CN202684627U - Automatic feeding-discharging double-manipulator system - Google Patents

Automatic feeding-discharging double-manipulator system Download PDF

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Publication number
CN202684627U
CN202684627U CN 201220336571 CN201220336571U CN202684627U CN 202684627 U CN202684627 U CN 202684627U CN 201220336571 CN201220336571 CN 201220336571 CN 201220336571 U CN201220336571 U CN 201220336571U CN 202684627 U CN202684627 U CN 202684627U
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CN
China
Prior art keywords
manipulator
unloading
frame
induction motor
double
Prior art date
Application number
CN 201220336571
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Chinese (zh)
Inventor
王志坚
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王志坚
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Priority to CN 201220336571 priority Critical patent/CN202684627U/en
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Publication of CN202684627U publication Critical patent/CN202684627U/en

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Abstract

The utility model relates to an automatic feeding-discharging double-manipulator system which comprises a machine frame. A linear motor system and a manipulator fixing frame are installed on the machine frame. The linear motor system comprises a primary linear motor system for providing leftward and rightward moving force and a secondary linear motor system providing upward and downward moving force. The primary linear motor system is connected with the frame, and the secondary linear motor system is connected with the manipulator fixing frame. The secondary linear motor system is of a double-active-cell substructure, each active cell is connected one feeding-discharging manipulator, and the machine frame is connected with an integrated control system conducting integrated control on the linear motor system and the feeding-discharging manipulator. The automatic feeding-discharging double-manipulator system adopts the feeding-discharging double-manipulator work, greatly improves production efficiency, adopts the linear motor driving systems, is compact in structure, and has good rigidity and stability. The integrated control system is simple and effective.

Description

A kind of double-manipulator system of automatic loading/unloading

Technical field

The utility model relates to automatic loading and unloading system, is specifically related to a kind of double-manipulator system of automatic loading/unloading.

Background technology

Along with the day by day soaring of cost of labor with to the pay attention to day by day of workers ' health, safety, enterprise is also more and more higher to the requirement of production equipment automaticity.Basically all there is the problem of feeding, discharge in each process equipment, so enterprise is very strong to the demand of automation loading and unloading system.At present, most widely used handling equipment is mechanical transmission-type mechanism (such as the ball screw system) in the machining equipment, and efficient is low, error is large, and dynamic property is not good enough, can not satisfy enterprise's high accuracy, high-speed processing request.

Publication number is that the Chinese utility model patent application of CN 201720847U discloses the self-feeding blanking mechanical hand that a kind of ball screw drives, and mainly comprises frame, grasping mechanism, is used for the lead screw transmission mechanism of realization grasping mechanism motion, the control system of connection control lead screw transmission mechanism motion and the conveying device of transmission material.Although this manipulator can be realized automatic loading/unloading, complex structure, bad dynamic performance can not be applicable to high speed, high-precision processing request.

The patent No. is that the Chinese utility model patent of ZL 200320108862.3 discloses the single armed automatic robot skipping-baiting apparatus that a kind of synchronous pulley mechanism drives, be provided with the Timing Belt driving translation mechanism that two ends are connected with synchronous belt mechanism on the frame, be connected with the driving servomotor below the Timing Belt driving translation mechanism left end, be provided with above the left end and promote servomotor, two vertically disposed line slideway auxiliaries, be provided with the ball leading screw driving pair in the middle of two line slideway auxiliaries, the below is connected with manipulator.Although this robot manipulator structure is simple, transmits steadily, but still can not be applicable to high speed, high-precision processing request.

Summary of the invention

Technical problem to be solved in the utility model is for above-mentioned prior art present situation, and efficient parallel work is provided, and good stability at a high speed, high accuracy, is controlled simple and effective automatic loading and unloading system.

The utility model solves the problems of the technologies described above the technical scheme that adopts:

A kind of double-manipulator system of automatic loading/unloading, include frame, wherein, linear induction motor system is installed on the frame, the manipulator fixed frame, linear induction motor system comprises the secondary linear induction motor system that the preliminary linear of side-to-side movement power electric system is provided and the power that moves up and down is provided, the preliminary linear electric system is connected with frame, secondary linear induction motor system is connected with the manipulator fixed frame, and this secondary linear induction motor system is two Structure of movers, each mover respectively is connected with a loading and unloading manipulator, and frame is connected with the integrated control system that linear induction motor system and loading and unloading manipulator are carried out integrated control.

