CN202155878U - Automatic unloading manipulator - Google Patents
Automatic unloading manipulator Download PDFInfo
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- CN202155878U CN202155878U CN2011202112323U CN201120211232U CN202155878U CN 202155878 U CN202155878 U CN 202155878U CN 2011202112323 U CN2011202112323 U CN 2011202112323U CN 201120211232 U CN201120211232 U CN 201120211232U CN 202155878 U CN202155878 U CN 202155878U
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Abstract
The utility model discloses an automatic unloading manipulator which comprises a horizontal moving mechanism, a vertical moving mechanism, a sucking disc mechanism and a control system, wherein the horizontal moving mechanism is horizontally mounted above a conveyer belt, the vertical moving mechanism is vertically mounted on the horizontal moving mechanism, the sucking disc mechanism is mounted at the lower end of the vertical moving mechanism, the control system is used for controlling the horizontal moving mechanism, the vertical moving mechanism and the sucking disc mechanism, the sucking disc mechanism comprises a cylinder auxiliary frame, a rotating cylinder, a sucking disc support and a sucking disc component, the cylinder auxiliary frame is fixed at the lower end of the vertically moving mechanism, the middle part of the rotating cylinder is pivotally connected to the bottom of the cylinder auxiliary frame, the sucking disc support is fixed in the middle of the rotating cylinder, and the sucking disc component is mounted on the sucking disc support. The automatic unloading manipulator provided by the utility model can be used for rotary shifting of workpieces, and has the advantages of running stability, positioning accuracy, high degree of automation, and high operating efficiency.
Description
Technical field
The utility model relates to a kind of workpiece transfer equipment, relates in particular to a kind of can being rotated and transfer workpiece, and stable, and automaticity is high, the automatic emptying machine tool hand of high efficiency.
Background technology
In the spraying industry, the workpiece after the spraying generally is transported to subsequent processing through conveyer belt and processes, and in transportation, adopts equipment such as manipulator or transfer mechanism that workpiece is shifted usually.Present manipulator or transfer equipment all are that workpiece is grasped transfer; And directly grabbing workpiece may cause cut to the surface that workpiece has sprayed; And, because the front and back operation is different,, a conveyer belt need change the position of workpiece sometimes when moving to another conveyer belt.Though workpiece is carried out transfer with the employing manipulator and position of rotation can be effective, manipulator belongs to precision equipment, costs an arm and a leg, and a large amount of uses can make production cost too high, is unfavorable for producing; And general transfer mechanism can only move to another position with workpiece from a position now; Then need be undertaken when adjusting angle or the position of workpiece by other slewing; This not only will increase working equipment but also make operation become more complicated loaded down with trivial details; Inefficiency brings very big influence to production.
Based on above-mentioned deficiency, need a kind of can being rotated and transfer to workpiece, and stable, automaticity is high, the automatic emptying machine tool hand of high efficiency.
The utility model content
The purpose of the utility model is to provide a kind of and can be rotated and transfer workpiece, and stable, and automaticity is high, the automatic emptying machine tool hand of high efficiency.
To achieve these goals; The utility model provides a kind of automatic emptying machine tool hand; Be applicable to the workpiece on the conveyer belt carried out transfer that comprise horizontal mobile mechanism, vertical movement mechanism, sucking disc mechanism and control system, said horizontal mobile mechanism flatly is installed on the top of said conveyer belt; Said vertical movement mechanism vertically is installed on the said horizontal mobile mechanism; Said sucking disc mechanism is installed on the lower end of said vertical movement mechanism, and said control system controls said horizontal mobile mechanism, vertical movement mechanism and sucking disc mechanism, and said sucking disc mechanism comprises cylinder auxiliary frame, rotary cylinder, sucker stand and Suction cup assembly; Said cylinder auxiliary frame is fixed in the lower end of said vertical movement mechanism; Said rotary cylinder middle part is articulated in said cylinder auxiliary frame bottom, and said sucker stand is fixed in the middle part of said rotary cylinder, and said Suction cup assembly is installed on the said sucker stand.
Preferably; Said horizontal mobile mechanism comprises horizontal servo motor, horizontal screw bolt, horizontal guide rail and slide block; Said horizontal guide rail flatly is installed on the top of said conveyer belt; Said horizontal screw bolt is installed in the said horizontal guide rail, and end and output that said servomotor is fixed in said horizontal guide rail are connected with said horizontal screw bolt, and said slide block is slidably mounted on the said horizontal guide rail and with said horizontal screw bolt and is threaded.Through controlling the forward or reverse of said horizontal servo motor, drive said horizontal screw bolt and rotate, slidably reciprocate on said horizontal screw bolt thereby drive said slide block, the mobile purpose that is up to the standard, simple in structure, and the accuracy of location is high.
