CN106825625A - A kind of automatic loading and unloading manipulator - Google Patents
A kind of automatic loading and unloading manipulator Download PDFInfo
- Publication number
- CN106825625A CN106825625A CN201710247820.4A CN201710247820A CN106825625A CN 106825625 A CN106825625 A CN 106825625A CN 201710247820 A CN201710247820 A CN 201710247820A CN 106825625 A CN106825625 A CN 106825625A
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- Prior art keywords
- plate
- axle
- guide rail
- sliding block
- 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
- B23Q7/04—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 by means of grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of automatic loading and unloading manipulator, including support, X direction guiding rails, X are to sliding block, Y-direction guide rail, Y-direction sliding block, mechanical arm；Mechanical arm is arranged in Y-direction guide rail by Y-direction sliding block；Drive device drives X to be moved left and right on X direction guiding rails to sliding block respectively, Y-direction sliding block is moved up and down in Y-direction guide rail；Mechanical arm includes linking arm, clamping jaw cylinder, protection device, connecting plate；Linking arm upper end is arranged on Y-direction sliding block, and protection device is arranged on the lower end of linking arm, and clamping jaw cylinder is arranged on the lower section of protection device by connecting plate.The present invention sets protection device on a robotic arm, and control machinery hand is automatically stopped work when colliding, while the spring in protection device plays a part of buffering in collision, it is to avoid collide loss.
Description
Technical field
The present invention relates to manipulator field, more particularly to a kind of automatic loading and unloading manipulator.
Background technology
In cost of labor increasingly increased today, in order to reduce the production cost of product, enterprise is forced to update and transform
Process equipment, improves the processing efficiency and automaticity of equipment, to reduce recruitment cost, improve production efficiency.Existing market
On numerically controlled lathe can realize automation processing, and the heavy underaction of the robot manipulator structure of its loading and unloading design, from
And cause feed efficiency low, reduce production efficiency.In addition, manipulator can often occur plane collision incident in use, not only
Influence operating efficiency, can also part of damage, or even damage lathe, sometimes can also jeopardize the personal safety of operator.
The content of the invention
It is an object of the invention to provide a kind of automatic loading and unloading manipulator, be not only simple in structure, loading and unloading flexibly, and
Protection device is additionally provided with, manipulator can be made to be stopped when colliding and played a protective role,.
To reach above-mentioned purpose, the technical solution adopted by the present invention is as follows：A kind of automatic loading and unloading manipulator, including branch
Frame, X direction guiding rails, X are to sliding block, Y-direction guide rail, Y-direction sliding block, mechanical arm；
Described X direction guiding rails are horizontally arranged at the top of support, and described X is arranged on X direction guiding rails to sliding block；Described Y-direction
Guide rail is vertically arranged on X on sliding block；Described Y-direction sliding block is arranged in Y-direction guide rail；Described mechanical arm is installed
On Y-direction sliding block；Described X direction guiding rails and Y-direction guide rail two ends is respectively mounted drive device, drives X to sliding block in guide X respectively
Moved left and right on rail, Y-direction sliding block is moved up and down in Y-direction guide rail；
Described mechanical arm includes linking arm, clamping jaw cylinder, protection device, connecting plate, installing plate, deflecting plate；Described company
Connect arm to be vertically arranged, its upper end is arranged on Y-direction sliding block, described protection device is arranged on the lower end of linking arm, described company
The upper end of fishplate bar is installed in protection device, and the lower end of connecting plate is connected with the upper end of installing plate, the middle part of described deflecting plate
The lower end of installing plate is installed on by steering mechanism I, one is respectively mounted by steering mechanism II on described deflecting plate two ends
Clamping jaw cylinder.
Preferably, described protection device includes right baffle-plate, right shell body, guide rail, guide holder, upper plate, middle plate, lower plate, axle
Ⅰ；Described guide rail is in the horizontal direction installed in the bottom of linking arm；Described guide holder is arranged on guide rail, can be along guide rail
Slide in direction；Described right baffle-plate and right shell body are arranged on the bottom of linking arm, and described right baffle-plate is located at the left side of guide rail, institute
The right shell body stated is located at the right side of guide rail；
Described middle plate is fixedly mounted on guide holder；Described axle I vertically passes through middle plate, and connects with middle plate screw thread
Connect；Upper plate is set with axle I above middle plate, the upper end of axle I passes upper plate upper surface, and the upper end of axle I is provided with positioner, makes
Upper plate without departing from；Spring I is set with axle I between described upper plate and middle plate；Described lower plate is enclosed within middle plate lower section
Axle I on, the lower end of axle I passes the lower surface of lower plate, is provided with positioner so that lower plate without departing from；Described lower plate with
Spring II is set with vertically on axle I between middle plate；Described upper plate and lower plate can slide axially relative to axle I；
The lower end of described lower plate is connected with the upper end of connecting plate；
Proximity switch I is provided with described middle plate, the tip of proximity switch I is located at the lower surface of middle plate.
