CN202742132U - Automatic workpiece charging and discharging robot - Google Patents

Automatic workpiece charging and discharging robot Download PDF

Info

Publication number
CN202742132U
CN202742132U CN 201220465273 CN201220465273U CN202742132U CN 202742132 U CN202742132 U CN 202742132U CN 201220465273 CN201220465273 CN 201220465273 CN 201220465273 U CN201220465273 U CN 201220465273U CN 202742132 U CN202742132 U CN 202742132U
Authority
CN
China
Prior art keywords
drive unit
cylinder
rotating shaft
oil cylinder
crane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN 201220465273
Other languages
Chinese (zh)
Inventor
常言忠
殷永生
耿相军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SHANDONG FAYIN NUMERICALLY CONTROLLED MACHINERY CO Ltd
Original Assignee
SHANDONG FAYIN NUMERICALLY CONTROLLED MACHINERY CO Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SHANDONG FAYIN NUMERICALLY CONTROLLED MACHINERY CO Ltd filed Critical SHANDONG FAYIN NUMERICALLY CONTROLLED MACHINERY CO Ltd
Priority to CN 201220465273 priority Critical patent/CN202742132U/en
Application granted granted Critical
Publication of CN202742132U publication Critical patent/CN202742132U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model discloses an automatic workpiece charging and discharging robot. The automatic workpiece charging and discharging robot comprises a base, a rotary shaft, a lifting frame, a flexible frame, an overturning support and a manipulator, wherein the rotary shaft is rotationally arranged on the base and is connected with a driving device I for driving the rotary shaft to rotate, the lifting frame is arranged on the rotary shaft, can slide up and down and is connected with a driving device II for driving the lifting frame to slide up and down, the flexible frame is arranged on the lifting frame, can slide left and right and is connected with a driving device III for driving the flexible frame to slide left and right, the overturning support is arranged on the flexible frame, can be overturned up and down and is connected with a driving device IV for driving the overturning support to overturn, and the manipulator is arranged on the overturning support and is connected with a driving device V for driving the manipulator to implement grabbing and releasing operations. The automatic workpiece charging and discharging robot disclosed by the utility model can precisely feed workpieces to a preset position, can locate the workpieces with high precision, and has high charging and discharging speeds by replacing hand labor by the manipulator.

