CN105108743A - Double-arm manipulator used for spindle stacking - Google Patents
Double-arm manipulator used for spindle stacking Download PDFInfo
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- CN105108743A CN105108743A CN201510570942.8A CN201510570942A CN105108743A CN 105108743 A CN105108743 A CN 105108743A CN 201510570942 A CN201510570942 A CN 201510570942A CN 105108743 A CN105108743 A CN 105108743A
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Abstract
The invention provides a double-arm manipulator used for a spindle stacking, and relates to a double-arm manipulator. The double-arm manipulator solves problems that in a stacking process of existing spindles, grabbing operation of partitions and spindles is performed separately, and stacking efficiency is low and manual cost is high. The double-arm manipulator comprises a double-station frame body (1), a partition grabbing mechanical arm (4), a spindle grabbing mechanical arm (5), and a group of rigid connection beams (2). The partition grabbing mechanical arm (4) and the spindle grabbing mechanical arm (5) are connected through the group of rigid connection beams (2) and can installed on the double-station frame body (1) in a horizontal movable manner. When the partition grabbing mechanical arm grabs a partition, the spindle grabbing mechanical arm is putting a grabbed spindle on a tray of a spindle conveying line, so as to realize alternative grabbing and a synchronous operating state. Repeated in the method, grabbing speed and efficiency are increased by 50%-60%, so that labor intensity of workers is effectively reduced. The double-arm manipulator is used for spindle stacking.
Description
Technical field
The present invention relates to a kind of dual-arm robot, be specifically related to a kind of dual-arm robot for spindle piling.
Background technology
Industrial robot is typical electromechanical integration high-tech product.At many production fields, it is for raising production automation level, raise labour productivity, product quality and economic benefit, the effect improving workman's working condition is day by day remarkable, the occasion that many working conditions are severe, production requirement is harsh, and industrial robot replaces manual labor to be inevitable trend, domestic all trades and professions will get more and more to machine Man's Demands, spindle, also known as spindle, is spinning machine be used for fiber is twisted yarn and be coiled into the parts of definite shape.According to the needs of spinning, can mix different rove and to split or spun yarn splits, on machine, yarn splits more, and the efficiency of spinning is higher, and yarn is splited and to be driven by alternating current generator; Spun yarn spindle speed Du Tongchangda about 15000r/min, existing spindle is in palletization, and the crawl work of dividing plate and spindle is carried out all respectively, there is piling efficiency low, the problem that cost of labor is high.
Summary of the invention
The object of the invention is to solve existing spindle in palletization, the crawl work of dividing plate and spindle is carried out all respectively, there is piling efficiency low, the problem that cost of labor is high.And then a kind of dual-arm robot for spindle piling is provided.
Technical scheme of the present invention is: a kind of dual-arm robot for spindle piling, and it comprises double support body, dividing plate gripper mechanical arm, spindle gripper mechanical arm and one group of beam that is rigidly connected,
Dividing plate gripper mechanical arm and spindle gripper mechanical arm are connected by one group of beam that is rigidly connected and can be moved horizontally and be arranged on double support body,
