CN203945245U - With the horizontal rotation type loading and unloading manipulator of intelligent positioning function - Google Patents
With the horizontal rotation type loading and unloading manipulator of intelligent positioning function Download PDFInfo
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- CN203945245U CN203945245U CN201420300263.XU CN201420300263U CN203945245U CN 203945245 U CN203945245 U CN 203945245U CN 201420300263 U CN201420300263 U CN 201420300263U CN 203945245 U CN203945245 U CN 203945245U
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- jack
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- slide unit
- reductor
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Abstract
The utility model relates to the horizontal rotation type loading and unloading manipulator with intelligent positioning function, mainly by jack-up rotating mechanism, material loading is proofreaied and correct clamp mechanism, slide unit rotary synchronous detent mechanism, blanking clamp mechanism composition, each mechanism has cooperatively interacted under the control of control system, it is characterized in that, swivel plate center is arranged on jack-up rotating mechanism, slide unit rotary synchronous detent mechanism is arranged on jack-up rotating mechanism one side, it is identical with blanking clamp mechanism structure and be arranged on respectively swivel plate two ends that material loading is proofreaied and correct clamp mechanism, below each mechanism, respectively there are several clamp mechanisms.This manipulator has substituted a large amount of hand labors, and overall registration improves greatly, turns round reliable and stable.And realize workpiece orientation simultaneously and clamp completing of action, the production efficiency that loading and unloading complete simultaneously improves greatly.
Description
Technical field
The utility model relates to automated machine apparatus field, has the manipulator of the machine tool of the horizontal direction loading and unloading of the directed multistation hinge top gem of a girdle-pendant machine type requiring while referring in particular to workpiece feeding.
Background technology
In the time that workman is put into workpiece on the fixture that cuts with scissors top gem of a girdle-pendant machine, fixture has strict requirement to the angles of workpiece.Be designed with an alignment pin in the bottom surface of each fixture.The loading and unloading of workpiece can only be by manually completing before adopting automatic mechanical hand.Because hinge top gem of a girdle-pendant machine is microstoning equipment, be approximately for 15 seconds the process time of each station.Also just mean that fixture will clockwise rotate a station at every 15 seconds.This just requires workman in 15 seconds, under fast fetching, to complete product, then changes fast new workpiece.Work without cessation again and again.Labour intensity is very big, easily because tiredly forget that renewal part causes and repeat the production waste of processing and the generation of waste product.If pick and place for a long time workpiece by workman, be easy to occur the situation that alignment pin does not put in place, there is the collision accident of cutter and workpiece.
Utility model content
For the problems referred to above, the utility model provides a kind of horizontal rotation type loading and unloading manipulator with intelligent positioning function, alleviates the artificial amount of labour, prevents that contingency from occurring.
For realizing above object, by the following technical solutions:
With the horizontal rotation type loading and unloading manipulator of intelligent positioning function, mainly formed by jack-up rotating mechanism, material loading correction clamp mechanism, slide unit rotary synchronous detent mechanism, blanking clamp mechanism, each mechanism is by control system control, it is characterized in that, swivel plate center is arranged on jack-up rotating mechanism, slide unit rotary synchronous detent mechanism is arranged on jack-up rotating mechanism one side, and it is identical with blanking clamp mechanism structure and be arranged on respectively swivel plate two ends that material loading is proofreaied and correct clamp mechanism;
Swivel plate and the jack-up plate of described jack-up rotating mechanism are arranged on reductor, jack-up plate is below swivel plate, reductor I is embedded on reductor connecting plate, reductor connecting plate one group of diagonal angle is wherein connected with two guide rods respectively and another group diagonal angle is connected with the piston rod of two jack-up cylinders, the cylinder body of two guide holders and jack-up cylinder is arranged in column member, guide rod is arranged in fairlead, fairlead is arranged in guide holder, column member is provided with cover plate, described guide rod and jack-up cylinder piston rod all pass cover plate, described reductor I is driven by servomotor I,
Described feeding and clamping mechanism is made up of aligning gear and clamp mechanism two parts, the leg of described clamp mechanism and manipulator deck are arranged on respectively the upper and lower surface of swivel plate one end, manipulator deck is furnished with clamping adjusting nut, spring-loaded pawl is furnished with spring-loaded pawl overcoat and is arranged in manipulator deck, connecting axle is connected with cylinder through swivel plate, and cylinder is arranged on leg; The auxiliary claw position of described aligning gear is taking spring-loaded pawl as concentric circles, be distributed in around spring-loaded pawl, auxiliary claw is arranged on upper junction plate through swivel plate, upper junction plate is fixed on the upper surface of swivel plate, lever is fixed on lever support plate by lever shaft, the shorter one end of lever arm of force with on connect, the longer one end of lever arm of force is near magnetic sensor and ensure that lever touches magnetic sensor when rotated, magnetic sensor is fixed on swivel plate by sensor support plate;
The slide unit support of described slide unit rotary synchronous detent mechanism is arranged on the side of the column member of jack-up rotating mechanism, Pneumatic slid platform be fixed on slide unit support above, slide unit upper plate be fixed on Pneumatic slid platform above, one end of slide unit upper plate connects the mounting flange face of reductor II, correcting wheel assembly is connected with reductor II through slide unit upper plate, and reductor II is driven by servomotor II.