Description

A kind of automatic loading/unloading machine people of workpiece
Technical field
The utility model relates to the loading and unloading machine people of workpiece in a kind of machining, particularly relates to a kind of automatic loading/unloading machine people of cylindrical workpieces.
Background technology
In the process of vertical grouping machine water heater, need to carry out and the operations such as end socket assembling thin cylinder, because thin cylinder needs repeatedly loading and unloading, all be the loading and unloading that realize workpiece by the method for a dead lift in the past, the positioning accuracy of workpiece is not high, and relatively wastes time and energy, and workman's labour intensity is very large, the process-cycle of water heater is long, and cost is high.
Summary of the invention
The technical problems to be solved in the utility model is: a kind of automatic loading and unloading mechanism is provided, makes that its positioning accuracy to workpiece is high, loading and unloading speed is fast.
In order to solve the problems of the technologies described above, the utility model comprises support, rotating shaft, crane, expansion bracket, turnover bracket and manipulator, rotating shaft rotates and is arranged on the support, rotating shaft is connected with and drives the drive unit I that rotating shaft rotates, crane slides up and down and is arranged on the rotating shaft, crane is connected with and drives the drive unit II that crane slides up and down, expansion bracket horizontally slips and is arranged on the crane, expansion bracket is connected with and drives the drive unit III that expansion bracket horizontally slips, turnover bracket spins upside down and is arranged on the expansion bracket, turnover bracket is connected with the drive unit IV that drives the turnover bracket upset, manipulator is arranged on the turnover bracket, and manipulator is connected with the drive unit V of driving device hand pick-and-place action.
In order to make it simple in structure, motion flexibly, described drive unit I, the drive unit II, drive unit III and drive unit IV are cylinder or oil cylinder, cylinder body and the support of drive unit I are hinged, the piston rod of drive unit I is connected with rotating shaft by crank, cylinder body and the rotating shaft of drive unit II fix, the piston rod of drive unit II is connected with crane, the cylinder body of drive unit III is fixed on the crane, the piston rod of drive unit III is connected with expansion bracket, turnover bracket is rotationally connected by the bearing pin of horizontally set and the bottom of expansion bracket, the flexible perpendicular direction of the axial and expansion bracket of bearing pin, the cylinder body of drive unit IV and the upper articulation of expansion bracket, the piston rod of drive unit IV with stir support and connect.
In order to make crane kinetic stability good, described drive unit II comprises two cylinders or oil cylinder, the top of rotating shaft is fixed with a lift cylinder or oil cylinder frame, two cylinders of drive unit II or oil cylinder lay respectively at the both sides of rotating shaft, the cylinder body of two cylinders or oil cylinder all is fixed on lift cylinder or the oil cylinder frame, and the piston rod of two cylinders or oil cylinder all is connected with crane.
Stability for the rotation that improves rotating shaft is fixed with fixed hub on the described base, and rotating shaft is inserted in the fixed hub.
In order to make manipulator pick and place flexible movements, described drive unit V is cylinder or oil cylinder, manipulator comprises two L shaped mechanical arms, two armfuls of plates, two connecting rods and sliding seats, the vertical pole of two mechanical arms middle part with all be rotationally connected with turnover bracket, the cross bar of two mechanical arms over against, the upper end of the vertical pole of two mechanical arms is all hinged with sliding seat, the cylinder body of drive unit V is fixed on the turnover bracket, the piston rod of drive unit V is connected with sliding seat, embrace plate for two and be separately positioned on the cross bar of two mechanical arms, embrace plate for two and face mutually.
In order to realize automatic control, the utility model includes control system and is arranged on the manipulator sensor for detection of workpiece, sensor be connected drive unit and all be connected with control system.
The beneficial effects of the utility model are: 1, the utility model can accurately be delivered to workpiece the position of setting, and is high to the positioning accuracy of workpiece, uses machinery to replace hand labour, and loading and unloading speed is fast.2, simple in structure: as to need parts few.3, preferred version efficient is high, makes drive unit by adopt cylinder or oil cylinder in preferred version, and operation is very convenient, and the action of cylinder or oil cylinder can be carried out the control of program, thereby realizes the automation of operation.Can save so a large amount of manpowers, save a large amount of time, thereby reach the purpose of enhancing productivity.4, the preferred version repetitive positioning accuracy is high, good reliability: by sensor and control system are set in preferred version, this mechanism can realize programme-control by sensor, reaches the accurate location of workpiece.5, be applicable to the thin cylinder of different-diameter: can realize the automatic loading/unloading of the thin cylinder of different-diameter by the transposing manipulator, and easy to operate.6, applied range is applicable to the loading and unloading of various workpieces.
Description of drawings
Fig. 1 is the utility model perspective view;
Fig. 2 is the structural representation enlarged drawing of part 9 among Fig. 1;
Fig. 3 is the structural representation enlarged drawing of part 4 among Fig. 1;
Fig. 4 is the structural representation enlarged drawing of part 1 and part 3 among Fig. 1;
Fig. 5 is the structural representation enlarged drawing of part 15 among Fig. 1;
Fig. 6 is the structural representation enlarged drawing of part 6 among Fig. 1;
Among the figure: 1, support, 2, rotary cylinder or oil cylinder, 3, fixed hub, 4, crane, 5, rotating shaft, 6, fixed mount, 7, lift cylinder or oil cylinder, 8, telescopic cylinder or oil cylinder, 9, expansion bracket, 10, upset cylinder or oil cylinder, 11, pick-and-place cylinder or oil cylinder, 12, the pick-and-place support, 13, sliding seat, 14, connecting rod, 15, turnover bracket, 16, mechanical arm, 17, embrace plate.
