CN108792585B - Spindle loading and unloading manipulator - Google Patents

Spindle loading and unloading manipulator Download PDF

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Publication number
CN108792585B
CN108792585B CN201810384919.3A CN201810384919A CN108792585B CN 108792585 B CN108792585 B CN 108792585B CN 201810384919 A CN201810384919 A CN 201810384919A CN 108792585 B CN108792585 B CN 108792585B
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China
Prior art keywords
spindle
motor
mounting plate
gripping
lifting
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CN201810384919.3A
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CN108792585A (en
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宋佳俊
李贵民
孙大阳
任谊
于治山
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Dalian Kexin Automation Equipment Co ltd
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Dalian Kexin Automation Equipment Co ltd
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Publication of CN108792585A publication Critical patent/CN108792585A/en
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    • 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
    • B65G47/902Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements

Abstract

The invention discloses a spindle assembling and disassembling mechanical arm, and belongs to the technical field of automatic spindle assembling and disassembling equipment. The device comprises a turnover mechanism connected with a lifting driving mechanism, wherein a positioning probe and a clamping mechanism are arranged at the bottom of the turnover mechanism, the positioning probe is connected with a telescopic mechanism, and the lifting driving mechanism, the turnover mechanism, the telescopic mechanism and the clamping mechanism are all connected with a control system. The invention has the beneficial effects that: the spindle loading and unloading manipulator is adopted to replace manpower, the empty spindle is unloaded from the spindle rack, and the full-load spindle is loaded on the spindle rack, so that the working efficiency is improved, and the labor cost is reduced.

