CN106004192A - Material loading and unloading device - Google Patents

Material loading and unloading device Download PDF

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Publication number
CN106004192A
CN106004192A CN201610512574.6A CN201610512574A CN106004192A CN 106004192 A CN106004192 A CN 106004192A CN 201610512574 A CN201610512574 A CN 201610512574A CN 106004192 A CN106004192 A CN 106004192A
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CN
China
Prior art keywords
axis
mechanical hand
auxiliary
moving
positioning
Prior art date
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.)
Granted
Application number
CN201610512574.6A
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Chinese (zh)
Other versions
CN106004192B (en
Inventor
胡炜
包中文
蒋受廉
张赛红
李文哲
费建军
皮特华
丁彪
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Dongguan City Rui Bida Science And Technology Co Ltd
Original Assignee
Dongguan City Rui Bida Science And Technology Co Ltd
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Application filed by Dongguan City Rui Bida Science And Technology Co Ltd filed Critical Dongguan City Rui Bida Science And Technology Co Ltd
Priority to CN201610512574.6A priority Critical patent/CN106004192B/en
Publication of CN106004192A publication Critical patent/CN106004192A/en
Application granted granted Critical
Publication of CN106004192B publication Critical patent/CN106004192B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B44DECORATIVE ARTS
    • B44BMACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
    • B44B1/00Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled three-dimensionally for making single sculptures or models
    • B44B1/003Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled three-dimensionally for making single sculptures or models having several cutting tools
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B44DECORATIVE ARTS
    • B44BMACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
    • B44B1/00Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled three-dimensionally for making single sculptures or models
    • B44B1/06Accessories
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B44DECORATIVE ARTS
    • B44BMACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
    • B44B3/00Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings
    • B44B3/006Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings carving or engraving devices having several cutting tools
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B44DECORATIVE ARTS
    • B44BMACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
    • B44B3/00Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings
    • B44B3/06Accessories, e.g. tool or work holders
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/901Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/907Devices for picking-up and depositing articles or materials with at least two picking-up heads
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B44DECORATIVE ARTS
    • B44BMACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
    • B44B2700/00Machines, apparatus, tools or accessories for artistic work
    • B44B2700/12Accessories; Tool or work holders

Abstract

The invention discloses a material loading and unloading device. The material loading and unloading device comprises an X axis moving mechanism, a Y axis moving mechanism and a Z axis moving mechanism. The material loading and unloading device further comprises a first picking mechanism and a second picking mechanism. The first picking mechanism comprises a first manipulator; the first manipulator is installed on the Y axis moving mechanism; the first manipulator is driven to move along the Y axis direction by the Y axis moving mechanism and driven to load materials onto machining tables and unload the materials from the machining tables by the X axis moving mechanism, the Y axis moving mechanism and the Z axis moving mechanism. The second picking mechanism comprises a Z axis auxiliary moving assembly, a rotating assembly and a second manipulator; the Z axis auxiliary moving assembly is installed on the Z axis moving mechanism, the rotating assembly is installed on the Z axis auxiliary moving assembly, and the second manipulator is installed on the rotating assembly; the rotating assembly and the second manipulator are driven to move along the Z axis direction by the Z axis auxiliary moving assembly, and the second manipulator is driven to rotate by the rotating assembly; the second manipulator is driven to load the materials onto the first manipulator and unload the materials from the first manipulator by the Z axis auxiliary moving assembly and the rotating assembly. The device is small in overall structure and higher in picking accuracy.

Description

A kind of handling equipment
Technical field
The application relates to Digit Control Machine Tool processing technique field, is specifically related to a kind of handling equipment.
Background technology
The processing work platform of the engraving machine of prior art is provided with locating piece, and locating piece is for by work piece essence Really navigating to the appointment position on workbench, but arrange locating piece on workbench, locating piece accounts for certain space, Workbench is caused to place the limited space of work piece, and for there is the engraving machine of multiple workbench, often Individual workbench all must be provided with locating piece and positions, and not only makes device on workbench many, and reduces and add Work efficiency rate.And in prior art, the guide rail of the handling equipment feed direction of engraving machine is the longest so that whole Handling equipment need to take a lot of space.
Summary of the invention
The application provides a kind of handling equipment little, that loading efficiency is high that takes up room.
