CN203610573U - Automatic material feeding and discharging mechanical hand device for thread rolling machine - Google Patents
Automatic material feeding and discharging mechanical hand device for thread rolling machine Download PDFInfo
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- CN203610573U CN203610573U CN201320699796.5U CN201320699796U CN203610573U CN 203610573 U CN203610573 U CN 203610573U CN 201320699796 U CN201320699796 U CN 201320699796U CN 203610573 U CN203610573 U CN 203610573U
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- 238000012546 transfer Methods 0.000 claims abstract description 36
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Abstract
The utility model provides an automatic material feeding and discharging mechanical hand device for a thread rolling machine. The automatic material feeding and discharging mechanical hand device comprises a first thread rolling machine, a second thread rolling machine, a first material feeding and discharging mechanism, a second material feeding and discharging mechanism, a transfer mechanism and a PLC (programmable logic controller), wherein the first material feeding and discharging mechanism comprises a first one-stage installing plate and a first grip and is used for conveying one end of a workpiece into the first thread rolling machine for thread rolling, the second material feeding and discharging mechanism comprises a second one-stage installing plate and a second grip and is used for conveying the other end of the workpiece into the second thread rolling machine for thread rolling, the transfer mechanism comprises a cross beam and a third grip and is used for transferring the workpiece from the first material feeding and discharging mechanism to the second material feeding and discharging mechanism, the first grip, the second grip and the third grip respectively comprise a group of grip blocks in opposite arrangement, and the centers when the grip blocks of the first grip and the second grip are positioned in the folded state are positioned in the same horizontal center line. The automatic material feeding and discharging mechanical hand device has the advantages that the mass automatic thread rolling operation of the workpiece can be realized, in addition, the manual operation cost by people is reduced, and the processing efficiency of the workpiece is greatly improved.
Description
Technical field
The utility model relates to a kind of automatic assembly line, particularly a kind of robot device of screw-rolling machine automatic loading/unloading.
Background technology
Current double end round bar class workpiece is (hereinafter to be referred as " workpiece ", lower with) at the operating conditions carrying out in double end rolled thread work be: workman's hand is taken workpiece and it is sent between the cylindrical die roll of the first rolled thread lathe and roll threaded one end, after end again on the bin of man-handling of materials to the second rolled thread lathe, then, after taking workpiece upset to turn around by workman's hand, sent into the screw thread that rolls the workpiece other end between the cylindrical die roll of the second rolled thread lathe.After completing, rolled thread sends into charging basket by artificial extraction again, to wait for follow-up operation.Generally, between next order and this order, at least need reserved one basket of material for turnover.
Owing to double end round bar two ends being carried out to the man-hour that adds of roll threading, often belong to production in enormous quantities, approximately 200,000 of annual productions.In production in enormous quantities, if still use artificial feeding, transhipment, upset, in industrialization society now, more and more there is no advantage, certainly will increase cost, and inefficiency, make the competitiveness of enterprise reduce, be unfavorable for long-run development.Therefore, need badly and develop a kind of robot device that can automatically complete the automatic loading/unloading of screw-rolling machine loading and unloading and transport process.
Utility model content
The technical problems to be solved in the utility model is to have artificial feeding, transhipment and upset when the roll threading of two ends in order to overcome existing double end round bar, therefore cause the low defect of operating efficiency, provide one can significantly improve production operation efficiency, and can realize the robot device of the screw-rolling machine automatic loading/unloading of automated job production line in batches.
The utility model is to solve the problems referred to above by following technical proposals: a kind of robot device of screw-rolling machine automatic loading/unloading, and it comprises: one first screw-rolling machine being arranged side by side and one second screw-rolling machine, its feature is, described robot device also includes:
One first feeding-discharging mechanism, comprise the first handgrip under one first one-level installing plate and a cylinder control, this first handgrip carries out rolled thread for described the first screw-rolling machine is sent into in one end of workpiece, and one end of this first one-level installing plate and the lathe bed of described the first screw-rolling machine are affixed;
One second feeding-discharging mechanism, comprise the second handgrip under one second one-level installing plate and a cylinder control, this second handgrip carries out rolled thread for the other end of described workpiece is sent into described the second screw-rolling machine, and one end of this second one-level installing plate and the lathe bed of described the second screw-rolling machine are affixed;
One transfer device, comprises the 3rd handgrip under a first crossbeam and a cylinder control, and described the 3rd handgrip is for being passed to described the second feeding-discharging mechanism by workpiece by described the first feeding-discharging mechanism; Described transfer device is positioned at the top of described the first feeding-discharging mechanism, the second feeding-discharging mechanism, and the two ends of described first crossbeam are fixed with the lathe bed of described the first screw-rolling machine, the second screw-rolling machine respectively;
One PLC controller (programmable logic controller (PLC)), for the reversal valve commutation corresponding according to the each cylinder of control signal control of collecting, realizes the action of each cylinder; The initial position of each cylinder of described robot device and terminal position are equipped with the signal inductor for sending control signal;
Wherein, described the first handgrip, the second handgrip, the 3rd handgrip include one group be oppositely arranged grab piece, described the first handgrip, the second handgrip grab piece being centered close on same level center line in the time closing up state.