Particularly; Said vertical movement mechanism comprises vertical servomotor, vertical screw, vertical guide rail and fixed block; Said fixed block is fixed on the said slide block; Said vertical guide rail is vertical and be slidably mounted on the said fixed block, and said vertical screw is installed in the said vertical guide rail and with said fixed block and is threaded, and upper end and output that said vertical servomotor is fixed in said vertical guide rail are connected with said vertical screw.Utilize the said vertical screw of said vertical driven by servomotor to rotate, said vertical guide rail is slided up and down along said fixed block, thereby reach the vertical purpose that moves, simple in structure, accurate positioning.
More specifically; Said vertical movement mechanism also comprises driving mechanism, and said driving mechanism comprises drive pulley, driven pulley and belt; The output shaft of the said vertical servomotor upper end of being fixed in said vertical guide rail straight up; Said drive pulley is installed on the output shaft of said vertical servomotor, and said driven pulley is installed on said vertical screw upper end, and said belt is wound between said drive pulley and the driven pulley.
Preferably, said control system has the workpiece inductor, and said workpiece inductor is installed on the said cylinder auxiliary frame, and whether said workpiece inductor can detect workpiece and put in place.When sensing workpiece and arrive the transfer position, move through said control system's control horizontal mobile mechanism and vertical movement mechanism, with the top that arrives workpiece and start vavuum pump to suck workpiece.
Preferably, said rotary cylinder is 90 degree rotary cylinders.Because the rotation that the workpiece transfer on the conveyer belt need be carried out 90 degree to another conveyer belt the time utilizes said 90 degree rotary cylinders can in said workpiece transfer process, carry out the rotation of 90 degree automatically with the adjustment position, need not manually-operated, increases work efficiency.
Preferably, said control system has the vacuum induction device, and said vacuum induction device is installed on the said cylinder auxiliary frame, and said vacuum induction device can detect said Suction cup assembly and whether suck workpiece.When sense suck workpiece after, just move, to realize automatic transfer through control system control horizontal mobile mechanism and vertical movement mechanism.
Preferably, said automatic emptying machine tool hand also comprises mounting bracket, and said mounting bracket is individually fixed in the front end and the middle part of said horizontal mobile mechanism, to support said horizontal mobile mechanism.
Preferably; Said Suction cup assembly comprises sucker, suction pipe, nut, flexible member and vavuum pump; One end of said suction pipe passes freely through said sucker stand and is connected with said nut thread, and terminal is communicated with said vavuum pump, and the other end of said suction pipe is connected with said sucker; Said flexible member one end contacts at the bottom surface of said sucker stand, and the other end contacts at the upper surface of said sucker.Particularly, said flexible member is the compression spring.Utilize said vavuum pump that said sucker is vacuumized; Make said sucker suck workpiece; And, because said suction pipe passes freely through said sucker stand, when said sucker contacts with workpiece; Utilize the cushioning effect of said flexible member, can prevent that said vertical movement mechanism from excessively moving down and workpiece is damaged by pressure.
Compared with prior art, because the utility model is controlled said horizontal mobile mechanism and vertical movement mechanism through said control system, make it can drive said sucking disc mechanism and on conveyer belt, move horizontally simultaneously and move back and forth up and down; And utilize the Suction cup assembly of said sucking disc mechanism; Siphon away the workpiece on the conveyer belt, thereby reach the purpose of transfer workpiece, and in the process of said workpiece transfer, utilize the spinfunction of said rotary cylinder; Make workpiece need not rotation automatically under the manually-operated situation; Thereby adjust to the convenient transportation of suitable transporting position, whole automatic emptying machine tool hand is stable, and whole process is controlled by the control system; Automaticity is high, has improved operating efficiency greatly.
Description of drawings
Fig. 1 is the structural representation that the utility model automatic emptying machine tool hand is installed on the conveyer belt top.
Fig. 2 is that the utility model automatic emptying machine tool hand is installed on the conveyer belt vertical view in when top.
Fig. 3 is the structural representation of the utility model automatic emptying machine tool hand.
Fig. 4 is the side view of the utility model automatic emptying machine tool hand.
Fig. 5 is the enlarged drawing of A part among Fig. 4.
Fig. 6 is the enlarged drawing of B part among Fig. 4.