Description

Spindle loading and unloading manipulator
Technical Field
The invention relates to an automatic spindle room, and belongs to the technical field of automatic spindle loading and unloading equipment.
Background
Full-load spindle need take off the empty spindle of installing on the spindle frame earlier before using, then will full-load spindle installation goes up again, and traditional operation adopts the manual work to go on, extravagant human cost, and work efficiency is low.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide a spindle assembling and disassembling manipulator which replaces manpower and improves work efficiency.
The technical scheme of the invention is as follows: a spindle loading and unloading manipulator comprises a turnover mechanism connected with a lifting driving mechanism, wherein a positioning probe and a clamping mechanism are arranged at the bottom of the turnover mechanism, the positioning probe is connected with a telescopic mechanism, and the lifting driving mechanism, the turnover mechanism, the telescopic mechanism and the clamping mechanism are all connected with a control system.
The lifting driving mechanism comprises a lifting motor fixed at the top of the frame, the lifting motor is connected with a lifting sliding block through a movable pulley, and the lifting sliding block is connected with a sliding rail on the frame in a sliding manner.
The turnover mechanism comprises a turnover motor fixed on the frame, a driving gear of the turnover motor is meshed with a driven gear, the driven gear is rotatably connected with a lifting slide block through a rotating shaft, and the rotating shaft drives the telescopic mechanism, the positioning probe and the clamping mechanism to turn.
The telescopic mechanism comprises a telescopic driving motor fixed on the upper mounting plate, and the output end of the telescopic driving motor is connected with the lower mounting plate through a ball screw.
The distance between the two positioning probes is adjusted through a distance adjusting mechanism connected with the control system.
The distance adjusting mechanism comprises a sliding block connected with the top of the positioning probe, the sliding block is driven by an adjusting motor and connected to the track on the lower surface of the lower mounting plate in a sliding mode, and the adjusting motor is fixed to the lower mounting plate.
The fixture includes the relative grip block that sets up, grip block sliding connection in the lower surface of centre gripping mounting panel down and through centre gripping motor drive, the centre gripping motor is located down on the centre gripping mounting panel, and the centre gripping mounting panel is connected to lower centre gripping mounting panel, goes up centre gripping mounting panel link block.
The clamping blocks are oppositely arranged on two sides of the positioning probe, and the positioning probe penetrates through the lower clamping mounting plate.
The frame bottom is equipped with the base, the base both ends are equipped with running gear.
The walking mechanism comprises a walking wheel which is rotatably connected with the base, and the walking wheel is connected with a walking driving motor.
The invention has the beneficial effects that: the spindle loading and unloading manipulator is adopted to replace manpower, the empty spindle is unloaded from the spindle rack, and the full-load spindle is loaded on the spindle rack, so that the working efficiency is improved, and the labor cost is reduced.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a top view of the present invention.
The reference numbers in the figures are as follows: 1. positioning probe, 2, walking driving motor, 3, walking wheel, 4, base, 5, go up centre gripping mounting panel, 6, elevator motor, 7, movable pulley, 8, elevator slide, 9, frame, 10, slide rail, 11, upset motor, 12, driving gear, 13, driven gear, 14, go up the mounting panel, 15, flexible driving motor, 16, ball, 17, lower mounting panel, 18, adjusting motor, 19, slider, 20, grip block, 21, lower centre gripping mounting panel, 22, centre gripping motor.
Detailed Description
The invention is further illustrated with reference to the accompanying figures 1 to 4:
a spindle loading and unloading manipulator comprises a turnover mechanism connected with a lifting driving mechanism, wherein a positioning probe 1 and a clamping mechanism are arranged at the bottom of the turnover mechanism, the positioning probe 1 is connected with a telescopic mechanism, and the lifting driving mechanism, the turnover mechanism, the telescopic mechanism and the clamping mechanism are all connected with a control system; the lifting driving mechanism comprises a lifting motor 6 fixed at the top of the frame 9, the lifting motor 6 is connected with a lifting slide block 8 through a movable pulley 7, and the lifting slide block 8 is connected with a slide rail 10 on the frame 9 in a sliding manner; the turnover mechanism comprises a turnover motor 11 fixed on the frame 9, a driving gear 12 of the turnover motor 11 is meshed with a driven gear 13, the driven gear 13 is rotatably connected with the lifting slide block 8 through a rotating shaft, and the rotating shaft drives the telescopic mechanism, the positioning probe 1 and the clamping mechanism to turn; the telescopic mechanism comprises a telescopic driving motor 15 fixed on an upper mounting plate 14, and the output end of the telescopic driving motor 15 is connected with a lower mounting plate 17 through a ball screw 16.
The number of the positioning probes 1 is two, and the distance between the two positioning probes 1 is adjusted through a distance adjusting mechanism connected with a control system; the interval adjusting mechanism comprises a sliding block 19 connected with the top of the positioning probe 1, the sliding block 19 is driven by an adjusting motor 18 and is connected to the track on the lower surface of the lower mounting plate 17 in a sliding mode, and the adjusting motor 18 is fixed to the lower mounting plate 17.
The clamping mechanism comprises clamping blocks 20 which are oppositely arranged, the clamping blocks 20 are connected to the lower surface of a lower clamping mounting plate 21 in a sliding mode and driven by a clamping motor 22, the clamping motor 22 is located on the lower clamping mounting plate 21, the lower clamping mounting plate 21 is connected with an upper clamping mounting plate 5, and the upper clamping mounting plate 5 is connected with a sliding block 19; the clamping blocks 20 are oppositely arranged on two sides of the positioning probe 1, and the positioning probe 1 penetrates through the lower clamping mounting plate 21.
The bottom of the frame 9 is provided with a base 4, and two ends of the base 4 are provided with a traveling mechanism; the walking mechanism comprises a walking wheel 3 which is rotatably connected with a base 4, and the walking wheel 3 is connected with a walking driving motor 2.
Before working, the lifting motor 6 lifts the whole device through the movable pulley 7, then the distance between the two positioning probes 1 is adjusted according to a spindle, the adjusting motor 18 drives the sliding block 19 to slide, and the sliding block 19 drives the positioning probes 1 at the bottom to move, so that the distance adjustment is realized; after the adjustment is finished, the unloading work of the empty spindle is carried out, the clamping block 20 is in an open state, the driving device of the walking mechanism moves to the position of the empty spindle to be unloaded, the driving device of the overturning motor 11 overturns for 90 degrees, the positioning probe 1 and the clamping block 20 are just opposite to the empty spindle to be unloaded, the telescopic driving motor 15 drives the positioning probe 1 to penetrate into a center hole of the empty spindle to be unloaded, the clamping motor 22 works, the clamping block 20 is driven to clamp the empty spindle to be unloaded, the telescopic driving motor 15 drives the positioning probe 1 and the clamping block 20 to retract, so that the empty spindle to be unloaded is taken down from the spindle rack, and after the empty spindle is taken down, the empty spindle is driven by the walking driving motor 2 and moves to the conveying line of the empty spindle, and the. The next step is to assemble a full-load spindle on a spindle frame, a walking mechanism moves the device to the full-load spindle, a lifting motor 6 drives the device to descend, a telescopic driving motor 15 drives a positioning probe 1 to penetrate into a center hole of the full-load spindle, a clamping block 20 clamps the spindle tightly, the lifting motor 6 drives the device to rise, the walking mechanism drives the device to move to a position to be assembled of the spindle frame, a turnover motor drives the clamping mechanism and the positioning probe to turn over for 90 degrees, the full-load spindle is opposite to the position to be assembled, the telescopic driving motor 15 works, the spindle is placed on the spindle frame, the clamping block 20 is loosened, the telescopic driving motor 15 drives the device to return, and the full-load.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (7)

