CN108858138A - Production line with multiple double-arm manipulator loading and unloading - Google Patents
Production line with multiple double-arm manipulator loading and unloading Download PDFInfo
- Publication number
- CN108858138A CN108858138A CN201810626655.8A CN201810626655A CN108858138A CN 108858138 A CN108858138 A CN 108858138A CN 201810626655 A CN201810626655 A CN 201810626655A CN 108858138 A CN108858138 A CN 108858138A
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- China
- Prior art keywords
- arm
- unloading
- production line
- lifting
- multiple double
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the production lines with multiple double-arm manipulator loading and unloading, including control system and multiple production equipments, manipulator is disposed between two neighboring production equipment, manipulator includes base, and slide rail is disposed on base, is disposed with sliding seat on slide rail, tray and two mechanical arms are disposed on sliding seat, tray is mounted on sliding seat by lifting device, and two mechanical arms pass through lifting device respectively and are mounted on sliding seat, and the end of two mechanical arms is equipped with handgrip.The present invention is designed for the tray of transfer material, and two handgrips are moved along arc trajectory puts down on tray and grab material, while sliding seat moves between two workbench along slide rail, and the working efficiency of loading and unloading can be improved；Lifting device is devised, so that mechanical arm is suitable for the workbench of different height, makes tray liftable, it is made freely to adjust height between the mechanical arm of two different heights.It the composite can be widely applied to automatic producing technology field.
Description
Technical field
The present invention relates to automatic producing technology fields, in particular to the production of multiple double-arm manipulator loading and unloading
Line.
Background technique
It is the mechanical arm motion track road by the way of linear movement in currently used manipulator loading and unloading mode
Journey is longer, results in that working efficiency is low, and occupation area of equipment is larger, and device structure is also complex, therefore how to change machine
Tool arm motion track becomes the main path for improving loading and unloading working efficiency.
Summary of the invention
Technical problem to be solved by the invention is to provide the production lines with multiple double-arm manipulator loading and unloading, change biography
The linear movement track of system is arc trajectory, cooperates feeding and blanking simultaneously using the both arms of manipulator, improves working efficiency, also
The scene not concordant suitable for two operating positions.
Used technical solution to solve above-mentioned technical problem：
Production line with multiple double-arm manipulator loading and unloading, including control system, further include multiple production equipments, phase
It is disposed with manipulator between adjacent two production equipments, the manipulator includes base, is disposed with sliding on the base and leads
Rail is disposed with sliding seat on the slide rail, tray and two mechanical arms, the tray is disposed on the sliding seat
It is mounted on the sliding seat by lifting device, two mechanical arms pass through lifting device respectively and are mounted on the sliding seat
On, the end of two mechanical arms is equipped with handgrip.
Further, the lifting device includes lifting seat, the ball wire bar pair of the driving lifting seat, the driving ball
The lifting motor of screw pair and at least one riser guide mobile for the lifting seat.
Further, the ball wire bar pair includes screw axis and screw, and cabinet, the case are disposed with outside the lifting device
There are two pedestals, the upper and lower part of the screw axis to be separately mounted on the pedestal for arrangement on body, and the screw is mounted on
On the lifting seat.
Further, at least one set of fixed slider to match with the riser guide is installed on the lifting seat.
Further, it is driven between the output shaft of the lifting motor and the screw axis by synchronous transmission device.
Further, rack gear is installed along moving direction on the base, sliding motor is installed on the sliding seat, it is described
The transmission gear engaged with the rack gear is installed on the output shaft of sliding motor.
Further, the mechanical arm includes concatenated first arm and the second arm, and the handgrip is mounted on second arm
One end of swinging end, first arm is mounted on corresponding lifting device by lifting arm.
Further, third oscillating motor, the pendulum of second arm are installed at first arm on second arm
Moved end is equipped with the shaft for handgrip installation, passes through between the output shaft and the shaft of the third oscillating motor synchronous
Drive.
Further, the synchronous transmission device includes driving wheel, driven wheel and synchronous belt.
Further, the position of the tray is in the intersection of two handgrip motion tracks.
Beneficial effect：The present invention is designed for the tray of transfer material, and two handgrips are moved along arc trajectory to be set
Material is put down and grabbed on object disk, while sliding seat moves between two workbench along slide rail, and loading and unloading can be improved
Working efficiency；Devise lifting device, make mechanical arm be suitable for different height workbench, make tray liftable, make its
Height is freely adjusted between the mechanical arm of two different heights.The present invention effectively increases loading and unloading working efficiency, can answer extensively
For automatic producing technology field.
