CN102825496A - Automatic work piece loading-unloading robot - Google Patents
Automatic work piece loading-unloading robot Download PDFInfo
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- CN102825496A CN102825496A CN2012103374341A CN201210337434A CN102825496A CN 102825496 A CN102825496 A CN 102825496A CN 2012103374341 A CN2012103374341 A CN 2012103374341A CN 201210337434 A CN201210337434 A CN 201210337434A CN 102825496 A CN102825496 A CN 102825496A
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Abstract
The invention discloses an automatic work piece loading-unloading robot which comprises a machine seat, a rotating shaft, a lifting frame, a telescopic frame, a turnover bracket and a manipulator, wherein the rotating shaft is arranged on the machine seat rotationally; the rotating shaft is connected with a driving device I which is used for driving the rotating shaft to rotate; the lifting frame is arranged on the rotating shaft in a vertical sliding manner; the lifting frame is connected a driving device II which is used for driving the lifting frame to slide up and down; the telescopic frame is arranged on the lifting frame in a horizontal sliding manner; the telescopic frame is connected a driving device III which is used for driving the telescopic frame to slide left and right; the turnover bracket is arranged on the telescopic frame in a vertical turnover manner; the turnover bracket is connected with a driving device IV which is used for driving the turnover bracket to turn; the manipulator is arranged on the turnover bracket; and the manipulator is connected with a driving device V for driving the catching and releasing actions of the manipulator. The automatic work piece loading-unloading robot can be used for conveying the work piece to the preset position accurately and has the high positioning accuracy on the work piece; and the machine is used for replacing the manual labor, so the loading-unloading speed is fast.
Description
Technical field
The present invention relates to the loading and unloading machine people of workpiece in a kind of machining, particularly relate to a kind of automatic loading/unloading robot of cylindrical workpieces.
Background technology
In vertical group of process, need carry out and operation such as end socket assembling thin cylinder, because of thin cylinder needs repeatedly loading and unloading to the machine water heater; All be the loading and unloading that realize workpiece through the method for a dead lift in the past; The positioning accuracy of workpiece is not high, and relatively wastes time and energy, and working strength of workers is very big; The process-cycle of water heater is long, and cost is high.
Summary of the invention
The technical problem that the present invention will solve is: a kind of automatic loading and unloading mechanism is provided, makes its positioning accuracy height, loading and unloading speed to workpiece fast.
In order to solve the problems of the technologies described above; The present invention includes support, rotating shaft, crane, expansion bracket, turnover bracket and manipulator, rotating shaft rotates and is arranged on the support, and rotating shaft is connected with the drive unit I that the driven in rotation axle rotates; Crane slides up and down and is arranged on the rotating shaft; Crane is connected with and drives the drive unit II that crane slides up and down, and expansion bracket horizontally slips and is arranged on the crane, and expansion bracket is connected with and drives the drive unit III that expansion bracket horizontally slips; Turnover bracket spins upside down and is arranged on the expansion bracket; Turnover bracket is connected with the drive unit IV that drives the turnover bracket upset, and manipulator is arranged on the turnover bracket, and manipulator is connected with the drive unit V of drives mechanical hand pick-and-place action.
In order to make it simple in structure, motion is flexible, and described drive unit I, drive unit II, drive unit III and drive unit IV are cylinder or oil cylinder; The cylinder body and the support of drive unit I are hinged; The piston rod of drive unit I is connected with rotating shaft through crank, and the cylinder body and the rotating shaft of drive unit II fix, and the piston rod of drive unit II is connected with crane; The cylinder body of drive unit III is fixed on the crane; The piston rod of drive unit III is connected with expansion bracket, and turnover bracket is rotationally connected through the bearing pin of horizontally set and the bottom of expansion bracket, bearing pin axially vertical with the flexible direction of expansion bracket; The cylinder body of drive unit IV and the upper articulation of expansion bracket, the piston rod of drive unit IV with stir support and connect.
In order to make crane kinetic stability good; Described drive unit II comprises two cylinders or oil cylinder; The top of rotating shaft is fixed with a lift cylinder or oil cylinder frame; Two cylinders of drive unit II or oil cylinder lay respectively at the both sides of rotating shaft, and the cylinder body of two cylinders or oil cylinder all is fixed on lift cylinder or the oil cylinder frame, and the piston rod of two cylinders or oil cylinder all is connected with crane.