The specific embodiment
Like Fig. 1 and shown in Figure 2; The utility model automatic emptying machine tool hand 100 is applicable to the workpiece on conveyer belt 200 400 is carried out transfer that said automatic emptying machine tool hand 100 comprises mounting bracket 1, horizontal mobile mechanism 2, vertical movement mechanism 3, sucking disc mechanism 4 and control system (not shown).Said mounting bracket 1 fixed installation; Said horizontal mobile mechanism 2 flatly is installed on the top of said conveyer belt 200; And front end and middle part are fixed with said mounting bracket 1 respectively; Said vertical movement mechanism 3 vertically is installed on the said horizontal mobile mechanism 2, and said sucking disc mechanism 4 is installed on the lower end of said vertical movement mechanism 3, and said control system controls said horizontal mobile mechanism 2, vertical movement mechanism 3 and sucking disc mechanism 4.
As shown in Figure 3; Said horizontal mobile mechanism 2 comprises horizontal servo motor 21, horizontal screw bolt 22, horizontal guide rail 23 and slide block 24; Said horizontal guide rail 23 flatly is installed on the top of conveyer belt 200,300; Said horizontal screw bolt 22 is installed in the said horizontal guide rail 23, and end and output that said servomotor 21 is fixed in said horizontal guide rail 23 are connected with said horizontal screw bolt 22, and said slide block 24 is slidably mounted on the said horizontal guide rail 23 and with said horizontal screw bolt 22 and is threaded.Through controlling the forward or reverse of said horizontal servo motor 21, drive said horizontal screw bolt 22 and rotate, slidably reciprocate on said horizontal screw bolt 22 thereby drive said slide block 24, the mobile purpose that is up to the standard, simple in structure, and the accuracy of location is high.
In conjunction with Fig. 4 and shown in Figure 5; Said vertical movement mechanism 3 comprises vertical servomotor 31, driving mechanism 32, vertical screw 33, vertical guide rail 34 and fixed block 35; Said driving mechanism 32 comprises drive pulley 32a; Driven pulley 32b and belt 32c; Said fixed block 35 is fixed on the said slide block 24, and said vertical guide rail 34 is vertical and be slidably mounted on the said fixed block 35, and said vertical screw 33 is installed in the said vertical guide rail 34 and with said fixed block 35 and is threaded; Upper end and output shaft that said vertical servomotor 31 is fixed in said vertical guide rail 34 are straight up; Said drive pulley 32a is installed on the output shaft of said vertical servomotor 31, and said driven pulley 32b is installed on said vertical screw 33 upper ends, and said belt 32c is wound between said drive pulley 32a and the driven pulley 32b.Utilize said vertical servomotor 31 to drive said vertical screw 33 and rotate, said vertical guide rail 34 is slided up and down along said fixed block 35, thereby reach the vertical purpose that moves, simple in structure, accurate positioning.
As shown in Figure 6, said sucking disc mechanism 4 comprises cylinder auxiliary frame 41,90 degree rotary cylinder 42, sucker stand 43 and Suction cup assemblies 44, and said Suction cup assembly 44 comprises sucker 44a, suction pipe 44b, nut 44c, compression spring 44d and vavuum pump (not shown).Said cylinder auxiliary frame 41 is fixed in the lower end of said vertical movement mechanism 3, and said 90 degree rotary cylinders 42 middle parts are articulated in said cylinder auxiliary frame 41 bottoms.Said sucker stand 43 is fixed in the middle part of said 90 degree rotary cylinders 42; The end of said suction pipe 44b passes freely through said sucker stand 43 and is threaded with said nut 44c; And end is communicated with said vavuum pump, and the other end of said suction pipe 44b is connected with said sucker 44a.Said compression spring 44d one end contacts at the bottom surface of said sucker stand 43, and the other end contacts at the upper surface of said sucker 44a.Because the rotation that workpiece 400 transfers on the conveyer belt 200 need be carried out 90 degree to 300 last times of another conveyer belt utilizes said 90 degree rotary cylinders 42 can in said workpiece 400 transfer processes, carry out the rotation of 90 degree automatically with the adjustment position, need not manually-operated; Increase work efficiency; And utilize said vavuum pump that said sucker 44a is vacuumized, can make said sucker 44a suck workpiece 400 effectively, and; Because said suction pipe 44b passes freely through said sucker stand 43; When said sucker 44b contacts with workpiece 400, utilize the cushioning effect of said compression spring 44d, can prevent that said vertical movement mechanism 3 from excessively moving down and workpiece 400 is damaged by pressure.