Preferably, described the first screw-rolling machine and the second screw-rolling machine all also comprise a L-type location supporting plate, described the first feeding-discharging mechanism or the second feeding-discharging mechanism comprise: interval is installed in two line slideways on described the first one-level installing plate or described the second one-level installing plate, one slides is located at the secondary installing plate on two line slideways, and rear compact heap and the bearings being positioned on described secondary installing plate, one side and the described rear compact heap of described L-type location supporting plate are located vertically to workpiece, opposite side and the described bearings of described L-type location supporting plate are located along short transverse workpiece, described the first handgrip is located on described secondary installing plate.
Preferably, described robot device also comprises some for limiting the limited block of travel position and the spacing adjustment block of some stroke distances for definite cylinder of cylinder.
Preferably, described transfer device also comprises: two with the fixing line slideway of described first crossbeam, two with line slideway guide post connected vertically, described the 3rd handgrip is movably arranged on described guide post.The 3rd handgrip is movably set in to described guide post, can makes it under the control of a cylinder, do vertical linear slippage along guide post, can also under the control of another cylinder, do horizontal linear slippage along line slideway.
Preferably, described robot device also comprises: a feed mechanism, comprise that a second cross beam and is near the 4th handgrip the first handgrip that is delivered to described the first feeding-discharging mechanism by be processed, and the opening and closing movement of described the 4th handgrip is by cylinder control.
Preferably, described robot device also comprises: a cutting agency, comprise five handgrip of one the 3rd crossbeam and for the workpiece of completion of processing is taken out from described the second feeding-discharging mechanism, and the opening and closing movement of described the 5th handgrip is by cylinder control.
Preferably, described feed mechanism or cutting agency also comprise: be horizontally set on two line slideways on described second cross beam or described the 3rd crossbeam, and an installing plate that is arranged on two line slideways tops, the 4th handgrip or the 5th handgrip are arranged on described installing plate.
Preferably, described robot device also comprises: a stock shelf, described stock shelf comprises that a slide plate and is located at the limited block on this slide plate, the slide plate of described stock shelf is used for workpiece to be processed to be delivered to described feed mechanism by workpiece material frame, the arrival position when limited block of described stock shelf is sent to for limiting described workpiece.
Preferably, described robot device also comprises: a blanking rack, described blanking rack comprises that a slide plate and is located at the limited block on this slide plate, the slide plate of described blanking rack is for being delivered to the workpiece of completion of processing the material frame of subsequent processing by described cutting agency, the limited block of described blanking rack is for limiting the arrival position when workpiece of completion of processing has been sent.
Preferably, described the first handgrip, the second handgrip, the 3rd handgrip include: a matrix, the bottom of described matrix is provided with a cylinder, the both sides, top of described matrix are movably equipped with respectively the piece of grabbing of a V-type, respectively grab piece affixed a plate respectively, each connecting plate is hinged with described matrix respectively, on each connecting plate, all have a rectangular groove, confession one wears slip with one end of the turning cylinder that described connecting plate is spirally connected, the other end of described turning cylinder is fixed on a contiguous block, and the motion bar of the cylinder on described contiguous block and matrix is affixed.
Preferably, the both sides of described matrix are also arranged with respectively a gag lever post, can remain on level for controlling grabbing after piece is opened of each handgrip.Meanwhile, damage when this gag lever post can also make cylinder avoid being subject to impact force action.
Preferably, described the 4th handgrip and the 5th handgrip include: a matrix, the bottom of described matrix is provided with a cylinder, the both sides, top of described matrix are movably equipped with respectively the piece of grabbing of a V-type, respectively grab piece affixed a plate respectively, each connecting plate is hinged with described matrix respectively, on each connecting plate, have a rectangular groove, supply one end of the sliding axle being spirally connected with described contiguous block to wear slip, the other end of described sliding axle is fixed on a contiguous block, the motion bar Joint of the cylinder on described contiguous block and matrix.
Preferably, the both sides of described matrix are also arranged with respectively a gag lever post, can remain on level for controlling grabbing after piece is opened of each handgrip.In addition, damage when this gag lever post can also make cylinder avoid being subject to impact force action.
