CN102001030A - Automatic material feeding/taking manipulator of paralled surface grinding machine - Google Patents

Automatic material feeding/taking manipulator of paralled surface grinding machine Download PDF

Info

Publication number
CN102001030A
CN102001030A CN 201010295372 CN201010295372A CN102001030A CN 102001030 A CN102001030 A CN 102001030A CN 201010295372 CN201010295372 CN 201010295372 CN 201010295372 A CN201010295372 A CN 201010295372A CN 102001030 A CN102001030 A CN 102001030A
Authority
CN
China
Prior art keywords
feeding
cylinder
finished product
guide groove
paw
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN 201010295372
Other languages
Chinese (zh)
Other versions
CN102001030B (en
Inventor
赵亮
陈开强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang University ZJU
Original Assignee
Zhejiang University ZJU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang University ZJU filed Critical Zhejiang University ZJU
Priority to CN2010102953723A priority Critical patent/CN102001030B/en
Publication of CN102001030A publication Critical patent/CN102001030A/en
Application granted granted Critical
Publication of CN102001030B publication Critical patent/CN102001030B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

The invention discloses an automatic material feeding/taking manipulator of a paralled surface grinding machine, which is composed of a feed mechanism, a rotating manipulator body and a material-taking mechanism, wherein the feed mechanism is provided with an inclined guide slot, the bottom of the guide slot is provided with a material-push cylinder, and the top of the material-push cylinder is provided with a horizontal material guide rail along the direction of a push rod; the rotating manipulator body is provided with a foundation column which can carry out rotary motion, and the rotary motion is implemented by a servo motor, the actuating mechanisms at the upper end of the rotating manipulator body are two mutually-perpendicular manipulator arms, and each arm is provided with a pull cylinder and a material-grab claw; and the material-taking mechanism is also provided with an inclined guide slot, the top of the guide slot is provided with a cylinder for taking materials, the bottom of the guide slot is provided with a material-push cylinder, and a push rod over against the material-push cylinder at the bottom of the guide slot is provided with a bottom guide rod. By using the invention, the automatic material feeding/taking of the paralled surface grinding machine can be completed in a full automatic mode, thereby saving manpower, significantly improving the working efficiency, reducing the collisions between materials and facilitating improvement of the product quality.

