CN107116393A - A kind of truss-like automatic loading and unloading manipulator - Google Patents
A kind of truss-like automatic loading and unloading manipulator Download PDFInfo
- Publication number
- CN107116393A CN107116393A CN201610100562.2A CN201610100562A CN107116393A CN 107116393 A CN107116393 A CN 107116393A CN 201610100562 A CN201610100562 A CN 201610100562A CN 107116393 A CN107116393 A CN 107116393A
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- China
- Prior art keywords
- axis
- drag chain
- truss
- automatic loading
- manipulator
- 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.)
- Pending
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- 238000001514 detection method Methods 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 5
- 239000002699 waste material Substances 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000003754 machining Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 7
- 230000035611 feeding Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- B23Q7/046—Handling workpieces or tools
-
- 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
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2452—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces
- B23Q17/2471—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces of workpieces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
- B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
Abstract
The invention discloses a kind of truss-like automatic loading and unloading manipulator, including vibration input system, No. 1 manipulator, middle sequence detection unit, transmission system, No. 2 manipulators, palletizing system；Laser beam detecting sensor is provided with No. 1 manipulator, No. 2 manipulators, product can be detected after machining whether qualified；The sequence detection unit in truss-like automatic loading and unloading manipulator intermediate step is provided with, relative recording can be made to the blank surface after processing, qualified product is so processed by the retrospective with batch；Truss-like automatic loading and unloading manipulator layout can also make compact conformation, make full use of the space of machine；Links are provided with counting device, are conducive to statistic of attribute and the management of product；Conveyer belt system is automatic transmission system, reduces artificial labor intensity, improves production efficiency, reduces production cost.
Description
Technical field
The present invention relates to a kind of industrial automation equipment, and in particular to a kind of automatic detection part and can be with automatic loading/unloading
Equipment.
Background technology
At present in the case where manufacturing industry cost and automaticity require more and more higher, integrated control and productive temp
More and more stricter, the loading and unloading system in current automated production of control meeting, it is general to be detected using outside machine, if the first process
It is bad can continue in the second process processing, waste processing beat.Detection needs individually to do a detection device simultaneously outside machine
And detection project it is more also increase cost, do a detection device occupied ground also larger more.In the market also simultaneously
Do not have a equipment can while realize the clamping of part, and detection processing dimensional tolerance, and carry out certified products and do not conform to
The classification of lattice product.
The content of the invention
The present invention is for above-mentioned the deficiencies in the prior art there is provided a kind of truss-like automatic loading and unloading manipulator, and its is automatic
Change degree is high, and level of integrated system is high.
To solve problems of the prior art, the concrete technical scheme of use is：
A kind of truss-like automatic loading and unloading manipulator, including vibration input system, No. 1 manipulator, middle sequence detection unit, transmission system
System, No. 2 manipulators, palletizing system；It is characterized in that：The vibration input system includes the sender according to vibration input system
To vibrating transportation disk, the conveying of setting；No. 1 manipulator is identical with No. 2 robot manipulator structures；The middle sequence detection
Unit is provided with industrial camera, switching mechanism；The transmission system is provided with photoelectric counter；
It is provided with bracket component with No. 2 manipulators, and drag chain component, linear guides group, Z axis cylinder, servomotor, laser is examined
Survey sensor, cable, gas circuit pipeline, clamping device, ash can；The bracket component includes X-axis support, Z axis support；It is described
Linear guides group is fixed on X-axis support, and the Z axis cylinder, servomotor, laser beam detecting sensor are each attached to Z axis support
On, the cable, gas circuit pipeline, installed in drag chain component internal, the clamping device is arranged on Z axis support lower end, institute
State ash can and include the waste material road with inclined plane shape.
It is preferred that scheme, the clamping device includes dogbolt, gripper cylinder, buffer, adjustment block, guide rod gas
Cylinder, alignment pin, the dogbolt, gripper cylinder, buffer are installed in adjustment block, and described guide rod cylinder one end is connected to tune
In monoblock, one end is fixed by alignment pin, and with stretching for guide rod cylinder, clamping device can produce 90 ° of rotations.
Further preferred scheme, the drag chain component includes X-axis drag chain, Z axis drag chain, X-axis drag chain fixed plate, Z axis
Drag chain fixed plate, X-axis dee, Z axis dee, X-axis drag chain, which is put into X-axis dee and is fixed on X-axis drag chain in tail end, to be consolidated
In fixed board, X-axis drag chain fixed plate is fixed on X-axis support, and Z axis drag chain is put into Z axis dee and is fixed on Z axis in tail end and drags
In chain fixed plate, Z axis drag chain fixed plate is fixed on Z axis support.