Said control system has workpiece inductor 51 and vacuum induction device 52, and said workpiece inductor 51 is installed on the said cylinder auxiliary frame 41 and is connected with said control system, and whether said workpiece inductor 51 can detect workpiece 400 and put in place.When sensing workpiece 400 and arrive the transfer positions, move through said control system's control horizontal mobile mechanism 2 and vertical movement mechanism 3, with the top that arrives workpiece 400 and start vavuum pump to suck workpiece 400.Said vacuum induction device 52 is installed on the said cylinder auxiliary frame 41 and is connected with said control system, and said vacuum induction device 52 can detect said Suction cup assembly 44 and whether suck workpiece 400.When sense suck workpiece 400 after, just move, to realize automatic transfer through control system control horizontal mobile mechanism 2 and vertical movement mechanism 3.
Comprehensive above-mentioned and combine accompanying drawing, the course of work in the face of the utility model automatic emptying machine tool hand 100 is described in detail down, as follows:
Said automatic emptying machine tool hand 100 is across the top of two different conveyer belts 200,300; Workpiece 400 processes the back and moves with conveyer belt 200; When workpiece 400 moved to certain position, the said workpiece inductor 51 on the said automatic emptying machine tool hand 100 was sensed said workpiece 400, and the horizontal servo motor 21 that said control system controls on the said horizontal mobile mechanism 2 rotates; Drive said horizontal screw bolt 22; Said horizontal screw bolt 22 drives the top that the said horizontal guide rail 23 in said slide block 24 edges moves to said conveyer belt 200, and at this moment, driving stops.Simultaneously; The said vertical servomotor 31 that said control system controls said vertical movement mechanism 3 rotates; Drive said vertical screw 33 and rotate, said vertical screw 33 drives whole said vertical guide rail 34 and moves down under the effect of said fixed block 35, thereby said sucking disc mechanism 4 is moved down.When said sucker 44a arrives the upper surface of said workpiece 400 and conflict said workpiece 400, thereby because the elastic reaction of said compression spring 44d cushions said sucking disc mechanism 4 because of excessively moving down the pressure to said workpiece 400 that produces.At this moment, the said vavuum pump of said control system starts, and said vavuum pump vacuumizes said sucker 44a inside through said suction pipe 44b, and said sucker 44a sucks said workpiece 400.When said vacuum induction device 52 detects said sucker 44a inside for vacuum state; Said control system controls said vertical servomotor 31 backward rotation; Drive said vertical guide rail 34 and move up thereby drive said vertical screw 33 backward rotation, drive said sucker 44a and workpiece 400 and move up.Said control of while system controls said horizontal servo motor 21 backward rotation, moves thereby drive said slide block 24, moves to another conveyer belt 300 thereby the said fixed block 35 of said slide block 24 drives drives whole vertical movement mechanism 3.In this process, said control system controls said 90 degree rotary cylinders 42, and said 90 degree rotary cylinders 42 drive said sucker stand 43, Suction cup assembly 44 and workpiece 400 and revolve and turn 90 degrees.When workpiece 400 moves to the top of another conveyer belt 300; At this moment, said control system controls said vertical movement mechanism 3 again and moves down, and said workpiece 400 is placed on the said conveyer belt 300; Control said vavuum pump at last to the very row inflation of said sucker 44a inside; Make said sucker 44a unclamp said workpiece 400, transfer to subsequent processing thereby workpiece 400 is positioned on the said conveyer belt 300 fully with conveyer belt 300, said automatic emptying machine tool hand 400 carries out the transfer to next workpiece again.
Compared with prior art; Because the utility model is controlled said horizontal mobile mechanism 2 and vertical movement mechanism 3 through said control system, it can be driven move back and forth up and down when said sucking disc mechanism 4 moves horizontally on conveyer belt 200,300, and utilize the Suction cup assembly 44 of said sucking disc mechanism 4; Siphon away the workpiece 400 on the conveyer belt 200; Thereby reach the purpose of transfer workpiece, and in the process of said workpiece 400 transfers, utilize the spinfunction of said 90 degree rotary cylinders 42, workpiece 400 is turn 90 degrees need not to revolve automatically under the manually-operated situation; Thereby adjust to the convenient transportation of suitable transporting position; Said horizontal mobile mechanism 2 and vertical movement mechanism 3 adopt screw rod and servomotor to make the whole automatic emptying machine tool hand 100 shift position degrees of accuracy high, stable, and be omnidistance by inductor and the control of control system; Automaticity is high, has improved operating efficiency greatly.
The operation principle of the control system that the utility model automatic emptying machine tool hand 100 is involved is well known to those of ordinary skill in the art, no longer does detailed explanation at this.