Description

The automatic material-feeding and fetching manipulator of double-ended grinding machine
Technical field
The present invention relates to manipulator, relate in particular to the automatic material-feeding and fetching manipulator of a kind of double-ended grinding machine.
Background technology
Automatically the material-feeding and fetching device is to realize face grinding machine automation key component, and its effect is material to be processed is delivered to Working position, again finished product is delivered to discharging place after material machines, and finishes automatic material-feeding and fetching process.
A lot of its clamping workpiece modes of face grinding machine all adopt ordinary magnetic disc to inhale the folder formula, because of the operation principle of ordinary magnetic disc is to utilize the magnetic line of force that coil produced after the energising to suck by workpiece, thereby after workpiece processes, causing workpiece magnetizing, not demagnetization meeting influences the use of workpiece.In a lot of in addition traditional material-feeding and fetching devices, the workpiece that grinding is good is directly fallen into truck by deadweight, causes the gouge or the distortion of workpiece easily, for the material after the arrangement processing need expend a lot of manpowers toward contact.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of double-ended grinding machine automatic material-feeding and fetching manipulator.
The automatic material-feeding and fetching manipulator of a kind of double-ended grinding machine is characterized in that comprising feed mechanism, rotating machine arm body, material fetching mechanism; The tiltedly sliding mechanism of feeding comprises blank feeding guide groove, feeding spirit cylinder, feeding guide, wherein the feeding guide groove is in tilted layout on support, feeding spirit cylinder is installed in feeding guide groove bottom, the direction that feeding spirit cylinder push rod advances is vertical with feeding guide groove guiding, feeding guide is installed in feeding spirit cylinder front portion, the guiding of feeding guide is identical with feeding spirit cylinder push rod direction of propulsion, and feeding guide is made of two parallel guide rod; The rotating machine arm body comprises manipulator rotation pilum, blank paw, blank pulling cylinder, paw bracing frame, finished product pulling cylinder, finished product paw, wherein the paw bracing frame is to be made of two arms that are mutually 90 degree, blank pulling cylinder is installed on one arm, the blank paw is installed in the end of blank pulling cylinder, mounting finished product pulling cylinder on another arm, the finished product paw is installed in finished product pulling cylinder end, and the paw bracing frame is installed on the manipulator rotation pilum; Material fetching mechanism comprises that finished product gets the material cylinder, finished product discharging guide groove, finished product is released cylinder, finished product discharging guide rail, wherein finished product discharging guide groove is in tilted layout on support, discharging guide groove guiding is vertical mutually with the guiding of blank feeding guide groove, get and expect that cylinder is installed in the top of discharging guide groove, the level height of getting the material cylinder is concordant with the height at finished product paw center, finished product is released the bottom that cylinder is installed in the discharging guide groove, it is vertical with the guiding of guide groove that finished product is released the cylinder direction of propulsion, finished product discharging guide rail is positioned to be released on the cylinder push-rod direction, and the action of the automatic material-feeding and fetching manipulator of double-ended grinding machine control is to be realized by PLC.
The motion starting and terminal point of described blank paw, blank pulling cylinder, finished product pulling cylinder and finished product paw all is equipped with sensor.Described sensor is an inductive proximity sensor.Described getting expects that the cylinder end is provided with the guide rod of an inclination.Described blank feeding guide groove and finished product discharging guide rail are arranged in same perpendicular.
The present invention can finish the automatic material-feeding and fetching of double-ended grinding machine automatically, all can hold a plurality of materials simultaneously on feeding guide groove and the finished product discharging guide rod, a neutral time just can be arranged after material loading and the discharging, such workman just can operate a plurality of equipment simultaneously, thereby saving manpower, increase work efficiency, going up blank simultaneously and unloading finished product all is manually to finish the damage that can avoid colliding with to workpiece by the workman.
Description of drawings
Fig. 1 is the automatic material-feeding and fetching robot manipulator structure of a double-ended grinding machine vertical view;
Fig. 2 is the automatic material-feeding and fetching robot manipulator structure of a double-ended grinding machine front view;
Among the figure: finished product materials 1, blank material 2, blank feeding guide groove 3, feeding spirit cylinder 4, feeding guide 5, blank paw 6, blank pulling cylinder 7, paw bracing frame 8, finished product pulling cylinder 9, finished product paw 10, grinding machine material-feeding and fetching mouth 11, grinding machine material-feeding and fetching device 12, finished product are got material cylinder 13, finished product discharging guide groove 14, finished product release cylinder 15, finished product discharging guide rail 16, manipulator rotation pilum 17, switch board 18, support 19.
The specific embodiment
