CN104259922A - Automatic loading and unloading manipulator device - Google Patents
Automatic loading and unloading manipulator device Download PDFInfo
- Publication number
- CN104259922A CN104259922A CN201410501678.8A CN201410501678A CN104259922A CN 104259922 A CN104259922 A CN 104259922A CN 201410501678 A CN201410501678 A CN 201410501678A CN 104259922 A CN104259922 A CN 104259922A
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- China
- Prior art keywords
- manipulator
- base
- steel
- lift cylinder
- automatic loading
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
- B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
- B23Q7/1494—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices using grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Feeding Of Workpieces (AREA)
Abstract
An automatic loading and unloading manipulator device relates to a manipulator and stretches above two machine tools through four columns. Bases are arranged at the bottoms of the four columns, and four universal wheels are arranged below each base. A limit device is arranged on each base. Grooves adaptive to the universal wheels are arranged on the bases corresponding to the universal wheels. Four bolt holes are distributed on the bases, and bolts are arranged in the bolt holes. A manipulator is connected below a lifting cylinder and connected with a piston rod of the lifting cylinder through a universal floating joint. A handle clamping switch is arranged on an operation handle, a clamping cylinder is connected below the operation handle, a piston rod of the clamping cylinder is connected with a clamping jaw, and an abrasion-resistant alloy layer as thick as 1-2mm is arranged on the inner side of the clamping jaw. The automatic loading and unloading manipulator device adopts a computer closed-loop control technology, thereby improving the flexibility of the existing manipulator and the accuracy of loading; is convenient to move and position as the universal wheels and the bolts are arranged on the bases, and saves raw materials.
Description
Technical field
The present invention relates to a kind of manipulator, particularly a kind of automatic loading and unloading manipulator device.
Background technology
Along with the reach of science, the demand of various machine tool gets more and more, also more and more higher to machine tool required precision.The growth requirement of current science and technology cannot be met by traditional craft or automanual method of operating, in the automation process of machine tool, parts upper, get, need to coordinate accurately, otherwise easily cause the accident, bring loss to enterprises and individuals.As everyone knows; manipulator is that a kind of profile is as hand shape; some holding function of staff and arm can be imitated; in order to capture, to carry the automatic pilot of object or operation tool by fixed routine; it can replace the heavy labor of people to realize mechanization and the automation of production; can operate to protect personal safety under hostile environment; thus the industries such as machine-building, metallurgy, electronics, light industry and atomic energy are widely used in; the existing manipulator volume for lathe loading and unloading is larger; structure bulky; flexibility is poor, and mobile inconvenience, affects result of use.
Summary of the invention
The object of the invention is to overcome above deficiency, provide a kind of automatic loading and unloading manipulator device, adopt computer closed loop control technology, improve the flexibility of existing machinery hand, convenient mobile and location, saves raw material.
The technical solution adopted for the present invention to solve the technical problems is: containing I-steel I, I-steel II, suspender, crossbeam, longeron, column, manipulator, switch board, lift cylinder, base, universal floating joint, automatic loading and unloading manipulator device passes through four root posts across above two lathes, base is equipped with bottom four root posts, four universal wheels are equipped with below each base, base is provided with stopping means, the base that described universal wheel is corresponding is provided with the groove adapted with universal wheel, uniform four bolts hole on base, screw is provided with bolt, plural reinforcement is provided with below column, the top view cross section of four root posts is rectangle, be positioned at and be provided with I-steel I compared with two groups of columns of minor face, the parallel placement in direction two groups of I-steel II of vertical I-steel I, crossbeam is suspended on below I-steel II by suspender more than two, longeron is suspended on medium position below crossbeam by connector, be provided with for realizing the flexible lift cylinder of manipulator below crossbeam, lift cylinder outer wall is provided with switch board, manipulator is connected below lift cylinder, manipulator is connected with the piston rod of lift cylinder by universal floating joint, the float angle of described universal floating joint is 0-15 °, described manipulator comprises handle clamp and takes away pass, operating grip, clamping cylinder, jaw, handle clamp takes away pass and is arranged on operating grip, clamping cylinder is connected below operating grip, the piston rod of clamping cylinder connects jaw, wear-resistant alloy layer is provided with inside described jaw, described alloy thickness 1-2mm.
