CN101927489B - Side portal frame type automatic assembling and disassembling manipulator - Google Patents
Side portal frame type automatic assembling and disassembling manipulator Download PDFInfo
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- CN101927489B CN101927489B CN2009100539887A CN200910053988A CN101927489B CN 101927489 B CN101927489 B CN 101927489B CN 2009100539887 A CN2009100539887 A CN 2009100539887A CN 200910053988 A CN200910053988 A CN 200910053988A CN 101927489 B CN101927489 B CN 101927489B
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Abstract
The invention relates to an automatic assembling and disassembling machine, in particular to a side portal frame type automatic assembling and disassembling manipulator. The traditional automatic assembling and disassembling machine is unable to use test samples and waste samples with large sample number, small volume, near assembling and carrying distance and fuzzy operation. The invention is formed by combining seven different air cylinders of a thin air cylinder A (1), a thin air cylinder B (2), a thin air cylinder C (3), a rotary air cylinder (4), a guide-rod air cylinder (5), a parallel finger air cylinder (6) and an electric cylinder (7). The invention completes a task of automatically assembling and disassembling the test samples and the waste samples by using the different properties of the seven air cylinders. The invention has the advantages of simple structure, convenient use, no manual operation, labor saving, safety of operating staff, convenient assembly and disassembly and high work efficiency.
Description
Technical field
The present invention relates to a kind of automatic loading and unloading robot, specifically a kind of side portal frame type automatic assembling and disassembling manipulator.
Background technology
Along with the development of modern electronic technology and hydraulic technique, various automatic loading and unloading robots are widely used in multiple places such as factory, workshop, warehouse, harbour, construction site in being widely used in producing.Especially large-scale loading mechanization because it can load and unload the article that volume is big, weight is big easily, can be finished the work that manpower can't be finished, and has improved operating efficiency greatly, becomes the indispensable equipment of industry such as modern industry, traffic, transportation.Modern automatic loading and unloading robot has improved production efficiency, has saved a large amount of manpowers, has brought many convenience to people, and a plurality of departments such as loading and unloading, transportation, production have a very important role.
But present many enterprises because produce and test in the sample loading and unloading, to abandon sample quantity many, the loading and unloading carrying distance is near, operates loaded down with trivial details; Be subjected to the area in place, workshop, warehouse, the restriction of height simultaneously, can't use large-scale loading mechanization, still manual operations.Not only increased the labour, but also lost time; Inconvenient operation, operating personnel's safety is affected, and has greatly limited the development of producing, a large amount of samples of loading and unloading are very necessary with the automatic loading and unloading robot of abandoning sample in a kind of production and the test so invent.
Summary of the invention
The purpose of this invention is to provide a kind ofly do not need manually-operated, save the labour, operator safety, side portal frame type automatic loading and unloading sample easy to loading and unloading and abandon the sample manipulator.
The object of the present invention is achieved like this:
Side portal frame type automatic assembling and disassembling manipulator is made up of frame, line slideway, support plate, sample mount, sample detector, electronic control box, column, and electric cylinder is fixed on the frame; Electricity cylinder and slim cylinder A are fastened on the positive and negative of support plate respectively; Support plate also is connected with slim cylinder A, slim cylinder B, slim cylinder C from top to bottom successively; Slim cylinder A and slim cylinder B with holding screw to fastening; The cylinder body of slim cylinder B and slim cylinder C with stud to fastening; Line slideway is anchored on the bottom of support plate; Connecting plate is connected with line slideway by screw; One end of connecting plate is connected with piston rod thread on the slim cylinder C, and the connecting plate other end and rotary cylinder are fastening; Rotating shaft on the rotary cylinder is connected with guide rod cylinder; Piston rod on the guide rod cylinder is connected with parallel finger cylinder screw.
Sample mount is located at a side lower part of side portal frame type automatic assembling and disassembling manipulator, and main frame is located at relative opposite side, and sample detector is located at the lower middle position of side portal frame type automatic assembling and disassembling manipulator.
The left and right sides, bottom of frame is respectively equipped with column, is provided with electronic control box between two columns.