For optimizing technique scheme, the concrete measure of taking also comprises:

Above-mentioned loading and unloading manipulator includes be used to the gas pawl that clamps and releases workpiece and is used for adjusting the mobile cylinder of the upper-lower position of gas pawl.

Above-mentioned secondary linear induction motor system is enclosed within on the preliminary linear electric system, and has the gap between secondary linear induction motor system inner surface and the preliminary linear electric system outer surface.

Above-mentioned housiung separator end face is provided with motion guide rail, and the housiung separator two sides are provided with the lateral movement guide rail.

Above-mentioned manipulator fixed frame is right-angle structure, and two grooves that can be used for being connected and installed loading and unloading manipulator are arranged on the outer surface of part perpendicular to the ground, and the groove that matches with upper motion guide rail and lateral movement guide rail is arranged on the inner surface of manipulator fixed frame.

Anticollison block is equipped with at the two ends of above-mentioned preliminary linear electric system.

There are two feets the both sides of above-mentioned frame.

Compared with prior art, the double-manipulator system of a kind of automatic loading/unloading of the present utility model, include frame, wherein, linear induction motor system is installed on the frame, the manipulator fixed frame, linear induction motor system comprises the secondary linear induction motor system that the preliminary linear of side-to-side movement power electric system is provided and the power that moves up and down is provided, the preliminary linear electric system is connected with frame, secondary linear induction motor system is connected with the manipulator fixed frame, and this secondary linear induction motor system is two Structure of movers, and each mover respectively is connected with a loading and unloading manipulator, and frame is connected with the integrated control system that linear induction motor system and loading and unloading manipulator are carried out integrated control.

Move simultaneously by two linear electric motors driving feeding, discharge manipulators that drive, behind the arrival target location, cooperate respectively with frock and the Material collecting box for harvesting of lathe, the feeding, discharge manipulator clamps simultaneously or unclamps workpiece, thereby realizes quick loading and unloading.For the concurrent working that realizes loading and unloading manipulator to enhance productivity, described loading and unloading manipulator is fixed on the same manipulator fixed frame, distance between the two is flexible the adjustment as required; Loading and unloading manipulator comprises that respectively one moves up and down cylinder and a gas pawl; Mobile cylinder is used for adjusting the upper-lower position of gas pawl, and the gas pawl is used for clamping and releasing workpiece; The size of gas pawl, shape can be determined according to shape and the size of concrete workpiece.

Compared with prior art, the utlity model has following advantage:

One, adopt the double-manipulator structure, feeding manipulator and blanking mechanical hand concurrent working, the loading and unloading time of workpiece only has half of Single Mechanical hand, has improved production efficiency;

Two, adopt linear electric motors to drive, the transmission link in the middle of having save, has good rigidity and stability at compact conformation; Noiselessness, motion smoothing during operation have splendid dynamic response characteristic; High speed, high-precision motion control have been realized;

Three, integrated control is carried out in the motion of linear electric motors and feeding, discharge manipulator, adopted simultaneously single linear electric motors namely to realize driving to the feeding, discharge robot movement, control is effectively simple.

Description of drawings

Fig. 1 is structural representation of the present utility model.

The specific embodiment

Below in conjunction with accompanying drawing embodiment of the present utility model is described in further detail.

Figure 1 shows that structural representation of the present utility model.

Reference numeral wherein is:

Frame 1, linear induction motor system 2, manipulator fixed frame 3, secondary linear induction motor system 2-2, loading and unloading manipulator 4, gas pawl 4-2, mobile cylinder 4-1, integrated control system 5, upper motion guide rail 1-2a, lateral movement guide rail 1-2b, anticollison block 2-1.