A kind of automatic loading and unloading manipulator device, during its work, switch board controls manipulator behavior, pass into compressed air first to each cylinder, clamping cylinder is retracted mode, the open-shaped state of jaw, lift cylinder drives jaw to arrive material frame, clamping cylinder stretches out, jaw closes, promptly workpiece, lift cylinder is retracted, feeding completes, switch board controls manipulator and workpiece is delivered to machine tooling, workpiece is delivered to desired location by lift cylinder, clamping cylinder is retracted, jaw unclamps, jig tightens up workpiece, automatic charging completes, circulate successively, realize the automatic loading/unloading of workpiece.During work, this device can be placed in above two lathes, material frame is placed in the middle of two lathes, by controlling robot movement, realizing the material loading processing simultaneously of two lathes, increasing work efficiency.Upright post base has universal wheel, under duty, in the groove on universal wheel retraction base, base is bolted on ground, the stability of intensifier, when needs mechanically moving arm device, can by the switch on lower bottom base, universal wheel can auto-extending, realizes the convenient movement of manipulator.
Beneficial effect of the present invention is: adopt computer closed loop control technology, improves the flexibility of existing machinery hand, and improve material loading accuracy, base adopts universal wheel and bolt simultaneously, convenient mobile and location, and saves raw material.
Accompanying drawing explanation
Fig. 1 is a kind of automatic loading and unloading manipulator device front view.
Fig. 2 is a kind of automatic loading and unloading manipulator device top view.
Fig. 3 is a kind of automatic loading and unloading manipulator device left view.
Fig. 4 is a kind of automatic loading and unloading manipulator device partial enlarged drawing.
In the drawings, 1. I-steel I, 2. I-steel II, 3. suspender, 4. crossbeam, 5. longeron, 6. column, 7. lathe, 8. manipulator, 9. material frame, 10. switch board, 11. lift cylinders, 12. bases, 13. universal floating joints, 14. handle clamps take away pass, 15. operating grips, 16. clamping cylinders, 17. jaws, 18. workpiece.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
A kind of automatic loading and unloading manipulator device, by four root posts 6 across above two lathes 7, base 12 is equipped with bottom four root posts 6, four universal wheels are equipped with below each base 12, base 12 is provided with stopping means, the base 12 that described universal wheel is corresponding is provided with the groove adapted with universal wheel, uniform four bolts hole on base 12, screw is provided with bolt, plural reinforcement is provided with below column 6, the top view cross section of four root posts 6 is rectangle, be positioned at and be provided with I-steel I1 compared with two groups of columns 6 of minor face, the parallel placement in direction two groups of I-steel II2 of vertical I-steel I1, crossbeam 4 is suspended on below I-steel II2 by suspender 3 more than two, longeron 5 is suspended on medium position below crossbeam 4 by connector, be provided with for realizing the flexible lift cylinder 11 of manipulator below crossbeam 4, lift cylinder 11 outer wall is provided with switch board 10, manipulator 8 is connected below lift cylinder 11, manipulator 8 is connected with the piston rod of lift cylinder 11 by universal floating joint 13, the float angle of described universal floating joint 13 is 0-15 °, described manipulator 8 comprises handle clamp and takes away pass 14, operating grip 15, clamping cylinder 16, jaw 17, handle clamp takes away pass 14 and is arranged on operating grip 15, clamping cylinder 16 is connected below operating grip 15, the piston rod of clamping cylinder 16 connects jaw 17, wear-resistant alloy layer is provided with inside described jaw 17, described alloy thickness 1-2mm.
A kind of automatic loading and unloading manipulator device, during its work, switch board 10 controls manipulator behavior, pass into compressed air first to each cylinder, clamping cylinder 16 is retracted mode, the open-shaped state of jaw 17, lift cylinder 11 drives jaw 17 to arrive material frame 9, clamping cylinder 16 stretches out, jaw 17 closes, promptly workpiece 18, lift cylinder 11 is retracted, feeding completes, switch board 10 controls manipulator 8 and workpiece 18 is delivered to lathe 7 processes, workpiece 18 is delivered to desired location by lift cylinder 11, clamping cylinder 16 is retracted, jaw 17 unclamps, lathe 7 fixture tightens up workpiece 18, automatic charging completes, circulate successively, realize the automatic loading/unloading of workpiece 18.During work, this device can be placed in above two lathes 7, material frame 9 is placed in the middle of two lathes 7, moves by controlling manipulator 8, realizes the material loading processing simultaneously of two lathes 7, increases work efficiency.Column 6 base 12 has universal wheel, under duty, in groove on universal wheel retraction base 12, base 12 is bolted on ground, the stability of intensifier, when needs mechanically moving arm device, can by the switch on lower bottom base 12, universal wheel can auto-extending, realizes the convenient movement of robot device.