A kind of embodiment provides a kind of handling equipment, including X-axis travel mechanism, Y-axis moving mechanism and Z Axle travel mechanism, Z axis travel mechanism is arranged in X-axis travel mechanism, and Y-axis moving mechanism is arranged on Z axis and moves On motivation structure, X-axis travel mechanism drives Z axis travel mechanism and Y-axis moving mechanism to move along the x-axis, and Z axis moves Motivation structure drives Y-axis moving mechanism to move along Z-direction, also includes:
First mechanism for picking, it includes that the first mechanical hand, the first mechanical hand are arranged in Y-axis moving mechanism, Y Axle travel mechanism drives the first mechanical hand to move along Y direction;X-axis travel mechanism, Y-axis moving mechanism and Z Axle travel mechanism drives the first mechanical hand to machine table loading and unloading;
And second mechanism for picking, it includes Z axis auxiliary moving assembly, rotary components and the second mechanical hand, Z Axle auxiliary moving assembly is arranged in Z axis travel mechanism, and rotary components is arranged on Z axis auxiliary moving assembly, Second mechanical hand is arranged on rotary components;Z axis travel mechanism drives Z axis auxiliary moving assembly, rotary components Moving along Z-direction with the second mechanical hand, Z axis auxiliary moving assembly drives rotary components and the second mechanical hand edge Z-direction moves, and rotary components drives mechanical hand to rotate;Z axis auxiliary moving assembly and rotary components drive the The first mechanical hand loading and unloading given by two mechanical hands.
Further, positioning component includes locating support, locating piece and positioning cylinder, and locating support is arranged on Y In axle travel mechanism, positioning cylinder is arranged on the upper surface of locating support, the outfan of positioning cylinder and first Mechanical hand connects, and locating support is provided with the slotted eye for dodging the first mechanical hand, the pickup of the first mechanical hand End face is down-set, and picks up end and protrude from the lower surface of locating support through the slotted eye of locating support;Fixed Position block has two, and two locating pieces are arranged on the lower surface of locating support mutual vertically, positioning cylinder Output shaft becomes to preset angle and arranges with locating piece.
Further, positioning component also includes positioning guide rail and positioning sliding block, and positioning guide rail is arranged on location On frame, positioning sliding block is slidably mounted on positioning guide rail, and the first mechanical hand is arranged on positioning sliding block, The output shaft of positioning cylinder is parallel with positioning guide rail;Positioning guide rail and the angle bisection at two locating piece formation right angles Line is parallel, or positioning guide rail is positioned at two locating pieces and is formed on the angular bisector at right angle.
Further, the first mechanism for picking also includes that Y-axis assists moving assembly, Y-axis auxiliary moving assembly to install In Y-axis moving mechanism, locating support is arranged on Y-axis auxiliary moving assembly;Y-axis moving mechanism drives Y Axle auxiliary moving assembly, positioning component and the first mechanical hand move along Y direction, and Y-axis auxiliary moving assembly drives Dynamic positioning component and the first mechanical hand move along Y direction.
Further, Y-axis auxiliary moving assembly includes that Y-axis auxiliary stand, Y-axis assistant cylinder, Y-axis assist Guide rail and Y-axis auxiliary slider, Y-axis auxiliary stand is arranged in Y-axis moving mechanism, Y-axis assistant cylinder and Y Axle auxiliary slider is fixedly mounted on Y-axis auxiliary stand, Y-axis auxiliary guide rails assembling on Y-axis auxiliary slider, Locating support is arranged on Y-axis auxiliary guide rail, and the outfan of Y-axis assistant cylinder is fixing with locating support to be connected, The output shaft of Y-axis assistant cylinder and Y-axis auxiliary guide rail are all arranged with along Y direction.
Further, Z axis auxiliary moving assembly includes that Z axis auxiliary stand, Z axis assistant cylinder, Z axis assist Guide rail and Z axis auxiliary slider, Z axis auxiliary stand is arranged in Z axis travel mechanism, Z axis assistant cylinder and Z Axle auxiliary slider is fixedly mounted on Z axis auxiliary stand, Z axis auxiliary guide rails assembling on Z axis auxiliary slider, Rotary components is arranged on Z axis auxiliary guide rail, and the output shaft of Z axis assistant cylinder is fixing with rotary components to be connected, The output shaft of Z axis assistant cylinder is arranged along Z-direction with Z axis auxiliary guide rail.
