CN110434663A - A kind of strip material handling equipment and method - Google Patents
A kind of strip material handling equipment and method Download PDFInfo
- Publication number
- CN110434663A CN110434663A CN201910838000.1A CN201910838000A CN110434663A CN 110434663 A CN110434663 A CN 110434663A CN 201910838000 A CN201910838000 A CN 201910838000A CN 110434663 A CN110434663 A CN 110434663A
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- head
- forearm
- strip material
- wrist
- motor
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- 239000000463 material Substances 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 10
- 210000000245 forearm Anatomy 0.000 claims abstract description 47
- 210000000707 wrist Anatomy 0.000 claims abstract description 46
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 210000003128 head Anatomy 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 54
- 239000003638 chemical reducing agent Substances 0.000 claims description 53
- 230000007246 mechanism Effects 0.000 claims description 48
- 230000005611 electricity Effects 0.000 claims description 4
- 230000010355 oscillation Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 11
- 238000003754 machining Methods 0.000 description 3
- 230000008450 motivation Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000007790 scraping 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The present invention relates to a kind of strip material handling equipments, including device noumenon, device noumenon includes pedestal, waist seat, large arm, forearm, wrist, head and terminal-collecting machine, and the lower part of waist seat is mounted on the base, and the waist seat can horizontally rotate relative to pedestal；The lower end of large arm is connect with the top of waist seat, and the large arm can be swung up and down relative to the waist seat；The tail end of forearm and the upper end of large arm connect, and forearm can be swung up and down relative to the large arm；The head end of forearm is connected with wrist, and wrist can be swung up and down relative to forearm；Wrist is connect with head, and head can be swung relative to wrist；Head is connect by flange with terminal-collecting machine, and flange can be relative to head rotation, and terminal-collecting machine is fixedly connected with flange；Further relating to a kind of loading and unloading method using above-mentioned apparatus enters strip material in shield by the movement of control device ontology and slide；It can be realized automatic loading/unloading of the length greater than the material of feeding port width.
Description
Technical field
The present invention relates to a kind of handling equipment and method, in particular to a kind of strip material handling equipment and side
Method.
Background technique
During existing machine, generally requires and manually carry out operation of feeding and discharging or truss manipulator is matched
Set carries out loading and unloading operation.Wherein, when manual operation, every lathe all manninves, labor intensive resource are needed；And some lathes
Lathe such as anneal because there is high temperature, to manually there are security risks.And although truss manipulator realizes to a certain extent automatic
Change, but the movement due to can be only done tri- directions XYZ, such as want to complete the length of flat-form material or long strip shape material compared with
Greatly, when length is greater than machine shield feeding port width, existing truss manipulator is difficult to do not having the case where human assistance
Lower completion loading and unloading.
Summary of the invention
The present invention in view of the deficiency of the prior art, provides a kind of strip material loading and unloading dress of automation
It sets.
The technical scheme to solve the above technical problems is that a kind of strip material handling equipment, including dress
Ontology is set, described device ontology includes pedestal, waist seat, large arm, forearm, wrist, head and terminal-collecting machine, the lower part peace of the waist seat
It fills on the base, and the waist seat can horizontally rotate relative to the pedestal；The lower end of the large arm and the waist seat
Top connection, and the large arm can be swung up and down relative to the waist seat, and the lower end of the large arm also passes through telescoping mechanism
It is hinged with the lower part outer wall of the waist seat；The tail end of the forearm is connect with the upper end of the large arm, and the forearm being capable of phase
The large arm is swung up and down；The head end of the forearm is connected with the wrist, and the wrist can be relative to the forearm
Rotation；The wrist is connect with the head, and the head can be swung relative to the wrist；The head passes through flange
It is connect with the terminal-collecting machine, the flange can be relative to the head rotation, and the terminal-collecting machine and the flange are fixed and connected
It connects.
Further, the waist seat inner hollow, and the first transmission mechanism is installed inside the waist seat, first transmission
Mechanism is able to drive the waist seat and rotates on the base；First transmission mechanism includes first motor, first electricity
Machine is connect by the first speed reducer with the waist seat.