The specific embodiment
A kind of specific embodiment shown in Fig. 1-6, it comprises support 1, rotary cylinder or oil cylinder 2, fixed hub 3, crane 4, rotating shaft 5, fixed mount 6, lift cylinder or oil cylinder 7, telescopic cylinder or oil cylinder 8, expansion bracket 9, upset cylinder or oil cylinder 10, pick-and-place cylinder or oil cylinder 11, pick-and-place support 12, sliding seat 13, connecting rod 14, turnover bracket 15, mechanical arm 16 and embraces plate 17.
Fixed hub 3 vertically is fixed on the support 1, rotating shaft 5 is inserted in the fixed hub 3, the lower end of rotating shaft 5 extend in the support 1, rotary cylinder or oil cylinder 2 are arranged in the support 1, cylinder body tail end and the support 1 of rotary cylinder or oil cylinder 2 are hinged, the piston rod of rotary cylinder or oil cylinder 2 and rotating shaft 5 are connected by crank, so that promoting rotating shaft 5, rotary cylinder or oil cylinder 2 rotate, crane 4 slides up and down and is arranged on the rotating shaft 5, be provided with guide frame between crane 4 and the rotating shaft 5, thereby can place restrictions on crane 4 relative rotation axis 5 rotates, fixed mount 6 is fixed on the top of rotating shaft 5, be fixed with two lift cylinders or oil cylinder 7 on the fixed mount 6, two lift cylinders or oil cylinder 7 are positioned at the both sides of rotating shaft, the piston rod of two lift cylinders or oil cylinder 7 all is connected with crane 4, being used for driving crane 4 rises or descends, crane 4 is provided with horizontal chute, expansion bracket 9 is provided with slide bar, slide bar is inserted in the chute, the both sides, front and back of the outside of the chute of crane respectively are fixed with a telescopic cylinder or oil cylinder 8, the piston rod of telescopic cylinder or oil cylinder 8 is fixed on to be stretched on the knot frame 9, so that expansion bracket 9 can horizontally slip at crane 4, turnover bracket 15 spins upside down and is arranged on the expansion bracket 9, turnover bracket 15 is rotationally connected by bearing pin and the expansion bracket 9 of horizontally set, the flexible perpendicular direction of the axial direction of bearing pin and expansion bracket 9, cylinder body tail end and the expansion bracket 9 of upset cylinder or oil cylinder 10 are hinged, piston rod and the turnover bracket 15 of upset cylinder or oil cylinder 10 are hinged, spin upside down thereby can promote turnover bracket 15.Pick-and-place support 12 is fixed on the turnover bracket 15, the cylinder body of pick-and-place cylinder or oil cylinder 11 is fixed on the pick-and-place support 12, manipulator comprises two L shaped mechanical arms 16, embrace plate 17 for two, two connecting rods 14 and a sliding seat 13, the vertical pole of two mechanical arms 16 middle part with all be rotationally connected by bearing pin with turnover bracket 15, the cross bar of two mechanical arms 16 over against, the upper end of the vertical pole of two mechanical arms 16 is all hinged with sliding seat 13, the piston rod of pick-and-place cylinder or oil cylinder 11 is connected with sliding seat 13, embrace plate 17 for two and be separately positioned on the cross bar of two mechanical arms 16, embrace plate 17 for two and face mutually.
This device also includes control system and is arranged on the mechanical arm 16 of manipulator sensor for detection of workpiece, sensor be connected cylinder or oil cylinder and all be connected with control system.Control system is used for the action of each cylinder of control or oil cylinder, and control system is controlled the action of each cylinder or oil cylinder according to the induced signal of sensor.
The course of work:
Original state, the piston rod of rotary cylinder or oil cylinder 2, telescopic cylinder or oil cylinder 8, upset cylinder or oil cylinder 10, pick-and-place cylinder or oil cylinder 11 is in retracted mode, the piston rod of lift cylinder or oil cylinder 7 is in the state of stretching out, and manipulator is in the state that stretches out forward and open.
After cylinder and end socket assembling are finished in the vertical grouping machine handle, the utility model robot begins action, at first, telescopic cylinder or oil cylinder 8 piston rods stretch out, promoting expansion bracket 9 moves to the direction away from robot support 1, until the workpiece that processes is in two armfuls of plate 17 centers, the inductive switch that be contained on the mechanical arm 16 this moment is sensed workpiece, this moment, pick-and-place cylinder or oil cylinder 11 began action, piston rod stretches out, promoting sliding seat 13 moves down, by 16 actions of connecting rod 14 driving mechanical arms, hold the workpiece that processes tightly so that embrace plate 17, then, lift cylinder or oil cylinder 7 actions, piston rod is retracted, crane 4 together with expansion bracket 9, the workpiece of turnover bracket 15 and manipulator crawl is together mentioned certain height, rotary cylinder or oil cylinder 2 actions, piston rod stretches out, promoting rotating shaft 5 rotates, crane 4 and on all parts and the workpiece of manipulator crawl rotate certain angle with rotating shaft 5 together and make workpiece be in the top in material conveying road, be that workpiece is separated from the center of vertical grouping machine processing work and delivers on the material conveying road, at this moment, upset cylinder or oil cylinder 10 actions, piston rod stretches out, turnover bracket 15 overturns 90 ° downwards together with workpiece, workpiece is in level, at this moment, lift cylinder or oil cylinder 7 move again, piston rod stretches out, crane 4 descends, workpiece descends together with crane 4, after crane 4 stops action, 11 actions of pick-and-place cylinder or oil cylinder, piston rod is retracted, the manipulator loose part that goes into operation, workpiece level is placed on the material conveying road, crane 4 is lifted in 7 actions of lift cylinder or oil cylinder, and upset cylinder or oil cylinder 10 actions make to stir and turn support and upwards overturn 90 °, rotary cylinder or oil cylinder 2 move again, come back to the initial position of workpiece to be got.Robot is conveying work pieces so periodically.