Scheme still more preferably, the palletizing system includes pallet, and longitudinal laser sensor for countering is laterally counted
Number laser sensor.
By using such scheme, a kind of truss-like automatic loading and unloading manipulator of the invention, it has technical effect that：
1st, laser beam detecting sensor is provided with No. 1 manipulator, No. 2 manipulators, product can be detected after machining
It is whether qualified, detection product is carried out with the most short time, and certified products and defective work are distinguished, greatly shorten detection inter process
The off time of product is transmitted, production efficiency is improved；Clamping device can be changed according to corresponding blank shape simultaneously,
With certain adaptability, dogbolt is provided with clamping device, can eliminate part by clamping cylinder clamping workpiece when
The distorsion of generation screams sound, is conducive to keeping the peace and quiet of working environment.
2nd, the sequence detection unit in automatic loading and unloading manipulator intermediate step is provided with, wherein have industrial camera, tipper
Structure, the blank that preceding working procedure is machined overturns 180 ° by switching mechanism, and detects finished surface by industrial camera,
And relative recording is made, qualified product is so processed by the retrospective with batch, is greatly conducive to the quality of product to chase after
Trace back and fine-grained management；And detect and process on same production line, it is not necessary to additionally increase equipment, this layout also can
Make compact conformation, make full use of the space of machine.
3. described in transmission system 4 be provided with photoelectric counter 41, for detecting the blank quantity that passes through, this mode
Be conducive to knowing the certified products quantity of each inter process, quality management can be allowed to the accepted product percentage of each process, be conducive to
Improve the total quality of product.
4th, palletizing system includes longitudinal laser sensor for countering, laterally counts laser sensor, for detecting that processing is closed
The quantity of blank after lattice, is easy to external acousto-optic bulletin device, notifies the product after related personnel's acceptance(check).
5th, the present invention has a conveyer belt system, enters automatic loading and unloading manipulator to palletizing system from blank, is all logical
Cross conveyer belt system to automatically deliver, automaticity is high, reduces artificial labor intensity, improves production efficiency, reduces
Production cost.
6th, it is simple in construction using oscillating mode feed system, it is convenient, and with very big capacity, charging can be saved
Time, further increase production efficiency.
Brief description of the drawings
Fig. 1 is a kind of overall structure schematic top plan view of truss-like automatic loading and unloading manipulator of the invention；
Fig. 2 is a kind of overall structure schematic side view of truss-like automatic loading and unloading manipulator of the invention；
Fig. 3 is a kind of No. 2 manipulator overall structure schematic front view of truss-like automatic loading and unloading manipulator of the invention；
Fig. 4 is a kind of No. 2 manipulator clamping device partial enlargement structural representations of truss-like automatic loading and unloading manipulator of the invention
Figure；
Fig. 5 is a kind of palletizing system partial enlargement structural representation of truss-like automatic loading and unloading manipulator of the invention；
Fig. 6 is a kind of transmission system partial enlargement structural representation of truss-like automatic loading and unloading manipulator of the invention.
Embodiment
To make the object, technical solutions and advantages of the present invention of greater clarity, with reference to instantiation and with reference to attached
Figure, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit the present invention's
Scope.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring the present invention
Concept.