The present invention is further described below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, 2, the automatic material-feeding and fetching manipulator of a kind of double-ended grinding machine is characterized in that comprising feed mechanism, rotating machine arm body, material fetching mechanism; The tiltedly sliding mechanism of feeding comprises blank feeding guide groove 3, feeding spirit cylinder 4, feeding guide 5, wherein feeding guide groove 3 is in tilted layout on support 19, feeding spirit cylinder 4 is installed in feeding guide groove 3 bottoms, the direction that feeding spirit cylinder push rod advances is vertical with feeding guide groove 3 guiding, feeding guide 5 is installed in feeding spirit cylinder 4 front portions, the guiding of feeding guide 5 is identical with feeding spirit cylinder 4 push rod direction of propulsion, and feeding guide 5 is made of two parallel guide rod; The rotating machine arm body comprises manipulator rotation pilum 17, blank paw 6, blank pulling cylinder 7, paw bracing frame 8, finished product pulling cylinder 9, finished product paw 10, wherein paw bracing frame 8 is to be made of two arms that are mutually 90 degree, blank pulling cylinder 7 is installed on one arm, blank paw 6 is installed in the end of blank pulling cylinder 7, mounting finished product pulling cylinder 9 on another arm, finished product paw 10 is installed in finished product pulling cylinder 9 ends, and paw bracing frame 8 is installed on the manipulator rotation pilum 17; Material fetching mechanism comprise finished product get the material cylinder 13, finished product discharging guide groove 14, finished product is released cylinder 15, finished product discharging guide rail 16, wherein finished product discharging guide groove 14 is in tilted layout on support 19, discharging guide groove 14 guiding are vertical mutually with the guiding of blank feeding guide groove 3, get and expect that cylinder 13 is installed in the top of discharging guide groove 14, the level height of getting material cylinder 13 is concordant with the height at finished product paw 10 centers, finished product is released the bottom that cylinder 15 is installed in the discharging guide groove, it is vertical with the guiding of guide groove 14 that finished product is released cylinder 15 direction of propulsion, finished product discharging guide rail 16 is positioned to be released on the cylinder 15 push rod directions, and the action of the automatic material-feeding and fetching manipulator of double-ended grinding machine control is to be realized by PLC.
The motion starting and terminal point of described blank paw 6, blank pulling cylinder 7, finished product pulling cylinder 9 and finished product paw 10 all is equipped with sensor.Described sensor is an inductive proximity sensor.Described getting expects that cylinder 13 ends are provided with the guide rod of an inclination.Both are arranged in same perpendicular described blank feeding guide groove 3 and finished product discharging guide rail 16.
The course of work of the present invention is as follows:
Referring to Fig. 1, Fig. 2, blank material 2 is put into blank feeding guide groove 3 by the operative employee, it is 100 millimeters bearing that guide groove approximately can hold 10 diameters simultaneously, material 2 moves to the push rod front portion of the feeding spirit cylinder 4 of guide groove bottom along guide groove 3, when blank paw 6 moves to station 1 by the time, 4 actions of feeding spirit cylinder are shifted blank 2 on the blank paw 6 onto along feeding guide 5, and paw promptly begins rotation with blank.If action for the first time, owing to there is not finished product to take out from grinding machine material-feeding and fetching mouth 11, manipulator rotating shaft 17 directly forwards station 3 to, at this moment blank paw 6 faces grinding machine material-feeding and fetching mouth, 7 actions of blank pulling cylinder are sent to blank in the grinding machine material-feeding and fetching device 12, this device is delivered to grinding machine processing with blank, and at this moment manipulator rotating shaft 17 goes back to station 1 beginning and gets material for the second time.If not get the material action for the first time, just there is finished product to take out from grinding machine material-feeding and fetching mouth 11, manipulator forwards station 2 to by station 1, at this moment finished product paw 10 faces grinding machine material-feeding and fetching mouth 11, processed finished product is taken out in finished product pulling cylinder 9 and 10 actions of finished product paw, manipulator moves to station 3 by station 2 then, blank is put into grinding machine material-feeding and fetching mouth 11, manipulator forwards station 1 to by station 3 afterwards, at this moment finished product paw 10 and finished product get material cylinder 13 over against, finished product is got the finished product on the material cylinder 13 action taking-up finished product paws 10, and finished product put into finished product discharging guide groove 14, finished product is shifted onto finished product on the finished product discharging guide rail 16 by finished product release cylinder 15 after moving to the guide groove bottom again, also can hold a plurality of materials simultaneously on the discharging guide rail, so circulation.(annotate: station 1 is meant blank paw 6 over against feeding spirit cylinder 4, and finished product paw 10 is got material cylinder 13 over against finished product; Station 2 is meant blank paw 6 over against finished product feeding cylinder 13, and finished product paw 10 promptly selects clockwise on the basis of station 1 and adorns 90 ° over against grinding machine material-feeding and fetching mouth 11; Station 3 is meant that blank paw 6 over against grinding machine material-feeding and fetching mouth 11, promptly turns clockwise 90 ° on the basis of station 2.)