Preferably, the section of described mounting blocks is " 7 " word shape; Described mounting blocks comprises an inclined-plane, and the central authorities on described inclined-plane are embedded a motive force transfer, drives the 4th handgrip or the 5th handgrip to make linearly moving cylinder movable end along described line slideway and is fixed in this motive force transfer.
Preferably, described workpiece is a double end round bar; In the time opening relaxation state, grab piece peak and the height between the center of the workpiece that handgrip clamps in the time closing up state when handgrip, be greater than the radius of described workpiece.Why like this, be can exit from the below of workpiece in the handgrip of opening under relaxation state in order to allow.
Preferably, described workpiece is a double end round bar.
Above-mentioned preferably scheme any combination, can obtain each preferred embodiment of the present utility model.
Positive progressive effect of the present utility model is: the utility model has not only improved station precision and the stability in Workpiece transfer greatly, also improved the rolled thread working (machining) efficiency of workpiece, and the work production line of automation has also been saved human cost greatly.
Accompanying drawing explanation
Fig. 1 is the horizontal layout block diagram of the robot device of preferred embodiment of the present utility model.
Fig. 2 a is the structural representation of the transfer device of preferred embodiment of the present utility model.
Fig. 2 b is the left view of Fig. 2 a.
Fig. 2 c is the top view of Fig. 2 a.
Fig. 3 a is the first handgrip and the schematic diagram of the 4th handgrip under transferring work piece state of preferred embodiment of the present utility model; Illustrate, the first handgrip～five handgrip is all identical at aspects such as performance, shape, power in fact, is simplicity of exposition, at this fit structure given as example that coordinate with the 4th handgrip take the first handgrip only.
Fig. 3 b is the side view of the first handgrip in the time closing up state and clamp workpiece in Fig. 3 a.
Fig. 4 a is the front view of feed mechanism of the present utility model.
Fig. 4 b is the left view of Fig. 4 a.
Fig. 5 a is the front view after the first feeding-discharging mechanism of the present utility model, the second feeding-discharging mechanism assembling.
Fig. 5 b is the top view of Fig. 5 a.
Fig. 6 is for when workpiece (parts shown in dotted line) is in being positioned and state diagram when impaction state.
Fig. 7 is assembling schematic diagram of the present utility model.
Fig. 8 is the top view of Fig. 7.
Description of reference numerals:
1 first feeding-discharging mechanism
101 first one-level installing plates
1001 first handgrips
10011 cylinders
10012 matrixes
10013 gag lever posts
10014 sliding axles
10015 contiguous blocks
10016 connecting plates
10017 V-arrangements grab piece
102 line slideways
103 secondary installing plates
104 rear compact heaps
1041 compact heap connecting plates
1042 torsion springs
105 bearings
106 cylinder contiguous blocks
107 cylinders
108 cylinder erection supports
2 second feeding-discharging mechanisms
201 second one-level installing plates
1002 second handgrips,
3 transfer devices
301 first crossbeams
302 line slideways
303 Rodless cylinders
304 first connecting plates
305 guide posts
306 H framves
307 cylinder mounting plates
308 linear bearings
1003 the 3rd handgrips
4 feed mechanisms
401 second cross beams
1004 the 4th handgrips
402 line slideways
403 mounting blocks
4031 inclined-planes
404 motive force transfer
405 Rodless cylinders
406 polyurethane limited blocks
5 cutting agencies
501 the 3rd crossbeams
1005 the 5th handgrips
6 stock shelfs
7 blanking rack
8 first screw-rolling machines
9 second screw-rolling machines
10 workpiece
11 L-type location supporting plates
The specific embodiment
Enumerate preferred embodiment below, and carry out by reference to the accompanying drawings the clearer the utility model that intactly illustrates.
Embodiment
As shown in Fig. 1～Fig. 8, the utility model provides a kind of robot device (hereinafter to be referred as mechanism's arm device) of screw-rolling machine automatic loading/unloading, it comprises successively: a stock shelf 6, a feed mechanism 4, one first feeding-discharging mechanism 1, one first screw-rolling machine 8, one transfer device 3, one second feeding-discharging mechanism 2, one second screw-rolling machine 9, one cutting agency 5, a blanking rack 7, an and PLC controller (not shown), be used for the reversal valve commutation of each cylinder of the control robot device of collecting according to sensor, realize the action of each cylinder.
Initial position and the terminal position of each cylinder of described robot device are equipped with signal inductor; As shown in Fig. 3 a, 3b, the first handgrip, the second handgrip, the 3rd handgrip include one group be oppositely arranged grab piece, grabbing piece for each group can be on the center line of same level in closing up state Shi center.
As shown in Figure 1, between opposed the first screw-rolling machine 8 arranged side by side and the second screw-rolling machine 9, the first feeding-discharging mechanism 1, second feeding-discharging mechanism 2 of this robot device is set respectively accordingly.