As shown in Figure 1, the double-manipulator system of a kind of automatic loading/unloading of the present utility model, include frame 1, it is characterized in that: on the described frame 1 linear induction motor system 2 is installed, manipulator fixed frame 3, described linear induction motor system 2 comprises the secondary linear induction motor system 2-2 that the preliminary linear of side-to-side movement power electric system 2-3 is provided and the power that moves up and down is provided, described preliminary linear electric system 2-3 is connected with frame 1, described secondary linear induction motor system 2-2 is connected with manipulator fixed frame 3, and this secondary linear induction motor system 2-2 is two Structure of movers, each mover respectively is connected with a loading and unloading manipulator 4, and described frame 1 is connected with the integrated control system 5 that linear induction motor system 2 and loading and unloading manipulator 4 are carried out integrated control.

Among the embodiment, loading and unloading manipulator 4 includes be used to the gas pawl 4-2 that clamps and releases workpiece and is used for adjusting the mobile cylinder 4-1 of the upper-lower position of gas pawl 4-2.

Among the embodiment, secondary linear induction motor system 2-2 is enclosed within on the preliminary linear electric system 2-3, and has the gap between secondary linear induction motor system 2-2 inner surface and the preliminary linear electric system 2-3 outer surface.

Among the embodiment, frame 1 crossbeam end face is provided with motion guide rail 1-2a, and frame 1 crossbeam two sides are provided with lateral movement guide rail 1-2b.

Among the embodiment, manipulator fixed frame 3 is right-angle structures, two grooves that can be used for being connected and installed loading and unloading manipulator 4 are arranged on the outer surface of part perpendicular to the ground, the groove that matches with upper motion guide rail 1-2a and lateral movement guide rail 1-2b is arranged on the inner surface of described manipulator fixed frame 3.

Among the embodiment, anticollison block 2-1 is equipped with at the two ends of preliminary linear electric system 2-3.

Among the embodiment, there are two feets the both sides of frame 1.

The groundwork principle: integrated control system 5 sends order-driven linear induction motor system 2, secondary linear induction motor system 2-2 moves along motion guide rail, move simultaneously two loading and unloading manipulators 4, until one of them loading and unloading manipulator 4 arrives the workpiece feeding position, another loading and unloading manipulator 4 arrives the workpiece Working position; Integrated control system 5 sends the gentle pawl 4-2 of mobile cylinder 4-1 that instruction drives loading and unloading manipulator 4 simultaneously, crawl when realizing workpiece to be processed and finished work; Integrated control system 5 sends order-driven linear induction motor system 2 again, moves to the workpiece Working position so that wherein grasp the loading and unloading manipulator 4 of workpiece to be processed, and the loading and unloading manipulator 4 that wherein grasps finished work moves to the Material collecting box for harvesting position; Integrated control system 5 sends the gentle pawl 4-2 of mobile cylinder 4-1 of order-driven loading and unloading manipulator 4 again, realizes the location of workpiece to be processed on Digit Control Machine Tool clamped and the vanning of finished work.More than be automatic loading/unloading process of double-manipulator system of the utility model automatic loading/unloading, repeat said process, can realize the automatic loading/unloading of batch workpiece, thereby realize the Unmanned operation of Digit Control Machine Tool.

Compared with prior art, the utlity model has following advantage:

One, adopt the double-manipulator structure, feeding manipulator and blanking mechanical hand concurrent working, the loading and unloading time of workpiece only has half of Single Mechanical hand, has improved production efficiency;

Two, adopt linear electric motors to drive, the transmission link in the middle of having save, has good rigidity and stability at compact conformation; Noiselessness, motion smoothing during operation have splendid dynamic response characteristic; High speed, high-precision motion control have been realized;

Three, integrated control is carried out in the motion of linear electric motors and feeding, discharge manipulator, adopted simultaneously single linear electric motors namely to realize driving to the feeding, discharge robot movement, control is effectively simple.

Most preferred embodiment of the present utility model is illustrated, and various variations or the remodeling made by those of ordinary skills can not break away from scope of the present utility model.