Dividing plate gripper mechanical arm comprises guide plate on dividing plate, dividing plate walking installing plate, dividing plate lower guide plate, dividing plate lifting motor, four guide pillars, dividing plate leading screw, spool walked by dividing plate, dividing plate hold-down nut, dividing plate slide block, dividing plate sucker mounting pipe, dividing plate sucker and multiple dividing plate proximity switch, dividing plate walking installing plate is slidably connected with the guide rail on the track girder of two on double support body by dividing plate slide block, on dividing plate, guide plate and dividing plate lower guide plate lay respectively at above and below dividing plate walking installing plate, and dividing plate guide plate, connected by four guide pillars between dividing plate walking installing plate and dividing plate lower guide plate, dividing plate lifting motor to be arranged on dividing plate on guide plate, dividing plate hold-down nut is fixedly mounted on dividing plate walking installing plate, the upper end of dividing plate leading screw is connected with the output of dividing plate lifting motor, the lower end of dividing plate leading screw is connected with dividing plate lower guide plate through dividing plate walking installing plate, dividing plate is walked spool and to be arranged on dividing plate on guide plate and dividing plate lower guide plate, dividing plate sucker mounting pipe is connected with dividing plate lower guide plate, and multiple dividing plate proximity switch is arranged on the lower surface of dividing plate sucker mounting pipe, and dividing plate sucker to be arranged in sucker mounting pipe and to be positioned at the outside of multiple dividing plate proximity switch,
Spindle gripper mechanical arm comprises guide plate on spindle, spindle walking installing plate, spindle lower guide plate, spool walked by spindle, spindle leading screw, spindle motor mounting plate, spindle hold-down nut, spindle horizontal motor, spindle gear, spindle lift servo motor, spindle guide pillar, spindle connecting plate, spindle installing plate, multiple multijaw cylinder, multiple jaw and spindle slide block, spindle walking installing plate is slidably connected with the guide rail on the track girder of two on double support body by spindle slide block, guide plate on spindle, spindle walking installing plate and spindle lower guide plate from top to bottom be arranged in parallel successively, and guide plate on spindle, connected by spindle guide pillar between spindle walking installing plate and spindle lower guide plate, spindle walking installing plate is fixedly mounted on two track girders, spindle hold-down nut is arranged on spindle walking installing plate, the lower end of spindle guide pillar is through spindle lower guide plate, and spindle walks spool from top to bottom through guide plate on spindle, spindle walking installing plate and spindle lower guide plate, spindle lift servo motor to be arranged on spindle on guide plate, the upper end of spindle leading screw is connected with the output of spindle lift servo motor, installing plate and spindle lower guide plate are walked through row spindle successively in the lower end of spindle leading screw, spindle motor mounting plate is arranged on the side of spindle walking installing plate, spindle horizontal motor is arranged on spindle motor mounting plate, and spindle gear is connected with the output of spindle horizontal motor, the upper end of spindle connecting plate is connected with spindle guide pillar and spindle leading screw respectively, and the lower end of spindle connecting plate is connected with spindle installing plate, and multiple multijaw cylinder is arranged on spindle installing plate with the form of array, each multijaw cylinder is provided with a jaw.
The present invention compared with prior art has following effect:
Present invention employs the mode of operation that dividing plate gripper mechanical arm 4 and spindle gripper mechanical arm 5 alternately capture, dividing plate gripper mechanical arm 4 is connected by two track girders 30 with spindle gripper mechanical arm 5, dividing plate gripper mechanical arm 4 and spindle gripper mechanical arm 5 are moved horizontally simultaneously, that is dividing plate gripper mechanical arm 4 is when crawl dividing plate, the spindle captured is placed in the pallet on spindle pipeline 20 by spindle gripper mechanical arm 5, realize alternately capturing the state simultaneously worked with this, reciprocal with this, grasp speed efficiency improves 50-60%, effectively reduce the labour intensity of workman.