As shown in Figures 1 to 6：
A kind of truss-like automatic loading and unloading manipulator, including 1, No. 1 manipulator 2 of vibration input system, middle sequence detection unit 3 are passed
Send system 4, No. 2 manipulators 5, palletizing system 6；With reference to shown in Fig. 1, the vibration input system 1 is used for the feeding of blank, and it is wrapped
Vibrating transportation disk 11, the conveying 12 of the direction of transfer setting according to vibration input system 1 are included, blank passes through vibrating transportation disk
11 vibration feeding, delivers into conveying 12；
With reference to shown in Fig. 1, Fig. 2, No. 1 manipulator 2 is identical with No. 2 structures of manipulator 5, and blank enters No. 1 manipulator 2
When, by manipulator crawl blank feeding lathe process preceding working procedure, after blank is processed, No. 1 manipulator is examined to product
Survey, detection is qualified to be put into transmission system 4, is transported to middle sequence detection unit 3, detect unqualified, be put into expense hopper 21；
With reference to shown in Fig. 1, the middle sequence detection unit 3 is provided with industrial camera 31, switching mechanism 32, and preceding working procedure is machined
Blank overturn 180 ° by switching mechanism 32, and finished surface is detected by industrial camera, and make relative recording；Do
The blank of record easy to remember is sent to No. 2 manipulators 5 by transmission system 4；With reference to shown in Fig. 6, the transmission system 4 is provided with light
Electric counter 41, for detecting the blank quantity passed through；
With reference to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, it is provided with bracket component 51 with No. 2 manipulators 5, drag chain component 52, linearly
Set of rails 53, Z axis cylinder 54, servomotor 55, laser beam detecting sensor 56, cable 57, gas circuit pipeline 58, clamping device 59,
Ash can 510；The bracket component 51 includes X-axis support 511, Z axis support 512, its X respectively as No. 2 manipulators 5
Axle, Z axis track；The drag chain component 52 includes X-axis drag chain 521, Z axis drag chain 522, X-axis drag chain fixed plate 523, Z axis drag chain
Fixed plate 524, X-axis dee 525, Z axis dee 526, X-axis drag chain 521 is put into X-axis dee 525 and fixed in tail end
In X-axis drag chain fixed plate 523, X-axis drag chain fixed plate 523 is fixed on X-axis support 511, and Z axis drag chain 522 is put into Z axis drag chain
It is fixed in groove 526 and in tail end in Z axis drag chain fixed plate 524, Z axis drag chain fixed plate 524 is fixed on Z axis support 512；Institute
State Z axis cylinder 54 to be fixed on Z axis support 512, it provides power for the Z axis motion of manipulator；The servomotor 55 is fixed
In Z
On bracing strut 512, power is provided for the X-axis motion of manipulator；The laser beam detecting sensor 56 is fixed on Z axis support
On 512, the machining status for detecting blank；The cable 57, gas circuit pipeline 58, installed in X-axis drag chain 521 and Z axis drag chain
Inside 522；The clamping device 59 is arranged on the lower end of Z axis support 512, and it includes dogbolt 591, gripper cylinder
592, buffer 593, adjustment block 594, guide rod cylinder 595, alignment pin 596, the dogbolt 591 is used to adjust gripper cylinder
The perpendicularity and levelness of installing plate, the gripper cylinder 592, buffer 593 are installed in adjustment block 594, the guide rod gas
The one end of cylinder 595 is connected in adjustment block 594, and one end is fixed by alignment pin 596, and clamping dress can be achieved in the flexible of guide rod cylinder 595
Put 90 ° of rotations of 59 devices；The ash can 510 includes the waste material road 5101 with inclined plane shape；It is sent to No. 2 manipulators
The 5 qualified blank of preamble, by No. 2 feedings of manipulator 5 to machine tooling, is first detected by laser beam detecting sensor 56 after processing, examined
It is put into palletizing system 6, is put into if detection is unqualified in ash can 510 by No. 2 manipulators 5 again after survey is qualified；
With reference to shown in Fig. 5, the palletizing system 6 includes pallet 61, and longitudinal laser sensor for countering 62 laterally counts laser
Sensor 63；Longitudinal laser sensor for countering 62, laterally counts laser sensor 63 and is arranged on pallet 61, for examining
The quantity of blank after survey processing is qualified.
The foregoing is merely illustrative of the preferred embodiments of the present invention, the protection domain being not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification for being made, equivalent substitution, it is all contained within protection scope of the present invention.
Claims (4)
1. a kind of truss-like automatic loading and unloading manipulator, including vibration input system（1）, No. 1 manipulator（2）, middle sequence detection list
Member（3）, transmission system（4）, No. 2 manipulators（5）, palletizing system（6）；It is characterized in that：The vibration input system（1）Including
Have according to vibration input system（1）Direction of transfer set vibrating transportation disk（11）, conveying（12）；No. 1 manipulator
（2）With No. 2 manipulators（5）Structure is identical；The middle sequence detection unit（3）It is provided with industrial camera（31）, switching mechanism
（32）；The transmission system（4）It is provided with photoelectric counter（41）；
No. 2 manipulators（5）It is provided with bracket component（51）, drag chain component（52）, linear guides group（53）, Z axis cylinder
（54）, servomotor（55）, laser beam detecting sensor（56）, cable（57）, gas circuit pipeline（58）, clamping device（59）, waste material
Case（510）；The bracket component（51）Include X-axis support（511）, Z axis support（512）；The linear guides group（53）Gu
It is scheduled on X-axis support（511）On, the Z axis cylinder（54）, servomotor（55）, laser beam detecting sensor（56）It is each attached to Z axis
Support（512）On, the cable（57）, gas circuit pipeline（58）, installed in drag chain component（52）Inside, the clamping device（59）
Installed in Z axis support（512）Lower end, the ash can（510）Include the waste material road with inclined plane shape（5101）.
