CN102583043A - Mechanical arm capable of taking and placing materials - Google Patents

Mechanical arm capable of taking and placing materials Download PDF

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Publication number
CN102583043A
CN102583043A CN2012100288842A CN201210028884A CN102583043A CN 102583043 A CN102583043 A CN 102583043A CN 2012100288842 A CN2012100288842 A CN 2012100288842A CN 201210028884 A CN201210028884 A CN 201210028884A CN 102583043 A CN102583043 A CN 102583043A
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China
Prior art keywords
registration
grabbing assembly
mechanical arm
processed
picks
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Granted
Application number
CN2012100288842A
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Chinese (zh)
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CN102583043B (en
Inventor
张朋
米金鹏
胡颖
张建伟
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Priority to CN201210028884.2A priority Critical patent/CN102583043B/en
Publication of CN102583043A publication Critical patent/CN102583043A/en
Application granted granted Critical
Publication of CN102583043B publication Critical patent/CN102583043B/en
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Abstract

Disclosed is a mechanical arm capable of taking and placing materials, which is used for completing automatic taking and placing operations of workpieces. The mechanical arm comprises a delivery mechanism, a grabbing component, a location device and a supporting girder, wherein the delivery mechanism is used for delivering workpieces to be processed, the grab component is used for grabbing workpieces to be processed, the location device is connected with the grab components and used for locating the grab components so that the grab component can reach a preset position, and the supporting girder is used for fixing the delivery mechanism and the location device. The mechanical arm can automatically take and place workpieces to be processed through the delivery mechanism, the grab component, the location device and the supporting girder, so that production accidents caused by personal factors are reduced and the production efficiency is improved.