Preferably, described axle I is provided with two, and two axles I are parallel to each other and positioned at same level.
Preferably, described guide holder includes base plate, left plate, right plate, and described base plate is arranged on guide rail, described
Left plate and right plate be separately mounted on the left and right sides of base plate, left plate is parallel with right shell body and aligns；
The right plate installation axle II of described guide holder, described axle II is provided with two, and two axles II are parallel to each other and are located at
Same level, described axle II is horizontally disposed, and one end is fixedly connected with right shell body, and the other end is enclosed within the side of right plate
On face, and the side of right plate is passed, right plate horizontally slips vertically on axle II；Between described right shell body and right plate
Axle II be set with spring III vertically；Proximity switch II is provided with right shell body, the induction end head rest of proximity switch II is closely right
Side plate side.
Preferably, described protection device also includes cover plate, and cover plate is covered in the front of guide holder, respectively with right baffle-plate and
Right shell body is connected.
Described X direction guiding rails, Y-direction guide rail are screw mandrel guide rail, and X is separately mounted to X direction guiding rails, Y-direction to sliding block and Y-direction sliding block
On the screw mandrel of guide rail.
Described drive device is servomotor.
Pressure inductor is provided with described clamping jaw cylinder, folder is determined whether by determining the pressure of clamp position
Hold part.
Described steering mechanism I and steering mechanism II is steering motor or turns to cylinder.
The course of work of the invention is as follows：
1st, drive device drives X to sliding block and Y-direction sliding block respectively, the deflecting plate on mechanical arm is moved to undressed material institute
In position, and make deflecting plate under steering mechanism I drivings, clamping jaw cylinder is near undressed material, then is controlled by steering mechanism II
The clamping jaw angle of clamping jaw cylinder processed, is allowed to stretch into the centre bore of undressed material, and clamping jaw cylinder is strutted, from material center hole stretching
Material；
2nd, according to identical principle, under drive device driving, the deflecting plate on mechanical arm moved to and added on organisation of working
At the good material of work, make deflecting plate under steering mechanism I drivings, the clamping jaw of another clamping jaw gas for being stretches into manufactured thing
In the centre bore of material, clamping jaw cylinder is strutted, and from material center hole stretching material, deflecting plate is rotated by steering mechanism I, will
The clamping jaw cylinder alignment organisation of working of undressed material is gripped, the clamping jaw angle of clamping jaw cylinder is controlled by steering mechanism II, will
On undressed material feeding organisation of working, then drive device drives X to be moved backward to sliding block, the material that will be processed with X to
Sliding block moves away materiel machining device, is acted to sliding block and Y-direction sliding block by X so that machined material moves to discharge zone
Domain；
3rd, now deflecting plate rotates under steering mechanism I drivings, makes the clamping jaw cylinder aligned transmissions mechanism of the machined material of clamping,
Under steering mechanism II drivings so that machined material is placed on transmission mechanism, the clamping jaw of clamping jaw cylinder shrinks, clamping jaw cylinder
Extracted out from the centre bore of material, depart from the material for processing, complete blanking process, machined material is transmitted by transmission mechanism
To subsequent processing.
The operation principle of protection device:Under normal circumstances, spring I is in the state of compression, bullet by the pressure of upper plate
Spring II is in the state of nature extension because not stressing；Spring III is in the state upheld, and is directed to seat and presses to right baffle-plate；
When clamping jaw cylinder collides in vertical direction, lower plate because being moved upwards by upward top power, while triggering connects
Nearly switch I, proximity switch I sends signal, manipulator is stopped, now the forced compression of spring II, and spring I is eliminated because of pressure
And recover nature extension；
When clamping jaw cylinder collides in the horizontal direction, guide holder is subject to the power of horizontal direction and is slided to the right along guide rail, together
When trigger proximity switch II, proximity switch II sends signal, manipulator is stopped, and now the forced compression of spring III is being oriented to
Between the side plate and right shell body of seat.
Beneficial effects of the present invention：
1st, in X to using guide rail in, Y-direction, by drive device drive mechanical arm on guide rail vertically, left and right directions transports
It is dynamic, realize the simple and flexible of moving structure.