The above disclosed preferred embodiments that is merely the utility model can not limit the interest field of the utility model certainly with this, so according to the equivalent variations that the utility model claim is done, still belong to the scope that the utility model is contained.
Claims (10)
1. automatic emptying machine tool hand; Be applicable to the workpiece on the conveyer belt is carried out transfer; It is characterized in that: comprise horizontal mobile mechanism, vertical movement mechanism, sucking disc mechanism and control system; Said horizontal mobile mechanism flatly is installed on the top of said conveyer belt, and said vertical movement mechanism vertically is installed on the said horizontal mobile mechanism, and said sucking disc mechanism is installed on the lower end of said vertical movement mechanism; Said control system controls said horizontal mobile mechanism, vertical movement mechanism and sucking disc mechanism; Said sucking disc mechanism comprises cylinder auxiliary frame, rotary cylinder, sucker stand and Suction cup assembly, and said cylinder auxiliary frame is fixed in the lower end of said vertical movement mechanism, and said rotary cylinder middle part is articulated in said cylinder auxiliary frame bottom; Said sucker stand is fixed in the middle part of said rotary cylinder, and said Suction cup assembly is installed on the said sucker stand.
2. automatic emptying machine tool hand as claimed in claim 1; It is characterized in that: said horizontal mobile mechanism comprises horizontal servo motor, horizontal screw bolt, horizontal guide rail and slide block; Said horizontal guide rail flatly is installed on the top of said conveyer belt; Said horizontal screw bolt is installed in the said horizontal guide rail; End and output that said servomotor is fixed in said horizontal guide rail are connected with said horizontal screw bolt, and said slide block is slidably mounted on the said horizontal guide rail and with said horizontal screw bolt and is threaded.
3. automatic emptying machine tool hand as claimed in claim 2; It is characterized in that: said vertical movement mechanism comprises vertical servomotor, vertical screw, vertical guide rail and fixed block; Said fixed block is fixed on the said slide block; Said vertical guide rail is vertical and be slidably mounted on the said fixed block; Said vertical screw is installed in the said vertical guide rail and with said fixed block and is threaded, and upper end and output that said vertical servomotor is fixed in said vertical guide rail are connected with said vertical screw.
4. automatic emptying machine tool hand as claimed in claim 3; It is characterized in that: said vertical movement mechanism also comprises driving mechanism; Said driving mechanism comprises drive pulley; Driven pulley and belt, the output shaft of the said vertical servomotor upper end of being fixed in said vertical guide rail straight up, said drive pulley is installed on the output shaft of said vertical servomotor; Said driven pulley is installed on said vertical screw upper end, and said belt is wound between said drive pulley and the driven pulley.
5. automatic emptying machine tool hand as claimed in claim 1 is characterized in that: said control system has the workpiece inductor, and said workpiece inductor is installed on the said cylinder auxiliary frame, and whether said workpiece inductor can detect workpiece and put in place.
6. automatic emptying machine tool hand as claimed in claim 1 is characterized in that: said rotary cylinder is 90 degree rotary cylinders.
7. automatic emptying machine tool hand as claimed in claim 1 is characterized in that: said control system has the vacuum induction device, and said vacuum induction device is installed on the said cylinder auxiliary frame, and said vacuum induction device can detect said Suction cup assembly and whether suck workpiece.
8. automatic emptying machine tool hand as claimed in claim 1 is characterized in that: said automatic emptying machine tool hand also comprises mounting bracket, and said mounting bracket is individually fixed in the front end and the middle part of said horizontal mobile mechanism, to support said horizontal mobile mechanism.
9. automatic emptying machine tool hand as claimed in claim 1; It is characterized in that: said Suction cup assembly comprises sucker, suction pipe, nut, flexible member and vavuum pump; One end of said suction pipe passes freely through said sucker stand and is connected with said nut thread, and terminal is communicated with said vavuum pump, and the other end of said suction pipe is connected with said sucker; Said flexible member one end contacts at the bottom surface of said sucker stand, and the other end contacts at the upper surface of said sucker.
10. automatic emptying machine tool hand as claimed in claim 9 is characterized in that: said flexible member is the compression spring.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202112323U CN202155878U (en) | 2011-06-21 | 2011-06-21 | Automatic unloading manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202112323U CN202155878U (en) | 2011-06-21 | 2011-06-21 | Automatic unloading manipulator |
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| CN202155878U true CN202155878U (en) | 2012-03-07 |
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| CN2011202112323U Expired - Fee Related CN202155878U (en) | 2011-06-21 | 2011-06-21 | Automatic unloading manipulator |
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