CN103921161A - Manipulator capable of horizontally moving and taking and placing workpieces by using double arms - Google Patents

Manipulator capable of horizontally moving and taking and placing workpieces by using double arms Download PDF

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Publication number
CN103921161A
CN103921161A CN201410149846.1A CN201410149846A CN103921161A CN 103921161 A CN103921161 A CN 103921161A CN 201410149846 A CN201410149846 A CN 201410149846A CN 103921161 A CN103921161 A CN 103921161A
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CN
China
Prior art keywords
axis
section bar
bar support
slide block
linear guides
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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.)
Pending
Application number
CN201410149846.1A
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Chinese (zh)
Inventor
任雁胜
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.)
JIANGSU YOUCHUANG NUMERICAL CONTROL EQUIPMENT Co Ltd
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JIANGSU YOUCHUANG NUMERICAL CONTROL EQUIPMENT Co Ltd
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Publication date
Application filed by JIANGSU YOUCHUANG NUMERICAL CONTROL EQUIPMENT Co Ltd filed Critical JIANGSU YOUCHUANG NUMERICAL CONTROL EQUIPMENT Co Ltd
Priority to CN201410149846.1A priority Critical patent/CN103921161A/en
Publication of CN103921161A publication Critical patent/CN103921161A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0084Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087Dual arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a manipulator capable of horizontally moving and taking and placing workpieces by using double arms. A large base is arranged above an inclined base; an X-axis square tube base is fixed above the large base; an electric control cabinet is arranged on the outer side of the large base; a Y-axis sectional material support is fixed on the bottom of a Y-axis motor fixing rack; a Y-axis linear guide track is arranged on the Y-axis sectional material support; a Z-axis guide track is arranged on a Z-axis sectional material support; and a Z-axis limiting stopper is arranged at the upper end of the Z-axis guide track. By using relevant mechanical components and electronic components, the manipulator can automatically take and place the workpieces, the production efficiency of an enterprise is improved, and the production cost of the enterprise and the possibility of security incidents are effectively reduced.