Stability for the rotation that improves rotating shaft is fixed with fixed hub on the described base, and rotating shaft is inserted in the fixed hub.
In order to make manipulator pick and place flexible movements; Described drive unit V is cylinder or oil cylinder, and manipulator comprises that two L shaped mechanical arms, two embrace plate, two connecting rods and sliding seats, the vertical pole middle part of two mechanical arms with all be rotationally connected with turnover bracket; The cross bar of two mechanical arms over against; The upper end of the vertical pole of two mechanical arms is all hinged with sliding seat, and the cylinder body of drive unit V is fixed on the turnover bracket, and the piston rod of drive unit V is connected with sliding seat; Embrace plate for two and be separately positioned on the cross bar of two mechanical arms, embrace plate for two and face mutually.
In order to realize automatic control, the present invention includes the control system and be arranged on the sensor that is used to detect workpiece on the manipulator, sensor all is connected with the control system with each drive unit.
The invention has the beneficial effects as follows: 1, the present invention can accurately deliver to workpiece the position of setting, and is high to the positioning accuracy of workpiece, uses machinery to replace hand labour, and loading and unloading speed is fast.2, simple in structure: as to need parts few.3, preferred version efficient is high, makes drive unit through in preferred version, adopting cylinder or oil cylinder, and operation is very convenient, and the action of cylinder or oil cylinder can be carried out the control of program, thereby realizes automation of operation.Can save a large amount of manpowers like this, save great amount of time, thereby reach the purpose of enhancing productivity.4, the preferred version repetitive positioning accuracy is high, and good reliability: through sensor and control system are set in preferred version, this mechanism can realize programme-control through sensor, reaches the accurate location of workpiece.5, be applicable to the thin cylinder of different-diameter: can realize the automatic loading/unloading of the thin cylinder of different-diameter through changing manipulator, and easy to operate.6, applied range is applicable to the loading and unloading of various workpieces.
Description of drawings
Fig. 1 is a perspective view of the present invention;
Fig. 2 is the structural representation enlarged drawing of part 9 among Fig. 1;
Fig. 3 is the structural representation enlarged drawing of part 4 among Fig. 1;
Fig. 4 is the structural representation enlarged drawing of part 1 and part 3 among Fig. 1;
Fig. 5 is the structural representation enlarged drawing of part 15 among Fig. 1;
Fig. 6 is the structural representation enlarged drawing of part 6 among Fig. 1;
Among the figure: 1, support, 2, rotary cylinder or oil cylinder, 3, fixed hub, 4, crane, 5, rotating shaft; 6, fixed mount, 7, lift cylinder or oil cylinder, 8, telescopic cylinder or oil cylinder, 9, expansion bracket; 10, upset cylinder or oil cylinder, 11, pick-and-place cylinder or oil cylinder, 12, the pick-and-place support, 13, sliding seat; 14, connecting rod, 15, turnover bracket, 16, mechanical arm, 17, embrace plate.
The specific embodiment
A kind of specific embodiment shown in Fig. 1-6, it comprises support 1, rotary cylinder or oil cylinder 2, fixed hub 3, crane 4, rotating shaft 5, fixed mount 6, lift cylinder or oil cylinder 7, telescopic cylinder or oil cylinder 8, expansion bracket 9, upset cylinder or oil cylinder 10, pick-and-place cylinder or oil cylinder 11, pick-and-place support 12, sliding seat 13, connecting rod 14, turnover bracket 15, mechanical arm 16 and embraces plate 17.