The quantity of described auxiliary claw is at least 2, and its structure is that spring is inserted in central spindle of the spring, and central spindle of the spring is arranged in spring guide, and spring guide is provided with plug, and spring guide lower end is embedded in one end of locating fork, and alignment pin is fixed on the other end of locating fork.
The explanation of jack-up rotating mechanism motion principle:
Jack-up cylinder and guider have been responsible for the motion of the above-below direction of loading and unloading manipulator.The design of the motion of the above-below direction of manipulator is because manipulator after gripping workpiece, need to upwards be lifted to the reasonable altitudes that is suitable for access arrangement inside by workpiece from conveyer belt.Arrive after device interior, manipulator also needs to move downward workpiece is put into fixture.
By cover plate, fairlead, guide holder, two cover guiders of guide rod composition have ensured two cylinders can keep moving both vertically in the process of jack-up kinematic accuracy of direction.
Rotatablely moving by servomotor of manipulator, reductor and connecting elements (reductor connecting plate, jack-up plate, swivel plate) composition.Having rotatablely moved workpiece from transmitting the displacement movement of the equipment that takes to of manipulator.
Servo-control system is passed through servomotor, and the setting parameter of the transmission combination of reductor, has realized the precision control of the manipulator anglec of rotation.
The operation principle of aligning gear: workpiece, under the effect of slide unit rotary synchronous detent mechanism, carries out uniform speed rotation.Now aligning gear moves down, until stop motion after end in contact under the locating surface of workpiece and the alignment pin of aligning gear.
Alignment pin is from the locating hole of looking for workpiece to successfully inserting the relative motion process of locating hole, and the micro-displacement that has occurred upper and lower several millimeters changes, and this micro-displacement is passed to lever by central spindle of the spring, so by lever amplification to displacements more than several times.The magnetic sensor that is arranged on the lever other end can will sense the change in displacement of lever and pass to control system.After alignment pin successfully enters into the locating hole of workpiece, workpiece is subject to the resistance of alignment pin, stops the rotation.Thereby realize turning to of workpiece and reached the position of designing requirement.Then control system is sent the instruction of clamping work pieces to clamp mechanism.
3 change in displacement of alignment pin:
A, in the situation that there is no workpiece, the spring that is installed in spring guide promotes, the extreme lower position in moving displacement bottom of alignment pin.
B, after the locating surface of workpiece and the lower end in contact of alignment pin, the extreme higher position in moving displacement bottom of alignment pin.
C, looks at alignment pin after the locating hole of workpiece, and alignment pin slides into locating hole.The extreme lower position in moving displacement again bottom of alignment pin.
The explanation of clamp mechanism motion principle:
When motion cylinder piston is not in the time there is no clamping work pieces, in the maximum travel position of cylinder.Send after the instruction of clamping work pieces to clamp mechanism when control system, cylinder receives instruction, and cylinder piston is (stroke initial point direction) motion upwards, drives connecting axle and spring-loaded pawl to move upward simultaneously.Due to spring-loaded pawl overcoat, clamp regulating nut and be fixed on manipulator deck, spring-loaded pawl is subject to the inner headed face crimp of spring-loaded pawl overcoat, and the inner headed face of claw and the cylinder cylindrical of workpiece are compressed mutually.So workpiece is under the effect of frictional force, along with cylinder piston moves upward.Complete the function of clamping work pieces.