Accompanying drawing explanation
Fig. 1 is axonometric drawing of the present invention; Fig. 2 is the front view of Fig. 1; Fig. 3 is the top view of Fig. 1; Fig. 4 is the side view of Fig. 1; Fig. 5 is the front view of dividing plate transfer arm; Fig. 6 is the side view of Fig. 4; Fig. 7 is the top view of Fig. 4; Fig. 8 is the axonometric drawing of Fig. 4; Fig. 9 is the front view that spindle double support body and two tracks coordinate; Figure 10 is the side view of Fig. 8; Figure 11 is the top view of Fig. 8; Figure 12 is the axonometric drawing of Fig. 8; Figure 13 is the structural representation that dividing plate captures station.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 to Figure 11 illustrates present embodiment, a kind of dual-arm robot for spindle piling of present embodiment, it comprises double support body 1, dividing plate gripper mechanical arm 4, spindle gripper mechanical arm 5 and one group of beam 2 that is rigidly connected,
Dividing plate gripper mechanical arm 4 and spindle gripper mechanical arm 5 are connected by one group of beam 2 that is rigidly connected and can be moved horizontally and be arranged on double support body 1,
Dividing plate gripper mechanical arm 4 comprises guide plate 4-1 on dividing plate, dividing plate walking installing plate 4-2, dividing plate lower guide plate 4-3, dividing plate lifting motor 4-4, four guide pillar 4-5, dividing plate leading screw 4-6, spool 4-7 walked by dividing plate, dividing plate hold-down nut 4-8, dividing plate slide block, dividing plate sucker mounting pipe 4-11, dividing plate sucker 4-13 and multiple dividing plate proximity switch 4-12, dividing plate walking installing plate 4-2 is slidably connected with the guide rail on the track girder of two on double support body 1 30 by dividing plate slide block, on dividing plate, guide plate 4-1 and dividing plate lower guide plate 4-3 lays respectively at above and below dividing plate walking installing plate 4-2, and dividing plate guide plate 4-1, connected by four guide pillar 4-5 between dividing plate walking installing plate 4-2 and dividing plate lower guide plate 4-3, dividing plate lifting motor 4-4 to be arranged on dividing plate on guide plate 4-1, dividing plate hold-down nut 4-8 is fixedly mounted on dividing plate walking installing plate 4-2, the upper end of dividing plate leading screw 4-6 is connected with the output of dividing plate lifting motor 4-4, the lower end of dividing plate leading screw 4-6 is connected with dividing plate lower guide plate 4-3 through dividing plate walking installing plate 4-2, dividing plate is walked spool 4-7 and to be arranged on dividing plate on guide plate 4-1 and dividing plate lower guide plate 4-3, dividing plate sucker mounting pipe 4-11 is connected with dividing plate lower guide plate 4-3, multiple dividing plate proximity switch 4-12 is arranged on the lower surface of dividing plate sucker mounting pipe 4-11, and dividing plate sucker 4-13 to be arranged on sucker mounting pipe 4-11 and to be positioned at the outside of multiple dividing plate proximity switch 4-12,
Spindle gripper mechanical arm 5 comprises guide plate 5-1 on spindle, spindle walking installing plate 5-2, spindle lower guide plate 5-3, spool 5-6 walked by spindle, spindle leading screw 5-7, spindle motor mounting plate 5-8, spindle hold-down nut 5-20, spindle horizontal motor 5-9, spindle gear 5-10, spindle lift servo motor 5-4, spindle guide pillar 5-5, spindle connecting plate 5-17, spindle installing plate 5-18, multiple multijaw cylinder 5-19, multiple jaw 5-20 and spindle slide block 5-16, spindle walking installing plate 5-2 is slidably connected with the guide rail on the track girder of two on double support body 1 30 by spindle slide block 5-16, guide plate 5-1 on spindle, spindle walking installing plate 5-2 and spindle lower guide plate 5-3 from top to bottom be arranged in parallel successively, and guide plate 5-1 on spindle, connected by spindle guide pillar 5-5 between spindle walking installing plate 5-2 and spindle lower guide plate 5-3, spindle walking installing plate 5-2 is fixedly mounted on two track girders 30, spindle hold-down nut 5-20 is arranged on spindle walking installing plate 5-2, the lower end of spindle guide pillar 5-5 is through spindle lower guide plate 5-3, and spindle walks spool 5-6 from top to bottom through guide plate 5-1 on spindle, spindle walking installing plate 5-2 and spindle lower guide plate 5-3, spindle lift servo motor 5-4 to be arranged on spindle on guide plate 5-1, the upper end of spindle leading screw 5-7 is connected with the output of spindle lift servo motor 5-4, installing plate 5-2 and spindle lower guide plate 5-3 is walked through row spindle successively in the lower end of spindle leading screw 5-7, spindle motor mounting plate 5-8 is arranged on the side of spindle walking installing plate 5-2, spindle horizontal motor 5-9 is arranged on spindle motor mounting plate 5-8, and spindle gear 5-10 is connected with the output of spindle horizontal motor 5-9, the upper end of spindle connecting plate 5-17 is connected with spindle guide pillar 5-5 and spindle leading screw 5-7 respectively, the lower end of spindle connecting plate 5-17 is connected with spindle installing plate 5-18, multiple multijaw cylinder 5-19 is arranged on spindle installing plate 5-18 with the form of array, and each multijaw cylinder 5-19 is provided with a jaw 5-20.