Sample mount is a rotating circular disk.
Main points of the present invention are: utilize frame and support plate, be linked in sequence electric cylinder, three slim cylinders, rotary cylinder, guide rod cylinder and parallel finger cylinder, 7 cylinder co-operation, loading and unloading sample and abandon sample is finished from original state and is gone into 12 positions of the necessary process of institute the dust car to abandoning sample.The present invention is simple in structure, easy to use, utilizes parallel finger cylinder to catch sample and abandon sample, and the parallel finger cylinder of spreading makes the loading and unloading sample and abandons sample and unload.
The course of work of manipulator of the present invention is:
Sample is placed on the rotatable disk sample mount, and sample rotates on rotating circular disk.Parallel finger cylinder is caught sample successively or is abandoned sample, promotes, moves on the sample detector; Through the sample that detected, caught, promote, rotate, move by parallel finger cylinder once more, send into main frame; By main frame testing result per sample, finish down the step course of work.
Side portal frame type automatic loading and unloading sample of the present invention and abandon the sample manipulator and connect electricity, source of the gas is opened the gas source switch valve, and each cylinder enters original position.The operation computer installation can be realized following single, the whole or action that goes round and begins again.
One, part 6 spreadings, part 5 descends 200;
Two, treat that part 6 clamps sample consequent 5 and returns;
Three, part 7 is moved to the left 790;
Four, part 1 and part 5 respectively descend 260 and 200 simultaneously, after system to be tested finger clamps sample, and part 6 spreadings, part 1 and part 5 return simultaneously;
Five, treat that sample testing finishes, part 1 and part 5 respectively descend simultaneously 260 and 200 and clamp sample after, return in the lump;
Six, part 4 is to the upper left side half-twist;
Seven, part 7 and part 5 move 1230 and 200 respectively left; The sample center line overlaps with the main frame vertical center line;
Eight, treat that the main frame bit clamps sample after, part 6 spreadings, part 7 moves right 360;
Nine, treat that sample is broken after, be divided into upper and lower two sections, on abandon sample and under abandon sample; Part 7 is moved to the left 360, part 2 descends 80, part 6 is abandoned sample under clamping;
Ten, part 7 moves right to the dust car place, and part 1 descends 260, and part 6 spreadings unload to be abandoned sample and go into dust car;
11, part 2 and part 3 respectively rise 80 simultaneously, and part 7 is moved to the left the main frame vertical center line, and part 6 clamps and abandons sample;
12, part 7 moves right to the second dust car place, and part 1 descends 260, and part 2 and part 3 respectively descend 80, and part 6 spreadings unload to be abandoned sample and go in second dust car.
The present invention is simple in structure, easy-to-use, and is safe and reliable, utilizes parallel finger cylinder loading and unloading sample and abandons sample, and the parallel finger cylinder of spreading reaches to load and unload sample and abandon sample and goes into dust car.Utilize the different performance and the step of seven kinds of electricity, cylinder, finish above-mentioned compound action, reach and load and unload sample and abandon sample to go in the dust car.
Advantage of the present invention is:
1, simple in structure, volume is little, easy to use;
2, do not need manually-operated;
3, save the labour;
4, operator safety;
5, easy to loading and unloading, high efficiency.
The present invention makes up multiple different cylinder, utilizes the different performance of multiple cylinder, finishes the automatic loading and unloading sample and abandons the sample task.The present invention utilizes multiple different cylinders combination to finish same task, has tangible creativeness and novelty; Also has obvious practicability.
The present invention can be under the area in place, workshop, warehouse, the condition that highly is restricted, finish big quantity sample loading and unloading, lifting, reduction, detection, rotation, move, put in storage and abandon the work that sample is put into multiple continuous complexity such as dust car, solved long-standing big quantity sample, small size place, multiple program and carried out continuously simultaneously and need not manually-operated technical barrier.The present invention is an invention that solves the technical barrier that people thirst for solving for a long time.
Description of drawings
Fig. 1 is a side portal frame type automatic assembling and disassembling manipulator structural representation of the present invention.
