CN102554920A - Loading and unloading manipulator - Google Patents

Loading and unloading manipulator Download PDF

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Publication number
CN102554920A
CN102554920A CN2012100132389A CN201210013238A CN102554920A CN 102554920 A CN102554920 A CN 102554920A CN 2012100132389 A CN2012100132389 A CN 2012100132389A CN 201210013238 A CN201210013238 A CN 201210013238A CN 102554920 A CN102554920 A CN 102554920A
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CN
China
Prior art keywords
loading
rotating shaft
feed
fixed
corpus unguis
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Application number
CN2012100132389A
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Chinese (zh)
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CN102554920B (en
Inventor
韩建国
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苏州市越海拉伸机械有限公司
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Priority to CN 201210013238 priority Critical patent/CN102554920B/en
Publication of CN102554920A publication Critical patent/CN102554920A/en
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Publication of CN102554920B publication Critical patent/CN102554920B/en

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Abstract

The present invention relates to a loading and unloading manipulator which is characterized by comprising a workbench, a motor, a speed reducing device, a rotating shaft, a rotating platform, a loading mechanism and an unloading mechanism. The motor is controlled by a controller and fixed in the workbench; the input end of the speed reducing device is connected with the motor, and the output end is connected with a gear pair in a gear box; the other end of the gear pair is connected with the rotating shaft; the rotating shaft is arranged vertically; two ends of the rotating shaft are arranged above the workbench through screws; one rotating platform is fixed on the top end of the rotating shaft, and the rotating platform is perpendicular to the rotating shaft; the loading mechanism and the unloading mechanism are fixed on two ends of the rotating platform; the loading mechanism is a sucking disc; and the unloading mechanism is a clamping claw. Due to the adoption of the loading and unloading manipulator during the mechanical processing, the manpower and the production cost are reduced effectively, the occurrence of personal safety accident in the production process is avoided, the requirement of the mass production of the modern industry is met, the production efficiency is improved, and the great economic benefits are brought to the manufacturers.

Description

A kind of loading and unloading manipulator

Technical field

The present invention relates to a kind of machining and use handling equipment, especially a kind of loading and unloading manipulator belongs to the sheet-metal press working processing and forming and uses apparatus field.

Background technology

In present punch process industry, generally all be pipelining, promptly install an operation position in the front side of process equipment, raw material are placed in the process equipment, after the moulding to be punched, from process equipment, take out the workpiece of accomplishing processing again.Because it is differences such as the shape of processing work, size, weight for the bigger workpiece of volume and weight, possibly just need a lot of operator's operations on the station, when increasing human cost, also very inconvenient in personnel's coordination; And operating personnel must accomplish a hand and usefulness in the operation, and the notice high concentration is careless slightly, will cause the personal safety accident.In addition, because the influence of factors such as manpower, space, the efficient of workpiece processing is very low, and personnel's working strength is very high, and not only the quality of product can not get effective assurance, also is difficult to satisfy the demand of producing in enormous quantities in the modernized industry.

Summary of the invention

The present invention seeks to provides a kind of in the punch forming process for the deficiency that overcomes prior art, can reduce human cost, avoids the generation of personal safety accident, satisfies the loading and unloading manipulator of production demand.

For achieving the above object, the technical scheme that the present invention adopts is: a kind of loading and unloading manipulator comprises workbench, motor, deceleration device, gear-box, rotating shaft, turntable, feed mechanism, shedding mechanism; Said motor is through controller control, and motor is fixed in the workbench; The input of said deceleration device connects motor, the gear pair in the output connection gear case; The other end of said gear pair connects rotating shaft; Said rotating shaft is vertically placed, and it is located at the workbench top through a screw mandrel; A turntable is fixed on the top of said rotating shaft, and turntable is perpendicular to rotating shaft; The two ends of said turntable are fixed with feed mechanism and shedding mechanism; Said feed mechanism is a sucker; Said cutting agency is a jaw; Said controller control motor, through deceleration device and the rotation of gear pair driven rotary axle, thus feed mechanism on the driven rotary platform and cutting agency rotation; When feed mechanism rotated to the raw material station, sucker held raw material, rotated to processing stations again; Sucker discharges raw material, treat that raw material machine after, cutting agency rotates to processing stations; Jaw is picked up the finished product workpiece of accomplishing processing, rotates to the finished product station again, and jaw discharges the finished product workpiece.

Preferably, said feed mechanism and shedding mechanism all are connected the two ends of turntable through cylinder a.