Description

Pick and place the material mechanical arm
[technical field]
The present invention relates to mechanical arm, particularly relate to a kind of material mechanical arm that picks and places.
[background technology]
The manufacturing advantage of China mainly depends on cheap labour power and raw material.In recent years, the lasting appreciation of Renminbi and the rise of cost of material make the competitive edge of Chinese manufacturing sharply lose.A lot of enterprises that manufacture face labor cost and improve constantly the dual difficulty with labor shortage, impel the production link of the increasing entering of industrial robot enterprise.But the general industrial robot costs an arm and a leg, and it is applied to specific processing, and more non-standard equipment is difficult to general industrial robot secondary process.At the production link of some repetitive operations,, cause industrial accident easily especially owing to the easy burnout of people.
[summary of the invention]
Based on this, be necessary to provide a kind of be used to repeat to pick and place workpiece to be processed pick and place the material mechanical arm.
A kind of material mechanical arm that picks and places is used for the loading or unloading operation to workpiece to be processed, comprising:
Connecting gear is used to transmit workpiece to be processed;
Grabbing assembly is used to grasp workpiece to be processed;
Registration device is connected with said grabbing assembly, is used for making grabbing assembly arrive predeterminated position to the grabbing assembly location;
Sub-truss is used for fixing said connecting gear and registration device.
Further, said connecting gear comprises belt conveyor and is positioned at the commentaries on classics charging tray on the belt conveyor, and belt conveyor is provided with and is positioned at the locating piece in the extracting scope of said grabbing assembly to said commentaries on classics charging tray.
Further, said grabbing assembly comprises finger and the actuating device that drives said finger completion grasping movement.
Further, said grabbing assembly comprises first grabbing assembly and second grabbing assembly, and said first grabbing assembly is connected with registration device with second grabbing assembly.
Further; Said registration device comprises first direction registration device, second direction registration device and third direction registration device, and the orientation of said first direction registration device, second direction registration device and third direction registration device is vertical each other in twos.
Further; Said first direction registration device is linear module; Said linear module is slidingly connected on the said sub-truss; Said linear module can slide along second direction, but the horizontal push cylinder that the second direction registration device slides on second direction for the said linear module of push-and-pull, and the third direction registration device is the decline cylinder that is connected on the linear module.
The above-mentioned material mechanical arm that picks and places is realized the picking and placeing of workpiece to be processed saved artificial participation through connecting gear, grabbing assembly, registration device and sub-truss, has reduced the industrial accident that human element causes.
[description of drawings]
Fig. 1 picks and places material mechanical arm structural representation for what this embodiment provided;
Fig. 2 picks and places the structural representation of the space positioning apparatus in the material mechanical arm for Fig. 1;
Fig. 3 picks and places the structural representation of the transfer structure in the material mechanical arm for Fig. 1.
[specific embodiment]
For the ease of understanding the present invention, will more comprehensively describe the present invention with reference to relevant drawings below.Provided preferred embodiment of the present invention in the accompanying drawing.But the present invention can realize with many different forms, be not limited to embodiment described herein.On the contrary, provide the purpose of these embodiment be make to disclosure of the present invention understand comprehensively thorough more.
Need to prove, when element is called as " being fixed in " another element, it can be directly on another element or also can have element placed in the middle.When an element is considered to " connection " another element, it can be to be directly connected to another element or possibly to have element placed in the middle simultaneously.Term as used herein " vertical ", " level ", " left side ", " right side " and similar statement do not represent it is unique embodiment just for illustrative purposes.
Only if definition is arranged in addition, the employed all technology of this paper are identical with the implication that belongs to those skilled in the art's common sense of the present invention with scientific terminology.Among this paper in specification sheets of the present invention employed term be not intended to be restriction the present invention just in order to describe the purpose of concrete embodiment.Term as used herein " and/or " comprise one or more relevant Listed Items arbitrarily with all combinations.
See also Fig. 1, the material mechanical arm that picks and places of present embodiment comprises even connecting gear 100, grabbing assembly 200, registration device 300 and sub-truss 400.
Consult Fig. 2, connecting gear 100 comprises belt conveyor 101 and is positioned at the commentaries on classics charging tray 102 on the belt conveyor, and belt conveyor 101 is provided with and is positioned at the locating piece 103 in the extracting scope of grabbing assembly 200 to said commentaries on classics charging tray 102.Connecting gear 100 comprises belt conveyor 101, reducing motor 110, transmits belt wheel 105, imput shaft 104, imput shaft fixed link 106, driven shaft adjust bar 107, rolling bearing units 108 and driven shaft 109; The motor shaft of reducing motor 110 links to each other with imput shaft 104; Imput shaft 104 links to each other with transmission belt wheel 105 through key; Imput shaft 104 is through two rolling bearing units 108 and imput shaft fixed link 106 thread connection; Imput shaft fixed link 106 is captiveed joint with sub-truss; Driven shaft 109 is also through two rolling bearing units 108 and driven shaft adjust bar 107 thread connection, and driven shaft adjust bar 107 has been fixed with sub-truss and has been connected, and the transmission belt wheel of imput shaft 104 and driven shaft links to each other through belt conveyor 101.Be appreciated that connecting gear 100 is not limited to said structure.
Grabbing assembly 200 is used to grasp workpiece to be processed, comprises finger and the actuating device that drives finger completion grasping movement, for example gas pawl and electromagnetic valve.Finger can design no finger according to the difference of workpiece to be processed, to adapt to no workpiece to be processed, have in addition can accomplish extracting with sucker to workpiece to be processed.
Consult Fig. 3, registration device 300 is connected with grabbing assembly 200, is used for making grabbing assembly 200 arrive predeterminated position to grabbing assembly 200 location.At the predeterminated position extracting workpiece to be processed of grabbing assembly 200 from connecting gear 100; Deliver to workpiece to be processed the predeterminated position of machining tool again; After lathe is accomplished the processing to workpiece to be processed; Grasp the workpiece that processes from lathe again and put back on the commentaries on classics charging tray of connecting gear 100, so far, accomplish a flow process that picks and places.Preferably, grabbing assembly 200 comprises that first grabbing assembly 201 and second grabbing assembly, 202, the first grabbing assemblies 201 are connected with registration device 300 with second grabbing assembly 202.
Registration device 300 comprises first direction registration device, second direction registration device and third direction registration device, and the orientation of first direction registration device, second direction registration device and third direction registration device is vertical each other in twos.Preferably; The first direction registration device is linear module 310; Linear module 310 is slidingly connected on the sub-truss 400; Linear module 310 can slide along second direction, but the horizontal push cylinder 320 that the second direction registration device slides on second direction for the said linear module 310 of push-and-pull, and the third direction registration device is the decline cylinder 330 that is connected linear module 310.Preferably, when grabbing assembly 200 comprised first grabbing assembly 201 and second grabbing assembly 202, the decline cylinder 330 that is connected linear module 310 was two, and first grabbing assembly 201 is connected a decline cylinder 330 respectively with second grabbing assembly 202.Be appreciated that linear module can realize linearly moving device by other, for example, devices such as band mechanism, chain mechanism, rack and pinion drive mechanism, horizontal push cylinder and decline cylinder can realize that the device of push pull maneuver is alternative by screw mandrel, hydraulic actuating cylinder, electric cylinder etc.
Sub-truss 400 is used for fixing connecting gear 100 and registration device 300.In this embodiment, sub-truss adopts gantry structure, is formed by connecting the industrial aluminum profile that differs of length.Be appreciated that sub-truss 400 can adopt other structures, sub-truss 400 supporting and positioning devices 300 move registration device 300 on sub-truss 400, to grabbing assembly 200 location.
The above-mentioned working process that picks and places the material mechanical arm below is described:
What workpiece to be processed was neat puts in the commentaries on classics charging tray 102 of transfer structure 100, and the reducing motor 110 of connecting gear 100 drives imput shaft 104 rotations, and imput shaft 104 drives the rotation of belt conveyor 101 through key, thereby drives the rotation that driven end transmits belt wheel 105.Because locating piece 103 is fixed on the belt conveyor 101, locating piece is positioned in the extracting scope of grabbing assembly 200 changeing charging tray 102.Therefore the rotation of reducing motor finally drives and changes charging tray 102 and move along the conveyer belt direction, and the workpieces to be processed that will change in the charging tray 102 move to predeterminated position, waits for grabbing assembly 200 extracting workpieces to be processed.After grabbing assembly 200 grasps workpieces to be processed, by registration device 300 workpiece to be processed is moved to the predeterminated position of machining tool, grabbing assembly 200 unclamps workpiece to be processed and stands away.When machining tool is accomplished the man-hour that adds to workpiece to be processed, grabbing assembly 200 is accomplished the extracting of workpiece by registration device 300 and is put back to and change charging tray 102.So far, picking and placeing the material mechanical arm has accomplished one and has picked and placeed flow process.
In a preferred embodiment; When grabbing assembly 200 comprises first grabbing assembly 201 and second grabbing assembly 202; After first grabbing assembly 201 grasps workpieces to be processed, by registration device 300 workpiece to be processed is moved to the predeterminated position of machining tool, second grabbing assembly 202 grasps have been accomplished the workpiece of processing on the machining tools and has stood away; First grabbing assembly 201 is placed on the Working position of machining tool to workpiece to be processed, such as the anchor clamps of machining tool.Grabbing assembly 200 is put back to the workpiece of accomplishing processing through registration device 300 change charging tray 102.At this moment, being driven by the belt conveyor of transfer structure 100 101 changes charging trays and moves, and the commentaries on classics charging tray 102 that the next one is placed with workpiece to be processed moves to the below of grabbing assembly, supplies grabbing assembly to grasp.Each performs its own functions for first grabbing assembly 201 and second grabbing assembly 202; When first grabbing assembly 201 and second grabbing assembly 202 move to machining tool; Extracting has been accomplished the workpiece of processing and has been stood away; The workpiece to be processed of another extracting is placed into the machining tool Working position, has improved efficient.
The above-mentioned material mechanical arm that picks and places is realized the picking and placeing of workpiece to be processed saved artificial participation through connecting gear 100, grabbing assembly 200, registration device 300 and sub-truss 400, reduces the industrial accident that human element causes.
The above embodiment has only expressed several kinds of embodiments of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art under the prerequisite that does not break away from the present invention's design, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with accompanying claims.

