CN102001030B - Automatic material feeding/taking manipulator of double end surface grinding machine - Google Patents
Automatic material feeding/taking manipulator of double end surface grinding machine Download PDFInfo
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- CN102001030B CN102001030B CN2010102953723A CN201010295372A CN102001030B CN 102001030 B CN102001030 B CN 102001030B CN 2010102953723 A CN2010102953723 A CN 2010102953723A CN 201010295372 A CN201010295372 A CN 201010295372A CN 102001030 B CN102001030 B CN 102001030B
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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
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, delivers to discharging place to finished product again after material machines, and accomplishes 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 through 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 deficiency of 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, and the direction that feeding spirit cylinder push rod advances is vertical with feeding guide groove guiding, and it is anterior that feeding guide is installed in feeding spirit cylinder; The guiding of feeding guide is identical with feeding spirit cylinder push rod direction of propulsion, and feeding guide is made up 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 up of two arms that are mutually 90 degree; Blank pulling cylinder is installed on one arm, and 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 is got 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 each other with the guiding of blank feeding guide groove, gets the top that the material cylinder is installed in the discharging guide groove, and 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, and 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 accomplish 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; After material loading and the discharging just can be arranged a neutral time, such workman just can operate a plurality of equipment simultaneously, thus the saving manpower; Increase work efficiency, going up blank simultaneously all is by the manual completion of the workman damage to workpiece of can avoiding colliding with unloading finished product.
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
Below in conjunction with the accompanying drawing and the specific embodiment the present invention is further specified.
Like Fig. 1, shown in 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, and the direction that feeding spirit cylinder push rod advances is vertical with feeding guide groove 3 guiding, and 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 up 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 up 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 are installed in finished product pulling cylinder 9 ends, and paw bracing frame 8 is installed on the manipulator rotation pilum 17; Material fetching mechanism comprises that finished product is got 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 each other 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, and finished product is released the bottom that cylinder 15 is installed in the discharging guide groove, and 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 following:
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, and material 2 moves to the push rod of feeding spirit cylinder 4 of guide groove bottom along guide groove 3 anterior, 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, and at this moment blank paw 6 faces grinding machine material-feeding and fetching mouth, and 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, and finished product pulling cylinder 9 moves with finished product paw 10 processed finished product is taken out, and 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 13 actions of material cylinder and is taken out the finished product on the 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; Feed mechanism 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, and the direction that feeding spirit cylinder push rod advances is vertical with feeding guide groove (3) guiding, and 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 up 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 up 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) are installed in finished product pulling cylinder (9) end, and paw bracing frame (8) is installed on the manipulator rotation pilum (17); Material fetching mechanism comprises that finished product is got 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 each other 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, and finished product is released the bottom that cylinder (15) is installed in the discharging guide groove, and it is vertical with the guiding of discharging 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).
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 CN102001030A (en) | 2011-04-06 |
| CN102001030B true CN102001030B (en) | 2012-02-15 |
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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 |
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| CN (1) | CN102001030B (en) |
Families Citing this family (5)
| 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 |
| 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 |
| 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2451549A1 (en) * | 1974-10-30 | 1976-08-12 | Mueller Georg Kugellager | LOADING AND UNLOADING DEVICE FOR PLATE-SHAPED SEMI-CONDUCTOR MATERIALS |
| 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 |
-
2010
- 2010-09-27 CN CN2010102953723A patent/CN102001030B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN102001030A (en) | 2011-04-06 |
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| SE01 | Entry into force of request for substantive examination | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120215 Termination date: 20120927 |