Further, the top of the waist seat is equipped with the second transmission mechanism for driving the big arm swing, second transmission
Mechanism includes the second motor, and second motor is connect by the second speed reducer with the lower end of the large arm.
Further, the tail end of the forearm is equipped with third transmission mechanism, and the third transmission mechanism is able to drive forearm phase
For the big arm swing, the third transmission mechanism includes third motor, and the third motor passes through third speed reducer and institute
State forearm connection.
Further, the forearm is hollow structure, and the inside of the forearm is equipped with drive the wrist to swing the 4th and passes
Motivation structure, the 4th transmission mechanism include the 4th motor, and the 4th motor is connect by the 4th speed reducer with the wrist.
Further, the 5th transmission mechanism for being able to drive the head oscillation is additionally provided on the forearm, the described 5th passes
Motivation structure includes the 5th motor and the 5th speed reducer, is additionally provided with the 5th intermediate transmission between the 5th motor and the 5th speed reducer
Component, the 5th intermediate transmission component include the first spur gear pair, hollow shaft housing and first bevel gear pair, the hollow shaft housing
Length direction along the forearm is arranged；First spur gear pair includes the first spur gear and mutually nibbles with first spur gear
The second spur gear is closed, first spur gear is mounted on the output shaft of the 5th motor, and second spur gear is mounted on
The tail end of the hollow shaft housing, the first bevel gear pair include first bevel gear and second bevel gear, the first bevel gear
It is mounted on the head end of the hollow shaft housing, the second bevel gear is mounted on the input shaft of the 5th speed reducer, and described
The input shaft of five speed reducers is fixed on the wrist, and the output shaft of the 5th speed reducer is fixed on the head, described
Wrist and the head are hollow shell, and the 5th speed reducer is mounted in the head.
Further, the 6th transmission mechanism for being able to drive the flange rotation is additionally provided on the forearm, the described 6th passes
Motivation structure includes the 6th motor and the 6th speed reducer, is additionally provided with the 6th intermediate transmission between the 6th motor and the 6th speed reducer
Component, the 6th intermediate transmission component include the second spur gear pair, jackshaft, second bevel gear secondary, third spur gear and the
Third hand tap gear pair, the jackshaft are set to the inside of the hollow shaft housing, and set between the jackshaft and the hollow shaft housing
There is bearing；Second spur gear pair includes third spur gear and the 4th spur gear that is meshed with the third spur gear, institute
It states third spur gear to be mounted on the output shaft of the 6th motor, the 4th spur gear is mounted on the tail of the jackshaft
End, the second bevel gear pair include third hand tap gear and the 4th bevel gear that is meshed with the third hand tap gear, and described the
Third hand tap gear is set to the head end of the jackshaft, and the 4th bevel gear is mounted on one end of the first connecting shaft, and described first connects
Spindle is mounted on the head；The third spur gear pair includes the 5th spur gear and is meshed with the 5th spur gear
The other end of 6th spur gear, first connecting shaft installs the 5th spur gear, and the 6th spur gear is mounted on second
One end of connecting shaft；The third hand tap gear pair includes the 5th bevel gear and the 6th cone tooth being meshed with the 5th bevel gear
Wheel, the 5th bevel gear are mounted on the other end of second connecting shaft, and the 6th bevel gear is mounted on the described 6th and subtracts
On the input shaft of fast machine, flange described in the output axis connection of the 6th speed reducer.
Further, the telescoping mechanism is power-assisted cylinder.
It further, further include slide and sliding rail compatible with the slide, the sliding rail is open set on machine shield
Side, and be arranged in parallel with the shield of the lathe, described device ontology is mounted on the slide.
It further, further include base electrical machinery, the base electrical machinery moves pedestal along sliding rail by gear and rack teeth mechanism.
The beneficial effect of handling equipment is: the side of lathe feeding is arranged in handling equipment, and slide unit can be set to two machines
Between bed, it can also be set between two column lathes, the automatic loading/unloading of the biggish strip material of length may be implemented, do not need
Human assistance improves production efficiency, avoids workpiece caused by manual operation from scraping problem, reduces workpiece scrappage.