Preferably, said feed mechanism is provided with holder; Said jaw is made up of two corpus unguis being located on the holder; Said corpus unguis is L shaped, and opening is located on the holder in opposite directions at interval; The minor face of said corpus unguis all is positioned at the holder top, and holder is extended on long limit; Also be provided with cylinder b on the said holder; Said cylinder b drives two corpus unguis in opposite directions or opposing rotation through its inner piston rod, the clamping part clamping through top, the long limit of corpus unguis or discharge workpiece.

Preferably, also be connected with spring between the long limit of said two corpus unguis.

Preferably, the minor face of said two corpus unguis is hinged on the two ends of a connecting rod respectively.

Preferably, on the clamping part of said corpus unguis, all be fixed with dismountable grip block; Said grip block is corresponding with the workpiece of treating clamping.

Preferably, the outside of said screw mandrel is fixed with protective sleeve, and protective sleeve is fixed on the workbench top.

Because the utilization of technique scheme, the present invention compared with prior art has advantage:

A kind of loading and unloading manipulator of the present invention program; Two ends at turntable are provided with feed mechanism and shedding mechanism simultaneously; Through feed mechanism and shedding mechanism, realize the material loading and the blanking of processing work like a cork, adopt the present invention program that workpiece is added man-hour; Need not to be provided with again material loading station and blanking station, directly just can realize the loading and unloading of workpiece through sucker and jaw.And in mechanical processing process; Adopt the present invention program's loading and unloading manipulator; Effectively reduce manpower and production cost, both effectively avoided the personal safety accident in the production process, also satisfied the demand of modernized industrial mass production simultaneously; Improved production efficiency, brought very big economic benefit to production firm.

Description of drawings

Below in conjunction with accompanying drawing technical scheme of the present invention is described further:

Accompanying drawing 1 is the structural representation of loading and unloading manipulator of the present invention;

Accompanying drawing 2 is the structural representation of manipulator retained part;

Accompanying drawing 3 be in the accompanying drawing 1 A to view;

Wherein: 1, workbench; 2, motor; 3, gear pair; 4, rotating shaft; 5, turntable; 6, feed mechanism; 7, shedding mechanism; 8, sucker; 9, jaw; 10, screw mandrel; 11, cylinder a; 12, holder; 13, corpus unguis; 14, minor face; 15, grow the limit; 16, connecting rod; 17, cylinder b; 18, clamping part; 19, grip block; 20, spring; 21, deceleration device; 22, gear-box; 23, protective sleeve.

The specific embodiment

Below in conjunction with accompanying drawing and specific embodiment the present invention is done further detailed description.

Accompanying drawing 1-3 is a kind of loading and unloading manipulator of the present invention, comprises workbench 1, motor 2, deceleration device 21, gear-box 22, rotating shaft 4, turntable 5, feed mechanism 6, shedding mechanism 7; Said motor 2 is through the control of controller (not shown), and motor 2 is fixed in the workbench 1; The input of said deceleration device 21 connects motor 2, the gear pair 3 in the output connection gear case 22; The other end of said gear pair 3 connects rotating shaft 4; Said rotating shaft 4 is vertically placed, and it is located at workbench 1 top through a screw mandrel 10; The outside of said screw mandrel 10 is fixed with protective sleeve 23, and protective sleeve 23 is fixed on workbench 1 top; A turntable 5 is fixed on the top of said rotating shaft 4, and turntable 5 is perpendicular to rotating shaft 4; The two ends of said turntable 5 are fixed with feed mechanism 6 and shedding mechanism 7; Said feed mechanism 6 is a sucker 8; Said cutting agency 7 is provided with jaw 9; Said feed mechanism 6 and shedding mechanism 7 all are connected the two ends of turntable 5 through cylinder a11; Said feed mechanism 6 is provided with holder 12; Said jaw 9 is made up of two corpus unguis 13 being located on the holder 12; Said corpus unguis 13 is L shaped, and opening is located on the holder 12 in opposite directions at interval; The minor face 14 of said corpus unguis 13 all is positioned at holder 12 tops, and holder 12 is extended on long limit 15; The minor face 14 of said two corpus unguis 13 is hinged on the two ends of a connecting rod 16 respectively; Also be provided with cylinder b17 on the said holder 12; Said cylinder b17 drives two corpus unguis 13 in opposite directions or opposing rotation through its inner piston rod, clamping part 18 clampings or the release workpiece on 15 tops, long limit through corpus unguis 13; Also be connected with spring 20 between the long limit 15 of said two corpus unguis 13; On the clamping part 18 of said corpus unguis 13, all be fixed with dismountable grip block 19; Said grip block 19 is corresponding with the workpiece of treating clamping.