2nd, protection device is set on manipulator, proximity switch is triggered when colliding, control machinery hand is automatically stopped work,
The spring in protection device plays a part of buffering in collision simultaneously, it is to avoid because collision causes damage.
3rd, it is capable of the deflecting plate of 360o rotations, is equipped with two clamping jaw gas for being capable of 360o rotations on deflecting plate
Cylinder, can complete feeding while discharging, while various complicated loading and unloading angles and path can be corresponded to, improve production effect
Rate, expands and uses scope.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention
Fig. 2 is manipulator dimensional structure diagram
Fig. 3 is protection device and clamping jaw cylinder structure schematic diagram
Fig. 4 is clamping jaw cylinder I, II structural representation
In figure：1- supports；2-X direction guiding rails；3-X is to sliding block；4-Y direction guiding rails；5-Y is to sliding block；6- mechanical arms；7- drives dress
Put；8- linking arms；9- clamping jaw cylinders；10- protection devices；11- connecting plates；12- right baffle-plates；13- right shell bodies；14- guide rails；15-
Guide holder；16- upper plates；Plate in 17-；18- lower plates；19- axles I；20- springs I；21- springs II；22- proximity switches I；23- bottoms
Plate；24- left plates；25- right plates；26- axles II；27- springs III；28- proximity switches II；29- cover plates；30- installing plates；31-
Steering mechanism I；32- deflecting plates；33- steering mechanism II.
Specific embodiment
The present invention is described in detail with reference to specific embodiments and the drawings.
Embodiment 1
As shown in Figure 1,2,3, 4, automatic loading and unloading manipulator includes support 1, X direction guiding rails 2, X to sliding block 3, Y-direction guide rail 4, Y-direction
Sliding block 5, mechanical arm 6；
Described X direction guiding rails 2 are horizontally arranged at the top of support 1, and described X is arranged on X direction guiding rails 2 to sliding block 3；Described
Y-direction guide rail 4 is vertically arranged on X on sliding block 3；Described Y-direction sliding block 5 is arranged in Y-direction guide rail 4；Described machinery
Arm 6 is arranged on Y-direction sliding block 5；Described X direction guiding rails 2 and the two ends of Y-direction guide rail 4 is respectively mounted drive device 7, and X is driven respectively
Moved left and right on X direction guiding rails 2 to sliding block 3, Y-direction sliding block 5 is moved up and down in Y-direction guide rail 4；
Described mechanical arm 6 includes linking arm 8, clamping jaw cylinder 9, protection device 10, connecting plate 11, installing plate 30, deflecting plate
32；Described linking arm 8 is vertically arranged, and its upper end is arranged on Y-direction sliding block 5, and described protection device 10 is arranged on linking arm 8
Lower end, the upper end of described connecting plate 11 is installed in protection device 10, the lower end of connecting plate 11 and the upper end of installing plate 30
Connection, the middle part of described deflecting plate 32 is installed on the lower end of installing plate 30,32 liang of described deflecting plate by steering mechanism I31
A clamping jaw cylinder 9 is respectively mounted by steering mechanism II33 on end.
Described protection device 10 include right baffle-plate 12, right shell body 13, guide rail 14, guide holder 15, upper plate 16, middle plate 17,
Lower plate 18, axle I 19；Described guide rail 14 is in the horizontal direction installed in the bottom of linking arm 8；Described guide holder 15 is arranged on and leads
On rail 14, can be slided along the direction of guide rail 14；Described right baffle-plate 12 and right shell body 13 are arranged on the bottom of linking arm 8, described
Right baffle-plate 12 be located at the left side of guide rail 14, described right shell body 13 is located at the right side of guide rail 14；
Described middle plate 17 is fixedly mounted on guide holder 15；Described axle I 19 vertically pass through middle plate 17, and with middle plate
17 threaded connections；Upper plate 16 is set with the axle I 19 of the top of middle plate 17, the upper end of axle I 19 passes the upper surface of upper plate 16, axle I 19
Upper end is provided with positioner so that upper plate 16 without departing from；It is set with axle I 19 between described upper plate 16 and middle plate 17
Spring I 20；Described lower plate 18 is enclosed within the axle I 19 of the lower section of middle plate 17, and the lower end of axle I 19 passes the lower surface of lower plate 18, if
Have positioner so that lower plate 18 without departing from；Bullet is set with vertically on axle I 19 between described lower plate 18 and middle plate 17
Spring II 21；Described upper plate 16 and lower plate 18 can slide axially relative to axle I 19；
The lower end of described lower plate 18 is connected with the upper end of connecting plate 11；
Proximity switch I 22 is provided with described middle plate 17, the tip of proximity switch I 22 is located at the lower surface of middle plate 17.