Claims (6)

1. the automatic loading/unloading machine people of a workpiece, it is characterized in that: comprise support, rotating shaft, crane, expansion bracket, turnover bracket and manipulator, rotating shaft rotates and is arranged on the support, rotating shaft is connected with and drives the drive unit I that rotating shaft rotates, crane slides up and down and is arranged on the rotating shaft, crane is connected with and drives the drive unit II that crane slides up and down, expansion bracket horizontally slips and is arranged on the crane, expansion bracket is connected with and drives the drive unit III that expansion bracket horizontally slips, turnover bracket spins upside down and is arranged on the expansion bracket, turnover bracket is connected with the drive unit IV that drives the turnover bracket upset, manipulator is arranged on the turnover bracket, and manipulator is connected with the drive unit V of driving device hand pick-and-place action.
2. the automatic loading/unloading machine people of workpiece according to claim 1, it is characterized in that: described drive unit I, the drive unit II, drive unit III and drive unit IV are cylinder or oil cylinder, cylinder body and the support of drive unit I are hinged, the piston rod of drive unit I is connected with rotating shaft by crank, cylinder body and the rotating shaft of drive unit II fix, the piston rod of drive unit II is connected with crane, the cylinder body of drive unit III is fixed on the crane, the piston rod of drive unit III is connected with expansion bracket, turnover bracket is rotationally connected by the bearing pin of horizontally set and the bottom of expansion bracket, the flexible perpendicular direction of the axial and expansion bracket of bearing pin, the cylinder body of drive unit IV and the upper articulation of expansion bracket, the piston rod of drive unit IV with stir support and connect.
3. the automatic loading/unloading machine people of workpiece according to claim 2, it is characterized in that: described drive unit II comprises two cylinders or oil cylinder, the top of rotating shaft is fixed with a lift cylinder or oil cylinder frame, two cylinders of drive unit II or oil cylinder lay respectively at the both sides of rotating shaft, the cylinder body of two cylinders or oil cylinder all is fixed on lift cylinder or the oil cylinder frame, and the piston rod of two cylinders or oil cylinder all is connected with crane.
4. the automatic loading/unloading machine people of workpiece according to claim 1, it is characterized in that: be fixed with fixed hub on the described base, rotating shaft is inserted in the fixed hub.
5. the automatic loading/unloading machine people of any one described workpiece according to claim 1-4, it is characterized in that: described drive unit V is cylinder or oil cylinder, manipulator comprises two L shaped mechanical arms, embrace plate for two, two connecting rods and a sliding seat, the vertical pole of two mechanical arms middle part with all be rotationally connected with turnover bracket, the cross bar of two mechanical arms over against, the upper end of the vertical pole of two mechanical arms is all hinged with sliding seat, the cylinder body of drive unit V is fixed on the turnover bracket, the piston rod of drive unit V is connected with sliding seat, embrace plate for two and be separately positioned on the cross bar of two mechanical arms, embrace plate for two and face mutually.
6. the automatic loading/unloading machine people of workpiece according to claim 5 is characterized in that: include control system and be arranged on the manipulator sensor for detection of workpiece, sensor be connected drive unit and all be connected with control system.
CN 201220465273 2012-09-13 2012-09-13 Automatic workpiece charging and discharging robot Expired - Fee Related CN202742132U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220465273 CN202742132U (en) 2012-09-13 2012-09-13 Automatic workpiece charging and discharging robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220465273 CN202742132U (en) 2012-09-13 2012-09-13 Automatic workpiece charging and discharging robot