The invention further relates to a kind of loading and unloading methods of strip material, complete the length using above-mentioned handling equipment
The loading and unloading of bar material, including feeding step, feeding step are specific as follows:
Step 1 picks up strip material using the terminal-collecting machine, and keeps strip material parallel with sliding rail；
Step 2, slide are moved backward along sliding rail, while device noumenon drives strip material rotational angle A, into lathe
It protects in cover opening, then, slide continues to move forward；Then, device noumenon drives strip material rotational angle B, finally, device
Ontology drives strip material backwards rotation angle C, and slide continues to move to backward along sliding rail at the same time；Wherein angle C is equal to
The sum of angle A and angle B, and guarantee that strip material does not contact machine shield always；
Step 3, large arm, forearm, wrist, head and terminal-collecting machine mutual cooperation movement, are placed on lathe for strip material
On Working position；Complete feeding.
It further, further include blanking step, after processing is completed to strip material, terminal-collecting machine picks up strip material, presses
It is inversely acted according to step 2, strip material is taken out from machine shield opening.
Further, strip material can be cylindrical material or flat-form material.
The beneficial effect of method is: it can be realized loading and unloading of the length greater than the material of feeding port width, feeding is stablized, from
Dynamicization loading and unloading, do not need human assistance, improve the processing efficiency of workpiece.
Detailed description of the invention
Status diagram when Fig. 1 is device noumenon crawl flat-form material in the present invention；
Fig. 2 is the perspective view of the explosion of device noumenon and slide in the present invention；
Fig. 3 is use state diagram of the invention；
Fig. 4 is the connection schematic diagram of device noumenon and slide in the present invention；
Fig. 5 is the top view of Fig. 4；
Fig. 6 be Fig. 5 in along A-A to cross-sectional view；
Fig. 7 is the partial enlargement diagram in Fig. 6 at A；
Fig. 8 is the partial enlargement diagram in Fig. 6 at B；
Fig. 9 is the structural schematic diagram of wrist in the present invention；
Figure 10 is the structural schematic diagram on head in the present invention；
Figure 11 is the top view when present invention uses；
Figure 12 is the original state figure when present invention uses；
Figure 13 rotates clockwise status diagram at 30 ° when being flat-form material feeding of the present invention；
Figure 14 is the status diagram after flat-form material feeding of the present invention moves back for the second time；
Figure 15 is status diagram when flat-form material of the present invention rotates clockwise 40 °；
Figure 16 is status diagram when flat-form material feeding of the present invention is completed；
In the accompanying drawings, list of designations represented by each label is as follows: 1, slide, 2, pedestal, 3, waist seat, 4, large arm,
5, forearm, 6, wrist, 6-1, wrist connect crown of roll, 7, head, 7-1, head connect crown of roll, 7-2, head lower end, 8, flange,
9, terminal-collecting machine, 10, first motor, the 11, second motor, 12, third motor, the 13, the 5th motor, the 14, the 6th motor, 15, power-assisted
Cylinder, 16, machine shield, 16-1, protection cover opening, 17, flat-form material, 18, sliding rail, the 19, first speed reducer, the 20, the 4th
Motor, the 21, the 4th speed reducer, the 22, first spur gear, the 23, second spur gear, 24, hollow shaft housing, 25, first bevel gear, 26,
Second bevel gear, 27, third spur gear, the 28, the 4th spur gear, 29, jackshaft, 30, third hand tap gear, the 31, the 4th bevel gear,
32, the 5th spur gear, the 33, the 6th spur gear, the 34, the 5th bevel gear, the 35, the 6th bevel gear, the 36, the 6th speed reducer, 37, first
Connecting shaft, the 38, second connecting shaft, the 39, the 5th speed reducer.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As shown in Fig. 1-Figure 10, a kind of strip material handling equipment, including device noumenon, described device ontology include
Pedestal 2, waist seat 3, large arm 4, forearm 5, wrist 6, head 7 and terminal-collecting machine 9, the lower part of the waist seat 3 are mounted on the pedestal 2
On, and the waist seat 3 can horizontally rotate relative to the pedestal 2；The lower end of the large arm 4 and the top of the waist seat 3 connect