Detailed description of the invention
Fig. 1 is structure chart of the invention；
Fig. 2 is the main view of structure in Fig. 1；
Fig. 3 is the structure chart of manipulator；
Fig. 4 is the left view of lifting device；
Fig. 5 is the axonometric drawing of lifting device；
Fig. 6 is the axonometric drawing of another angle of lifting device；
Fig. 7 is the bottom view of lifting device；
Fig. 8 is the axonometric drawing of tray and lifting device assembling structure；
Fig. 9 is the axonometric drawing of tray and another angle of lifting device assembling structure；
Figure 10 is the lifting device structure figure corresponding to mechanical arm；
Figure 11 is the structure chart of another angle of lifting device corresponding to mechanical arm.
Specific embodiment
Below with reference to Fig. 1 and Figure 11, the present invention is described further.
Production line with multiple double-arm manipulator loading and unloading, including control system, multiple production equipments, it is two neighboring
It is disposed with manipulator 10 between the production equipment, in the present embodiment, the production equipment refers in particular to press machine 60, passes through manipulator
10 crawl transmits material between each press machine 60.The manipulator 10 includes base 11, and the control system can control machine
The everything of tool hand 10.It is disposed with slide rail on the base 11, sliding seat 20 is disposed on the slide rail, it is described
Tray 42 and two mechanical arms are disposed on sliding seat 20, the tray 42 is mounted on the sliding seat by lifting device
On 20, two mechanical arms pass through lifting device respectively and are mounted on the sliding seat 20, the end installation of the mechanical arm
There is handgrip.
In the present embodiment, one of mechanical arm is feeding mechanical arm, another is blanking mechanical arm.Loading and unloading process
In, when A workbench and the not concordant B height of table at blanking at feeding, feeding mechanical arm passes through corresponding lifting
The handgrip that device is used in feeding is concordant with A workbench, and blanking mechanical arm is also so to operate.Feeding mechanical arm grabs material
Afterwards, tray 42 is adjusted to the height concordant with A workbench, and material is placed on the tray 42 convenient for feeding mechanical arm
In, then tray 42 is adjusted to the height concordant with B workbench, grabs object from the tray 42 convenient for blanking mechanical arm
Material.In addition, when A workbench and not concordant B workbench front-rear position this can be solved by the movement of the sliding seat 20
Problem, from A workbench feeding, sliding seat 20 is moved to B workbench along slide rail convenient for blanking.
In the present embodiment, the handgrip is detachable, can using common vacuum chuck or clipping structure in industry
It is replaced according to need of work.
In the present embodiment, described state is equipped with rack gear along moving direction on base 11, is equipped with cunning on the sliding seat 20
Motor 21 is moved, the transmission gear engaged with the rack gear is installed on the output shaft of the sliding motor 21.During loading and unloading,
When A workbench and the not concordant B workbench front-rear position at blanking at 10 feeding of manipulator, pass through the sliding motor
The 21 driving sliding seats 20 are mobile, and manipulator 10 is from A workbench feeding, in B workbench blanking.
The structure of aforementioned three lifting devices is identical, includes the ball screw of lifting seat 52, the driving lifting seat 52
Secondary, the driving ball wire bar pair lifting motor 51 and at least one riser guide 53 mobile for the lifting seat 52.Institute
Stating ball wire bar pair includes screw axis 54 and screw 56, is disposed with cabinet outside the lifting device, is disposed with two on the cabinet
A pedestal 55, the upper and lower part of the screw axis 54 are separately mounted on the pedestal 55, and the screw 56 is mounted on described
On lifting seat 52.It is driven between the output shaft and the screw axis 54 of the lifting motor 51 by synchronous transmission device, it is described
It is disposed with cabinet outside lifting device, each riser guide 53 can be fixed on the cabinet wall.
At least one set of fixed slider to match with the riser guide 53, the fixed slider are installed on the lifting seat 52
Engaged between corresponding riser guide 53 by yin-yang structure, for example, arranging bayonet sliding slot, the lifting on the fixed slider
Strip bulge corresponding with the bayonet sliding slot is designed on guide rail 53.In the present embodiment, the quantity of the riser guide 53 is
Two, and the two is arranged in juxtaposition, the lifting seat 52 is located between two riser guides 53.The quantity of the fixed slider is
Four, it is divided into two groups.
Lifting arm 57 is installed, the top of the cabinet is opened wide, for the lifting arm 57 stretching on the lifting seat 52.
Such as Fig. 8-11, the tray 42 is placed on the lifting arm 57 of corresponding lifting device.It installs one end of the mechanical arm
On the lifting arm 57 of corresponding lifting device, and first oscillating motor is installed in the lifting arm 57.
