulator grasps a plurality of first workpieces, and places the first workpieces on a plurality of machining positions of a machine center. When the first workpieces are machined by the machining center, the second manipulator grasps a plurality of second workpieces. After the first workpieces are machined to desired products, the first manipulator grasps the products and transports the products away from the machining center. The second manipulator places the second workpieces on the machining positions of the machine tool for machining.

The method of using two manipulators to reduce waiting time for the machine tool increases machining cost of the products because of the use of two manipulators.

Therefore, there is room for improvement within the art.

DETAILED DESCRIPTION

Referring toFIG. 1, a first embodiment of a manipulator10includes a support arm11, a connecting base13, a first grasping assembly15, a second grasping assembly16, a third grasping assembly17, and a fourth grasping assembly18. Each of the first grasping assembly15, the second grasping assembly16, the third grasping assembly17, and the fourth grasping assembly18includes a plurality of substantially parallel grasping poles101.

The support arm11may be a cylindrical pole. An end of the support arm11is connected to a driving device (not shown), such as a motor, and the other end of the support arm11is connected to the connecting base13. The support arm11and the connecting base13are rotated by the driving device.

The connecting base13may be substantially cubic. In the illustrated embodiment, the connecting base13includes a plurality of curved surfaces130, a first side surface133, a second side surface135, a third side surface137, and a fourth side surface139. The first side surface133, the second side surface135, the third side surface137, and the fourth side surface139connect in turn via the curved surfaces130, and are substantially perpendicular to each other.

The first grasping assembly15is substantially perpendicularly positioned on the first side surface133. The second grasping assembly16is substantially perpendicularly positioned on the second side surface135. The third grasping assembly17is substantially perpendicularly positioned on the third side surface137. The fourth grasping assembly18is substantially perpendicularly positioned on the fourth side surface139. That is, the first grasping assembly15is substantially perpendicular to the second grasping assembly16, the second grasping assembly16is substantially perpendicular to the third grasping assembly17, the third grasping assembly17is substantially perpendicular to the fourth grasping assembly18, and the fourth grasping assembly18is substantially perpendicular to the first grasping assembly15.

A method for reloading a plurality of workpieces using the manipulator10, according toFIG. 2, is provided.

Referring also toFIG. 3, in a step SI00, the manipulator10, a plurality of original workpieces60, and a plurality of machined workpieces70are provided. The machined workpieces are placed on a plurality of machining positions81of a machining center80.

In a step S200, the manipulator10is rotated such that first grasping assembly15corresponds to a first of the plurality of original workpieces60. The first grasping assembly of the manipulator10grasps the first of the plurality of original workpieces60via the grasping poles101. The manipulator10rotates 90° in a direction A, and the second grasping assembly16corresponds to a second of the plurality of original workpieces60. The second grasping assembly16grasps the second of the plurality of original workpieces60via the grasping poles101. The manipulator10further rotates 90° in the direction A, and the third grasping assembly17corresponds to a third of the plurality of original workpieces60. The third grasping assembly17grasps the third of the plurality of original workpieces60via the grasping poles101. The manipulator10rotates 90° in the direction A, and moves to a first of the plurality of machining positions81of the machining center80, therefore, the fourth grasping assembly18faces the first of the plurality of machining positions81(as shown inFIG. 4).

In a step S300, the fourth grasping assembly18grasps one machined workpiece70, on the first of the plurality of machining positions81(as shown inFIG. 5). The manipulator10further rotates 90° in the direction A, and places the first original workpiece on the first of the plurality of machining positions81via the first grasping assembly15(as shown inFIG. 6). The manipulator10moves to a second of the plurality of machining positions81, and the first grasping assembly15grasps a machined workpiece on the second of the plurality of machining positions81(as shown inFIG. 7). The manipulator10further rotates 90° in the direction A, and places the second original workpiece on the second of the plurality of machining positions81via the second grasping assembly16(as shown inFIG. 8). The manipulator10moves to a third of the plurality of machining positions81, and the second grasping assembly16grasps a machined workpiece on the third of the plurality of machining positions81. The manipulator10further rotates 90° in direction A, and places the third original workpiece on the third of the plurality of machining positions81via the third grasping assembly17(as shown inFIG. 9).