Among the figure: 1 is stroke 260 slim cylinder A; 2 is stroke 80 slim cylinder B; 3 is stroke 80 slim cylinder C; 4 is 90 ° of rotary cylinders; 5 is stroke 200 guide rod cylinder; 6 is parallel finger cylinder; 7 is electric cylinder; 8 is connecting plate; 9 is frame; 10 is line slideway; 11 is support plate; 12 is the sample mount disk; 13 is sample detector; 14 is electronic control box; 15 is column; 16 is main frame.
The specific embodiment
The present invention will be further described by the specific embodiment below in conjunction with accompanying drawing.
Side portal frame type automatic assembling and disassembling manipulator, long 3025 millimeters, thick 881 millimeters, high 2469 millimeters.Form by frame (9), line slideway (10), support plate (11), sample mount (12), sample detector (13), electronic control box (14), column (15).The left and right sides, bottom of frame (9) is respectively equipped with column (15), column (15) act as frames (9), line slideway (10), support plate (11) and 7 cylinders.Electronic control box (14) is located between two columns (15).Sample mount (12) is a rotating circular disk, loads and unloads and abandons on the rotating circular disk that all product are placed on sample mount (12).Electricity cylinder (7) is fixed on frame (on 9; Electricity cylinder (7) and slim cylinder A (1) are fastened on the positive and negative of support plate (11) respectively.Support plate (11) also is connected with slim cylinder (1), slim cylinder B (2), slim cylinder C (3) from top to bottom successively.Slim cylinder A (1) and slim cylinder B (2) with holding screw to fastening; The cylinder body of slim cylinder B (2) and slim cylinder C (3) with stud to fastening.Line slideway (10) is anchored on the bottom of support plate (11); Connecting plate (8) is connected with line slideway (10) by screw.One end of connecting plate (8) is connected with piston rod thread on the slim cylinder (3), and connecting plate (8) other end and rotary cylinder (4) are fastening.Rotating shaft on the rotary cylinder (4) is connected with guide rod cylinder (5); Piston rod on the guide rod cylinder (5) is connected with parallel finger cylinder (6) screw.Sample mount (12) is located at a side lower part of side portal frame type automatic assembling and disassembling manipulator, and main frame (16) is located at relative opposite side, and sample detector (13) is located at the lower middle position of side portal frame type automatic assembling and disassembling manipulator.
When working, the present invention undertaken by following program:
Long 500 millimeters of sample, wide 60 millimeters, thick 50 millimeters, weigh 10 kilograms.Sample is placed on the rotatable disk sample mount (12), and sample rotates on rotating circular disk.Parallel finger cylinder (6) is caught sample successively or is abandoned sample, promotes, rotates, moves on the sample detector (13); Through the sample that detected, caught, promote, move by parallel finger cylinder (6) once more, send into main frame (16); Main frame is testing result per sample, finishes down the step course of work.
The foregoing description only is a preference of the present invention, is not used for limiting the present invention.The present invention makes up multiple different cylinder, utilizes the different performance of multiple cylinder, finishes the automatic loading and unloading sample and abandons the sample task.All within principle of the present invention, any modifications and variations of being done are all within protection scope of the present invention.
Claims (4)
1. a side portal frame type automatic assembling and disassembling manipulator comprises frame (9), line slideway (10), support plate (11), sample mount (12), sample detector (13), electronic control box (14), column (15), it is characterized in that; Electricity cylinder (7) is fixed on the frame (9); Electricity cylinder (7) and slim cylinder A (1) are fastened on the positive and negative of support plate (11) respectively; Support plate (11) also is connected with slim cylinder A (1), slim cylinder B (2), slim cylinder C (3) from top to bottom successively; Slim cylinder A (1) and slim cylinder B (2) with holding screw to fastening; The cylinder body of slim cylinder B (2) and slim cylinder C (3) with stud to fastening; Line slideway (10) is anchored on the bottom of support plate (11); Connecting plate (8) is connected with line slideway (10) by screw; One end of connecting plate (8) is connected with piston rod thread on the slim cylinder C (3), and connecting plate (8) other end and rotary cylinder (4) are fastening; Rotating shaft on the rotary cylinder (4) is connected with guide rod cylinder (5); Piston rod on the guide rod cylinder (5) is connected with parallel finger cylinder (6) screw.