Fixed hub 3 vertically is fixed on the support 1, and rotating shaft 5 is inserted in the fixed hub 3, and the lower end of rotating shaft 5 extend in the support 1; Rotary cylinder or oil cylinder 2 are arranged in the support 1, and the cylinder body tail end and the support 1 of rotary cylinder or oil cylinder 2 are hinged, and the piston rod of rotary cylinder or oil cylinder 2 and rotating shaft 5 are connected through crank; Make rotary cylinder or oil cylinder 2 can promote rotating shaft 5 and rotate that crane 4 slides up and down and is arranged on the rotating shaft 5, is provided with guide frame between crane 4 and the rotating shaft 5; Rotate thereby can place restrictions on crane 4 relative rotation axis 5, fixed mount 6 is fixed on the top of rotating shaft 5, is fixed with two lift cylinders or oil cylinder 7 on the fixed mount 6; Two lift cylinders or oil cylinder 7 are positioned at the both sides of rotating shaft, and the piston rod of two lift cylinders or oil cylinder 7 all is connected with crane 4, is used to drive crane 4 and rises or descend; Crane 4 is provided with horizontal chute; Expansion bracket 9 is provided with slide bar, and slide bar is inserted in the chute, and the both sides, front and back of the outside of the chute of crane respectively are fixed with a telescopic cylinder or oil cylinder 8; The piston rod of telescopic cylinder or oil cylinder 8 is fixed on to be stretched on the knot frame 9; Make expansion bracket 9 on crane 4, to horizontally slip, turnover bracket 15 spins upside down and is arranged on the expansion bracket 9, and turnover bracket 15 is rotationally connected through the bearing pin and the expansion bracket 9 of horizontally set; The axial direction of bearing pin is vertical with the flexible direction of expansion bracket 9; The cylinder body tail end and the expansion bracket 9 of upset cylinder or oil cylinder 10 are hinged, and the piston rod and the turnover bracket 15 of upset cylinder or oil cylinder 10 are hinged, spin upside down thereby can promote turnover bracket 15.Pick-and-place support 12 is fixed on the turnover bracket 15; The cylinder body of pick-and-place cylinder or oil cylinder 11 is fixed on the pick-and-place support 12; Manipulator comprises that two L shaped mechanical arms 16, two embrace the vertical pole middle part of plate 17, two connecting rods 14 and 13, two mechanical arms 16 of a sliding seat and all be rotationally connected through bearing pin with turnover bracket 15, the cross bar of two mechanical arms 16 over against; The upper end of the vertical pole of two mechanical arms 16 is all hinged with sliding seat 13; The piston rod of pick-and-place cylinder or oil cylinder 11 is connected with sliding seat 13, embraces plate 17 for two and is separately positioned on the cross bar of two mechanical arms 16, embraces plate 17 for two and faces mutually.
This device also includes the control system and is arranged on the sensor that is used to detect workpiece on the mechanical arm 16 of manipulator, and sensor all is connected with the control system with each cylinder or oil cylinder.The control system is used to control the action of each cylinder or oil cylinder, and the control system controls the action of each cylinder or oil cylinder according to the induced signal of sensor.
The course of work:
Original state; The piston rod of rotary cylinder or oil cylinder 2, telescopic cylinder or oil cylinder 8, upset cylinder or oil cylinder 10, pick-and-place cylinder or oil cylinder 11 is in retracted mode; The piston rod of lift cylinder or oil cylinder 7 is in the state of stretching out, and manipulator is in and stretches out forward and open state.
Vertical group to machine in after tube accomplishes with end socket assembling, robot of the present invention begins to move, at first, telescopic cylinder or oil cylinder 8 piston rods stretch out; Promote expansion bracket 9 and move to the direction away from robot support 1, be in two armfuls of plate 17 centers until the workpiece that processes, the inductive switch that be contained on the mechanical arm 16 this moment is sensed workpiece, and this moment, pick-and-place cylinder or oil cylinder 11 began action; Piston rod stretches out, and promotes sliding seat 13 and moves down, and drives mechanical arm 16 actions through connecting rod 14, makes that embracing plate 17 holds the workpiece that processes tightly; Then, lift cylinder or oil cylinder 7 actions, the piston rod withdrawal is together mentioned certain height to crane 4 together with the workpiece that expansion bracket 9, turnover bracket 15 and manipulator grasp; 2 actions of rotary cylinder or oil cylinder, piston rod stretches out, promote rotating shaft 5 and rotate, crane 4 and on the workpiece that grasps of all parts and manipulator make workpiece be in the top in material conveying road with rotating shaft 5 rotating certain angle together; Be that workpiece is separated from vertical group to the center of machine workpieces and deliver on the material conveying road, at this moment, upset cylinder or oil cylinder 10 actions; Piston rod stretches out, and turnover bracket 15 overturns 90 ° downwards together with workpiece, and workpiece is in level; At this moment, lift cylinder or oil cylinder 7 move once more, and piston rod stretches out; Crane 4 descends, and workpiece descends together with crane 4, after crane 4 stops action; 11 actions of pick-and-place cylinder or oil cylinder, piston rod withdrawal, the manipulator loose part that goes into operation; To the material conveying road, crane 4 is lifted in lift cylinder or oil cylinder 7 actions the workpiece water placing flat; 10 actions of upset cylinder or oil cylinder make to stir to be changeed support and upwards overturns 90 °, and rotary cylinder or oil cylinder 2 move once more, come back to the initial position of waiting to get workpiece.Come to this conveying work pieces periodically of robot.