Further, rotary components includes runing rest, rotary cylinder and swing arm, and runing rest is fixed on Z On axle auxiliary guide rail, Z axis assistant cylinder is fixing with runing rest to be connected, and rotary cylinder is fixed on runing rest, Swing arm is vertically fixed on the rotating output shaft of rotary cylinder, and the second mechanical hand is fixed in swing arm;Rotary pneumatic Cylinder drives the second mechanical hand 90-degree rotation so that the second mechanical hand replaces between horizontal level and vertical position, When second mechanical hand rotates to horizontal level, the pickup end of the second mechanical hand and the pickup end face of the first mechanical hand Fit in opposite.
Further, also include that the second mechanism for picking mounting seat, the second mechanism for picking mounting seat are fixedly mounted on Z In axle travel mechanism, Z axis auxiliary stand is fixed in the second mechanism for picking mounting seat.
Further, also include:
Frame, specific works face;
Machine table, machine table has four, and four machine table are arranged side by side along X-direction, X-axis travel mechanism Being arranged on the side of frame work surface, machine table is arranged on the opposite side of frame work surface;
And workpiece slot, workpiece slot includes for vertically placing unprocessed undressed part groove and for vertically putting Put the machined part groove of machined part, undressed part groove and machined part groove and be arranged on frame work along X-direction Make on face, and between X-axis travel mechanism and machine table.
According to the handling equipment of above-described embodiment, owing to being provided with the first mechanism for picking and the second mechanism for picking, First mechanism for picking is being arranged in Y-axis moving mechanism, at X-axis travel mechanism, Y-axis moving mechanism and Z axis Under the common driving of travel mechanism, the first mechanical hand of the first mechanism for picking can carry out loading and unloading with machine table, Second mechanism for picking is arranged in Z axis travel mechanism, it is possible in company with the first mechanism for picking in X-axis and Z axis side To moving together, and the second mechanism for picking also includes Z axis auxiliary moving assembly and rotary components so that the Two mechanical hands can also carry out Z-direction relative to the first mechanical hand and move and between horizontal level and vertical position Rotate alternately so that the second mechanical hand can carry out loading and unloading to the first mechanical hand.This handling equipment passes through First mechanical hand and the second mechanical hand have been connected the loading and unloading to machine table, owing to the second mechanical hand instead of Part in the rotation of the first mechanical hand and Z axis moves, and reduces the movement in Z-direction of first mechanical hand Amount so that degradation LiaoZZhou travel mechanism stroke, and rotary components need not Y direction move Dynamic, improve the pickup precision of workpiece.Therefore add a mechanical hand more and the overall structure of this device is become Little, and there is higher pickup precision.
Accompanying drawing explanation
Fig. 1 is the structural representation of handling equipment in a kind of embodiment;
Fig. 2 is the structural representation of the first mechanism for picking of handling equipment in a kind of embodiment;
Fig. 3 is the Local map of the structural representation of the first mechanism for picking of handling equipment in a kind of embodiment;
Fig. 4 is the structural representation of the second mechanism for picking of handling equipment in a kind of embodiment.
Detailed description of the invention
Combine accompanying drawing below by detailed description of the invention the present invention is described in further detail.
Providing a kind of handling equipment in the present embodiment, this handling equipment is as mobile phone glass CNC essence Carving machining, the processing of CNC finishing impression and a kind of handling equipment of CNC processing, this handling equipment also may be used Loading and unloading for other equipment.
As it is shown in figure 1, handling equipment includes that X-axis travel mechanism 1, Y-axis moving mechanism 2, Z axis move Mechanism's the 3, first mechanism for picking the 4, second mechanism for picking 5, frame 6, machine table 7 and workpiece slot 8.Frame 6 have work surface.
X-axis travel mechanism 1, Y-axis moving mechanism 2, Z axis travel mechanism 3 all include mounting seat, motor, Screw mandrel, guide rail and slide block.Wherein motor and guide rail are fixed in mounting seat, and motor is motor, silk Bar is rotatably installed in mounting seat by bearing, and the output shaft of motor is by shaft coupling or belt wheel and silk Bar connects, and motor drives screw mandrel to rotate, and slide block and guide rail are dove-tail slide structure, and slide block is slidably installed On guide rail, guide rail and screw mandrel be arranged in parallel.