In the present embodiment, to cooperate convenient for the movement of two mechanical arms and tray 42, at the position of the tray 42
In the intersection of two handgrip motion tracks.The center of two mechanical arms installation site on the sliding seat 20 connects
Line is vertical with the moving direction of the sliding seat 20.
In the present embodiment, each mechanical arm is swung in the horizontal plane, moves the handgrip positioned at its end along arc trajectory
It is dynamic, while sliding seat 20 is conducive to improve loading and unloading along the moving of slide rail, the height adjustment of mechanical arm and tray 42
Efficiency.
Each mechanical arm includes concatenated first arm 31 and the second arm 32, and the handgrip is mounted on second arm 32
Swinging end, in the present embodiment, swinging end, that is, mechanical arm end of second arm 32.First arm 31 is by described
The driving of one oscillating motor, i.e., one end of described first arm 31 is mounted on the lifting arm 57 of corresponding lifting device.Described first
Arm 31 and 32 junction of the second arm are equipped with the second oscillating motor for driving second arm 32.Close to institute on second arm 32
It states and third oscillating motor is installed at the first arm 31, the swinging end of second arm 32 is equipped with to be turned for handgrip installation
Axis is driven between the output shaft and the shaft of the third oscillating motor by synchronous transmission device.
In other embodiments, in order to increase the length of the mechanical arm, wherein the quantity of first arm 31 can also be
Two even more than two.
The structure of both of the aforesaid synchronous transmission device is identical, includes driving wheel, driven wheel and synchronous belt, the present embodiment
In, the driving wheel and driven wheel are gear, and the continuous gear teeth are disposed on the synchronous belt.With lifting motor 51 and screw rod
For synchronous transmission device between axis 54, driven wheel is mounted on the bottom of screw axis 54, and driving wheel is mounted on lifting motor 51
Output shaft on.
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to above-mentioned embodiment party
Formula within the scope of knowledge possessed by those of ordinary skill in the art can also be before not departing from present inventive concept
Put that various changes can be made.
Claims (10)
1. the production line with multiple double-arm manipulator loading and unloading, including control system, it is characterised in that：It further include multiple lifes
Equipment is produced, is disposed with manipulator (10) between the two neighboring production equipment, the manipulator (10) includes base (11), institute
It states and is disposed with slide rail on base (11), be disposed on the slide rail sliding seat (20), cloth on the sliding seat (20)
It is equipped with tray (42) and two mechanical arms, the tray (42) is mounted on the sliding seat (20) by lifting device,
Two mechanical arms pass through lifting device respectively and are mounted on the sliding seat (20), the end installation of two mechanical arms
There is handgrip.
2. the production line according to claim 1 with multiple double-arm manipulator loading and unloading, it is characterised in that：The liter
Falling unit includes the lifting of lifting seat (52), the ball wire bar pair of the driving lifting seat (52), the driving ball wire bar pair
Motor (51) and at least one riser guide (53) mobile for the lifting seat (52).
3. the production line according to claim 2 with multiple double-arm manipulator loading and unloading, it is characterised in that：The rolling
Ballscrew pair includes screw axis (54) and screw (56), is disposed with cabinet outside the lifting device, is disposed with two on the cabinet
The upper and lower part of a pedestal (55), the screw axis (54) is separately mounted on the pedestal (55), screw (56) peace
On the lifting seat (52).
4. the production line according to claim 2 with multiple double-arm manipulator loading and unloading, it is characterised in that：The liter
At least one set of fixed slider to match with the riser guide (53) is installed in drop seat (52).
5. the production line according to claim 3 with multiple double-arm manipulator loading and unloading, it is characterised in that：The liter
It drops and is driven between the output shaft and the screw axis (54) of motor (51) by synchronous transmission device.
6. the production line according to claim 1 with multiple double-arm manipulator loading and unloading, it is characterised in that：The machine
Rack gear is installed along moving direction on seat (11), sliding motor (21), the sliding motor are installed on the sliding seat (20)
(21) transmission gear engaged with the rack gear is installed on output shaft.
7. the production line according to claim 1 with multiple double-arm manipulator loading and unloading, it is characterised in that：The machine
Tool arm includes concatenated first arm (31) and the second arm (32), and the handgrip is mounted on the swinging end of second arm (32), institute
The one end for stating the first arm (31) is mounted on corresponding lifting device by lifting arm (57).
8. the production line according to claim 7 with multiple double-arm manipulator loading and unloading, it is characterised in that：Described
Third oscillating motor is installed at the first arm (31) on two arms (32), the swinging end of second arm (32) is equipped with for institute
The shaft for stating handgrip installation is driven between the output shaft and the shaft of the third oscillating motor by synchronous transmission device.