After controller starts; Its control motor 2 rotates, through 4 rotations of deceleration device 3 driven rotary axles, thus feed mechanism on the driven rotary platform 56 and cutting agency 7 rotations; When feed mechanism 6 rotates to the raw material station; Sucker 8 holds raw material, rotates to processing stations again, and sucker 8 discharges raw material; After treating that raw material machine, cutting agency 7 rotates to processing stations, and jaw 9 is picked up the finished product workpiece of accomplishing processing, rotates to the finished product station again, and jaw 9 discharges the finished product workpiece.

Because the utilization of technique scheme, the present invention compared with prior art has advantage:

A kind of loading and unloading manipulator of the present invention program; Two ends at turntable are provided with feed mechanism and shedding mechanism simultaneously; Through feed mechanism and shedding mechanism, realize the material loading and the blanking of processing work like a cork, adopt the present invention program that workpiece is added man-hour; Need not to be provided with again material loading station and blanking station, directly just can realize the loading and unloading of workpiece through sucker and jaw.And in mechanical processing process; Adopt the present invention program's loading and unloading manipulator; Effectively reduce manpower and production cost, both effectively avoided the personal safety accident in the production process, also satisfied the demand of modernized industrial mass production simultaneously; Improved production efficiency, brought very big economic benefit to production firm.

Below only be concrete exemplary applications of the present invention, protection scope of the present invention is not constituted any limitation.All employing equivalents or equivalence are replaced and the technical scheme of formation; Or it is any to move mode dull and stereotyped described in the present invention; For example but upper and lower material mechanism is added the mode that is made as oscilaltion; Perhaps adopt upper and lower material mechanism up and down that stack is fixed into " ten " word etc., all drop within the rights protection scope of the present invention.

Claims (7)

1. a loading and unloading manipulator is characterized in that: comprise workbench, motor, deceleration device, gear-box, rotating shaft, turntable, feed mechanism, shedding mechanism; Said motor is through controller control, and motor is fixed in the workbench; The input of said deceleration device connects motor, the gear pair in the output connection gear case; The other end of said gear pair connects rotating shaft; Said rotating shaft is vertically placed, and it is located at the workbench top through a screw mandrel; A turntable is fixed on the top of said rotating shaft, and turntable is perpendicular to rotating shaft; The two ends of said turntable are fixed with feed mechanism and shedding mechanism; Said feed mechanism is a sucker; Said cutting agency is a jaw; Said controller control motor, through deceleration device and the rotation of gear pair driven rotary axle, thus feed mechanism on the driven rotary platform and cutting agency rotation; When feed mechanism rotated to the raw material station, sucker held raw material, rotated to processing stations again; Sucker discharges raw material, treat that raw material machine after, cutting agency rotates to processing stations; Jaw is picked up the finished product workpiece of accomplishing processing, rotates to the finished product station again, and jaw discharges the finished product workpiece.
2. loading and unloading manipulator according to claim 1 is characterized in that: said feed mechanism and shedding mechanism all are connected the two ends of turntable through cylinder a.
3. loading and unloading manipulator according to claim 1 and 2 is characterized in that: said feed mechanism is provided with holder; Said jaw is made up of two corpus unguis being located on the holder; Said corpus unguis is L shaped, and opening is located on the holder in opposite directions at interval; The minor face of said corpus unguis all is positioned at the holder top, and holder is extended on long limit; Also be provided with cylinder b on the said holder; Said cylinder b drives two corpus unguis in opposite directions or opposing rotation through its inner piston rod, the clamping part clamping through top, the long limit of corpus unguis or discharge workpiece.
4. loading and unloading manipulator according to claim 3 is characterized in that: said two corpus unguis also are connected with spring between the long limit.
5. loading and unloading manipulator according to claim 4 is characterized in that: the minor face of said two corpus unguis is hinged on the two ends of a connecting rod respectively.
6. loading and unloading manipulator according to claim 5 is characterized in that: on the clamping part of said corpus unguis, all be fixed with dismountable grip block; Said grip block is corresponding with the workpiece of treating clamping.
7. loading and unloading manipulator according to claim 6 is characterized in that: the outside of said screw mandrel is fixed with protective sleeve, and protective sleeve is fixed on the workbench top.
CN 201210013238 2012-01-17 2012-01-17 Loading and unloading manipulator CN102554920B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201210013238 CN102554920B (en) 2012-01-17 2012-01-17 Loading and unloading manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201210013238 CN102554920B (en) 2012-01-17 2012-01-17 Loading and unloading manipulator