The mounting seat of X-axis travel mechanism 1 is fixedly mounted on the work surface of frame 6, Z axis travel mechanism 3 Mounting seat be fixed on the slide block of X-axis travel mechanism 1, in other embodiments, X-axis travel mechanism 1 Slide block and the mounting seat of Z axis travel mechanism 3 be integral type structure.The mounting seat of Y-axis moving mechanism 2 is solid It is scheduled on the slide block of Z axis travel mechanism 3, in other embodiments, the mounting seat of Y-axis moving mechanism 2 and Z The slide block of axle travel mechanism 3 is integral type structure.Therefore X-axis travel mechanism 1 drives Z axis travel mechanism 3 He Y-axis moving mechanism 2 moves along X-direction together, and Z axis travel mechanism 3 drives Y-axis moving mechanism 2 edge Z-direction moves.
As in figure 2 it is shown, the first mechanism for picking 4 includes that Y-axis assists moving assembly 41, positioning component 42 and First mechanical hand 43.Y-axis auxiliary moving assembly 41 is fixed on the slide block of Y-axis moving mechanism 1, location Assembly 42 is fixedly mounted on Y-axis auxiliary moving assembly 41, and the first mechanical hand 43 is arranged on positioning component On 42.Y-axis auxiliary moving assembly 41 drives the first mechanical hand 43 to move along Y direction, and Y-axis moves Mechanism 2 is formed at the two-stage drive that Y-axis moves, and positioning component 42 drives the first mechanical hand 43 aloft Position.
As in figure 2 it is shown, Y-axis auxiliary moving assembly 41 includes Y-axis auxiliary stand 411, Y-axis assistant cylinder 412, Y-axis auxiliary guide rail 413 and Y-axis auxiliary slider 414, Y-axis auxiliary stand 411 is fixed on Y-axis and moves On the slide block of motivation structure 2, it is auxiliary that Y-axis assistant cylinder 412 and Y-axis auxiliary slider 414 are fixedly mounted on Y-axis Helping on support 414, Y-axis auxiliary guide rail 413 is arranged on Y-axis auxiliary slider 414, and positioning component 42 is pacified Being contained on Y-axis auxiliary guide rail 414, the outfan of Y-axis assistant cylinder 412 is fixing with positioning component 42 to be connected, The output shaft of Y-axis assistant cylinder 412 and Y-axis auxiliary guide rail 413 are all arranged with along Y direction.Y-axis is auxiliary Helping cylinder 412 by driving positioning component 42 to drive the first mechanical hand 43 to move along Y direction, Y-axis is auxiliary Helping moving assembly 41 to form a process auxiliary drive, formation and Y-axis that Y-axis auxiliary moving assembly 41 drives are moved The stroke that motivation structure 2 drives synthesizes the total kilometres of the first mechanical hand 43 so that the guide rail of Y-axis moving mechanism 2 It is reduced, thus decreases Y-axis moving mechanism 2 length in the Y-axis direction so that whole equipment is more For compact, save space.
As shown in Figures 2 and 3, detent mechanism 42 includes locating support 421, locating piece 422, location gas Cylinder 423, positioning guide rail 424 and positioning sliding block 425.Locating support 421 is fixedly mounted on Y-axis auxiliary guide rail On 413, and fixing with the output shaft of Y-axis assistant cylinder 412 it is connected.Locating support 421 is tied for tabular Structure, positioning cylinder 423 is fixedly mounted on the upper surface of locating support 421, and locating piece 422 fixedly mounts On the lower surface of locating support 421, locating support 421 is provided with the groove for dodging the first mechanical hand 43 Hole.Locating piece 422 has two, and two locating pieces 422 are arranged in a mutually vertical manner, two locating piece 422 shapes Become a right angle for location.Positioning guide rail 424 is fixedly mounted on the upper surface of locating support 421, fixed Position guide rail 424 is parallel with the angular bisector at the right angle that two locating pieces 422 are formed, or is positioned at angular bisector On, meanwhile, slotted eye, positioning cylinder 423 output shaft all parallel with positioning guide rail 424, positioning sliding block 425 Being slidably mounted on positioning guide rail 424, the first mechanical hand 43 is arranged on positioning sliding block 425, and first Four vacuum holding nozzles that pickup end is array arrangement of mechanical hand 43, vacuum holding nozzle passes through trachea and vacuum Negative pressure device connects, and four vacuum holding nozzles protrude from locating support 421 through the slotted eye of locating support 421 Lower surface, after vacuum holding nozzle absorption glass, glass and locating piece 422 are positioned at the horizontal plane that thickness is interval On, i.e. can be positioned block 422 after glass moves and block.