For another example shown in Fig. 5 a, 5b, the first feeding-discharging mechanism 1 comprises: the first one-level installing plate 101, one cylinder 107 is controlled the first lower handgrip 1001, and this first handgrip is used for one end of workpiece to send into described the first screw-rolling machine 8(as shown in Fig. 1, Fig. 7 and Fig. 8) carry out rolled thread.Cylinder 107 is arranged on one first one-level installing plate 101 by a cylinder erection support 108.The lathe bed of one end of this first one-level installing plate 101 and the first screw-rolling machine 8 of homonymy is affixed.Two line slideways 102 are installed on the first one-level installing plate 101, and secondary installing plate 103 is slidably arranged on this line slideway.The first handgrip 1001 is fixed on secondary installing plate 103, and can under the effect of cylinder 107, horizontal linearity move.
The structure of the second feeding-discharging mechanism is identical with the structure of the first feeding-discharging mechanism, be arranged side by side relative with the first feeding-discharging mechanism just while just installation.And the second handgrip Zhua Kuai center of the first handgrip of the first feeding-discharging mechanism and the second feeding-discharging mechanism should remain on same level center line.Therefore, correspondingly, as shown in Fig. 5 a, Fig. 5 b, the second feeding-discharging mechanism comprises the second handgrip 1002 under one second one-level installing plate and a cylinder control, this second handgrip carries out rolled thread for the other end of described workpiece is sent into described the second screw-rolling machine, and one end of this second one-level installing plate and the lathe bed of described the second screw-rolling machine are affixed.
As shown in Fig. 2 a, Fig. 2 b, Fig. 2 c and Fig. 7～8, described transfer device 3 is positioned at the top of described the first feeding-discharging mechanism 1, the second feeding-discharging mechanism 2, and the two ends of described first crossbeam 301 are fixed with the lathe bed of described the first screw-rolling machine 8, the second screw-rolling machine 9 respectively.The transfer device 3 of the robot device that the utility model provides comprises: the 3rd handgrip 1003 under a first crossbeam 301 and a cylinder control, described the 3rd handgrip is for being passed to the second feeding-discharging mechanism 2 by workpiece by described the first feeding-discharging mechanism 1.
The first crossbeam 301 of transfer device 3 is along the horizontal parallel two secondary line slideways 302 that are provided with.As shown in Fig. 2 a, Fig. 2 b, Fig. 2 c, transfer device 3 also comprises first connecting plate 304 for the location that from the side two width line slideways is connected, with two and two groups of line slideway guide posts 305 connected vertically, described the 3rd handgrip 1003 is movably arranged on guide post 305, can under the control of cylinder, move upward or downward like this.When installation, line slideway 302 up and down each pair (above-below direction shown in paper is faced in referring to up and down herein) is laid, and centre is a Rodless cylinder 303, and the 3rd handgrip that this Rodless cylinder can be realized transfer device moves along the horizontal linearity of first crossbeam.
Manufacture complexity for reducing, make the Rodless cylinder 303 of transfer device not be subject to extra additional force simultaneously, do not take direct connection (structure of motive force transfer 404 in structure and Fig. 4 a of the motive force transfer of Fig. 2 a～2c that do not indicate identical) with Rodless cylinder by a motive force transfer connection for the first connecting plate 304 that connects two width line slideways 302.
On the first connecting plate 304, H frame 306 is also installed, this H frame 306 is that the 3rd handgrip 1003 realizes along guide post 305 fundamental parts moving up and down, and is equipped with above and carries out the cylinder moving up and down and realize straight-line linear bearing 308.The motion bar of cylinder and guide post 305 link together by the cylinder mounting plate 307 that is located on transfer device and the 3rd handgrip is installed.This cylinder mounting plate 307 plays the effect that cylinder is installed on the one hand, also cylinder is played the effect of a upper limit baffle plate simultaneously.
As Fig. 4 a～Fig. 4 b, shown in Fig. 7 and 8, the feed mechanism 4 of this robot device comprises: a second cross beam 401 and is near the 4th handgrip 1004 the first handgrip that is delivered to described the first feeding-discharging mechanism 1 by be processed, and the opening and closing movement of described the 4th handgrip is by a cylinder control.
The structural similarity of cutting agency and feed mechanism.As shown in Figure 7 and Figure 8, cutting agency 5 comprises: five handgrip 1005 of one the 3rd crossbeam 501 and for the workpiece of completion of processing is taken out from described the second feeding-discharging mechanism 2, the opening and closing movement of described the 5th handgrip is by cylinder control.