Publications (1)

Publication Number Publication Date
CN202742132U true CN202742132U (en) 2013-02-20

Family

ID=47701580

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201220465273 Expired - Fee Related CN202742132U (en) 2012-09-13 2012-09-13 Automatic workpiece charging and discharging robot

Country Status (1)

Country Link
CN (1) CN202742132U (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102825496A (en) * 2012-09-13 2012-12-19 山东法因数控机械股份有限公司 Automatic work piece loading-unloading robot
CN103192288A (en) * 2013-04-10 2013-07-10 伟本机电(上海)有限公司 Automatic loading-unloading line for workpiece machine tool machining
CN103465261A (en) * 2013-09-28 2013-12-25 荆州市大明灯业有限公司 Mechanical lifting device for fluorescent lamp tubes
CN103722441A (en) * 2013-12-21 2014-04-16 孙红琴 Mechanical arm
CN104958182A (en) * 2015-06-08 2015-10-07 浙江春宝胶囊有限公司 Full-automatic hard capsule feeding device for filling machine
CN104958183A (en) * 2015-06-09 2015-10-07 浙江春宝胶囊有限公司 Hollow capsule splitting machine
CN105030540A (en) * 2015-06-09 2015-11-11 浙江春宝胶囊有限公司 Capsule production all-in-one machine
CN105397841A (en) * 2015-12-08 2016-03-16 四川大学 Mechanical arm with three degrees of freedom
CN105598659A (en) * 2016-03-16 2016-05-25 苏州博众精工科技有限公司 Turnover discharging mechanism
CN106002446A (en) * 2014-06-30 2016-10-12 苏州鱼得水电气科技有限公司 Combined type automatic feeding machine tool with hooking mechanisms
CN106513914A (en) * 2017-01-05 2017-03-22 深圳市同达康电子设备有限公司 Cantilever welding module
CN108515324A (en) * 2018-03-08 2018-09-11 南通爱慕希机械股份有限公司 A kind of L-type high-pressure pipe connector feeding manipulator accurate-location device
CN108581588A (en) * 2018-04-26 2018-09-28 合肥市艾特米信息技术有限公司 Automatic production device