The positioning principle of detent mechanism 42 is: when the first mechanical hand 43 need to adsorb glass, positioning cylinder 423 Drive the right angle for location that the first mechanical hand 43 is formed away from two locating pieces 422;When the first mechanical hand After 43 absorption glass glass, positioning cylinder 423 drives the first mechanical hand 43 near the right angle of location, glass quilt Two locating pieces 422 block and achieve the location to glass, and have the moisture of processing on glass, Gu Dangding After 422 two locating pieces 422 of block of position, the first mechanical hand 43 can continue to right angle, location close, arrives and presets Position, thus in position fixing process during glass relative to the adsorption mouth of the first mechanical hand 43 be can slidably, therefore location First mechanical hand 43 can be adsorbed the glass of different deviation and realize location by mechanism 42.And at the first mechanical hand 43 aloft move during can realize location, improve the efficiency of feeding.
As shown in Figure 4, the second mechanism for picking 5 includes Z axis auxiliary moving assembly 51, rotary components 52 and the Two mechanical hands 53.In order to preferably install the second mechanism for picking 5, this handling equipment is in Z axis travel mechanism 2 Slide block on or the mounting seat of Y-axis moving mechanism on the second mechanism for picking mounting seat 9 is installed, the second ten Take mechanism's mounting seat 9 and second mechanism for picking 5 is fixed on first mechanical hand 43 limit position away from machine table 7 Put place.
Z axis auxiliary moving assembly 51 includes that Z axis auxiliary stand 511, Z axis assistant cylinder 512, Z axis assist Guide rail 513 and Z axis auxiliary slider 514, Z axis auxiliary stand 511 is arranged on the second mechanism for picking mounting seat 9 On, Z axis assistant cylinder 512 and Z axis auxiliary slider 514 are fixedly mounted on Z axis auxiliary stand 511, Z Axle auxiliary guide rail 513 is arranged on Z axis auxiliary slider 514, and rotary components 52 is arranged on Z axis auxiliary guide rail On 513, the output shaft of Z axis assistant cylinder is fixing with rotary components 52 to be connected, Z axis assistant cylinder 512 Output shaft is arranged along Z-direction with Z axis auxiliary guide rail 513.Z axis auxiliary moving assembly 51 can drive second Mechanical hand 53 is relative to the first mechanical hand 43 moving in Z-direction.On the one hand, Z axis auxiliary moving assembly 51 is the same with the principle of Y-axis auxiliary moving assembly 41, and Z axis auxiliary moving assembly 51 instead of Z axis and moves Mechanism 3 is at the partial journey of Z-direction so that the stroke of Z axis travel mechanism 3 is brief, reduces whole The height of handling equipment;On the other hand Z axis auxiliary moving assembly 51 also coordinates rotary components 52 to realize the The loading and unloading of the first mechanical hand 43 given by two mechanical hands 53.
Rotary components 52 includes runing rest 521, rotary cylinder 522 and swing arm 523, runing rest 521 Being fixed on Z axis auxiliary guide rail 513, Z axis assistant cylinder 512 is fixing with runing rest 521 to be connected, rotation Rotaring cylinder 522 is fixed on runing rest 521, and swing arm 523 is vertically fixed on the rotation of rotary cylinder 522 On output shaft, the second mechanical hand 53 is fixed in swing arm 523;Rotary cylinder 522 drives the second mechanical hand 53 90-degree rotation so that the second mechanical hand 53 replaces between horizontal level and vertical position, the second mechanical hand When 53 rotations are to horizontal level, the pickup end of the second mechanical hand 53 and the pickup end face pair of the first mechanical hand 43 Fitting in face, the i.e. second mechanical hand 53 can will be expected on the first mechanical hand 43 on glass, or the second mechanical hand 53 from the first mechanical hand 43 loading and unloading.Second mechanical hand 53 is consistent with the structure of the first mechanical hand 43, and second Three vacuum holding nozzles that pickup end is array arrangement of mechanical hand 53, vacuum holding nozzle passes through trachea and vacuum Negative pressure device connects.
Machine table 7 has four, and four machine table 7 are along X-direction spaced set side by side, and X-axis moves Mechanism 1 is arranged on the side of frame 6 work surface, and machine table 7 is arranged on the opposite side of described frame work surface.
