CN103659792A - Double-arm workpiece picking and placing mechanical hand - Google Patents

Double-arm workpiece picking and placing mechanical hand Download PDF

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Publication number
CN103659792A
CN103659792A CN201210353735.3A CN201210353735A CN103659792A CN 103659792 A CN103659792 A CN 103659792A CN 201210353735 A CN201210353735 A CN 201210353735A CN 103659792 A CN103659792 A CN 103659792A
Authority
CN
China
Prior art keywords
axis
guide rail
axis guide
slide block
sliding block
Prior art date
Application number
CN201210353735.3A
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Chinese (zh)
Inventor
吕明明
Original Assignee
江苏省(扬州)数控机床研究院
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 江苏省(扬州)数控机床研究院 filed Critical 江苏省(扬州)数控机床研究院
Priority to CN201210353735.3A priority Critical patent/CN103659792A/en
Publication of CN103659792A publication Critical patent/CN103659792A/en

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Abstract

The invention discloses a double-arm workpiece picking and placing mechanical hand which aims at solving the problem of high labor intensity, low work efficiency and high danger factor caused by picking and placing workpieces manually in the prior art. The double-arm workpiece picking and placing mechanical hand comprises a base, an X-axis guide rail, a Y-axis guide rail and a Z-axis guide rail, wherein every two of the X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail are perpendicular to each other, the X-axis guide rail is supported on the base, the Y-axis guide rail is connected with the X-axis guide rail through an X-axis sliding block arranged on the X-axis guide rail, the X-axis sliding block can slide along the X-axis guide rail horizontally, the Z-axis guide rail is connected with the Y-axis guide rail through a Y-axis sliding block arranged on the Y-axis guide rail, the Y-axis sliding block can slide along the Y-axis guide rail horizontally, a Z-axis sliding block is arranged on the lateral face of the Y-axis sliding block, and the Z-axis guide rail penetrates through the Z-axis sliding block vertically and can move along the Z-axis sliding block vertically. By combining mechanical parts and electronic parts, workpiece picking and placing can be achieved automatically, therefore, labor intensity of workers is reduced, work efficiency is increased, enterprise production cost is reduced, and the safety accident rate is lowered down.