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102825496A (en) * 2012-09-13 2012-12-19 山东法因数控机械股份有限公司 Automatic work piece loading-unloading robot
CN103192288A (en) * 2013-04-10 2013-07-10 伟本机电(上海)有限公司 Automatic loading-unloading line for workpiece machine tool machining
CN103192288B (en) * 2013-04-10 2015-10-07 伟本机电(上海)有限公司 Workpiece machine tooling automatic loading/unloading line
CN103465261B (en) * 2013-09-28 2015-04-22 荆州市大明灯业有限公司 Mechanical lifting device for fluorescent lamp tubes
CN103465261A (en) * 2013-09-28 2013-12-25 荆州市大明灯业有限公司 Mechanical lifting device for fluorescent lamp tubes
CN103722441A (en) * 2013-12-21 2014-04-16 孙红琴 Mechanical arm
CN106002446A (en) * 2014-06-30 2016-10-12 苏州鱼得水电气科技有限公司 Combined type automatic feeding machine tool with hooking mechanisms
CN106031988A (en) * 2014-06-30 2016-10-19 苏州鱼得水电气科技有限公司 Automatic feeding machine tool with lifting mechanism
CN104958182A (en) * 2015-06-08 2015-10-07 浙江春宝胶囊有限公司 Full-automatic hard capsule feeding device for filling machine
CN104958183A (en) * 2015-06-09 2015-10-07 浙江春宝胶囊有限公司 Hollow capsule splitting machine
CN105030540A (en) * 2015-06-09 2015-11-11 浙江春宝胶囊有限公司 Capsule production all-in-one machine
CN105397841A (en) * 2015-12-08 2016-03-16 四川大学 Mechanical arm with three degrees of freedom
CN105598659A (en) * 2016-03-16 2016-05-25 苏州博众精工科技有限公司 Turnover discharging mechanism
CN105598659B (en) * 2016-03-16 2019-02-19 博众精工科技股份有限公司 Overturn cutting agency
CN106513914A (en) * 2017-01-05 2017-03-22 深圳市同达康电子设备有限公司 Cantilever welding module
CN108515324A (en) * 2018-03-08 2018-09-11 南通爱慕希机械股份有限公司 A kind of L-type high-pressure pipe connector feeding manipulator accurate-location device
CN108581588A (en) * 2018-04-26 2018-09-28 合肥市艾特米信息技术有限公司 Automatic production device

Similar Documents

Publication Publication Date Title
CN202742132U (en) Automatic workpiece charging and discharging robot
CN102825496A (en) Automatic work piece loading-unloading robot
CN201458322U (en) Turnover mechanism for workpiece
CN107696027A (en) A kind of automatic loading and unloading robot of workpiece
CN204396717U (en) Single automatic production line for punch
CN103192366B (en) Manipulator capable of rotating continuously
CN103978477A (en) Multi-joint robot
CN102180355A (en) Electric energy meter carrying manipulator suitable for meter box
CN104550523B (en) Single automatic production line for punch
CN103072135A (en) Automatic production line mechanical arm
CN202054443U (en) Electric energy meter carrying manipulator applicable to meter box
CN103846762A (en) Automatic feeding and blanking mechanism for lens grinder
CN203266641U (en) Full-pneumatic control type material grabbing mechanical arm
CN202805204U (en) Robot gripping jaw device
CN201275717Y (en) Automatic loading/unloading apparatus of sphere roller grinding machine
CN103273360A (en) Method and device for storing and supplying materials in multi-station mode
CN202805194U (en) Automatic manipulator for trundle bracket press line
CN204487252U (en) The multistation automatic feeder of automatic location
CN208196299U (en) Bar automatic loading and unloading system
CN102180363B (en) Automatic PU (polyurethane) plate feeding mechanism
CN203473972U (en) Automatic material pouring device of cultivation waste materials of cultivation box
CN203804550U (en) Automatic bearing and bushing pressing mechanism
CN206264667U (en) A kind of plate product carving machine automatic loading and unloading manipulator
CN204747818U (en) Passenger car axle housing welds with reinforcing ring automatic feeding device with reinforcing ring
CN203156434U (en) Automatic transfer line for engine cylinder body

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130220

Termination date: 20160913