Workpiece slot 8 includes for vertically placing unprocessed undressed part groove and for vertically placing machined part Machined part groove, undressed part groove and machined part groove be arranged on frame 6 work surface along X-direction, And between X-axis travel mechanism 1 and machine table 7, undressed part groove and machined part groove are in Y direction Upper parallel with the second mechanical hand 53.Undressed part groove and machined part groove are provided with multiple vertical draw-in groove, glass Glass can be easy to pickup or the placement of the second mechanical hand 53 in being vertically placed on draw-in groove.
This handling equipment also includes controller, all motors, cylinder and the negative pressure of vacuum in handling equipment Device is all electrically connected with the controller, and controller realizes controlling motor, cylinder and true by the control program write The coordination of idling pressure device, final control the first mechanical hand 43 and the second mechanical hand 53 complete jointly Blanking action, and controller is connected with engraving machine, engraving machine has two engraving members, and controller controls the One mechanical hand 43 and the second mechanical hand 53 realize the time of blanking and feeding less than engraving to two machine table 7 The time that two glass of other two machine table 7 is processed by two engraving members of machine simultaneously so that engraving Glass in two machine table 7 can be processed by two engraving members of machine incessantly, finally improves The working (machining) efficiency of engraving machine.
The action step of this handling equipment feeding is:
S101: the first mechanical hand 43 is assisted moving assembly 41 to move to by Y-axis moving mechanism 2 and Y-axis Y-axis The extreme position nearest with X-axis travel mechanism 1, this position is put down in the Y-axis direction with the second mechanical hand 53 OK;
S102:X axle travel mechanism 1 drives the first mechanical hand 43 and the second mechanical hand 53 to move close to simultaneously The appointment position of undressed part groove;
S103: rotary components 52 drives the first mechanical hand 43 to rotate to vertical position, now the second mechanical hand 53 are positioned at the surface on undressed part groove outermost glass limit;
S104:Z axle auxiliary moving assembly 51 drives the second mechanical hand 53 to be moved downward to undressed part groove outermost On the limit of side glass;
S105: the second mechanical hand 53 adsorbs glass, and Z axis auxiliary moving assembly 51 drives the second machinery afterwards Hands 53 moves up;
S106: rotary components 52 drives the second mechanical hand 53 to rotate to horizontal level, now the second mechanical hand The glass of 53 pickups is positioned at the lower section of the first mechanical hand 43;
While S107: the first mechanical hand 43 adsorbs undressed glass, the second mechanical hand 53 leaves this position;
S108: detent mechanism 42 drives the first mechanical hand 43 to position glass;
S109:X axle travel mechanism 1 and Z axis travel mechanism 3 drive the first mechanical hand 43 to move to specify work Station 7 for X-axis and Z axis position;
S110:Y axle auxiliary moving assembly 41 drive the first mechanical hand 43 along Y-axis workbench 7 move to Extreme position, then Y-axis moving mechanism 2 drives the first mechanical hand 43 to continue to move to work along Y direction Above platform 7;
S111: the first mechanical hand 43 puts down undressed glass, and returns, and completes the location to undressed glass Feeding.
The blanking step of this handling equipment is contrary with feeding step, simply wherein blanking step and feeding step Compare the step eliminating location, therefore repeat no more.
The handling equipment that the present embodiment provides, on the one hand, owing to being provided with the first mechanism for picking 4 and the second ten Taking mechanism 5, the first mechanism for picking 4 is being arranged in Y-axis moving mechanism 2, at X-axis travel mechanism 1, Y Under the common driving of axle travel mechanism 2 and Z axis travel mechanism 3, the first mechanical hand of the first mechanism for picking 4 43 can carry out loading and unloading with machine table, and the second mechanism for picking 5 is arranged in Z axis travel mechanism 3, it is possible to Move together with Z-direction in X-axis with the first mechanism for picking 5, and the second mechanism for picking 5 also includes Z Axle auxiliary moving assembly 51 and rotary components 52 so that relative first mechanical hand 43 of the second mechanical hand 53 can also Carry out Z-direction move and rotate alternately between horizontal level and vertical position so that the second mechanical hand 53 First mechanical hand 43 can be carried out loading and unloading.This handling equipment passes through the first mechanical hand 43 and the second machine Tool hands 53 has been connected the loading and unloading to machine table, owing to the second mechanical hand 53 instead of the first mechanical hand 43 Rotation and Z axis on part move, reduce first mechanical hand 43 amount of movement in Z-direction, thus Make the stroke of degradation LiaoZZhou travel mechanism 3, and rotary components 52 need not move in Y direction, Improve the pickup precision of workpiece.Therefore add a mechanical hand more and the overall structure of this device is diminished, And there is higher pickup precision.