Claims (5)

1. the automatic material-feeding and fetching manipulator of double-ended grinding machine is characterized in that comprising feed mechanism, rotating machine arm body, material fetching mechanism; The tiltedly sliding mechanism of feeding comprises blank feeding guide groove (3), feeding spirit cylinder (4), feeding guide (5), wherein feeding guide groove (3) is in tilted layout on support (19), feeding spirit cylinder (4) is installed in feeding guide groove (3) bottom, the direction that feeding spirit cylinder push rod advances is vertical with feeding guide groove (3) guiding, feeding guide (5) is installed in feeding spirit cylinder (4) front portion, the guiding of feeding guide (5) is identical with feeding spirit cylinder (4) push rod direction of propulsion, and feeding guide (5) is made of two parallel guide rod; The rotating machine arm body comprises manipulator rotation pilum (17), blank paw (6), blank pulling cylinder (7), paw bracing frame (8), finished product pulling cylinder (9), finished product paw (10), wherein paw bracing frame (8) is to be made of two arms that are mutually 90 degree, blank pulling cylinder (7) is installed on one arm, blank paw (6) is installed in the end of blank pulling cylinder (7), mounting finished product pulling cylinder (9) on another arm, finished product paw (10) is installed in finished product pulling cylinder (9) end, and paw bracing frame (8) is installed on the manipulator rotation pilum (17); Material fetching mechanism comprise finished product get the material cylinder (13), finished product discharging guide groove (14), finished product is released cylinder (15), finished product discharging guide rail (16), wherein finished product discharging guide groove (14) is in tilted layout on support (19), discharging guide groove (14) guiding is vertical mutually with the guiding of blank feeding guide groove (3), get and expect that cylinder (13) is installed in the top of discharging guide groove (14), the level height of getting material cylinder (13) is concordant with the height at finished product paw (10) center, finished product is released the bottom that cylinder (15) is installed in the discharging guide groove, it is vertical with the guiding of guide groove (14) that finished product is released cylinder (15) direction of propulsion, finished product discharging guide rail (16) is positioned to be released on cylinder (15) the push rod direction, and the action of the automatic material-feeding and fetching manipulator of double-ended grinding machine control is to be realized by PLC.
2. the automatic material-feeding and fetching manipulator of a kind of double-ended grinding machine according to claim 1 is characterized in that: the motion starting and terminal point of described blank paw (6), blank pulling cylinder (7), finished product pulling cylinder (9) and finished product paw (10) all is equipped with sensor.
3. the automatic material-feeding and fetching manipulator of a kind of double-ended grinding machine according to claim 2 is characterized in that: described sensor is an inductive proximity sensor.
4. the automatic material-feeding and fetching manipulator of a kind of double-ended grinding machine according to claim 1 is characterized in that: described getting expects that cylinder (13) end is provided with the guide rod of an inclination.
5. the automatic material-feeding and fetching manipulator of a kind of double-ended grinding machine according to claim 1 is characterized in that: both are arranged in same perpendicular described blank feeding guide groove (3) and finished product discharging guide rail (16).
CN2010102953723A 2010-09-27 2010-09-27 Automatic material feeding/taking manipulator of double end surface grinding machine Expired - Fee Related CN102001030B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2010102953723A CN102001030B (en) 2010-09-27 2010-09-27 Automatic material feeding/taking manipulator of double end surface grinding machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2010102953723A CN102001030B (en) 2010-09-27 2010-09-27 Automatic material feeding/taking manipulator of double end surface grinding machine

Publications (2)

Publication Number Publication Date
CN102001030A true CN102001030A (en) 2011-04-06
CN102001030B CN102001030B (en) 2012-02-15

Family

ID=43808870

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2010102953723A Expired - Fee Related CN102001030B (en) 2010-09-27 2010-09-27 Automatic material feeding/taking manipulator of double end surface grinding machine

Country Status (1)

Country Link
CN (1) CN102001030B (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102380561A (en) * 2011-11-14 2012-03-21 张洪岩 Special-shaped feeding mechanical hand for punch
CN102601694A (en) * 2012-03-29 2012-07-25 浙江东盛精密机械有限公司 Bearing grinding machine and control system thereof
CN103084943A (en) * 2013-01-31 2013-05-08 杭州正强万向节有限公司 Universal joint end surface full-automatic grinding device
CN105983971A (en) * 2015-02-05 2016-10-05 珠海华宇金属有限公司 Automatic four-way reversing valve capillary tube inserting equipment
CN106694588A (en) * 2016-12-28 2017-05-24 邢台敬国机械制造有限公司 Full-automatic reducing machine

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4002246A (en) * 1974-10-30 1977-01-11 Georg Muller Kugellagerfabrik K.G. Apparatus for handling workpieces such as semiconductor substrates
CN2734435Y (en) * 2004-09-30 2005-10-19 洛阳轴承集团有限公司 Plane type manipulator structure of full-automatic sphere roller super fine machine
CN201079954Y (en) * 2007-09-21 2008-07-02 鼎维工业股份有限公司 Tool grinding machine mechanical arm charging and discharging device
CN201271887Y (en) * 2008-07-01 2009-07-15 赵明山 Feed mechanism for centreless milling machinery
CN201439202U (en) * 2009-07-09 2010-04-21 宁波经济技术开发区大正工业机器人技术有限公司 Material feeding mechanical hand
CN201522804U (en) * 2009-06-25 2010-07-07 浙江亚龙教育装备股份有限公司 Intelligent material carrying device
CN201863069U (en) * 2010-09-27 2011-06-15 浙江大学 Automatic material feeding and taking mechanical hand of paralled surface grinding machine