Claims (6)

1. one kind picks and places the material mechanical arm, is used for the loading or unloading operation to workpiece to be processed, it is characterized in that, comprising:
Connecting gear is used to transmit workpiece to be processed;
Grabbing assembly is used to grasp workpiece to be processed;
Registration device is connected with said grabbing assembly, is used for making grabbing assembly arrive predeterminated position to the grabbing assembly location;
Sub-truss is used for fixing said connecting gear and registration device.
2. the material mechanical arm that picks and places according to claim 1 is characterized in that, said connecting gear comprises belt conveyor and be positioned at the commentaries on classics charging tray on the belt conveyor, and belt conveyor is provided with and is positioned at the locating piece in the extracting scope of said grabbing assembly to said commentaries on classics charging tray.
3. the material mechanical arm that picks and places according to claim 1 is characterized in that, said grabbing assembly comprises finger and the actuating device that drives said finger completion grasping movement.
4. the material mechanical arm that picks and places according to claim 1 is characterized in that said grabbing assembly comprises first grabbing assembly and second grabbing assembly, and said first grabbing assembly is connected with registration device with second grabbing assembly.
5. the material mechanical arm that picks and places according to claim 1; It is characterized in that; Said registration device comprises first direction registration device, second direction registration device and third direction registration device, and the orientation of said first direction registration device, second direction registration device and third direction registration device is vertical each other in twos.
6. the material mechanical arm that picks and places according to claim 5; It is characterized in that; Said first direction registration device is linear module, and said linear module is slidingly connected on the said sub-truss, and said linear module slides along second direction; The second direction registration device is the horizontal push cylinder that the said linear module of push-and-pull slides on second direction, and the third direction registration device is the decline cylinder that is connected on the linear module.
CN201210028884.2A 2012-02-09 2012-02-09 Mechanical arm capable of taking and placing materials Active CN102583043B (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210028884.2A CN102583043B (en) 2012-02-09 2012-02-09 Mechanical arm capable of taking and placing materials