On the other hand, being provided with positioning component 42 owing to being provided with on the first mechanism for picking 4, detent mechanism 42 can The glass of the first mechanical hand 43 pickup aloft moved is accurately positioned.At the first mechanical hand 430 Position after taking glass, instead of existing mechanical hand and position when static state is in pickup or placement, I.e. save the time of static location, and carried out the essence positioned by mutually perpendicular two locating pieces 422 Degree height.
The structure of this handling equipment is the compactest in sum, takes up room little, and has high-precision On the basis of achieve efficient loading and unloading.
The present invention is illustrated by use above specific case, is only intended to help and understands the present invention, not In order to limit the present invention.For those skilled in the art, according to the thought of the present invention, Some simple deductions can also be made, deform or replace.

Claims (10)

1. a handling equipment, including X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism, Described Z axis travel mechanism is arranged in described X-axis travel mechanism, and described Y-axis moving mechanism is arranged on described Z In axle travel mechanism, described X-axis travel mechanism drives described Z axis travel mechanism and Y-axis moving mechanism along X Axle moves, and described Z axis travel mechanism drives described Y-axis moving mechanism to move along Z-direction, and its feature exists In, also include:
First mechanism for picking, it includes that the first mechanical hand, described first mechanical hand are arranged on described Y-axis and move In mechanism, described Y-axis moving mechanism drives described first mechanical hand to move along Y direction;Described X-axis is moved Motivation structure, Y-axis moving mechanism and Z axis travel mechanism drive described first mechanical hand to machine table loading and unloading;
And second mechanism for picking, it includes Z axis auxiliary moving assembly, rotary components and the second mechanical hand, Described Z axis auxiliary moving assembly is arranged in described Z axis travel mechanism, and described rotary components is arranged on described Z On axle auxiliary moving assembly, described second mechanical hand is arranged on described rotary components;Described Z axis moving machine Structure drives described Z axis auxiliary moving assembly, rotary components and the second mechanical hand to move along Z-direction, described Z Axle auxiliary moving assembly drives described rotary components and the second mechanical hand to move along Z-direction, described rotation group Part drives described mechanical hand to rotate;Described Z axis auxiliary moving assembly and rotary components drive described second machinery Hands gives described first mechanical hand loading and unloading.
2. handling equipment as claimed in claim 1, it is characterised in that described first mechanism for picking is also Including positioning component, described positioning component is arranged in described Y-axis moving mechanism, described first mechanical hand peace It is contained on described positioning component;Described positioning component drives described first mechanical hand to move to specify position to realize Location.
3. handling equipment as claimed in claim 2, it is characterised in that described positioning component includes fixed Position support, locating piece and positioning cylinder, described locating support is arranged in described Y-axis moving mechanism, described Positioning cylinder is arranged on the upper surface of described locating support, the outfan of described positioning cylinder and described first machine Tool hands connects, and described locating support is provided with the slotted eye for dodging described first mechanical hand, described first machine The pickup end face of tool hands is down-set, and described pickup end protrudes from institute through the slotted eye of described locating support State the lower surface of locating support;Described locating piece has two, and two described locating pieces are installed mutual vertically In the lower surface of described locating support, the output shaft of described positioning cylinder becomes to preset angle with described locating piece and sets Put.
4. handling equipment as claimed in claim 3, it is characterised in that described positioning component also includes Positioning guide rail and positioning sliding block, described positioning guide rail is arranged on described locating support, and described positioning sliding block can Being slidably mounted on described positioning guide rail, described first mechanical hand is arranged on described positioning sliding block, described The output shaft of positioning cylinder is parallel with described positioning guide rail;Described positioning guide rail and two described locating pieces are formed The angular bisector at right angle is parallel, or described positioning guide rail is positioned at two described locating pieces and forms the angle at right angles and put down On separated time.
5. handling equipment as claimed in claim 4, it is characterised in that described first mechanism for picking is also Moving assembly, described Y-axis auxiliary moving assembly is assisted to be arranged in described Y-axis moving mechanism including Y-axis, Described locating support is arranged on described Y-axis auxiliary moving assembly;Described Y-axis moving mechanism drives described Y Axle auxiliary moving assembly, positioning component and the first mechanical hand move along Y direction, and described Y-axis auxiliary is mobile Positioning component described in Component driver and the first mechanical hand move along Y direction.