Described axle I 19 is provided with two, and two axles I 19 are parallel to each other and positioned at same level.
Described guide holder 15 includes base plate 23, left plate 24, right plate 25, and described base plate 23 is arranged on guide rail 14
On, described left plate 24 and right plate 25 is separately mounted on the left and right sides of base plate 23, and left plate 24 is flat with right shell body 13
Go and align；
The installation axle II 26 of right plate 25 of described guide holder 15, described axle II 26 is provided with two, and two axles II 26 are mutually flat
Go and positioned at same level, described axle II 26 is horizontally disposed, and one end is fixedly connected with right shell body 13, the other end
It is enclosed within the side of right plate 25, and passes the side of right plate 25, right plate 25 horizontally slips vertically on axle II 26；Institute
Axle II 26 between the right shell body 13 and right plate 25 stated is set with spring III 27 vertically；Close opening is provided with right shell body 13
Close II 28, the nearly side of right plate 25 of induction end head rest of proximity switch II 28.
Described protection device 10 also includes cover plate 29, and cover plate 29 is covered in the front of guide holder 15, respectively with right baffle-plate
12 and right shell body 13 connect.
Described X direction guiding rails 2, Y-direction guide rail 4 are screw mandrel guide rail, and X is separately mounted to X direction guiding rails to sliding block 3 and Y-direction sliding block 5
2nd, on the screw mandrel of Y-direction guide rail 4.
Described drive device 7 is servomotor.
Pressure inductor is provided with described clamping jaw cylinder 9, folder is determined whether by determining the pressure of clamp position
Hold part.
Described steering mechanism I31 and steering mechanism II33 is steering motor or turns to cylinder.
Claims (9)
1. a kind of automatic loading and unloading manipulator, including support（1）, X direction guiding rails（2）, X is to sliding block（3）, Y-direction guide rail（4）, Y-direction slide
Block（5）, mechanical arm（6）, it is characterised in that：
Described X direction guiding rails（2）It is horizontally arranged at support（1）Top, described X is to sliding block（3）Installed in X direction guiding rails（2）
On；Described Y-direction guide rail（4）X is vertically arranged on to sliding block（3）On；Described Y-direction sliding block（5）Installed in Y-direction guide rail
（4）On；Described mechanical arm（6）Installed in Y-direction sliding block（5）On；Described X direction guiding rails（2）And Y-direction guide rail（4）Two ends point
Drive device is not installed（7）, X is driven respectively to sliding block（3）In X direction guiding rails（2）On move left and right, Y-direction sliding block（5）Led in Y-direction
Rail（4）On move up and down；
Described mechanical arm（6）Including linking arm（8）, clamping jaw cylinder（9）, protection device（10）, connecting plate（11）, installing plate
（30）, deflecting plate（32）；Described linking arm（8）It is vertically arranged, its upper end is arranged on Y-direction sliding block（5）On, described protection dress
Put（10）Installed in linking arm（8）Lower end, described connecting plate（11）Upper end be installed on protection device（10）On, connecting plate
（11）Lower end and installing plate（30）Upper end connection, described deflecting plate（32）Middle part pass through steering mechanism I（31）Install
In installing plate（30）Lower end, described deflecting plate（32）Pass through steering mechanism II on two ends（33）It is respectively mounted a clamping jaw vapour
Cylinder（9）.
2. automatic loading and unloading manipulator according to claim 1, it is characterised in that：Described protection device（10）Including a left side
Baffle plate（12）, right shell body（13）, guide rail（14）, guide holder（15）, upper plate（16）, middle plate（17）, lower plate（18）, axle I（19）；Institute
The guide rail stated（14）Linking arm is arranged in the horizontal direction（8）Bottom；Described guide holder（15）Installed in guide rail（14）On,
Can be along guide rail（14）Slide in direction；Described right baffle-plate（12）And right shell body（13）Installed in linking arm（8）Bottom, it is described
Right baffle-plate（12）Positioned at guide rail（14）Left side, described right shell body（13）Positioned at guide rail（14）Right side；
Described middle plate（17）It is fixedly mounted on guide holder（15）On；Described axle I（19）Vertically pass through middle plate（17）,
And with middle plate（17）It is fixedly connected；Middle plate（17）The axle I of top（19）Upper suit upper plate（16）, axle I（19）Upper end pass
Plate（16）Upper surface, axle I（19）Upper end be provided with positioner so that upper plate（16）Without departing from；Described upper plate（16）
With middle plate（17）Between axle I（19）On be set with spring I（20）；Described lower plate（18）It is enclosed within middle plate（17）The axle I of lower section
（19）On, axle I（19）Lower end pass lower plate（18）Lower surface, be provided with positioner so that lower plate（18）Without departing from；Institute
The lower plate stated（18）With middle plate（17）Between axle I（19）On be set with spring II vertically（21）；Described upper plate（16）With
Lower plate（18）Can be relative to axle I（19）Slide axially；
Described lower plate（18）Lower end and connecting plate（11）Upper end connection；
Described middle plate（17）On be provided with proximity switch I（22）, proximity switch I（22）Tip be located at middle plate（17）'s
Lower surface.