The manipulator10moves away from the machining center80. The machined workpieces70on the first grasping assembly15, the second grasping assembly16, and the third grasping assembly17are unloaded from the manipulator10. The manipulator10then reloads a plurality of original workpieces60at one time.

Another embodiment of a method for reloading a plurality of workpieces using the manipulator10, according toFIG. 10, is also provided.

In a step S400, the manipulator10, a plurality of original workpieces60, and a plurality of machined workpieces70are provided. The machined workpieces are placed on a plurality of machining positions81of a machining center80.

In the step S500, each of the first grasping assembly15and the second grasping assembly16grasps an original workpiece60. The manipulator10moves to the first plurality of machining positions81of the machining center80with the third grasping assembly17opposite to the first plurality of machining positions81. The third grasping assembly17grasps a machined workpiece70in the first of the plurality of machining positions81.

In the step S600, the manipulator10rotates 180° in the direction A, and the first grasping assembly15places the original workpiece60in the first of the plurality of machining positions. The manipulator10rotates 90° opposite to direction A, and moves to a second of the plurality of machining positions81. The fourth grasping assembly18grasps a machined workpiece70on the second of the plurality of machining positions81. The manipulator10further rotates 180° in the direction A, and the second grasping assembly16places the original workpiece60on the second of the plurality of machining positions81. The manipulator10moves away from the machining center80. The machined workpieces on the third grasping assembly17and fourth grasping assembly18are unloaded from the manipulator10.

In the methods disclosed, before moving to the machining center80to reload workpieces60, one or more grasping assemblies of the manipulator10are vacant and the rest grasp original workpieces60. Therefore, the manipulator10can unload the machined workpieces70on the machining center80and load the original workpieces60on the machining center80at one time, increasing the efficiency of the manipulator10.

Referring toFIG. 11, a second embodiment of a manipulator20includes a support arm21, a connecting base23, a first grasping assembly24, a second grasping assembly25, a third grasping assembly26, a fourth grasping assembly27, a fifth grasping assembly28, and a sixth grasping assembly29. Each of the first grasping assembly24, the second grasping assembly25, the third grasping assembly26, the fourth grasping assembly27, the fifth grasping assembly27, and the sixth grasping assembly27includes a plurality of substantially parallel grasping poles201.

The support arm21may be a cylindrical pole. An end of the support arm21is connected to the driving device, and the other end of the support arm21is connected to the connecting base23. The support arm21and connecting base23are rotated by the driving device.

The connecting base23may be substantially cylindrical or hexagonal. The connecting base23includes a first side surface233, a second side surface234, a third side surface235, a fourth side surface236, a fifth side surface237and a sixth side surface238. The first side surface233, the second side surface234, the third side surface235, the fourth side surface236, the fifth side surface237and the sixth side surface238connect in turn via curved surfaces230. An angle between two adjacent grasping assemblies is about 60°.

A method for reloading a plurality of workpieces using the manipulator20, according toFIG. 12, is provided.

In the step S700, the manipulator20, a plurality of original workpieces60, and a plurality of machined workpieces70are provided. The machined workpieces are placed on a plurality of machining positions81of the machining center80.

In the step S800, the manipulator20rotates 60° continuously in a direction B as shown inFIG. 12until the first grasping assembly24, a second grasping assembly25, a third grasping assembly26, a fourth grasping assembly27, and a fifth grasping assembly28grasp an original workpiece60via the grasping poles201. The sixth grasping assembly29is vacant.