2. a kind of truss-like automatic loading and unloading manipulator according to claim 1, it is characterised in that：The clamping device
（59）Include dogbolt（591）, gripper cylinder（592）, buffer（593）, adjustment block（594）, guide rod cylinder（595）,
Alignment pin（596）, the dogbolt（591）, gripper cylinder（592）, buffer（593）It is installed on adjustment block（594）On, institute
State guide rod cylinder（595）One end is connected to adjustment block（594）On, one end is by alignment pin（596）It is fixed, with guide rod cylinder
（595）Flexible, clamping device（59）90 ° of rotations can be produced.
3. a kind of truss-like automatic loading and unloading manipulator according to claim 1, it is characterised in that：The drag chain component
（52）Include X-axis drag chain（521）, Z axis drag chain（522）, X-axis drag chain fixed plate（523）, Z axis drag chain fixed plate（524）, X-axis
Dee（525）, Z axis dee（526）, X-axis drag chain（521）It is put into X-axis dee（525）In and be fixed on X-axis in tail end
Drag chain fixed plate（523）On, X-axis drag chain fixed plate（523）It is fixed on X-axis support（511）On, Z axis drag chain（522）It is put into Z axis
Dee（526）In and be fixed on Z axis drag chain fixed plate in tail end（524）On, Z axis drag chain fixed plate（524）It is fixed on Z axis branch
Frame（512）On.
4. a kind of truss-like automatic loading and unloading manipulator according to claim 1, it is characterised in that：The palletizing system
（6）Include pallet（61）, longitudinal laser sensor for countering（62）, laterally count laser sensor（63）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610100562.2A CN107116393A (en) | 2016-02-24 | 2016-02-24 | A kind of truss-like automatic loading and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610100562.2A CN107116393A (en) | 2016-02-24 | 2016-02-24 | A kind of truss-like automatic loading and unloading manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107116393A true CN107116393A (en) | 2017-09-01 |
Family
ID=59717545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610100562.2A Pending CN107116393A (en) | 2016-02-24 | 2016-02-24 | A kind of truss-like automatic loading and unloading manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107116393A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274294A (en) * | 2017-12-29 | 2018-07-13 | 科大天工智能装备技术（天津）有限公司 | A kind of 3D printing numerically-controlled machine tool handling equipment and its application method |
| CN109571041A (en) * | 2018-12-25 | 2019-04-05 | 昆山惠众机电有限公司 | A kind of automatic production line of flange |
| CN110589401A (en) * | 2019-09-24 | 2019-12-20 | 武汉琦尔工业设备有限公司 | Barrel processing detects automatic production system and barrel transfer system for automatic production |
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| CN104709711A (en) * | 2015-02-06 | 2015-06-17 | 厦门弘信电子科技股份有限公司 | Auto-feeder of integrated matching electrical testing machine equipment |
| CN205572018U (en) * | 2016-02-24 | 2016-09-14 | 上海希孚工业自动化设备有限公司 | Automatic feeding mechanical arm that goes up of truss -like |
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2016
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| KR19980017588U (en) * | 1996-09-24 | 1998-07-06 | 배순훈 | JIG horizontal rotating device for take-out robot |
| CN202717809U (en) * | 2012-07-19 | 2013-02-06 | 无锡梁溪电炉有限公司 | Double-finger vertical quenching machine tool for automatically clamping workpieces |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108274294A (en) * | 2017-12-29 | 2018-07-13 | 科大天工智能装备技术（天津）有限公司 | A kind of 3D printing numerically-controlled machine tool handling equipment and its application method |
| CN109571041A (en) * | 2018-12-25 | 2019-04-05 | 昆山惠众机电有限公司 | A kind of automatic production line of flange |
| CN109571041B (en) * | 2018-12-25 | 2023-12-12 | 昆山惠众机电有限公司 | Automatic production line of flange |
| CN110589401A (en) * | 2019-09-24 | 2019-12-20 | 武汉琦尔工业设备有限公司 | Barrel processing detects automatic production system and barrel transfer system for automatic production |
| CN110589401B (en) * | 2019-09-24 | 2021-06-22 | 武汉琦尔工业设备有限公司 | Barrel processing detects automatic production system and barrel transfer system for automatic production |
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Application publication date: 20170901 |