Claims (6)
1. the automatic loading/unloading robot of a workpiece; It is characterized in that: comprise support, rotating shaft, crane, expansion bracket, turnover bracket and manipulator, rotating shaft rotates and is arranged on the support, and rotating shaft is connected with the drive unit I that the driven in rotation axle rotates; Crane slides up and down and is arranged on the rotating shaft; Crane is connected with and drives the drive unit II that crane slides up and down, and expansion bracket horizontally slips and is arranged on the crane, and expansion bracket is connected with and drives the drive unit III that expansion bracket horizontally slips; Turnover bracket spins upside down and is arranged on the expansion bracket; Turnover bracket is connected with the drive unit IV that drives the turnover bracket upset, and manipulator is arranged on the turnover bracket, and manipulator is connected with the drive unit V of drives mechanical hand pick-and-place action.
2. the automatic loading/unloading robot of workpiece according to claim 1; It is characterized in that: described drive unit I, drive unit II, drive unit III and drive unit IV are cylinder or oil cylinder, and the cylinder body and the support of drive unit I are hinged, and the piston rod of drive unit I is connected with rotating shaft through crank; The cylinder body and the rotating shaft of drive unit II fix; The piston rod of drive unit II is connected with crane, and the cylinder body of drive unit III is fixed on the crane, and the piston rod of drive unit III is connected with expansion bracket; Turnover bracket is rotationally connected through the bearing pin of horizontally set and the bottom of expansion bracket; Bearing pin axially vertical with the flexible direction of expansion bracket, the cylinder body of drive unit IV and the upper articulation of expansion bracket, the piston rod of drive unit IV and stir support and connect.
3. the automatic loading/unloading robot of workpiece according to claim 2; It is characterized in that: described drive unit II comprises two cylinders or oil cylinder; The top of rotating shaft is fixed with a lift cylinder or oil cylinder frame; Two cylinders of drive unit II or oil cylinder lay respectively at the both sides of rotating shaft, and the cylinder body of two cylinders or oil cylinder all is fixed on lift cylinder or the oil cylinder frame, and the piston rod of two cylinders or oil cylinder all is connected with crane.
4. the automatic loading/unloading robot of workpiece according to claim 1, it is characterized in that: be fixed with fixed hub on the described base, rotating shaft is inserted in the fixed hub.
5. according to the automatic loading/unloading robot of any one described workpiece among the claim 1-4; It is characterized in that: described drive unit V is cylinder or oil cylinder, and manipulator comprises that two L shaped mechanical arms, two embrace plate, two connecting rods and sliding seats, the vertical pole middle part of two mechanical arms with all be rotationally connected with turnover bracket; The cross bar of two mechanical arms over against; The upper end of the vertical pole of two mechanical arms is all hinged with sliding seat, and the cylinder body of drive unit V is fixed on the turnover bracket, and the piston rod of drive unit V is connected with sliding seat; Embrace plate for two and be separately positioned on the cross bar of two mechanical arms, embrace plate for two and face mutually.
6. the automatic loading/unloading robot of workpiece according to claim 5 is characterized in that: include the control system and be arranged on the sensor that is used to detect workpiece on the manipulator, sensor all is connected with the control system with each drive unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012103374341A CN102825496A (en) | 2012-09-13 | 2012-09-13 | Automatic work piece loading-unloading robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012103374341A CN102825496A (en) | 2012-09-13 | 2012-09-13 | Automatic work piece loading-unloading robot |
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| CN102825496A true CN102825496A (en) | 2012-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012103374341A Pending CN102825496A (en) | 2012-09-13 | 2012-09-13 | Automatic work piece loading-unloading robot |
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Application publication date: 20121219 |