The quantity of multiple spindle double support bodys 1 of present embodiment is 3, three spindle double support bodys 1 are arranged side by side successively, be provided with dividing plate between first the spindle double support body 1 risen from left to right and second spindle double support body 1 and capture station, between second spindle double support body 1 and the 3rd spindle double support body 1, be provided with spindle line pipeline 20 and spindle crawl station.Effectively utilize space, be convenient to each operation and carry out in order.
Present embodiment is by the control of PLC, realize spindle, the crawl respectively of dividing plate is placed, synchronous execution, to save time space, after pressing starting switch, dividing plate gripper mechanical arm declines, dividing plate is captured, rise afterwards, move horizontally, spindle grasping mechanism move to spindle pipeline agretope simultaneously dividing plate be also moved to piling position, spindle gripper mechanical arm captures, dividing plate gripper mechanical arm is synchronously placed on piling position dividing plate simultaneously, then piling position is moved horizontally to, dividing plate gripper mechanical arm 4 and spindle gripper mechanical arm 5 synchronization action, complete dividing plate to capture and spindle piling.
Detailed description of the invention two: composition graphs 1 to Fig. 8 illustrates present embodiment, the dividing plate transfer arm of present embodiment also comprises dividing plate optoelectronic switch installing rack 4-14 and multiple dividing plate optoelectronic switch 4-15, dividing plate optoelectronic switch installing rack 4-14 is arranged on dividing plate walking installing plate 4-2, and multiple dividing plate optoelectronic switch 4-15 is arranged on dividing plate optoelectronic switch installing rack 4-14.Setting like this, is convenient to the position monitored at any time for arriving dividing plate, for accurately capturing the condition that dividing plate provides necessary.Other composition is identical with detailed description of the invention one or two with annexation.
Detailed description of the invention three: composition graphs 1 to Fig. 8 illustrates present embodiment, the spindle transfer arm of present embodiment also comprises spindle optoelectronic switch installing rack 5-14 and multiple spindle optoelectronic switch 5-15, spindle optoelectronic switch installing rack 5-14 is arranged on spindle walking installing plate 5-2, and multiple spindle optoelectronic switch 5-15 is arranged on spindle optoelectronic switch installing rack 5-14.Setting like this, is convenient to the position monitored at any time for arriving spindle, for accurately capturing the condition that spindle provides necessary.Other composition is identical with detailed description of the invention one or two with annexation.
Detailed description of the invention four: composition graphs 2 illustrates present embodiment, the multijaw cylinder 5-19 of present embodiment is three-jaw cylinder or four paws cylinder.Setting like this, be convenient to realize the crawl to spindle, and the process of crawl is more firm, not easily drops.Other composition and annexation and detailed description of the invention one, two or three identical.
Detailed description of the invention five: composition graphs 2 illustrates present embodiment, the jaw 5-20 of present embodiment is provided with projection.Setting like this, increases the frictional force of spindle in crawl process and between jaw.Other composition is identical with detailed description of the invention four with annexation.
Detailed description of the invention six: composition graphs 1, Fig. 2 and Fig. 4 illustrate present embodiment, the jaw 5-20 of present embodiment is provided with rectangular strip projection.Setting like this, is convenient to the security performance ensureing that spindle captures, prevents spindle from dropping in crawl process.Other composition is identical with detailed description of the invention five with annexation.
Detailed description of the invention seven: composition graphs 1, Fig. 2 and Fig. 4 illustrate present embodiment, the jaw 5-20 of present embodiment is provided with point-like projection.Setting like this, is convenient to the security performance ensureing that spindle captures, prevents spindle from dropping in crawl process.Other composition is identical with detailed description of the invention six with annexation.