6. handling equipment as claimed in claim 5, it is characterised in that the mobile group of described Y-axis auxiliary Part includes Y-axis auxiliary stand, Y-axis assistant cylinder, Y-axis auxiliary guide rail and Y-axis auxiliary slider, described Y-axis Auxiliary stand is arranged in described Y-axis moving mechanism, and described Y-axis assistant cylinder and Y-axis auxiliary slider are fixed Be arranged on described Y-axis auxiliary stand, described Y-axis auxiliary guide rails assembling on described Y-axis auxiliary slider, Described locating support is arranged on described Y-axis auxiliary guide rail, and the outfan of described Y-axis assistant cylinder is with described Locating support is fixing to be connected, the output shaft of described Y-axis assistant cylinder and Y-axis auxiliary guide rail all with along Y-axis side To setting.
7. handling equipment as claimed in claim 6, it is characterised in that the mobile group of described Z axis auxiliary Part includes Z axis auxiliary stand, Z axis assistant cylinder, Z axis auxiliary guide rail and Z axis auxiliary slider, described Z axis Auxiliary stand is arranged in described Z axis travel mechanism, and described Z axis assistant cylinder and Z axis auxiliary slider are fixed Be arranged on described Z axis auxiliary stand, described Z axis auxiliary guide rails assembling on described Z axis auxiliary slider, Described rotary components is arranged on described Z axis auxiliary guide rail, and the output shaft of described Z axis assistant cylinder is with described Rotary components is fixing to be connected, and the output shaft of described Z axis assistant cylinder and described Z axis auxiliary guide rail are along Z axis side To setting.
8. handling equipment as claimed in claim 7, it is characterised in that described rotary components includes rotation Turning support, rotary cylinder and swing arm, described runing rest is fixed on described Z axis auxiliary guide rail, described Z Axle assistant cylinder is fixing with described runing rest to be connected, and described rotary cylinder is fixed on described runing rest, Described swing arm is vertically fixed on the rotating output shaft of described rotary cylinder, and described second mechanical hand is fixed on institute State in swing arm;Described rotary cylinder drives described second mechanical hand 90-degree rotation so that described second mechanical hand , when described second mechanical hand rotates to horizontal level between horizontal level and vertical position alternately, described the The pickup end of two mechanical hands and the pickup end face opposite laminating of described first mechanical hand.
9. handling equipment as claimed in claim 8, it is characterised in that also include the second mechanism for picking Mounting seat, described second mechanism for picking mounting seat is fixedly mounted in described Z axis travel mechanism, described Z axis Auxiliary stand is fixed in described second mechanism for picking mounting seat.
10. the handling equipment as described in any one of claim 1 to 9, it is characterised in that also include:
Frame, specific works face;
Machine table, described machine table has four, and four described machine table are arranged side by side along X-direction, institute ShuXZhou travel mechanism is arranged on the side of described frame work surface, and described machine table is arranged on described frame work Make the opposite side in face;
And workpiece slot, described workpiece slot includes for vertically placing unprocessed undressed part groove and for erecting The straight machined part groove placing machined part, described undressed part groove and machined part groove are installed along X-direction On described frame work surface, and between described X-axis travel mechanism and machine table.
CN201610512574.6A 2016-06-30 2016-06-30 A kind of handling equipment Active CN106004192B (en)

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CN107775244A (en) * 2017-09-21 2018-03-09 佛山市富可思自动化设备有限公司 Four axle focusing systems
CN108608783A (en) * 2018-04-19 2018-10-02 常州信息职业技术学院 It is a kind of can automatic loading/unloading plank engraving machine
CN108672777A (en) * 2018-05-23 2018-10-19 夏文斌 A kind of automatic processing device of wire stripping blade and its cut milling angle control method

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JPS51131059A (en) * 1975-05-08 1976-11-15 Yutaka Kitahara Loading and unloading device installed in vehicle etc
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CN108608783B (en) * 2018-04-19 2020-03-27 常州信息职业技术学院 Board carving machine capable of automatically feeding and discharging
CN108672777A (en) * 2018-05-23 2018-10-19 夏文斌 A kind of automatic processing device of wire stripping blade and its cut milling angle control method
CN108672777B (en) * 2018-05-23 2020-06-05 赵加文 Automatic machining equipment for wire stripping blade and cutting and milling angle control method thereof

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