2. side portal frame type automatic assembling and disassembling manipulator according to claim 1, it is characterized in that: sample mount (12) is located at a side lower part of side portal frame type automatic assembling and disassembling manipulator, main frame (16) is located at relative opposite side, and sample detector (13) is located at the lower middle position of side portal frame type automatic assembling and disassembling manipulator.
3. side portal frame type automatic assembling and disassembling manipulator according to claim 1 is characterized in that: the left and right sides, bottom of frame (9) is respectively equipped with column (15), is provided with electronic control box (14) between two columns (15).
4. side portal frame type automatic assembling and disassembling manipulator according to claim 1 is characterized in that: sample mount (12) is a rotating circular disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100539887A CN101927489B (en) | 2009-06-26 | 2009-06-26 | Side portal frame type automatic assembling and disassembling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100539887A CN101927489B (en) | 2009-06-26 | 2009-06-26 | Side portal frame type automatic assembling and disassembling manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN101927489A CN101927489A (en) | 2010-12-29 |
| CN101927489B true CN101927489B (en) | 2011-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009100539887A Active CN101927489B (en) | 2009-06-26 | 2009-06-26 | Side portal frame type automatic assembling and disassembling manipulator |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103991073A (en) * | 2014-05-07 | 2014-08-20 | 苏州工业园区职业技术学院 | Automatic carrying mechanical arm |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0819496A3 (en) * | 1996-07-17 | 2002-03-20 | Amada Metrecs Company, Limited | Spot welding machine |
| CN201031085Y (en) * | 2007-02-13 | 2008-03-05 | 上海发那科机器人有限公司 | Multiple cardboard box meanwhile stacking carry paw |
| CN201075381Y (en) * | 2007-09-13 | 2008-06-18 | 铜陵三佳科技股份有限公司 | Resin conveying device of integrated circuit automatic packaging system |
| CN201514412U (en) * | 2009-06-26 | 2010-06-23 | 上海华龙测试仪器有限公司 | Seven-cylinder combined sample loading and unloading machine |
-
2009
- 2009-06-26 CN CN2009100539887A patent/CN101927489B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0819496A3 (en) * | 1996-07-17 | 2002-03-20 | Amada Metrecs Company, Limited | Spot welding machine |
| CN201031085Y (en) * | 2007-02-13 | 2008-03-05 | 上海发那科机器人有限公司 | Multiple cardboard box meanwhile stacking carry paw |
| CN201075381Y (en) * | 2007-09-13 | 2008-06-18 | 铜陵三佳科技股份有限公司 | Resin conveying device of integrated circuit automatic packaging system |
| CN201514412U (en) * | 2009-06-26 | 2010-06-23 | 上海华龙测试仪器有限公司 | Seven-cylinder combined sample loading and unloading machine |
Non-Patent Citations (2)
| Title |
|---|
| JP特开平8-80239A 1994.03.22 |
| JP特开昭63-185725A 1988.08.01 |
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| CN101927489A (en) | 2010-12-29 |
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Owner name: SHANGHAI HUALONG TEST INSTRUMENTS CORPORATION Free format text: FORMER NAME: HUALONG DETECTOR CO., LTD., SHANGHAI |
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| CP03 | Change of name, title or address |
Address after: Chuansha Pudong New Area Town, Shanghai City Sichuan Road No. 389 201202 Patentee after: Shanghai Hualong Test Instruments Co., Ltd. Address before: 201202 Shanghai city Pudong New Area Sichuan Road No. 389 Patentee before: Hualong Detector Co., Ltd., Shanghai |
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Address after: 201202 389 Chuan Wang Road, Chuansha Town, Pudong New Area, Shanghai Patentee after: Hualong Detector Co., Ltd., Shanghai Address before: 201202 389 Chuan Wang Road, Chuansha Town, Pudong New Area, Shanghai Patentee before: Shanghai Hualong Test Instruments Co., Ltd. |