In the step S900, when a plurality of original workpieces60has been machined to a plurality of machined workpieces70on the machine center80, the manipulator20moves to a first of the plurality of machining positions81of the machining center80with the sixth grasping assembly29opposite to the first of the plurality of machining positions81. The sixth grasping assembly29grasps a machined workpiece70on the first of the plurality of machining positions81. The manipulator20further rotates 60° in the direction B, and places the original workpiece60grasped by the first grasping assembly24on the first of the plurality of machining positions81.

This is repeated until the original workpieces60grasped by the second grasping assembly25, the third grasping assembly26, the fourth grasping assembly27, and the fifth grasping assembly28are placed on the machining positions81and the machined workpieces70are grasped by the first grasping assembly24, the second grasping assembly25, the third grasping assembly26, and the fourth grasping assembly27. The manipulator20moves away from the machine center80, and five machined workpieces70are unloaded from the manipulator10.

Another method for reloading a plurality of workpieces60using the manipulator20, according toFIG. 13, is also provided.

In the step S1000, the manipulator20, a plurality of original workpieces60, and a plurality of machined workpieces70are provided. The machined workpieces are placed on a plurality of machining positions81of the machining center80.

In the step S1100, each of the first grasping assembly24, the second grasping assembly25, and the third grasping assembly26grasps an original workpiece60. The manipulator10moves to the first machining position81of the machining center80with the fourth grasping assembly27opposite to the first machining position81.

In the step S1200, the fourth grasping assembly27grasps a machined workpiece70in the first of the plurality of machining positions81. The manipulator10rotates 180° in direction B, and the first grasping assembly24places the original workpiece60in the first of the plurality of machining positions81. The manipulator10rotates 120° opposite the direction B, and moves to the second of the plurality of machining positions81. The fifth grasping assembly28grasps a machined workpiece70in the second of the plurality of machining positions81. The manipulator20further moves and rotates as described, until two original workpieces60grasped by the second grasping assembly25and the third grasping assembly26are placed in the machining positions81, and two machined workpieces70are grasped by the fifth grasping assembly28and the sixth grasping assembly29. The manipulator20moves away from the machine center80, and three machined workpieces70are unloaded from the manipulator20.

Referring toFIG. 14, a third embodiment of a manipulator30includes a support arm31, a connecting base33, a first grasping assembly35, and a second grasping assembly37opposite to the first grasping assembly35. Each of the first grasping assembly35and the second grasping assembly37includes a plurality of substantially parallel grasping poles301.

The support arm31may be a cylindrical pole. An end of the support arm31is connected to the driving device, and the other end of the support arm31is connected to the connecting base33. The support arm31and connecting base33are rotated by the driving device.

The connecting base33is substantially cubic. The connecting base33includes a first side surface333and a second side surface335opposite to the first side surface333. The first grasping assembly35is substantially perpendicularly positioned on the first side surface333. The second grasping assembly37is substantially perpendicularly positioned on the second side surface337. The first grasping assembly35is aligned with the second grasping assembly37. That is, an angle between the first grasping assembly35and the second grasping assembly37is about 180°.

One embodiment of a method for reloading a plurality of workpieces60using the manipulator30, according toFIG. 15, is provided.

In the step S1300, the manipulator30, a plurality of original workpieces, and a plurality of machined workpieces are provided. The machined workpieces are placed on a plurality of machining positions of the machining center.

In the step S1400, the first grasping assembly35grasps an original workpiece60via the grasping poles301. The manipulator30rotates 180° in a direction C as shown inFIG. 15, and moves to a machining position81of the machine center80with the second grasping assembly37opposite to the machining position81.

In the step S1500, the second grasping assembly37grasps a machined workpiece70on the machining position81via the grasping poles301. The manipulator30further rotates 180° in the direction C, and the first grasping assembly35places the original workpiece60on the machining position81. The manipulator30moves away from the machine center80, and the machined workpiece70is unloaded from the manipulator30.

It should be pointed out that the manipulator may include eight or more grasping assemblies, with the angle between every two adjacent grasping assemblies remaining the same. Each grasping assembly may include one or more grasping poles according to the size of the workpiece. The connecting base may be other shapes, such as a sphere.