The multiple multijaw cylinder 2 of present embodiment is fixedly mounted on connecting plate 1 with the arrangement form of rectangular array.Prevent each spindle from crawl process, there is interference, adopt this kind of arrangement mode can make minimum space, single captures maximum spindles simultaneously.
The jaw 3 of present embodiment is the arc jaw be made up of anti-skidding material.Be convenient to coordinate with the pawl of multijaw cylinder 2.
The quantity of multiple multijaw cylinders 2 of present embodiment is 6-12.In actual use, the quantity of multijaw cylinder 2 is 9 the bests.Be convenient to ensure to capture efficiency.
The course of work of the present invention is: original state: horizontal direction waits for that at partition position------two mechanical arms wait for (uppermost position) at zero-bit height respectively.
Sequence of movement: illustrate that when the optoelectronic switch of 9 on spindle crawl position has signal spindle is in place, at this moment dual-arm robot signal will be given, the arm that dual-arm robot captures dividing plate is downwards until the optoelectronic switch being positioned on end has signal instruction to put in place starts to grab dividing plate and then get back to zero-bit height, then move horizontally driven by motor dual-arm robot and move to the position that dividing plate or spindle pile up, namely spindle hand is moved to spindle feeding position, then dividing plate arm moves downward and is put in wood pallets by dividing plate, then zero-bit height is got back to, the arm simultaneously getting spindle also drop to get spindle position by spindle capture return zero-bit height, then dual-arm robot is moved back to initial position (namely spindle arm piles up the position of spindle) spindle hand and piles up on dividing plate by spindle by horizontal motor action, then spindle hand is got back to zero-bit height and is completed a do action, except Photoelectric Detection position, all the other positions control servomotor by the program language that PLC edits and complete path.
Claims (7)
1. for a dual-arm robot for spindle piling, it is characterized in that: it comprises double support body (1), dividing plate gripper mechanical arm (4), spindle gripper mechanical arm (5) and one group of beam that is rigidly connected (2),
Dividing plate gripper mechanical arm (4) and spindle gripper mechanical arm (5) are connected by one group of beam that is rigidly connected (2) and can be moved horizontally and be arranged on double support body (1),
Dividing plate gripper mechanical arm (4) comprises guide plate on dividing plate (4-1), dividing plate walking installing plate (4-2), dividing plate lower guide plate (4-3), dividing plate lifting motor (4-4), four guide pillars (4-5), dividing plate leading screw (4-6), spool (4-7) walked by dividing plate, dividing plate hold-down nut (4-8), dividing plate slide block, dividing plate sucker mounting pipe (4-11), dividing plate sucker (4-13) and multiple dividing plate proximity switch (4-12), dividing plate walking installing plate (4-2) is slidably connected with the guide rail on two track girders (30) on double support body (1) by dividing plate slide block, on dividing plate, guide plate (4-1) and dividing plate lower guide plate (4-3) lay respectively at above and below dividing plate walking installing plate (4-2), and dividing plate guide plate (4-1), connected by four guide pillars (4-5) between dividing plate walking installing plate (4-2) and dividing plate lower guide plate (4-3), dividing plate lifting motor (4-4) is arranged on guide plate on dividing plate (4-1), dividing plate hold-down nut (4-8) is fixedly mounted on dividing plate walking installing plate (4-2), the upper end of dividing plate leading screw (4-6) is connected with the output of dividing plate lifting motor (4-4), the lower end of dividing plate leading screw (4-6) is connected with dividing plate lower guide plate (4-3) through dividing plate walking installing plate (4-2), dividing plate is walked spool (4-7) and is arranged on guide plate on dividing plate (4-1) and dividing plate lower guide plate (4-3), dividing plate sucker mounting pipe (4-11) is connected with dividing plate lower guide plate (4-3), multiple dividing plate proximity switch (4-12) is arranged on the lower surface of dividing plate sucker mounting pipe (4-11), and dividing plate sucker (4-13) is arranged on sucker mounting pipe (4-11) and goes up and the outside being positioned at multiple dividing plate proximity switch (4-12),