As Fig. 4 a and Fig. 4 b, shown in Fig. 7 and Fig. 8, feed mechanism 4 or cutting agency 5 also comprise: be horizontally set on two line slideways on described second cross beam 401 or described the 3rd crossbeam 501, and a mounting blocks 403 that is arranged on two line slideways tops, the section of described mounting blocks 403 is " 7 " word shape.As described in Fig. 4 a and Fig. 4 b, mounting blocks 403 comprises an inclined-plane 4031, and the middle part on this inclined-plane 4031 is embedded a motive force transfer 404.The 4th handgrip of feed mechanism 4 or the 5th handgrip of cutting agency 5 are all fixed in this piece motive force transfer.Why adopt this piece motive force transfer is embedded to the structure on mounting blocks, rather than be made of one formula structure, its Main Function is to reduce the redundancy constraint between part, makes cylinder not bear extra additional force, reduces part processing precision simultaneously.
In addition, as shown in Fig. 4 a and Fig. 4 b, the position that the cylinder moving of feed mechanism or cutting agency arrives can be realized by the polyurethane limited block 406 being arranged on line slideway.Wherein, the installation site of this polyurethane limited block 406 can stroke distances as required be done to adjust among a small circle.
In addition, as shown in Figure 7 and Figure 8, be provided with one in the upstream of feed mechanism 4 for by the stock shelf 6 of workpiece to be processed transportation material loading, and be provided with in the downstream of cutting agency 5 for by the blanking rack 7 of the workpiece blanking processing.Wherein, the structure division of this stock shelf and the structure division of blanking rack can adopt existing stock shelf and blanking rack equipment in prior art to realize, this stock shelf and blanking rack not the present invention itself put place, therefore therefore not to repeat here for the structure division of this stock shelf and blanking rack.
The production line flow process of this robot device is as follows:
As shown in Figure 4, in this robot device, the power of each handgrip everything provides by corresponding cylinder.For the ease of controlling, consider control accuracy simultaneously, therefore each cylinder is only given its two states, be initial position state and the terminal position state of cylinder, again because this robot device has stricter logical order action request, therefore initial position and terminal position at each cylinder have required signal output, in each position, signal inductor are installed.
In addition, the greatest feature of this robot device is that each mechanism has all adopted each handgrip, and as shown in Fig. 3 a, 3b, each handgrip (i.e. the first handgrip～five handgrip) is all identical at aspects such as performance, shape, power.
Take the first handgrip 1001 as example, the concrete structure of each handgrip of this device is described.As shown in Figure 3 a and Figure 3 b shows, the concrete structure of the first handgrip and course of action are: matrix 10012 is fixing handgrip use, and a SDA cylinder 10011 is installed on matrix.The both sides, top of matrix 10012 are movably equipped with respectively the piece 10017, two of grabbing of a V-type and grab piece respectively affixed a plate 10016, two connecting plates are hinged with described matrix respectively.In addition, on each connecting plate 10016, all have a rectangular groove, supply one end of the sliding axle 10014 being spirally connected with described contiguous block 10015 to wear slip, the other end of described sliding axle 10014 is fixed on a contiguous block 10015, and the motion bar of the SDA cylinder 10011 on described contiguous block and matrix is affixed.
In addition, the both sides of described matrix are also arranged with respectively a gag lever post 10013, grab for controlling two the state that remains on level after piece is opened.Can also eliminate the life-span impact of the impulsive force of cylinder on cylinder own simultaneously.
As shown in Figure 3 a, so that the two ends rolled thread of double end round bar (being the bar of two as round end) is processed as to example, when workpiece is in being firmly grasped under state by the first handgrip, between the center O of workpiece section and the peak in opening the 4th handgrip under relaxation state, there is a difference in height t1.This difference in height t1 is greater than workpiece radius r, like this, between workpiece in loosening the 4th handgrip under open mode and firmly grasped, left certain gap, make of the present utility model in loosen the 4th handgrip under open mode workpiece by the first handgrip promptly after, can exit and reset from the below of this workpiece, to wait for subsequent processing.This structure is applied to the second handgrip～five handgrip equally.
Concrete engagement process between each mechanism and each handgrip is as follows:
1, feed mechanism:
As Fig. 4 a, shown in 4b and Fig. 7～8, the 4th handgrip 1004 on feed mechanism is caught workpiece by cylinder closure, then pass through line slideway 402 by Rodless cylinder 405, by workpiece from feed mechanism be transferred to the first feeding-discharging mechanism near (here said the first feeding-discharging mechanism " near ", refer to and only have near that is delivered to the first handgrip 1001 of the first feeding-discharging mechanism 1 when workpiece by the 4th handgrip 1004 of feed mechanism 4, and the position that can be firmly grasped completely by the first handgrip on the first feeding-discharging mechanism 1), the first handgrip 1001 closures on the first feeding-discharging mechanism 1 are caught workpiece, then, the 4th handgrip 1004 on feed mechanism 4 unclamps, and the 4th handgrip 1004 on feed mechanism 4 is retracted near stock shelf 7.