Connect, and the large arm 4 can be swung up and down relative to the waist seat 3, the lower end of the large arm 4 also pass through telescoping mechanism with it is described
The lower part outer wall of waist seat 3 is hinged；The tail end of the forearm 5 is connect with the upper end of the large arm 4, and the forearm 5 can be opposite
It is swung up and down in the large arm 4；The head end of the forearm 5 is connected with the wrist 6, and the wrist 6 can be relative to described small
Arm 5 rotates；The side of the wrist 6 is equipped with wrist and connects crown of roll 6-1, and the other side is equipped with wrist connecting hole, among the head 7
U-shaped structure, be respectively equipped on two inner walls of U-shaped structure connect with wrist the compatible head connecting hole of crown of roll 6-1 and with
The compatible head of wrist connecting hole connects crown of roll 7-1, and the head 7 can be swung up and down relative to the wrist 6；The head
The lower end 7-2 in portion is connect by flange 8 with the terminal-collecting machine 9, and the flange 8 can be rotated relative to the head 7, and described
Terminal-collecting machine 9 is fixedly connected with the flange 8.
3 inner hollow of waist seat, and the first transmission mechanism is installed inside the waist seat 3, first transmission mechanism
The waist seat 3 is able to drive to rotate on the pedestal 2；First transmission mechanism includes first motor 10, first electricity
Machine 10 is connect by the first speed reducer 19 with the waist seat 3.
The top of the waist seat 3 is equipped with the second transmission mechanism for driving the large arm 4 to swing, the second transmission mechanism packet
The second motor 11 is included, second motor 11 is connect by the second speed reducer with the lower end of the large arm 4.
The tail end of the forearm 5 is equipped with third transmission mechanism, and the third transmission mechanism is able to drive forearm 5 relative to institute
State large arm 4 swing, the third transmission mechanism includes third motor 12, the third motor 12 by third speed reducer with it is described
Forearm 5 connects.
The forearm 5 is hollow structure, and the inside of the forearm 5 is equipped with the 4th driver for driving the wrist 6 to swing
Structure, the 4th transmission mechanism include the 4th motor 20, and the 4th motor 20 is connected by the 4th speed reducer 21 with the wrist 6
It connects.4th transmission mechanism is in the inside of the forearm 5.
It is additionally provided on the forearm 5 and is able to drive the 5th transmission mechanism that the head 7 is swung, the 5th transmission mechanism
Including the 5th motor 13 and the 5th speed reducer, the 5th intermediate transmission group is additionally provided between the 5th motor 13 and the 5th speed reducer
Part, the 5th intermediate transmission component include the first spur gear pair, hollow shaft housing 24 and first bevel gear pair, the hollow shaft housing
24 along the forearm 5 length direction be arranged；First spur gear pair include the first spur gear 22 and with first straight-tooth
Wheel 22 is meshed the second spur gear 23, and first spur gear 22 is mounted on the output shaft of the 5th motor 13, and described the
Two spur gears 23 are mounted on the tail end of the hollow shaft housing 24, and the first bevel gear pair includes first bevel gear 25 and Yu Suoshu
The second bevel gear 26 that first bevel gear 25 is meshed, the first bevel gear 25 are mounted on the head end of the hollow shaft housing 24,
The second bevel gear 26 is mounted on the input shaft of the 5th speed reducer 39, and the input shaft of the 5th speed reducer is fixed on
On the wrist 6, the output shaft of the 5th speed reducer 39 is fixed on the head 7, and the wrist 6 and the head 7 are equal
For hollow shell, the 5th speed reducer 39 is mounted in the head 7；By the 5th motor 13, the 5th transmission mechanism and
5th speed reducer realizes that head 7 is swung；Since the 4th speed reducer 21 is passed through in the transmission between the 5th motor 13 and the 5th speed reducer,
When the 4th motor 20 and the 4th speed reducer 21 drive wrist 6 to rotate relative to forearm 5, first bevel gear pair is to constitute planetary gear train
Transmission, at the same head 7 be planet carrier act on, if guarantee wrist 6 and head 7 it is opposing stationary, do not done by the 5th speed reducer 39
It disturbs, the 5th motor 13 rotates servo-actuated compensation campaign.