Description

One moves horizontally both arms and picks and places workpiece manipulator
Technical field
The present invention relates to a kind of manipulator, especially one moves horizontally both arms and picks and places workpiece manipulator.
Background technology
At present, in factory, the main equipment such as injection machine, lathe, milling machine, forcing press is all used and is is manually picked and placeed workpiece, and so not only production efficiency is low, the high but also frequent meeting of human cost is because personnel's misoperation causes security incident.Manipulator is the intelligent instrument of a kind of mechano-electronic height combination, and its appearance can improve automaticity for factory, reduces the demand to human resources day by day in short supply, reduces production and the operating cost of enterprise.
Summary of the invention
Manually pick and place in order to overcome existing equipment that workpiece efficiency is low, human cost is high and the deficiency of easily generation accident, the invention provides one moves horizontally both arms and picks and places workpiece manipulator, this manipulator is by associated mechanical components and electronic unit combination, can realize the automation of facility access workpiece, so not only improve the production efficiency of enterprise, effectively reduce enterprise's production cost and the probability that occurs security incident.
The technical solution adopted for the present invention to solve the technical problems is: one moves horizontally both arms and picks and places workpiece manipulator, it is characterized in that: large base is installed above sloping bottom, above large base, be fixed with X-axis square tube base, be provided with and control electric cabinet in the outside of large base; X-axis ball-screw is installed on the upper surface of X-axis square tube base, in the both sides of X-axis ball-screw, X-axis linear guides is installed; The end of X-axis ball-screw is connected with X-axis servomotor; Be provided with X-axis square tube cover of upholstery at the front end face of X-axis square tube base; Be connected with X-axis tank chain in the side of controlling electric cabinet; Y-axis motor fixed mount is installed on X-axis linear guides, Y-axis drive motors is installed on y-axis motor fixed mount, Y-axis synchronous belt transmission device is installed on the output shaft of Y-axis drive motors; Below Y-axis sliding bottom, be provided with protective cover fixed base plate, be connected with y-axis motor protective cover by protective cover fixed base plate; The bottom of y-axis motor fixed mount is fixed with Y-axis section bar support, and Y-axis linear guides is installed on Y-axis section bar support; At the other end of Y-axis section bar support, Timing Belt take-up device is installed, is provided with Y-axis Timing Belt take-up device outer cover in the outside of Timing Belt take-up device; Z axis sliding bottom is installed on Y-axis linear guides, is provided with Z axis linear slide block fixed head in the side of Z axis sliding bottom, be provided with Y-axis tank chain on the top of Z axis linear slide block fixed head; The below of Z axis linear slide block fixed head is fixed with y-axis shift movable slider base plate; Slide block and Z axis buffer that Z axis guide rail is installed on y-axis shift movable slider base plate, Z axis guide rails assembling is on Z axis section bar support, and the upper end of Z axis guide rail is provided with Z axis positive stop; At the leading flank of Z axis linear slide block fixed head, Z axis front end face cover plate is installed; Above Z axis section bar support, be provided with Z axis tank chain, the below of Z axis section bar support is provided with keyset, by keyset, air valve holder is installed, and work piece turnover mechanism or pneumatic-finger folder are installed below air valve holder; The outer wall of Z axis cylinder and y-axis shift movable slider base plate, the piston rod of Z axis cylinder is connected with keyset.
The quantity of X-axis linear guides is two.
The quantity of Y-axis linear guides is two.
When use, this manipulator is connected with use equipment by sloping bottom, then adjusts workpiece and pick and place position, so just can realize the object that picks and places workpiece automation.
The invention has the beneficial effects as follows, utilize associated mechanical components and electronic unit combination, can realize the automation of facility access workpiece, so not only improve the production efficiency of enterprise, effectively reduce enterprise's production cost and the probability that occurs security incident.
Brief description of the drawings
Fig. 1 is front view of the present invention;
Fig. 2 is side view of the present invention;
Fig. 3 is top view of the present invention;
In figure: 1 Z axis cylinder, 2 Z axis positive stops, 3 Z axis tank chains, 4 Z axis section bar supports, 5 Z axis guide rails, 6 Y-axis drive motors, 7 y-axis motor fixed mounts, 8 Y-axis synchronous belt transmission devices, 9 X-axis tank chains, 10 control electric cabinet, 11 large bases, 12 sloping bottoms, 13 pneumatic-finger folders, 14 Z axis front end face cover plates, 15 work piece turnover mechanisms, 16 air valve holders, 17 keysets, 18, y-axis shift movable slider base plate, 19 Z axis linear slide block fixed heads, 20 Timing Belt take-up devices, 21 Y-axis linear guides, 22 Y-axis section bar supports, 23 Y-axis tank chains, 24 Z axis buffers, 25 X-axis square tube bases, 26 X-axis servomotors, 27 protective cover fixed base plates, 28 y-axis motor protective covers, 29 Z axis sliding bottoms, 30 X-axis ball-screws, 31 X-axis linear guides, 32 X-axis square tube cover of upholstery, 33 Y-axis Timing Belt take-up device outer covers.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
In Fig. 1, Fig. 2, Fig. 3, one moves horizontally both arms and picks and places workpiece manipulator, and large base 11 is installed above sloping bottom 12, above large base 11, is fixed with X-axis square tube base 25, is provided with and controls electric cabinet 10 in the outside of large base 11.On the upper surface of X-axis square tube base 25, X-axis ball-screw 30 is installed, in the both sides of X-axis ball-screw 30, X-axis linear guides 31 is installed, and the quantity of X-axis linear guides 31 is two.The end of X-axis ball-screw 30 is connected with X-axis servomotor 26.Be provided with X-axis square tube cover of upholstery 32 at the front end face of X-axis square tube base 25.Be connected with X-axis tank chain 9 in the side of controlling electric cabinet 10.Y-axis motor fixed mount 7 is installed on X-axis linear guides 31, Y-axis drive motors 6 is installed on y-axis motor fixed mount 7, Y-axis synchronous belt transmission device 8 is installed on the output shaft of Y-axis drive motors 6.Below Y-axis sliding bottom 14, be provided with protective cover fixed base plate 27, be connected with y-axis motor protective cover 28 by protective cover fixed base plate 27.The bottom of y-axis motor fixed mount 7 is fixed with Y-axis section bar support 22, and Y-axis linear guides 21 is installed on Y-axis section bar support 22, and the quantity of Y-axis linear guides 21 is two.At the other end of Y-axis section bar support 22, Timing Belt take-up device 20 is installed, is provided with Y-axis Timing Belt take-up device outer cover 33 in the outside of Timing Belt take-up device 20.Z axis sliding bottom 29 is installed on Y-axis linear guides 21, is provided with Z axis linear slide block fixed head 19 in the side of Z axis sliding bottom 29, be provided with Y-axis tank chain 23 on the top of Z axis linear slide block fixed head 19.The below of Z axis linear slide block fixed head 19 is fixed with y-axis shift movable slider base plate 18.Slide block and Z axis buffer 24 that Z axis guide rail 5 is installed on y-axis shift movable slider base plate 18, Z axis guide rail 5 is arranged on Z axis section bar support 4, and the upper end of Z axis guide rail 5 is provided with Z axis positive stop 2.At the leading flank of Z axis linear slide block fixed head 19, Z axis front end face cover plate 14 is installed.Above Z axis section bar support 4, be provided with Z axis tank chain 3, the below of Z axis section bar support 4 is provided with keyset 17, by keyset 17, air valve holder 16 is installed, and work piece turnover mechanism 15 or pneumatic-finger folder 13 are installed below air valve holder 16.The outer wall of Z axis cylinder 1 and y-axis shift movable slider base plate 18, the piston rod of Z axis cylinder 1 is connected with keyset 17.When use, this manipulator is connected with use equipment by sloping bottom 12, then adjusts workpiece and pick and place position, so just can realize the object that picks and places workpiece automation.