3. automatic loading and unloading manipulator according to claim 2, it is characterised in that：Described axle I（19）It is provided with two, two
Root axle I（19）It is parallel to each other and positioned at same level.
4. automatic loading and unloading manipulator according to claim 2, it is characterised in that：Described guide holder（15）Including base plate
（23）, left plate（24）, right plate（25）, described base plate（23）Installed in guide rail（14）On, described left plate（24）With
Right plate（25）It is separately mounted to base plate（23）The left and right sides on, left plate（24）With right shell body（13）It is parallel and align；
Described guide holder（15）Right plate（25）Installation axle II（26）, described axle II（26）It is provided with two, two axles II
（26）It is parallel to each other and positioned at same level, described axle II（26）It is horizontally disposed, one end and right shell body（13）
It is fixedly connected, the other end is enclosed within right plate（25）Side on, and pass right plate（25）Side, right plate（25）In axle II
（26）On horizontally slip vertically；Described right shell body（13）With right plate（25）Between axle II（26）Bullet is set with vertically
Spring III（27）；Right shell body（13）On be provided with proximity switch II（28）, proximity switch II（28）The nearly right plate of induction end head rest
（25）Side.
5. automatic loading and unloading manipulator according to claim 2, it is characterised in that：Described protection device（10）Also include
Cover plate（29）, cover plate（29）Cover in guide holder（15）Front, respectively with right baffle-plate（12）And right shell body（13）Connection.
6. automatic loading and unloading manipulator according to claim 1, it is characterised in that：Described X direction guiding rails（2）, Y-direction guide rail
（4）It is screw mandrel guide rail, X is to sliding block（3）With Y-direction sliding block（5）It is separately mounted to X direction guiding rails（2）, Y-direction guide rail（4）Screw mandrel on.
7. automatic loading and unloading manipulator according to claim 1, it is characterised in that：Described drive device（7）It is servo
Motor.
8. automatic loading and unloading manipulator according to claim 1, it is characterised in that：Described clamping jaw cylinder（9）Upper setting
There is pressure inductor, determine whether to be clamped with part by determining the pressure of clamp position.
9. automatic loading and unloading manipulator according to claim 1, it is characterised in that：Described steering mechanism I（31）With turn
To mechanism II（33）It is steering motor or steering cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710247820.4A CN106825625A (en) | 2017-04-17 | 2017-04-17 | A kind of automatic loading and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710247820.4A CN106825625A (en) | 2017-04-17 | 2017-04-17 | A kind of automatic loading and unloading manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106825625A true CN106825625A (en) | 2017-06-13 |
Family
ID=59147733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710247820.4A Pending CN106825625A (en) | 2017-04-17 | 2017-04-17 | A kind of automatic loading and unloading manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106825625A (en) |
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| CN108032603A (en) * | 2018-01-24 | 2018-05-15 | 河南省绿博能源设备有限公司 | Multiple-station turntable type fire extinguisher production line |
| CN108044208A (en) * | 2018-01-24 | 2018-05-18 | 温州洪南机械制造有限公司 | A kind of threeway tapping machine |
| CN111424802A (en) * | 2020-05-18 | 2020-07-17 | 丁凤景 | Automatic equipment of burying underground of infiltration well of sponge city greenery patches retaining system |
| CN111948822A (en) * | 2020-08-05 | 2020-11-17 | 何学谦 | VR support device |
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| CN111424802A (en) * | 2020-05-18 | 2020-07-17 | 丁凤景 | Automatic equipment of burying underground of infiltration well of sponge city greenery patches retaining system |
| CN111424802B (en) * | 2020-05-18 | 2021-04-30 | 福州市中霖工程建设有限公司 | Automatic equipment of burying underground of infiltration well of sponge city greenery patches retaining system |
| CN111948822A (en) * | 2020-08-05 | 2020-11-17 | 何学谦 | VR support device |
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Application publication date: 20170613 |