Claims (7)

1. the double-manipulator system of an automatic loading/unloading, include frame (1), it is characterized in that: linear induction motor system (2) is installed on the described frame (1), manipulator fixed frame (3), described linear induction motor system (2) comprises the secondary linear induction motor system (2-2) that the preliminary linear of side-to-side movement power electric system (2-3) is provided and the power that moves up and down is provided, described preliminary linear electric system (2-3) is connected with frame (1), described secondary linear induction motor system (2-2) is connected with manipulator fixed frame (3), and this secondary linear induction motor system (2-2) is two Structure of movers, each mover respectively is connected with a loading and unloading manipulator (4), and described frame (1) is connected with the integrated control system (5) that linear induction motor system (2) and loading and unloading manipulator (4) are carried out integrated control.
2. the double-manipulator system of a kind of automatic loading/unloading according to claim 1 is characterized in that: described loading and unloading manipulator (4) includes be used to the gas pawl (4-2) that clamps and releases workpiece and is used for adjusting the mobile cylinder (4-1) of the upper-lower position of gas pawl (4-2).
3. the double-manipulator system of a kind of automatic loading/unloading according to claim 2, it is characterized in that: described secondary linear induction motor system (2-2) is enclosed within on the preliminary linear electric system (2-3), and has the gap between secondary linear induction motor system (2-2) inner surface and preliminary linear electric system (2-3) outer surface.
4. the double-manipulator system of a kind of automatic loading/unloading according to claim 3, it is characterized in that: described frame (1) crossbeam end face is provided with motion guide rail (1-2a), and frame (1) crossbeam two sides are provided with lateral movement guide rail (1-2b).
5. the double-manipulator system of a kind of automatic loading/unloading according to claim 4, it is characterized in that: described manipulator fixed frame (3) is right-angle structure, two grooves that can be used for being connected and installed loading and unloading manipulator (4) are arranged on the outer surface of part perpendicular to the ground, the groove that matches with upper motion guide rail (1-2a) and lateral movement guide rail (1-2b) is arranged on the inner surface of described manipulator fixed frame (3).
6. the double-manipulator system of a kind of automatic loading/unloading according to claim 5, it is characterized in that: anticollison block (2-1) is equipped with at the two ends of described preliminary linear electric system (2-3).
7. the double-manipulator system of a kind of automatic loading/unloading according to claim 6, it is characterized in that: there are two feets the both sides of described frame (1).
CN 201220336571 2012-07-12 2012-07-12 Automatic feeding-discharging double-manipulator system CN202684627U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220336571 CN202684627U (en) 2012-07-12 2012-07-12 Automatic feeding-discharging double-manipulator system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220336571 CN202684627U (en) 2012-07-12 2012-07-12 Automatic feeding-discharging double-manipulator system

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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103522393A (en) * 2013-10-22 2014-01-22 肖春月 Automatic ceramic body inlet and outlet conveying device for domestic ceramic production
CN103600094A (en) * 2013-10-29 2014-02-26 格林精密部件(苏州)有限公司 Automatic feeding device for valve sleeve turning
CN104079140A (en) * 2014-03-17 2014-10-01 肖俊东 Silicon steel sheet, iron core linear motor, linear motor platform and LED testing and sorting device
CN104476155A (en) * 2014-11-18 2015-04-01 十堰市华迪汽车零部件有限公司 Automatic loading and unloading manipulator of drum type brake assembling line
CN104540330A (en) * 2014-12-24 2015-04-22 嘉兴景焱智能装备技术有限公司 Dual-shaft flexible circuit board reinforcing laminating machine
CN105149378A (en) * 2015-08-26 2015-12-16 芜湖陀曼精机科技有限公司 Automatic feeding and discharging device for bearing roller hydraulic machine
CN105149379A (en) * 2015-08-26 2015-12-16 芜湖陀曼精机科技有限公司 Feeding and discharging mechanical arm structure for bearing roller hydraulic machine
CN105239268A (en) * 2015-11-19 2016-01-13 长乐力天针纺有限公司 Warp knitting machine with mechanical hand
CN105538069A (en) * 2015-12-11 2016-05-04 天长缸盖有限公司 Double-station switching type automatic machining device for double faces of workpiece
CN105563255A (en) * 2015-12-11 2016-05-11 天长缸盖有限公司 Automatic control system for double-face machining of workpiece
CN105619154A (en) * 2016-04-01 2016-06-01 上海工程技术大学 Flat head chamfering machine
CN106825625A (en) * 2017-04-17 2017-06-13 广西科技大学 A kind of automatic loading and unloading manipulator
CN107470915A (en) * 2017-06-30 2017-12-15 嘉善梦溪服饰辅料厂(普通合伙) A kind of multi-functional processing unit (plant) for material process
CN107803700A (en) * 2017-11-22 2018-03-16 温州职业技术学院 The machining center of manipulator automatic loading/unloading
CN107983985A (en) * 2017-11-22 2018-05-04 温州职业技术学院 Mechanical Hand supplementary intelligent machining center
CN108015305A (en) * 2017-11-22 2018-05-11 温州职业技术学院 Automatic drilling processing machine tool based on intelligence manufacture
CN108015306A (en) * 2017-11-22 2018-05-11 温州职业技术学院 Full-automatic drilling processing machine tool
CN108526974A (en) * 2018-04-24 2018-09-14 赵华勇 A kind of shaft CNC milling machine automatic loading and unloading device
CN110814877A (en) * 2019-11-15 2020-02-21 安徽科技学院 Polishing and cleaning device for bearing processing