Claims (3)

1. one kind moves horizontally both arms and picks and places workpiece manipulator, it is characterized in that: in the top of sloping bottom (12), large base (11) is installed, top at large base (11) is fixed with X-axis square tube base (25), is provided with and controls electric cabinet (10) in the outside of large base (11); X-axis ball-screw (30) is installed on the upper surface of X-axis square tube base (25), in the both sides of X-axis ball-screw (30), X-axis linear guides (31) is installed; The end of X-axis ball-screw (30) is connected with X-axis servomotor (26); Be provided with X-axis square tube cover of upholstery (32) at the front end face of X-axis square tube base (25); Be connected with X-axis tank chain (9) in the side of controlling electric cabinet (10); At the upper y-axis motor fixed mount (7) of installing of X-axis linear guides (31), Y-axis drive motors (6) is installed on y-axis motor fixed mount (7), Y-axis synchronous belt transmission device (8) is installed on the output shaft of Y-axis drive motors (6); Be provided with protective cover fixed base plate (27) in the below of Y-axis sliding bottom (14), be connected with y-axis motor protective cover (28) by protective cover fixed base plate (27); The bottom of y-axis motor fixed mount (7) is fixed with Y-axis section bar support (22), and Y-axis linear guides (21) is installed on Y-axis section bar support (22); At the other end of Y-axis section bar support (22), Timing Belt take-up device (20) is installed, is provided with Y-axis Timing Belt take-up device outer cover (33) in the outside of Timing Belt take-up device (20); Z axis sliding bottom (29) is installed on Y-axis linear guides (21), is provided with Z axis linear slide block fixed head (19) in the side of Z axis sliding bottom (29), be provided with Y-axis tank chain (23) on the top of Z axis linear slide block fixed head (19); The below of Z axis linear slide block fixed head (19) is fixed with y-axis shift movable slider base plate (18); Slide block and the Z axis buffer (24) of Z axis guide rail (5) are installed on y-axis shift movable slider base plate (18), and it is upper that Z axis guide rail (5) is arranged on Z axis section bar support (4), and the upper end of Z axis guide rail (5) is provided with Z axis positive stop (2); At the leading flank of Z axis linear slide block fixed head (19), Z axis front end face cover plate (14) is installed; Be provided with Z axis tank chain (3) in the top of Z axis section bar support (4), the below of Z axis section bar support (4) is provided with keyset (17), by keyset (17), air valve holder (16) is installed, work piece turnover mechanism (15) or pneumatic-finger folder (13) are installed in the below of air valve holder (16); The outer wall of Z axis cylinder (1) and y-axis shift movable slider base plate (18), the piston rod of Z axis cylinder (1) is connected with keyset (17).
2. one according to claim 1 moves horizontally both arms and picks and places workpiece manipulator, it is characterized in that: the quantity of X-axis linear guides (31) is two.
3. one according to claim 1 moves horizontally both arms and picks and places workpiece manipulator, it is characterized in that: the quantity of Y-axis linear guides (21) is two.
CN201410149846.1A 2014-04-15 2014-04-15 Manipulator capable of horizontally moving and taking and placing workpieces by using double arms Pending CN103921161A (en)