It is additionally provided on the forearm 5 and is able to drive the 6th transmission mechanism that the flange 8 rotates, the 6th transmission mechanism
Including the 6th motor 14 and the 6th speed reducer 36, it is additionally provided among the 6th and passes between the 6th motor 14 and the 6th speed reducer 36
Dynamic component, the 6th intermediate transmission component include the second spur gear pair, jackshaft 29, second bevel gear pair, third spur gear
With third hand tap gear pair, the jackshaft 29 is set to the inside of the hollow shaft housing 24, and the jackshaft 29 and described hollow
Bearing is equipped between axle sleeve 24；Second spur gear pair includes third spur gear 27 and is meshed with the third spur gear 27
The 4th spur gear 28, the third spur gear 27 is mounted on the output shaft of the 6th motor 14, the 4th spur gear
28 are mounted on the tail end of the jackshaft 29, the second bevel gear pair include third hand tap gear 30 and with the third hand tap gear
30 the 4th bevel gears 31 being meshed, the third hand tap gear 30 are set to the head end of the jackshaft 29, the 4th bevel gear
31 are mounted on one end of the first connecting shaft 37, and first connecting shaft 37 is mounted on the head 7；The third spur gear pair
Including the 5th spur gear 32 and the 6th spur gear 33 being meshed with the 5th spur gear 32, first connecting shaft 3 it is another
The 5th spur gear 32 is installed in one end, and the 6th spur gear 33 is mounted on one end of the second connecting shaft 38；The third cone
Gear pair includes the 5th bevel gear 34 and the 6th bevel gear 35 that is meshed with the 5th bevel gear 34, the 5th bevel gear
34 are mounted on the other end of second connecting shaft 38, and the 6th bevel gear 35 is mounted on the input of the 6th speed reducer 36
On axis, flange 8 described in the output axis connection of the 6th speed reducer 36；Due between the 6th motor 14 and the 6th speed reducer 36
Transmission is by head 7, and when head 7 and the swing relatively of wrist 6, third spur gear pair constitutes planetary gear train, and wherein head 7 is served as
Planet bar, if guaranteeing, flange 8 and the opposing stationary of head 7 are not interfered by the 6th speed reducer 36, and the rotation of the 6th motor 14 is servo-actuated
Compensation campaign；With expectation in the case where the 5th motor 13 and the output movement of the 6th motor 14, reaches the 5th speed reducer and drive wrist
When 6 opposing headers 7 of portion are swung, flange 8 and head 7 are opposing stationary.
The telescoping mechanism is power-assisted cylinder 15.
It further include slide 1 and sliding rail 18 compatible with the slide 1, the sliding rail 18 is open set on machine shield
The side of 16-1, and be arranged in parallel with the machine shield 16, described device ontology is mounted on the slide 1.
It further include slide motor (being not drawn into figure), the slide motor moves slide along sliding rail by gear and rack teeth mechanism
It is dynamic.
The invention further relates to a kind of loading and unloading methods of strip material, for grabbing flat-form material 17, flat-form material
17 length F is 4000mm, and the opening 16-1 width G of machining tool shield is 2500mm, and machining tool is two or two
Column, the protection cover opening 16-1 distance H of two sides machining tool are 3000mm.
Steps are as follows for feeding:
Initial position, as is illustrated by figs. 11 and 12, flat-form material 17 is parallel with sliding rail at this time, and 1 front end of slide is apart from sliding rail
The size C of 18 front ends is 100mm, is thought during feeding in the application, device noumenon is moved from front to back on sliding rail 18
Dynamic, front and rear simply facilitates description, and the bottom surface of slide 1 is 1000 × 1000mm square opening shape.