9. with the production line of multiple double-arm manipulator loading and unloading according to claim 5 or 8, it is characterised in that：Institute
Stating synchronous transmission device includes driving wheel, driven wheel and synchronous belt.
10. the production line according to claim 1 with multiple double-arm manipulator loading and unloading, it is characterised in that：It is described
The position of tray (42) is in the intersection of two handgrip motion tracks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810626655.8A CN108858138A (en) | 2018-06-15 | 2018-06-15 | Production line with multiple double-arm manipulator loading and unloading |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810626655.8A CN108858138A (en) | 2018-06-15 | 2018-06-15 | Production line with multiple double-arm manipulator loading and unloading |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108858138A true CN108858138A (en) | 2018-11-23 |
Family
ID=64339288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810626655.8A Pending CN108858138A (en) | 2018-06-15 | 2018-06-15 | Production line with multiple double-arm manipulator loading and unloading |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108858138A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109704225A (en) * | 2019-01-22 | 2019-05-03 | 杭州柏晗装饰设计工程有限公司 | A kind of lifting transport device of aluminum-pinch |
| CN110270974A (en) * | 2019-04-29 | 2019-09-24 | 北京工业大学 | A kind of multipurpose tray load-engaging device |
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| CN203804971U (en) * | 2014-03-28 | 2014-09-03 | 东莞市德瑞精密设备有限公司 | Multilayer feeding and blanking linkage manipulator |
| CN204278006U (en) * | 2014-11-27 | 2015-04-22 | 南京埃尔法电液技术有限公司 | The double-arm manipulator of a kind of large-scale multistation |
| CN105127825A (en) * | 2014-05-29 | 2015-12-09 | 东方时代网络传媒股份有限公司 | Two-arm type full-automatic feeding and discharging device |
| CN105965860A (en) * | 2016-05-27 | 2016-09-28 | 济南奥图自动化股份有限公司 | Feeding and discharging mechanical arm of thermal forming press |
| CN106166764A (en) * | 2016-08-27 | 2016-11-30 | 东莞市本润机器人开发科技有限公司 | A kind of automatic loading and unloading manipulator of punch press |
| CN206436243U (en) * | 2016-12-30 | 2017-08-25 | 惠州市技师学院 | A kind of production line of two Digit Control Machine Tools of mechanical hand-motion |
| WO2018094680A1 (en) * | 2016-11-25 | 2018-05-31 | 苏州富强科技有限公司 | Full-automatic feeding production line |
| CN208575843U (en) * | 2018-06-15 | 2019-03-05 | 广州启帆工业机器人有限公司 | Production line with multiple double-arm manipulator loading and unloading |
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- 2018-06-15 CN CN201810626655.8A patent/CN108858138A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203804971U (en) * | 2014-03-28 | 2014-09-03 | 东莞市德瑞精密设备有限公司 | Multilayer feeding and blanking linkage manipulator |
| CN105127825A (en) * | 2014-05-29 | 2015-12-09 | 东方时代网络传媒股份有限公司 | Two-arm type full-automatic feeding and discharging device |
| CN204278006U (en) * | 2014-11-27 | 2015-04-22 | 南京埃尔法电液技术有限公司 | The double-arm manipulator of a kind of large-scale multistation |
| CN105965860A (en) * | 2016-05-27 | 2016-09-28 | 济南奥图自动化股份有限公司 | Feeding and discharging mechanical arm of thermal forming press |
| CN106166764A (en) * | 2016-08-27 | 2016-11-30 | 东莞市本润机器人开发科技有限公司 | A kind of automatic loading and unloading manipulator of punch press |
| WO2018094680A1 (en) * | 2016-11-25 | 2018-05-31 | 苏州富强科技有限公司 | Full-automatic feeding production line |
| CN206436243U (en) * | 2016-12-30 | 2017-08-25 | 惠州市技师学院 | A kind of production line of two Digit Control Machine Tools of mechanical hand-motion |
| CN208575843U (en) * | 2018-06-15 | 2019-03-05 | 广州启帆工业机器人有限公司 | Production line with multiple double-arm manipulator loading and unloading |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109704225A (en) * | 2019-01-22 | 2019-05-03 | 杭州柏晗装饰设计工程有限公司 | A kind of lifting transport device of aluminum-pinch |
| CN110270974A (en) * | 2019-04-29 | 2019-09-24 | 北京工业大学 | A kind of multipurpose tray load-engaging device |
| CN110270974B (en) * | 2019-04-29 | 2021-04-30 | 北京工业大学 | Tray object taking device |
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