Spindle gripper mechanical arm (5) comprises guide plate on spindle (5-1), spindle walking installing plate (5-2), spindle lower guide plate (5-3), spool (5-6) walked by spindle, spindle leading screw (5-7), spindle motor mounting plate (5-8), spindle hold-down nut (5-20), spindle horizontal motor (5-9), spindle gear (5-10), spindle lift servo motor (5-4), spindle guide pillar (5-5), spindle connecting plate (5-17), spindle installing plate (5-18), multiple multijaw cylinder (5-19), multiple jaw (5-20) and spindle slide block (5-16), spindle walking installing plate (5-2) is slidably connected with the guide rail on two track girders (30) on double support body (1) by spindle slide block (5-16), guide plate (5-1) on spindle, spindle walking installing plate (5-2) and spindle lower guide plate (5-3) from top to bottom be arranged in parallel successively, and guide plate (5-1) on spindle, connected by spindle guide pillar (5-5) between spindle walking installing plate (5-2) and spindle lower guide plate (5-3), spindle walking installing plate (5-2) is fixedly mounted on two track girders (30), spindle hold-down nut (5-20) is arranged on spindle walking installing plate (5-2), the lower end of spindle guide pillar (5-5) is through spindle lower guide plate (5-3), spindle walks spool (5-6) from top to bottom through guide plate (5-1) on spindle, spindle walking installing plate (5-2) and spindle lower guide plate (5-3), spindle lift servo motor (5-4) is arranged on guide plate on spindle (5-1), the upper end of spindle leading screw (5-7) is connected with the output of spindle lift servo motor (5-4), installing plate (5-2) and spindle lower guide plate (5-3) are walked through row spindle successively in the lower end of spindle leading screw (5-7), spindle motor mounting plate (5-8) is arranged on the side of spindle walking installing plate (5-2), spindle horizontal motor (5-9) is arranged on spindle motor mounting plate (5-8), spindle gear (5-10) is connected with the output of spindle horizontal motor (5-9), the upper end of spindle connecting plate (5-17) is connected with spindle guide pillar (5-5) and spindle leading screw (5-7) respectively, the lower end of spindle connecting plate (5-17) is connected with spindle installing plate (5-18), multiple multijaw cylinder (5-19) is arranged on spindle installing plate (5-18) with the form of array, each multijaw cylinder (5-19) is provided with a jaw (5-20).
2. a kind of dual-arm robot for spindle piling according to claim 1, it is characterized in that: dividing plate transfer arm also comprises dividing plate optoelectronic switch installing rack (4-14) and multiple dividing plate optoelectronic switch (4-15), dividing plate optoelectronic switch installing rack (4-14) is arranged on dividing plate walking installing plate (4-2), and multiple dividing plate optoelectronic switch (4-15) is arranged on dividing plate optoelectronic switch installing rack (4-14).
3. a kind of dual-arm robot for spindle piling according to claim 1 and 2, it is characterized in that: spindle transfer arm also comprises spindle optoelectronic switch installing rack (5-14) and multiple spindle optoelectronic switch (5-15), spindle optoelectronic switch installing rack (5-14) is arranged on spindle walking installing plate (5-2), and multiple spindle optoelectronic switch (5-15) is arranged on spindle optoelectronic switch installing rack (5-14).
4. a kind of dual-arm robot for spindle piling according to claim 3, is characterized in that: multijaw cylinder (5-19) is three-jaw cylinder or four paws cylinder.
5. a kind of dual-arm robot for spindle piling according to claim 1 or 4, is characterized in that: jaw (5-20) is provided with projection.
6. a kind of dual-arm robot for spindle piling according to claim 5, is characterized in that: jaw (5-20) is provided with rectangular strip projection.
7. a kind of dual-arm robot for spindle piling according to claim 5, is characterized in that: jaw (5-20) is provided with point-like projection.
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| CN201510570942.8A CN105108743A (en) | 2015-09-09 | 2015-09-09 | Double-arm manipulator used for spindle stacking |
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| CN201510570942.8A CN105108743A (en) | 2015-09-09 | 2015-09-09 | Double-arm manipulator used for spindle stacking |
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