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CN201410149846.1A CN103921161A (en) 2014-04-15 2014-04-15 Manipulator capable of horizontally moving and taking and placing workpieces by using double arms

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104097104A (en) * 2014-08-08 2014-10-15 郑庆祥 Mechanical hand automatic material-receiving and material-feeding device for long shaft parts
CN104139394A (en) * 2014-07-23 2014-11-12 艾尔发(苏州)自动化科技有限公司 Cantilever manipulator structure
CN104289380A (en) * 2014-09-30 2015-01-21 东莞新爱荣机械自动化设备有限公司 Equipment for spraying or dispensing surfaces of printed circuit board
CN104772644A (en) * 2015-04-30 2015-07-15 缪慰时 Assembled type universal loading and unloading manipulator of numerical control machine tool
CN106737765A (en) * 2017-03-28 2017-05-31 广东统机器人智能股份有限公司 A kind of seven station stamping manipulator automatic loading/unloading equipment
CN107053398A (en) * 2017-06-15 2017-08-18 海宁永欣科技咨询有限公司 A kind of anti-corrosion method of board surface
CN108067603A (en) * 2017-12-25 2018-05-25 宁波振锐智能机器科技有限公司 A kind of casting spraying manufacturing and processing equipment
CN108539282A (en) * 2018-04-12 2018-09-14 王伟波 A kind of rectangular cellular li-ion battery test production line
CN108705522A (en) * 2018-06-26 2018-10-26 湖北火爆机器人科技有限公司 A kind of four axis truss robots
CN109895074A (en) * 2017-12-08 2019-06-18 中国科学院沈阳自动化研究所 A kind of straight line units type both arms cooperation robot
CN112108931A (en) * 2020-08-30 2020-12-22 萧县威辰机电工程设备有限公司 Clamping and adjusting equipment for machining elevator car rail assembly
CN115122414A (en) * 2022-04-25 2022-09-30 唐山阿波罗智能设备有限公司 Intelligent linear material machining and cutting system

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EP0069483A2 (en) * 1981-06-29 1983-01-12 Fanuc Ltd. An industrial robot
EP0418388A1 (en) * 1988-08-11 1991-03-27 Fanuc Ltd. Horizontal articulated robot
CN202079428U (en) * 2011-04-28 2011-12-21 扬州迈极自动化设备有限公司 Horizontally moving dual-arm robot
CN102756370A (en) * 2011-04-28 2012-10-31 扬州迈极自动化设备有限公司 Manipulator for horizontally moving and picking and placing work-piece by double arms
CN102756371A (en) * 2011-04-28 2012-10-31 扬州迈极自动化设备有限公司 Turnover manipulator for picking and placing work-piece by double arms
CN102756299A (en) * 2011-04-28 2012-10-31 扬州迈极自动化设备有限公司 Manipulator for horizontally moving and picking and placing work-piece by single arm
CN103659792A (en) * 2012-09-21 2014-03-26 江苏省(扬州)数控机床研究院 Double-arm workpiece picking and placing mechanical hand