2, the first feeding-discharging mechanism:
Shown in Fig. 5 a, Fig. 5 b and Fig. 6～8, cylinder 107 is sent into the first handgrip 1001 on secondary installing plate 103 to treat rolled thread position by cylinder contiguous block 106, the first handgrip is opened, under this state, as shown in Figure 6, workpiece short transverse locates by being installed on a side and the bearings 105 of L-type on the first rolled thread lathe location supporting plate 11 that (bearings is the V-type strong point being made up of two ball bearings, when changing workpiece rolled thread and the sliding friction of the strong point as rolling friction), do not compress, by self gravitation.And when rolled thread, the center of the first screw-rolling machine is higher than workpiece centre, and workpiece can't be collected together.
As shown in Fig. 6 and Fig. 5 a, Fig. 5 b, locate by the another side that is installed on the L-type location supporting plate 11 on the first screw-rolling machine the axial direction location of workpiece, and by the side that is positioned at the rear compact heap 104 on secondary installing plate 103, workpiece is carried out to axial compression (as shown in Figure 7).Wherein, rear compact heap 104 is connected on secondary installing plate 103 by a compact heap connecting plate 1041 and a torsion spring 1042 etc.This torsion spring type connects can be avoided in the time that employing is rigidly connected, the phenomenon of damaging workpiece and this robot device under the motion of cylinder 107 of generation.
Referring again to Fig. 7 and 8, when receiving workpiece, the first screw-rolling machine treats rolled thread signal, one end of the first screw-rolling machine processing work thereupon.After rolled thread machines, the first handgrip 1001 on the first feeding-discharging mechanism 1 is caught workpiece, and under the effect of cylinder, workpiece is sent to the first screw-rolling machine.Now the 3rd handgrip 1003 on transfer device falls, and catches workpiece, and meanwhile, the first handgrip on the first feeding-discharging mechanism is opened and loosened workpiece, meets repetitive operation next time.
3, transfer device
As shown in Fig. 2 a, Fig. 2 b, Fig. 2 c and Fig. 7～8, on the transfer device of this mechanical gripper equipment, adopt the first crossbeam 301 that square steel makes to be threaded connection on the lathe bed installed surface of the first screw-rolling machine, the second screw-rolling machine, two line slideways are installed on first crossbeam 301.
The course of action of transfer device is:
The first handgrip on the first feeding-discharging mechanism is opened and is loosened after workpiece as shown in Fig. 2 a～2c, the 3rd handgrip on transfer device is under the effect of DNC32x75 cylinder, fall by linear bearing and guide post, while extremely arriving the position suitable with workpiece centre height, also firmly grasp workpiece.Now, DNC32x75 cylinder is regained and is risen to after top, under the effect of Rodless cylinder, move to the second feeding-discharging mechanism above, and under cylinder DNC32x75 effect, stretch out after dropping to suitable position, the second handgrip center of the second feeding-discharging mechanism and stop.Now, the second handgrip on the second feeding-discharging mechanism is firmly grasped workpiece, and the 3rd handgrip on transfer device is opened and regained and rise under the effect of cylinder DNC32x75, and the initial position moving under Rodless cylinder effect, waits for next repetitive operation.
4, the second feeding-discharging mechanism:
Action and the function etc. of the second handgrip of the second feeding-discharging mechanism and the first handgrip of the first feeding-discharging mechanism are quite similar, and just this second handgrip carries out rolled thread for the other end of workpiece of having processed one end rolled thread is sent into the second screw-rolling machine.
5, cutting agency:
As figure cutting agency and feed mechanism action, function symmetry.Particularly, the 5th handgrip on cutting agency is firmly grasped workpiece, and the second handgrip of the second feeding-discharging mechanism unclamps.When the second handgrip moves to the other end of cutting agency under the effect of Rodless cylinder, the 5th handgrip on cutting agency is opened and is loosened, and workpiece is sent into blanking rack by cutting agency, and send into subsequent processing by blanking rack.So far the whole course of work finishes.
This device adopts the control of industrial PLC controller.PLC is detecting after the external signal of being collected by sensor, triggers output, makes the reversal valve commutation of control cylinder motion, realizes cylinder expection action.In the course of work, in the situation that working continuously, there are all the time two workpiece in this mechanism or in processed.The processing activity duration of each workpiece can arrange by PLC in conjunction with cylinder actuation time, such as can be 12 seconds.PLC controller in this robot device can adopt software programming language of the prior art to realize.The inventive point place of this concrete non-the utility model device of software programming part, and therefore not to repeat here.