Then, slide motor works, and driving device ontology moves from front to back, at the same time, the 10, second electricity of first motor
Machine 11, third motor 12, the 4th motor, the 5th motor 13 and the 6th motor 14 work at the same time, slide 1, waist seat 3, large arm 4, small
Arm 5, wrist 6, head 7 and the movement of 8 Space Coupling of flange, drive waist seat 3 to rotate clockwise 30 °, 1 front end of slide is before sliding rail
The size C at end is 2000mm, as shown in figure 13；
Then, slide 1 continues Forward until size C of 1 front end of slide apart from 18 front end of sliding rail is 3375mm, such as Figure 14 institute
Show；
Furthermore device noumenon drives flat-form material 17 to be rotated further by 10 ° clockwise, as shown in figure 15；
Finally, device noumenon drives flat-form material 17 to rotate counterclockwise 40 °, while slide 1 continues Forward until before slide 1
Holding the size C apart from sliding rail front end is 4500mm；The feeding of flat-form material 17 is completed, as shown in figure 16.
Blanking step and feeding step are on the contrary, blanking can be completed in reverse movement, and details are not described herein again.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of strip material handling equipment, which is characterized in that including device noumenon, described device ontology include pedestal,
The lower part of waist seat, large arm, forearm, wrist, head and terminal-collecting machine, the waist seat is mounted on the base, and the waist seat energy
It is enough to horizontally rotate relative to the pedestal；The lower end of the large arm is connect with the top of the waist seat, and the large arm being capable of phase
The waist seat is swung up and down, the lower part outer wall that the lower end of the large arm also passes through telescoping mechanism and the waist seat is hinged；Institute
The tail end for stating forearm is connect with the upper end of the large arm, and the forearm can be swung up and down relative to the large arm；It is described small
The head end of arm is connected with the wrist, and the wrist can be rotated relative to the forearm；The wrist is connect with the head,
And the head can be swung relative to the wrist；The head is connect by flange with the terminal-collecting machine, the flange energy
Enough relative to the head rotation, and the terminal-collecting machine is fixedly connected with the flange.
2. strip material handling equipment according to claim 1, which is characterized in that the waist seat inner hollow, and
First transmission mechanism is installed, first transmission mechanism is able to drive the waist seat and turns on the base inside the waist seat
It is dynamic；First transmission mechanism includes first motor, and the first motor is connect by the first speed reducer with the waist seat.
3. strip material handling equipment according to claim 1, which is characterized in that the top of the waist seat is equipped with band
Move the second transmission mechanism of the big arm swing, second transmission mechanism includes the second motor, and second motor passes through the
Two speed reducers are connect with the lower end of the large arm.
4. strip material handling equipment according to claim 1, which is characterized in that the tail end of the forearm is equipped with the
Three transmission mechanisms, the third transmission mechanism are able to drive forearm relative to the big arm swing, the third transmission mechanism packet
Third motor is included, the third motor is connect by third speed reducer with the forearm.
5. strip material handling equipment according to claim 1, which is characterized in that the forearm is hollow structure,
The inside of the forearm is equipped with the 4th transmission mechanism for driving the wrist to swing, and the 4th transmission mechanism includes the 4th electricity
Machine, the 4th motor are connect by the 4th speed reducer with the wrist.
6. strip material handling equipment according to claim 1, which is characterized in that being additionally provided on the forearm can
The 5th transmission mechanism of the head oscillation is driven, the 5th transmission mechanism includes the 5th motor and the 5th speed reducer, described
The 5th intermediate transmission component is additionally provided between 5th motor and the 5th speed reducer, the 5th intermediate transmission component includes first straight
Gear pair, hollow shaft housing and first bevel gear pair, the hollow shaft housing are arranged along the length direction of the forearm；Described first is straight
Gear pair includes that the first spur gear and second spur gear that is meshed with first spur gear, first spur gear are mounted on institute
On the output shaft for stating the 5th motor, second spur gear is mounted on the tail end of the hollow shaft housing, the first bevel gear pair
Including first bevel gear and second bevel gear, the first bevel gear is mounted on the head end of the hollow shaft housing, second cone
Gear is mounted on the input shaft of the 5th speed reducer, and the input shaft of the 5th speed reducer is fixed on the wrist, institute
The output shaft for stating the 5th speed reducer is fixed on the head, and the wrist and the head are hollow shell, and described
Five speed reducers are mounted in the head.