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0069483A2 (en) * 1981-06-29 1983-01-12 Fanuc Ltd. An industrial robot
EP0418388A1 (en) * 1988-08-11 1991-03-27 Fanuc Ltd. Horizontal articulated robot
CN202079428U (en) * 2011-04-28 2011-12-21 扬州迈极自动化设备有限公司 Horizontally moving dual-arm robot
CN102756370A (en) * 2011-04-28 2012-10-31 扬州迈极自动化设备有限公司 Manipulator for horizontally moving and picking and placing work-piece by double arms
CN102756371A (en) * 2011-04-28 2012-10-31 扬州迈极自动化设备有限公司 Turnover manipulator for picking and placing work-piece by double arms
CN102756299A (en) * 2011-04-28 2012-10-31 扬州迈极自动化设备有限公司 Manipulator for horizontally moving and picking and placing work-piece by single arm
CN103659792A (en) * 2012-09-21 2014-03-26 江苏省(扬州)数控机床研究院 Double-arm workpiece picking and placing mechanical hand

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104139394A (en) * 2014-07-23 2014-11-12 艾尔发(苏州)自动化科技有限公司 Cantilever manipulator structure
CN104139394B (en) * 2014-07-23 2016-08-24 艾尔发(苏州)自动化科技有限公司 A kind of cantilever robot manipulator structure
CN104097104A (en) * 2014-08-08 2014-10-15 郑庆祥 Mechanical hand automatic material-receiving and material-feeding device for long shaft parts
CN104289380A (en) * 2014-09-30 2015-01-21 东莞新爱荣机械自动化设备有限公司 Equipment for spraying or dispensing surfaces of printed circuit board
CN104772644A (en) * 2015-04-30 2015-07-15 缪慰时 Assembled type universal loading and unloading manipulator of numerical control machine tool
CN106737765A (en) * 2017-03-28 2017-05-31 广东统机器人智能股份有限公司 A kind of seven station stamping manipulator automatic loading/unloading equipment
CN107053398A (en) * 2017-06-15 2017-08-18 海宁永欣科技咨询有限公司 A kind of anti-corrosion method of board surface
CN107053398B (en) * 2017-06-15 2019-01-29 广州飞腾家具有限公司 A kind of anti-corrosion method of board surface
CN109895074A (en) * 2017-12-08 2019-06-18 中国科学院沈阳自动化研究所 A kind of straight line units type both arms cooperation robot
CN109895074B (en) * 2017-12-08 2021-09-21 中国科学院沈阳自动化研究所 Linear unit type double-arm cooperative robot
CN108067603A (en) * 2017-12-25 2018-05-25 宁波振锐智能机器科技有限公司 A kind of casting spraying manufacturing and processing equipment
CN108539282A (en) * 2018-04-12 2018-09-14 王伟波 A kind of rectangular cellular li-ion battery test production line
CN108539282B (en) * 2018-04-12 2019-08-16 温州源利智能科技有限公司 A kind of rectangular cellular li-ion battery test production line
CN108705522A (en) * 2018-06-26 2018-10-26 湖北火爆机器人科技有限公司 A kind of four axis truss robots
CN112108931A (en) * 2020-08-30 2020-12-22 萧县威辰机电工程设备有限公司 Clamping and adjusting equipment for machining elevator car rail assembly
CN115122414A (en) * 2022-04-25 2022-09-30 唐山阿波罗智能设备有限公司 Intelligent linear material machining and cutting system

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Application publication date: 20140716