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CN102554920A true CN102554920A (en) 2012-07-11
CN102554920B CN102554920B (en) 2013-12-18

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Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103302200A (en) * 2013-06-05 2013-09-18 苏州市越海拉伸机械有限公司 Transfer mechanical hand
CN103341564A (en) * 2013-07-08 2013-10-09 广西大学 Sheet material multistation stamping automated feeding feed equipment capable of being assembled in finite space
CN103658434A (en) * 2013-11-29 2014-03-26 唐山学院 Automatic feeding and discharging manipulator system for shovel sheets of peach-shaped point shovels
CN104475524A (en) * 2014-10-24 2015-04-01 无锡乐华自动化科技有限公司 Water heater liner automatically roll-forming method
CN104826973A (en) * 2015-03-20 2015-08-12 余国平 Automatic feeding and discharging apparatus for forging and pressing equipment
CN104867882A (en) * 2015-05-28 2015-08-26 吴中区木渎蒯斌模具加工厂 Packaging aluminum plate material-loading device for LED assembling machine
CN104858853A (en) * 2015-04-30 2015-08-26 广州惠伟智能科技有限公司 Automatic material reversing mechanical hand and material carrying method of same
CN104868039A (en) * 2015-05-28 2015-08-26 吴中区木渎蒯斌模具加工厂 Packaging aluminum plate transposition device for LED assembling machine
CN104889727A (en) * 2014-03-03 2015-09-09 台州蓝盾机械有限公司 Fire extinguisher head automatic assembling machine
CN105058851A (en) * 2015-07-04 2015-11-18 宁波正丰机器人科技有限公司 Feeding mechanism
CN105366257A (en) * 2015-12-11 2016-03-02 吴美俊 Convenient intelligent warehouse logistics system
CN105383848A (en) * 2015-12-11 2016-03-09 吴美俊 Intelligent storing and fetching system for warehouse logistics
CN105398729A (en) * 2015-12-11 2016-03-16 叶建格 Intelligent storage and logistics system capable of being locked
CN105416952A (en) * 2015-12-11 2016-03-23 叶建格 Intelligent warehouse logistics system capable of being unlocked rapidly
CN105458865A (en) * 2016-01-07 2016-04-06 韩金桥 Automatic and synchronous feeding and discharging device for processing optical lenses
CN105479538A (en) * 2016-01-18 2016-04-13 武汉东江菲特科技股份有限公司 Automatic machining device and machining method for automobile windshield washer
CN105479447A (en) * 2016-01-11 2016-04-13 东莞市昌玖数控科技有限公司 Glass carving machine and control method
CN106391762A (en) * 2016-11-01 2017-02-15 广汽本田汽车有限公司 Dislocation correction device and correction method thereof
CN106903235A (en) * 2017-04-28 2017-06-30 浙江硕和机器人科技有限公司 A kind of guide plate pin protects shield apparatus
CN108015177A (en) * 2018-01-27 2018-05-11 宁波三浦自动化科技有限公司 A kind of full-automatic riveting set of change gear
CN110201937A (en) * 2019-06-13 2019-09-06 武汉商学院 A kind of automatic bottle washing device

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Publication number Priority date Publication date Assignee Title
EP0123221A1 (en) * 1983-04-23 1984-10-31 Hans-Hermann Schaper Manipulator, in particular for small loads and/or limited gripping movements
US4600355A (en) * 1984-08-29 1986-07-15 Cybot, Inc. Modular robotics system with basic interchangeable parts
CN102266895A (en) * 2011-07-22 2011-12-07 浙江工业大学 Manipulator device for cooling medium can production
CN202461348U (en) * 2012-01-17 2012-10-03 苏州市越海拉伸机械有限公司 Feeding and discharging mechanical hand

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0123221A1 (en) * 1983-04-23 1984-10-31 Hans-Hermann Schaper Manipulator, in particular for small loads and/or limited gripping movements
US4600355A (en) * 1984-08-29 1986-07-15 Cybot, Inc. Modular robotics system with basic interchangeable parts
CN102266895A (en) * 2011-07-22 2011-12-07 浙江工业大学 Manipulator device for cooling medium can production
CN202461348U (en) * 2012-01-17 2012-10-03 苏州市越海拉伸机械有限公司 Feeding and discharging mechanical hand

Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103302200A (en) * 2013-06-05 2013-09-18 苏州市越海拉伸机械有限公司 Transfer mechanical hand
CN103341564A (en) * 2013-07-08 2013-10-09 广西大学 Sheet material multistation stamping automated feeding feed equipment capable of being assembled in finite space
CN103341564B (en) * 2013-07-08 2015-10-28 广西大学 Assemblnig confined space plate multiple site punching automation feeding feed apparatus
CN103658434A (en) * 2013-11-29 2014-03-26 唐山学院 Automatic feeding and discharging manipulator system for shovel sheets of peach-shaped point shovels
CN103658434B (en) * 2013-11-29 2016-01-20 唐山学院 Peach-shaped point spade spade sheet automatic loading and unloading manipulator system
CN104889727A (en) * 2014-03-03 2015-09-09 台州蓝盾机械有限公司 Fire extinguisher head automatic assembling machine
CN104889727B (en) * 2014-03-03 2017-07-14 台州蓝盾机械有限公司 Fire extinguisher device head automatic assembling machine
CN104475524A (en) * 2014-10-24 2015-04-01 无锡乐华自动化科技有限公司 Water heater liner automatically roll-forming method
CN104475524B (en) * 2014-10-24 2016-08-31 无锡乐华自动化科技有限公司 A kind of water heater liner automatic rolling forming method
CN104826973A (en) * 2015-03-20 2015-08-12 余国平 Automatic feeding and discharging apparatus for forging and pressing equipment
CN104858853A (en) * 2015-04-30 2015-08-26 广州惠伟智能科技有限公司 Automatic material reversing mechanical hand and material carrying method of same
CN104868039A (en) * 2015-05-28 2015-08-26 吴中区木渎蒯斌模具加工厂 Packaging aluminum plate transposition device for LED assembling machine
CN104867882A (en) * 2015-05-28 2015-08-26 吴中区木渎蒯斌模具加工厂 Packaging aluminum plate material-loading device for LED assembling machine
CN104867882B (en) * 2015-05-28 2017-09-01 吴中区木渎蒯斌模具加工厂 The encapsulation aluminium sheet feeding device of LED kludges
CN105058851A (en) * 2015-07-04 2015-11-18 宁波正丰机器人科技有限公司 Feeding mechanism
CN105366257A (en) * 2015-12-11 2016-03-02 吴美俊 Convenient intelligent warehouse logistics system
CN105383848A (en) * 2015-12-11 2016-03-09 吴美俊 Intelligent storing and fetching system for warehouse logistics
CN105416952A (en) * 2015-12-11 2016-03-23 叶建格 Intelligent warehouse logistics system capable of being unlocked rapidly
CN105398729A (en) * 2015-12-11 2016-03-16 叶建格 Intelligent storage and logistics system capable of being locked
CN105458865A (en) * 2016-01-07 2016-04-06 韩金桥 Automatic and synchronous feeding and discharging device for processing optical lenses
CN105479447A (en) * 2016-01-11 2016-04-13 东莞市昌玖数控科技有限公司 Glass carving machine and control method
CN105479447B (en) * 2016-01-11 2017-12-05 东莞市昌玖数控科技有限公司 A kind of glass carving machine and control method
CN105479538A (en) * 2016-01-18 2016-04-13 武汉东江菲特科技股份有限公司 Automatic machining device and machining method for automobile windshield washer
CN106391762A (en) * 2016-11-01 2017-02-15 广汽本田汽车有限公司 Dislocation correction device and correction method thereof
CN106391762B (en) * 2016-11-01 2018-05-22 广汽本田汽车有限公司 Misplace apparatus for correcting and its antidote
CN106903235A (en) * 2017-04-28 2017-06-30 浙江硕和机器人科技有限公司 A kind of guide plate pin protects shield apparatus
CN106903235B (en) * 2017-04-28 2019-02-12 浙江硕和机器人科技有限公司 A kind of guide plate pin protection shield apparatus
CN108015177A (en) * 2018-01-27 2018-05-11 宁波三浦自动化科技有限公司 A kind of full-automatic riveting set of change gear
CN110201937A (en) * 2019-06-13 2019-09-06 武汉商学院 A kind of automatic bottle washing device

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