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CN102583043A true CN102583043A (en) 2012-07-18
CN102583043B CN102583043B (en) 2014-03-26

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103625920A (en) * 2013-11-22 2014-03-12 中国科学院深圳先进技术研究院 Automatic workpiece conveying and assembling production system and method
CN104627643A (en) * 2013-08-27 2015-05-20 泰科电子公司 Component feeding system
CN104999327A (en) * 2015-07-01 2015-10-28 绍兴文理学院 Automatic loading/unloading manipulator of numerical control lathe
CN105015825A (en) * 2014-04-28 2015-11-04 四川科伦药业股份有限公司 Full-automatic rail positioning box filling machine
CN105600431A (en) * 2016-03-22 2016-05-25 北京众力精机科技有限公司 Automatic grasping and dish discharging device
CN106185306A (en) * 2016-08-29 2016-12-07 江苏准信自动化科技股份有限公司 Battery rapid material-feeding device
CN106312518A (en) * 2016-10-21 2017-01-11 安徽巨自动化装备有限公司 Shaft sleeve part loading mechanism
CN107857089A (en) * 2017-11-01 2018-03-30 广东南大机器人有限公司 A kind of material transportation and apparatus for feeding
CN108918051A (en) * 2018-09-08 2018-11-30 芜湖金光汽车配件有限责任公司 Automated detection method and device on a kind of production line
CN109205222A (en) * 2017-07-07 2019-01-15 宁波舜宇光电信息有限公司 A kind of material transmitting device and method

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EP1445038A2 (en) * 2003-02-07 2004-08-11 Recop Electronic GmbH Process of sorting bottles out of a first tray transported on a first conveyor and extraction device suitable for executing the process
DE202004019406U1 (en) * 2004-12-09 2005-05-12 Rudholzer Gmbh Production line for receiving, stacking, shrink-wrapping and packaging plastic parts has transport axle with several transport grippers for deploying and filling magazine; transport grippers are moved reciprocally by single transport system
CN201647652U (en) * 2010-02-05 2010-11-24 广州海盛机器人有限公司 Material conveying device

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US5007785A (en) * 1988-11-14 1991-04-16 Staalkat B.V. Method and apparatus for unloading stacks of trays
EP0411523A1 (en) * 1989-08-01 1991-02-06 G.D Societa' Per Azioni Apparatus for feeding packaging machines with stacks of sheet material
US5102283A (en) * 1990-02-08 1992-04-07 Martin Balzola Elorza Automatic positioner for stores
US5252024A (en) * 1991-11-04 1993-10-12 General Motors Corporation Transfer method for various sizes of assemblies
EP1445038A2 (en) * 2003-02-07 2004-08-11 Recop Electronic GmbH Process of sorting bottles out of a first tray transported on a first conveyor and extraction device suitable for executing the process
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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104627643A (en) * 2013-08-27 2015-05-20 泰科电子公司 Component feeding system
CN104627643B (en) * 2013-08-27 2018-04-27 泰连公司 Component feed system
CN103625920A (en) * 2013-11-22 2014-03-12 中国科学院深圳先进技术研究院 Automatic workpiece conveying and assembling production system and method
CN103625920B (en) * 2013-11-22 2016-06-22 中国科学院深圳先进技术研究院 Workpiece automatic transport and assembling production system and production method
CN105015825A (en) * 2014-04-28 2015-11-04 四川科伦药业股份有限公司 Full-automatic rail positioning box filling machine
CN105015825B (en) * 2014-04-28 2017-02-15 四川科伦药业股份有限公司 Full-automatic rail positioning box filling machine
CN104999327A (en) * 2015-07-01 2015-10-28 绍兴文理学院 Automatic loading/unloading manipulator of numerical control lathe
CN105600431A (en) * 2016-03-22 2016-05-25 北京众力精机科技有限公司 Automatic grasping and dish discharging device
CN106185306A (en) * 2016-08-29 2016-12-07 江苏准信自动化科技股份有限公司 Battery rapid material-feeding device
CN106312518A (en) * 2016-10-21 2017-01-11 安徽巨自动化装备有限公司 Shaft sleeve part loading mechanism
CN109205222A (en) * 2017-07-07 2019-01-15 宁波舜宇光电信息有限公司 A kind of material transmitting device and method
CN107857089A (en) * 2017-11-01 2018-03-30 广东南大机器人有限公司 A kind of material transportation and apparatus for feeding
CN108918051A (en) * 2018-09-08 2018-11-30 芜湖金光汽车配件有限责任公司 Automated detection method and device on a kind of production line

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