Description

A kind of both arms pick and place workpiece manipulator
Technical field
The present invention relates to a kind of fetching device, be specifically related to a kind of being used in work piece production process, the both arms that workpiece carried out to automatic clamping and placing pick and place workpiece manipulator.
Background technology
Factory, after using pressing equipment to complete the punching press of workpiece, all adopts operating personnel to take clip that made workpiece is taken off from the workbench of pressing equipment with hand, and workman's labour intensity is large like this, adopts the inefficiency of artificial pickup; And have potential safety hazard, workman's finger is weighed wounded by punch press the accident of falling and happens occasionally, and has taked a lot of safety measures although existing, but still cannot avoid similar accident to occur, thereby increased beyond doubt the burden of enterprise.
Summary of the invention
For above-mentioned technical problem, the invention provides a kind of workpiece automatic pick-and-place apparatus, it can carry out automatic clamping and placing to the workpiece being completed by pressing equipment punching press, has reduced greatly workman's labour intensity, has improved operating efficiency, has also reduced the burden of enterprise.
The object of the present invention is achieved like this: a kind of both arms pick and place workpiece manipulator, comprise base, X-axis guide rail perpendicular to each other, Y-axis guide rail and Z axis guide rail, described X-axis guide supporting is on base, described Y-axis guide rail is connected with X-axis guide rail by the X-axis slide block of being located on X-axis guide rail, X-axis slide block can be along the horizontal slip of X-axis guide rail, described Z axis guide rail is connected with Y-axis guide rail by the Y-axis slide block of being located on Y-axis guide rail, Y-axis slide block can be along the horizontal slip of Y-axis guide rail, the side of Y-axis slide block is also provided with Z axis slide block, Z axis guide rail vertically runs through Z axis slide block and can move up and down along Z axis slide block, described chassis outer side is also provided with controls electric cabinet, and the side of controlling electric cabinet is connected with X-axis driving-belt, the end of described X-axis guide rail is connected with X-axis drive motors, and Y-axis drive motors is also installed on X-axis guide rail, is connected with Y-axis Timing Belt on the output shaft of Y-axis drive motors, the upper end of described Z axis guide rail is provided with Z-axis transmission band, and the top of described Z axis slide block is provided with Y-axis driving-belt, described Z axis guide rail comprises Z axis the first guide rail and Z axis the second guide rail, and the lower end of described Z axis the first guide rail is connected with work piece turnover mechanism, and the lower end of described Z axis the second guide rail is connected with Pneumatic manipulator.
The other end relative with Y-axis drive motors on described Y-axis guide rail is also provided with Y-axis synchronous-belt regulating device, and the outside of described Y-axis synchronous-belt regulating device is provided with protective cover.
Described Z axis the first guide rail and Z axis the second guide rail side are separately installed with bounce cylinder, and top is respectively equipped with position-limit mechanism, and bottom is also connected with respectively keyset, and the air valve seat of described bounce cylinder is located at the below of corresponding keyset; The piston rod of described bounce cylinder is connected with corresponding keyset respectively; Described workpiece holding structure is connected with Z axis guide rail by corresponding air valve seat respectively with Pneumatic manipulator.
When the present invention works, first it is connected with use equipment by base, then adjust workpiece and pick and place position, according to workpiece kind difference, select workpiece holding structure or Pneumatic manipulator, by controlling electric cabinet, control each guide rail operating procedure, so just can realize the object that picks and places workpiece automation.Compared with prior art, the invention has the beneficial effects as follows, can automatically to the workpiece after being completed by pressing equipment punching press, pick and place, reduced greatly workman's labour intensity, improve operating efficiency, also reduced enterprise's production cost and security incident incidence.
Accompanying drawing explanation
Fig. 1 is front view of the present invention.
Fig. 2 is left view of the present invention.
Wherein, 1 base; 2X axis rail; 3 Y-axis guide rails; 4Z axis rail; 5X axle slide block; 6Y axle slide block; 7Z axle slide block; 8 control electric cabinet; 9X through-drive band; 10Y through-drive band; 11Z through-drive band; 12X axis drive motor; 13Y axis drive motor; 14Z axle the first guide rail; 15Z axle the second guide rail; 16Y axle Timing Belt; 17Y axle synchronous-belt regulating device; 18 workpiece holding structures; 19 Pneumatic manipulators; 20 bounce cylinders; 21 air valve seat; 22 keysets; 23 position-limit mechanisms.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1 and Figure 2, comprise base 1, X-axis guide rail 2 perpendicular to each other, Y-axis guide rail 3 and Z axis guide rail 4, X-axis guide rail 2 is supported on base 1, Y-axis guide rail 3 is connected with X-axis guide rail 2 by the X-axis slide block 5 of being located on X-axis guide rail 2, X-axis slide block 5 can be along 2 horizontal slips of X-axis guide rail, Z axis guide rail 4 is connected with Y-axis guide rail 3 by the Y-axis slide block 6 of being located on Y-axis guide rail 3, Y-axis slide block 6 can be along 3 horizontal slips of Y-axis guide rail, the side of Y-axis slide block 6 is also provided with Z axis slide block 7, and Z axis guide rail 4 vertically runs through Z axis slide block 7 and can move up and down along Z axis slide block 7; Base 1 outside is also provided with controls electric cabinet 8, and the side of controlling electric cabinet 8 is connected with X-axis driving-belt 9; The end of X-axis guide rail 2 is connected with X-axis drive motors 12, and Y-axis drive motors 13 is also installed on X-axis guide rail 2, is connected with Y-axis Timing Belt 16 on the output shaft of Y-axis drive motors 13; The upper end of Z axis guide rail 4 is provided with Z-axis transmission band 11, and the top of Z axis slide block 7 is provided with Y-axis driving-belt 10; Z axis guide rail 4 comprises Z axis the first guide rail 14 and Z axis the second guide rail 15, and the lower end of Z axis the first guide rail 14 is connected with work piece turnover mechanism 18, and the lower end of Z axis the second guide rail 15 is connected with Pneumatic manipulator 19.The other end relative with Y-axis drive motors 13 on Y-axis guide rail 3 is also provided with Y-axis synchronous-belt regulating device 17, and the outside of Y-axis synchronous-belt regulating device 17 is provided with protective cover.Z axis the first guide rail 14 and Z axis the second guide rail 15 sides are separately installed with bounce cylinder 20, and top is respectively equipped with position-limit mechanism 25, and bottom is also connected with respectively keyset 24, and the air valve seat 22 of bounce cylinder 20 is located at the below of corresponding keyset 24; The piston rod 23 of bounce cylinder 20 is connected with corresponding keyset 24 respectively; Workpiece holding structure 18 is connected with Z axis guide rail 4 by corresponding air valve seat 22 respectively with Pneumatic manipulator 19.
The present invention is not limited to above-described embodiment; on the basis of technical scheme disclosed by the invention; those skilled in the art is according to disclosed technology contents; do not need performing creative labour just can make some replacements and distortion to some technical characterictics wherein, these replacements and distortion are all in protection scope of the present invention.