Although more than described the specific embodiment of the present utility model, it will be understood by those of skill in the art that these only illustrate, protection domain of the present utility model is limited by appended claims.Those skilled in the art is not deviating under the prerequisite of principle of the present utility model and essence, can make various changes or modifications to these embodiments, but these changes and modification all fall into protection domain of the present utility model.
Claims (16)
1. a robot device for screw-rolling machine automatic loading/unloading, it comprises: one first screw-rolling machine being arranged side by side and one second screw-rolling machine, it is characterized in that, described robot device also includes:
One first feeding-discharging mechanism, comprise the first handgrip under one first one-level installing plate and a cylinder control, this first handgrip carries out rolled thread for described the first screw-rolling machine is sent into in one end of workpiece, and one end of this first one-level installing plate and the lathe bed of described the first screw-rolling machine are affixed;
One second feeding-discharging mechanism, comprise the second handgrip under one second one-level installing plate and a cylinder control, this second handgrip carries out rolled thread for the other end of described workpiece is sent into described the second screw-rolling machine, and one end of this second one-level installing plate and the lathe bed of described the second screw-rolling machine are affixed;
One transfer device, comprises the 3rd handgrip under a first crossbeam and a cylinder control, and described the 3rd handgrip is for being passed to described the second feeding-discharging mechanism by workpiece by described the first feeding-discharging mechanism; Described transfer device is positioned at the top of described the first feeding-discharging mechanism, the second feeding-discharging mechanism, and the two ends of described first crossbeam are fixed with the lathe bed of described the first screw-rolling machine, the second screw-rolling machine respectively;
One PLC controller, for the reversal valve commutation corresponding according to the each cylinder of control signal control of collecting, realizes the action of each cylinder; The initial position of each cylinder of described robot device and terminal position are equipped with the signal inductor for sending control signal;
Wherein, described the first handgrip, the second handgrip, the 3rd handgrip include one group be oppositely arranged grab piece, described the first handgrip, the second handgrip grab piece being centered close on same level center line in the time closing up state.
2. robot device as claimed in claim 1, it is characterized in that, described the first screw-rolling machine and the second screw-rolling machine all also comprise a L-type location supporting plate, described the first feeding-discharging mechanism or the second feeding-discharging mechanism comprise: interval is installed in two line slideways on described the first one-level installing plate or described the second one-level installing plate, one slides is located at the secondary installing plate on two line slideways, and rear compact heap and the bearings being positioned on described secondary installing plate, one side and the described rear compact heap of described L-type location supporting plate are located vertically to workpiece, opposite side and the described bearings of described L-type location supporting plate are located along short transverse workpiece, described the first handgrip is located on described secondary installing plate.
3. robot device as claimed in claim 2, is characterized in that, described robot device also comprises some for limiting the limited block of travel position and the spacing adjustment block of some stroke distances for definite cylinder of cylinder.
4. robot device as claimed in claim 1, it is characterized in that, described transfer device also comprises: two groups of horizontal intervals are fixed on the line slideway on described first crossbeam, two and line slideway guide post connected vertically, and described the 3rd handgrip is movably arranged on described guide post.
5. robot device as claimed in claim 1, it is characterized in that, described robot device also comprises: a feed mechanism, comprise that a second cross beam and is near the 4th handgrip the first handgrip that is delivered to described the first feeding-discharging mechanism by be processed, the opening and closing movement of described the 4th handgrip is by cylinder control.
6. robot device as claimed in claim 5, it is characterized in that, described robot device also comprises: a cutting agency, comprise five handgrip of one the 3rd crossbeam and for the workpiece of completion of processing is taken out from described the second feeding-discharging mechanism, the opening and closing movement of described the 5th handgrip is by cylinder control.
7. robot device as claimed in claim 6, it is characterized in that, described feed mechanism or cutting agency include a mounting blocks being fixed on described second cross beam or described the 3rd crossbeam, and two line slideways of described feed mechanism or cutting agency are all fixed on this mounting blocks.
8. robot device as claimed in claim 5, it is characterized in that, described robot device also comprises: a stock shelf, described stock shelf comprises that a slide plate and is located at the limited block on this slide plate, the slide plate of described stock shelf is used for workpiece to be processed to be delivered to described feed mechanism by workpiece material frame, the arrival position when limited block of described stock shelf is sent to for limiting described workpiece.
9. robot device as claimed in claim 6, it is characterized in that, described robot device also comprises: a blanking rack, described blanking rack comprises that a slide plate and is located at the limited block on this slide plate, the slide plate of described blanking rack is for being delivered to the workpiece of completion of processing the material frame of subsequent processing by described cutting agency, the limited block of described blanking rack is for limiting the arrival position when workpiece of completion of processing has been sent.