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4002246A (en) * 1974-10-30 1977-01-11 Georg Muller Kugellagerfabrik K.G. Apparatus for handling workpieces such as semiconductor substrates
CN2734435Y (en) * 2004-09-30 2005-10-19 洛阳轴承集团有限公司 Plane type manipulator structure of full-automatic sphere roller super fine machine
CN201079954Y (en) * 2007-09-21 2008-07-02 鼎维工业股份有限公司 Tool grinding machine mechanical arm charging and discharging device
CN201271887Y (en) * 2008-07-01 2009-07-15 赵明山 Feed mechanism for centreless milling machinery
CN201522804U (en) * 2009-06-25 2010-07-07 浙江亚龙教育装备股份有限公司 Intelligent material carrying device
CN201439202U (en) * 2009-07-09 2010-04-21 宁波经济技术开发区大正工业机器人技术有限公司 Material feeding mechanical hand
CN201863069U (en) * 2010-09-27 2011-06-15 浙江大学 Automatic material feeding and taking mechanical hand of paralled surface grinding machine

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
《机械工程师》 20041231 蔡向东等 自动上下料系统在无心磨床中的应用 72-74 , 第03期 2 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102380561A (en) * 2011-11-14 2012-03-21 张洪岩 Special-shaped feeding mechanical hand for punch
CN102601694A (en) * 2012-03-29 2012-07-25 浙江东盛精密机械有限公司 Bearing grinding machine and control system thereof
CN103084943A (en) * 2013-01-31 2013-05-08 杭州正强万向节有限公司 Universal joint end surface full-automatic grinding device
CN103084943B (en) * 2013-01-31 2015-09-09 杭州正强万向节有限公司 Universal joint end Full-automatic grinding device
CN105983971A (en) * 2015-02-05 2016-10-05 珠海华宇金属有限公司 Automatic four-way reversing valve capillary tube inserting equipment
CN105983971B (en) * 2015-02-05 2019-03-26 珠海华宇金属有限公司 Four-way reversing valve inserts capillary apparatus automatically
CN106694588A (en) * 2016-12-28 2017-05-24 邢台敬国机械制造有限公司 Full-automatic reducing machine

Also Published As

Publication number Publication date
CN102001030B (en) 2012-02-15

Similar Documents

Publication Publication Date Title
CN201863069U (en) Automatic material feeding and taking mechanical hand of paralled surface grinding machine
CN102001030B (en) Automatic material feeding/taking manipulator of double end surface grinding machine
KR101645623B1 (en) Board conveyance apparatus and board processing system using same
CN102729100B (en) Double main axle machine tools and loading and discharging method
CN205290372U (en) Full automatic processing production line of end cover
US20080181759A1 (en) Workpiece handling device
CN105666232A (en) Suspension type mechanical arm and numerical control machine tool
CN106141017B (en) High velocity ram machine motor stamping manages piece feeding unloading manipulator and method automatically
CN107458884A (en) Stacking formula feed bin
CN202129457U (en) Automatic aluminum wire wheel processing lathe
CN101695826B (en) Grinder for charging roller of full-automatic printer
CN107243566A (en) Many stock board loading and unloading systems and numerical control press
KR101182378B1 (en) Conveying robot
CN108583112A (en) Automatic production line based on glass carving machine
CN105619580A (en) Ceramic lamp holder fettling machine and fettling method thereof
CN205613965U (en) Punch press integral type swing arm punching press machine people
CN111170082A (en) Material arranging machine
JP5785031B2 (en) Pallet changing system and machining center equipped with the system
CN103625897A (en) Ceramic tile clamping and holding mechanism provided with turnover chuck
CN203091997U (en) Double-layer telescopic welding robot system
CN207827365U (en) A kind of feeding device by air pressure change pick and place material
CN108515119A (en) The feeding robot of corner post of container sheet metal bending line
CN108002032A (en) A kind of feeding device for by air pressure change pick and place material
CN209503626U (en) Automatic loading and unloading device in a kind of machine of the progressive feeding of achievable bar
CN211218695U (en) Full-automatic processing production system of wheel hub class

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120215

Termination date: 20120927