Claims (3)

1. both arms pick and place workpiece manipulator, it is characterized in that, comprise base, X-axis guide rail perpendicular to each other, Y-axis guide rail and Z axis guide rail, described X-axis guide supporting is on base, described Y-axis guide rail is connected with X-axis guide rail by the X-axis slide block of being located on X-axis guide rail, X-axis slide block can be along the horizontal slip of X-axis guide rail, described Z axis guide rail is connected with Y-axis guide rail by the Y-axis slide block of being located on Y-axis guide rail, Y-axis slide block can be along the horizontal slip of Y-axis guide rail, the side of Y-axis slide block is also provided with Z axis slide block, and Z axis guide rail vertically runs through Z axis slide block and can move up and down along Z axis slide block; Described chassis outer side is also provided with controls electric cabinet, and the side of controlling electric cabinet is connected with X-axis driving-belt; The end of described X-axis guide rail is connected with X-axis drive motors, and Y-axis drive motors is also installed on X-axis guide rail, is connected with Y-axis Timing Belt on the output shaft of Y-axis drive motors; The upper end of described Z axis guide rail is provided with Z-axis transmission band, and the top of described Z axis slide block is provided with Y-axis driving-belt; Described Z axis guide rail comprises Z axis the first guide rail and Z axis the second guide rail, and the lower end of described Z axis the first guide rail is connected with work piece turnover mechanism, and the lower end of described Z axis the second guide rail is connected with Pneumatic manipulator.
2. a kind of both arms according to claim 1 pick and place workpiece manipulator, it is characterized in that, the other end relative with Y-axis drive motors on described Y-axis guide rail is also provided with Y-axis synchronous-belt regulating device, and the outside of described Y-axis synchronous-belt regulating device is provided with protective cover.
3. a kind of both arms according to claim 1 pick and place workpiece manipulator, it is characterized in that, described Z axis the first guide rail and Z axis the second guide rail side are separately installed with bounce cylinder, top is respectively equipped with position-limit mechanism, bottom is also connected with respectively keyset, and the air valve seat of described bounce cylinder is located at the below of corresponding keyset; The piston rod of described bounce cylinder is connected with corresponding keyset respectively; Described workpiece holding structure is connected with Z axis guide rail by corresponding air valve seat respectively with Pneumatic manipulator.
CN201210353735.3A 2012-09-21 2012-09-21 Double-arm workpiece picking and placing mechanical hand CN103659792A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201210353735.3A CN103659792A (en) 2012-09-21 2012-09-21 Double-arm workpiece picking and placing mechanical hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210353735.3A CN103659792A (en) 2012-09-21 2012-09-21 Double-arm workpiece picking and placing mechanical hand

Publications (1)

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CN103659792A true CN103659792A (en) 2014-03-26

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103921161A (en) * 2014-04-15 2014-07-16 江苏优创数控设备有限公司 Manipulator capable of horizontally moving and taking and placing workpieces by using double arms
CN104440903A (en) * 2014-12-10 2015-03-25 江苏万工科技集团有限公司 Feeding and discharging device for armband lockstitch manipulator
CN104440868A (en) * 2014-12-05 2015-03-25 南京埃尔法电液技术有限公司 Intermediate conveyance manipulator
CN104552240A (en) * 2015-01-06 2015-04-29 浙江大学 Picking and conveying manipulator for heat transfer printing
CN104646553A (en) * 2014-12-11 2015-05-27 中国科学院自动化研究所北仑科学艺术实验中心 Manipulator structure for work-piece clamping carrying
CN110823523A (en) * 2016-08-04 2020-02-21 彭爱勤 Automatic detection method for pluggable transceiver module

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103921161A (en) * 2014-04-15 2014-07-16 江苏优创数控设备有限公司 Manipulator capable of horizontally moving and taking and placing workpieces by using double arms
CN104440868A (en) * 2014-12-05 2015-03-25 南京埃尔法电液技术有限公司 Intermediate conveyance manipulator
CN104440903A (en) * 2014-12-10 2015-03-25 江苏万工科技集团有限公司 Feeding and discharging device for armband lockstitch manipulator
CN104440903B (en) * 2014-12-10 2016-11-23 江苏万工科技集团有限公司 The feeding blanking device of armband lock seaming mechanical hand
CN104646553A (en) * 2014-12-11 2015-05-27 中国科学院自动化研究所北仑科学艺术实验中心 Manipulator structure for work-piece clamping carrying
CN104646553B (en) * 2014-12-11 2016-11-30 中国科学院自动化研究所北仑科学艺术实验中心 A kind of robot manipulator structure for piece-holder carrying
CN104552240A (en) * 2015-01-06 2015-04-29 浙江大学 Picking and conveying manipulator for heat transfer printing
CN110823523A (en) * 2016-08-04 2020-02-21 彭爱勤 Automatic detection method for pluggable transceiver module

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Application publication date: 20140326