10. robot device as claimed in claim 1, it is characterized in that, described the first handgrip, the second handgrip, the 3rd handgrip includes: a matrix, the bottom of described matrix is provided with a cylinder, the both sides, top of described matrix are movably equipped with respectively the piece of grabbing of a V-type, respectively grab piece affixed a plate respectively, each connecting plate is hinged with described matrix respectively, on each connecting plate, all have a rectangular groove, confession one wears slip with one end of the turning cylinder that described connecting plate is spirally connected, the other end of described turning cylinder is fixed on a contiguous block, the motion bar of the cylinder on described contiguous block and matrix is affixed.
11. robot devices as claimed in claim 10, is characterized in that, the both sides of described matrix are also arranged with respectively a gag lever post, can remain on level for controlling grabbing after piece is opened of each handgrip.
12. robot devices as claimed in claim 6, it is characterized in that, described the 4th handgrip and the 5th handgrip include: a matrix, the bottom of described matrix is provided with a cylinder, the both sides, top of described matrix are movably equipped with respectively the piece of grabbing of a V-type, respectively grab piece affixed a plate respectively, each connecting plate is hinged with described matrix respectively, on each connecting plate, have a rectangular groove, supply one end of the sliding axle being spirally connected with described contiguous block to wear slip, the other end of described sliding axle is fixed on a contiguous block, the motion bar Joint of the cylinder on described contiguous block and matrix.
13. robot devices as claimed in claim 12, is characterized in that, the both sides of described matrix are also arranged with respectively a gag lever post, can remain on level for controlling grabbing after piece is opened of each handgrip.
14. robot devices as claimed in claim 7, is characterized in that, the section of described mounting blocks is " 7 " word shape; Described mounting blocks comprises an inclined-plane, and the central authorities on described inclined-plane are embedded a motive force transfer, drives the 4th handgrip or the 5th handgrip to make linearly moving cylinder movable end along described line slideway and is fixed in this motive force transfer.
15. robot devices as described in claim 11 or 13, is characterized in that, described workpiece is a double end round bar; In the time opening relaxation state, grab piece peak and the height between the center of the workpiece that handgrip clamps in the time closing up state when handgrip, be greater than the radius of described workpiece.
16. robot devices as claimed in claim 1, is characterized in that, described workpiece is a double end round bar.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320699796.5U CN203610573U (en) | 2013-11-06 | 2013-11-06 | Automatic material feeding and discharging mechanical hand device for thread rolling machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320699796.5U CN203610573U (en) | 2013-11-06 | 2013-11-06 | Automatic material feeding and discharging mechanical hand device for thread rolling machine |
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| CN203610573U true CN203610573U (en) | 2014-05-28 |
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| CN201320699796.5U Expired - Fee Related CN203610573U (en) | 2013-11-06 | 2013-11-06 | Automatic material feeding and discharging mechanical hand device for thread rolling machine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105436092A (en) * | 2014-09-24 | 2016-03-30 | 上海北特科技股份有限公司 | Arranging equipment for bars |
| CN106180499A (en) * | 2016-08-30 | 2016-12-07 | 安徽省巢湖铸造厂有限责任公司 | Bar captures conveyer device |
| CN107655434A (en) * | 2016-07-26 | 2018-02-02 | 上海北特科技股份有限公司 | The detection device of parts |
| CN109648382A (en) * | 2018-06-05 | 2019-04-19 | 佛山市名将自动化设备有限公司 | A kind of multi-robot of truss robot is integrated |
| CN113385909A (en) * | 2021-06-04 | 2021-09-14 | 东风柳州汽车有限公司 | Manipulator for assembling V-shaped thrust rod |
-
2013
- 2013-11-06 CN CN201320699796.5U patent/CN203610573U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105436092A (en) * | 2014-09-24 | 2016-03-30 | 上海北特科技股份有限公司 | Arranging equipment for bars |
| CN107655434A (en) * | 2016-07-26 | 2018-02-02 | 上海北特科技股份有限公司 | The detection device of parts |
| CN107655434B (en) * | 2016-07-26 | 2024-03-08 | 上海北特科技股份有限公司 | Detection equipment for parts |
| CN106180499A (en) * | 2016-08-30 | 2016-12-07 | 安徽省巢湖铸造厂有限责任公司 | Bar captures conveyer device |
| CN109648382A (en) * | 2018-06-05 | 2019-04-19 | 佛山市名将自动化设备有限公司 | A kind of multi-robot of truss robot is integrated |
| CN113385909A (en) * | 2021-06-04 | 2021-09-14 | 东风柳州汽车有限公司 | Manipulator for assembling V-shaped thrust rod |
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