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103522393A (en) * 2013-10-22 2014-01-22 肖春月 Automatic ceramic body inlet and outlet conveying device for domestic ceramic production
CN103600094A (en) * 2013-10-29 2014-02-26 格林精密部件(苏州)有限公司 Automatic feeding device for valve sleeve turning
CN104079140B (en) * 2014-03-17 2017-07-28 肖俊东 Silicon steel sheet, iron core linear electric motors, linear electric motors platform and LED testing classification equipment
CN104079140A (en) * 2014-03-17 2014-10-01 肖俊东 Silicon steel sheet, iron core linear motor, linear motor platform and LED testing and sorting device
CN104476155A (en) * 2014-11-18 2015-04-01 十堰市华迪汽车零部件有限公司 Automatic loading and unloading manipulator of drum type brake assembling line
CN104540330A (en) * 2014-12-24 2015-04-22 嘉兴景焱智能装备技术有限公司 Dual-shaft flexible circuit board reinforcing laminating machine
CN105149379A (en) * 2015-08-26 2015-12-16 芜湖陀曼精机科技有限公司 Feeding and discharging mechanical arm structure for bearing roller hydraulic machine
CN105149378A (en) * 2015-08-26 2015-12-16 芜湖陀曼精机科技有限公司 Automatic feeding and discharging device for bearing roller hydraulic machine
CN105239268A (en) * 2015-11-19 2016-01-13 长乐力天针纺有限公司 Warp knitting machine with mechanical hand
CN105538069A (en) * 2015-12-11 2016-05-04 天长缸盖有限公司 Double-station switching type automatic machining device for double faces of workpiece
CN105563255A (en) * 2015-12-11 2016-05-11 天长缸盖有限公司 Automatic control system for double-face machining of workpiece
CN105619154A (en) * 2016-04-01 2016-06-01 上海工程技术大学 Flat head chamfering machine
CN106825625A (en) * 2017-04-17 2017-06-13 广西科技大学 A kind of automatic loading and unloading manipulator
CN107470915A (en) * 2017-06-30 2017-12-15 嘉善梦溪服饰辅料厂(普通合伙) A kind of multi-functional processing unit (plant) for material process
CN107470915B (en) * 2017-06-30 2019-07-26 嘉善梦溪服饰辅料厂(普通合伙) A kind of multi-functional processing unit (plant) for material processing
CN107803700A (en) * 2017-11-22 2018-03-16 温州职业技术学院 The machining center of manipulator automatic loading/unloading
CN108015305A (en) * 2017-11-22 2018-05-11 温州职业技术学院 Automatic drilling processing machine tool based on intelligence manufacture
CN108015306A (en) * 2017-11-22 2018-05-11 温州职业技术学院 Full-automatic drilling processing machine tool
CN107983985B (en) * 2017-11-22 2019-04-16 温州职业技术学院 Mechanical Hand supplementary intelligent machining center
CN107803700B (en) * 2017-11-22 2019-07-05 温州职业技术学院 The machining center of manipulator automatic loading/unloading
CN107983985A (en) * 2017-11-22 2018-05-04 温州职业技术学院 Mechanical Hand supplementary intelligent machining center
CN108526974A (en) * 2018-04-24 2018-09-14 赵华勇 A kind of shaft CNC milling machine automatic loading and unloading device
CN110814877A (en) * 2019-11-15 2020-02-21 安徽科技学院 Polishing and cleaning device for bearing processing

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