Claims (1)
1. an automatic loading and unloading manipulator device, containing I-steel I, I-steel II, suspender, crossbeam, longeron, column, manipulator, switch board, lift cylinder, base, universal floating joint, it is characterized in that: automatic loading and unloading manipulator device passes through four root posts across above two lathes, base is equipped with bottom four root posts, four universal wheels are equipped with below each base, base is provided with stopping means, the base that described universal wheel is corresponding is provided with the groove adapted with universal wheel, uniform four bolts hole on base, screw is provided with bolt, plural reinforcement is provided with below column, the top view cross section of four root posts is rectangle, be positioned at and be provided with I-steel I compared with two groups of columns of minor face, the parallel placement in direction two groups of I-steel II of vertical I-steel I, crossbeam is suspended on below I-steel II by suspender more than two, longeron is suspended on medium position below crossbeam by connector, be provided with for realizing the flexible lift cylinder of manipulator below crossbeam, lift cylinder outer wall is provided with switch board, manipulator is connected below lift cylinder, manipulator is connected with the piston rod of lift cylinder by universal floating joint, the float angle of described universal floating joint is 0-15 °, described manipulator comprises handle clamp and takes away pass, operating grip, clamping cylinder, jaw, handle clamp takes away pass and is arranged on operating grip, clamping cylinder is connected below operating grip, the piston rod of clamping cylinder connects jaw, wear-resistant alloy layer is provided with inside described jaw, described alloy thickness 1-2mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410501678.8A CN104259922A (en) | 2014-09-27 | 2014-09-27 | Automatic loading and unloading manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410501678.8A CN104259922A (en) | 2014-09-27 | 2014-09-27 | Automatic loading and unloading manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104259922A true CN104259922A (en) | 2015-01-07 |
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ID=52151566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410501678.8A Pending CN104259922A (en) | 2014-09-27 | 2014-09-27 | Automatic loading and unloading manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104259922A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105883332A (en) * | 2016-06-03 | 2016-08-24 | 江苏瑞莱克斯自动化科技有限公司 | Pneumatic multi-function product transfer system |
| WO2016165168A1 (en) * | 2015-04-16 | 2016-10-20 | 深圳市京田精密科技有限公司 | Control system and control method for mechanical arm |
| CN106622885A (en) * | 2016-10-29 | 2017-05-10 | 安徽省光明粮油工业有限公司 | Discharging device |
| CN107414607A (en) * | 2017-07-21 | 2017-12-01 | 南通安赛乐紧固件有限公司 | A kind of bolt automatic production line |
| CN112251885A (en) * | 2020-09-30 | 2021-01-22 | 天津工业大学 | Mixed weaving carbon/carbon combined material prefabricated part shaping frock location optical axis plug manipulator |
-
2014
- 2014-09-27 CN CN201410501678.8A patent/CN104259922A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016165168A1 (en) * | 2015-04-16 | 2016-10-20 | 深圳市京田精密科技有限公司 | Control system and control method for mechanical arm |
| CN105883332A (en) * | 2016-06-03 | 2016-08-24 | 江苏瑞莱克斯自动化科技有限公司 | Pneumatic multi-function product transfer system |
| CN105883332B (en) * | 2016-06-03 | 2018-03-09 | 江苏瑞莱克斯自动化科技有限公司 | A kind of Pneumatic multifunctional product transmission system |
| CN106622885A (en) * | 2016-10-29 | 2017-05-10 | 安徽省光明粮油工业有限公司 | Discharging device |
| CN107414607A (en) * | 2017-07-21 | 2017-12-01 | 南通安赛乐紧固件有限公司 | A kind of bolt automatic production line |
| CN112251885A (en) * | 2020-09-30 | 2021-01-22 | 天津工业大学 | Mixed weaving carbon/carbon combined material prefabricated part shaping frock location optical axis plug manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150107 |
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| WD01 | Invention patent application deemed withdrawn after publication |