1. The spindle assembling and disassembling mechanical arm is characterized by comprising a turnover mechanism connected with a lifting driving mechanism, wherein a positioning probe (1) and a clamping mechanism are arranged at the bottom of the turnover mechanism, the positioning probe (1) is connected with a telescopic mechanism, and the lifting driving mechanism, the turnover mechanism, the telescopic mechanism and the clamping mechanism are all connected with a control system;
the distance between the two positioning probes (1) is adjusted through a distance adjusting mechanism connected with a control system;
the distance adjusting mechanism comprises a sliding block (19) connected with the top of the positioning probe (1), the sliding block (19) is driven by an adjusting motor (18) and is connected to a track on the lower surface of the lower mounting plate (17) in a sliding mode, and the adjusting motor (18) is fixed on the lower mounting plate (17);
the telescopic mechanism comprises a telescopic driving motor (15) fixed on the upper mounting plate (14), and the output end of the telescopic driving motor (15) is connected with the lower mounting plate (17) through a ball screw (16).
2. Spindle handling robot according to claim 1, characterized in that said lifting drive comprises a lifting motor (6) fixed to the top of the frame (9), the lifting motor (6) being connected to a lifting slider (8) via a movable pulley (7), said lifting slider (8) being slidably connected to a slide (10) on the frame (9).
3. Spindle handling robot according to claim 2, characterized in that said tilting means comprise a tilting motor (11) fixed to the frame (9), the driving gear (12) of the tilting motor (11) engaging with a driven gear (13), the driven gear (13) being rotatably connected to the lifting slider (8) by means of a shaft, said shaft driving the telescopic means, the positioning probe (1) and the gripping means to tilt.
4. Spindle handling robot according to claim 1, characterized in that said gripping means comprise oppositely arranged gripping blocks (20), said gripping blocks (20) being slidably connected to the lower surface of a lower gripping mounting plate (21) and being driven by a gripping motor (22), said gripping motor (22) being located on the lower gripping mounting plate (21), the lower gripping mounting plate (21) being connected to an upper gripping mounting plate (5), the upper gripping mounting plate (5) being connected to the slide (19).
5. Spindle handling robot according to claim 4, characterized in that said gripping blocks (20) are arranged opposite to each other on both sides of a positioning probe (1), said positioning probe (1) passing through a lower gripping mounting plate (21).
6. Spindle handling manipulator according to claim 2, characterised in that said frame (9) is provided at the bottom with a base (4), said base (4) being provided at both ends with a running gear.
7. Spindle handling manipulator according to claim 6, characterised in that said travelling mechanism comprises travelling wheels (3) rotatably connected to a base (4), said travelling wheels (3) being connected to a travelling drive motor (2).
CN201810384919.3A 2018-04-26 2018-04-26 Spindle loading and unloading manipulator Active CN108792585B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810384919.3A CN108792585B (en) 2018-04-26 2018-04-26 Spindle loading and unloading manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810384919.3A CN108792585B (en) 2018-04-26 2018-04-26 Spindle loading and unloading manipulator

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CN108792585A CN108792585A (en) 2018-11-13
CN108792585B true CN108792585B (en) 2020-06-16

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110894052A (en) * 2019-11-27 2020-03-20 核工业理化工程研究院 Assembling and disassembling device for mechanical test fixture

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6267224B1 (en) * 1997-04-04 2001-07-31 David A. Jones Apparatus for separating and orienting pouched articles
CN102730394B (en) * 2012-06-05 2014-10-29 中山市恒鑫聚诚工业设备有限公司 Upright transfer machine
CN204123404U (en) * 2014-10-15 2015-01-28 巨轮股份有限公司 A kind of all-steel cord spindle of robot captures fixture
CN105583813B (en) * 2016-02-01 2017-12-05 宁波朝平智能科技有限公司 Archives rotary grasping mechanism
CN105752640B (en) * 2016-04-27 2018-05-04 南京优倍自动化系统有限公司 A kind of material transfer robot

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