7. strip material handling equipment according to claim 1, which is characterized in that being additionally provided on the forearm can
The 6th transmission mechanism of the flange rotation is driven, the 6th transmission mechanism includes the 6th motor and the 6th speed reducer, described
The 6th intermediate transmission component is additionally provided between 6th motor and the 6th speed reducer, the 6th intermediate transmission component includes second straight
Gear pair, jackshaft, second bevel gear pair, third spur gear and third hand tap gear pair, the jackshaft are set to the hollow shaft
The inside of set, and bearing is equipped between the jackshaft and the hollow shaft housing；Second spur gear pair includes third straight-tooth
Wheel and the 4th spur gear being meshed with the third spur gear, the third spur gear are mounted on the output of the 6th motor
On axis, the 4th spur gear is mounted on the tail end of the jackshaft, the second bevel gear pair include third hand tap gear and with
The 4th bevel gear that the third hand tap gear is meshed, the third hand tap gear be set to the jackshaft head end, the described 4th
Bevel gear is mounted on one end of the first connecting shaft, and first connecting shaft is mounted on the head；The third spur gear pair
Including the 5th spur gear and the 6th spur gear being meshed with the 5th spur gear, the other end of first connecting shaft is installed
5th spur gear, the 6th spur gear are mounted on one end of the second connecting shaft；The third hand tap gear pair includes the 5th
Bevel gear and the 6th bevel gear being meshed with the 5th bevel gear, the 5th bevel gear are mounted on second connecting shaft
The other end, the 6th bevel gear is mounted on the input shaft of the 6th speed reducer, the output shaft of the 6th speed reducer
Connect the flange.
8. strip material handling equipment according to claim 1, which is characterized in that the telescoping mechanism is power-assisted gas
Cylinder.
9. strip material handling equipment according to claim 1-8, which is characterized in that further include slide and
Sliding rail compatible with the slide, the sliding rail are set to the side of machine shield opening, and the shield with the lathe
It is arranged in parallel, described device ontology is mounted on the slide.
10. a kind of strip material loading and unloading method, which is characterized in that completed using handling equipment as claimed in claim 9
The loading and unloading of the strip material, including feeding step, feeding step are specific as follows:
Step 1 picks up strip material using the terminal-collecting machine, and keeps strip material parallel with sliding rail；
Step 2, slide are moved backward along sliding rail, while device noumenon drives strip material rotational angle A, are protected into lathe
In cover opening, then, slide continues to move forward；Then, device noumenon drives strip material rotational angle B, finally, device noumenon
Strip material backwards rotation angle C is driven, slide continues to move to backward along sliding rail at the same time；Wherein angle C is equal to angle A
The sum of with angle B, and guarantee that strip material does not contact machine shield always；
Step 3, large arm, forearm, wrist, head and terminal-collecting machine mutual cooperation movement, strip material is placed on lathe
Working position；Complete feeding.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910838000.1A CN110434663A (en) | 2019-09-05 | 2019-09-05 | A kind of strip material handling equipment and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910838000.1A CN110434663A (en) | 2019-09-05 | 2019-09-05 | A kind of strip material handling equipment and method |
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| CN110434663A true CN110434663A (en) | 2019-11-12 |
Family
ID=68439250
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910838000.1A Pending CN110434663A (en) | 2019-09-05 | 2019-09-05 | A kind of strip material handling equipment and method |
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| CN (1) | CN110434663A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115449609A (en) * | 2022-09-13 | 2022-12-09 | 浙江大学台州研究院 | Automatic feeding and discharging production line for annealing heat treatment of crank |
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