In design, require at cylinder piston in the time not getting back to stroke initial point, spring-loaded pawl has just been held the cylinder cylindrical of workpiece tightly.
Spring-loaded pawl overcoat, the design that clamps regulating nut is the clamping travel position amount in order to adjust spring-loaded pawl and workpiece.The purpose of design of cylinder leg is the nut in order to adjust and tighten connecting axle and pistons end.
The principle explanation of slide unit rotary synchronous detent mechanism:
By the transverse movement of slide unit piston, drive the correcting wheel horizontal movement of correcting wheel assembly, make correcting wheel compress and contact with the ring flange cylindrical of workpiece.And then realize correcting wheel when rotation, rely on the frictional force of correcting wheel periphery that workpiece is produced and rotatablely move.Material loading is proofreaied and correct clamp mechanism and is relied on just rotatablely moving of workpiece, has realized the orientation works of workpiece.Take motor II and reductor II transmission component and produce and rotatablely move, drive the correcting wheel rotation of proofreading and correct wheels.
The utility model beneficial effect: on station of material loading, realize workpiece orientation simultaneously and clamp completing of action.Comparing existing machinery hand, is all to adopt the design form that workpiece is directed and clamping work separates.
Adopt swivel plate jack-up and the rotating mechanism of new design, two cylinders and guider, improve manipulator entirety registration greatly.
Design unique compact Pneumatic slid platform assembly and servo rotary drive mechanism, make manipulator running reliable and stable.
The swivel plate mechanism design that loading and unloading complete is simultaneously carried out loading and unloading clamping simultaneously, and when material loading has moved, blanking action also completes simultaneously, and production efficiency improves greatly.
Brief description of the drawings
Fig. 1 is overall layout chart of the present utility model.
Fig. 2 is front view of the present utility model.
Fig. 3 is the front view of jack-up rotating mechanism.
Fig. 4 is the horizontal sectional drawing of jack-up rotating mechanism.
Fig. 5 is the front view that material loading is proofreaied and correct clamp mechanism and slide unit rotary synchronous detent mechanism.
Fig. 6 is the top view that material loading is proofreaied and correct clamp mechanism and slide unit rotary synchronous detent mechanism.
As shown in the figure
A jack-up rotating mechanism; B material loading is proofreaied and correct clamp mechanism; C slide unit rotary synchronous detent mechanism; D blanking clamp mechanism; E swivel plate; A1 jack-up plate; A2 reductor I; A3 connecting plate; A4 guide rod; A5 cylinder; A6 guide holder; A7 column member; A8 fairlead; A9 cover plate; A10 servomotor I; B1 leg; B2 manipulator deck; B3 clamps adjusting nut; B4 spring-loaded pawl; B5 spring-loaded pawl overcoat; B6 connecting axle; B7 cylinder; B8 upper junction plate; B9 lever; B10 lever shaft; B11 lever support plate; B12 magnetic sensor; B13 sensor support plate; B14 spring; B15 central spindle of the spring; B16 spring guide; B17 plug; B18 locating fork; B19 alignment pin; C1 slide unit support; C2 Pneumatic slid platform; C3 slide unit upper plate; C4 reductor II; C5 correcting wheel assembly; C6 servomotor II; F1 limited block; F2 limited block fixed head; F3 conveyer belt fixed head; F4 bearing; F5 adjusts pressing plate; 1 workpiece; 2 conveyer belts; 3 feeding stations; Material clamp on 4.
Detailed description of the invention
Embodiment
Below in conjunction with brief description of the drawings the utility model
The utility model is made up of jack-up rotating mechanism (a), material loading correction clamp mechanism (b), slide unit rotary synchronous detent mechanism (c), blanking clamp mechanism (d), and 4 forms of motion of the present utility model are all to have been cooperatively interacted under the control of control system by above-mentioned 4 principal organ.
Swivel plate (e) center is arranged on jack-up rotating mechanism (a), slide unit rotary synchronous detent mechanism (c) is arranged on jack-up rotating mechanism (a) side, and it is identical with blanking clamp mechanism structure (d) and be arranged on respectively swivel plate (e) two ends that material loading is proofreaied and correct clamp mechanism (b);
Jack-up plate (a1) and the swivel plate (e) of jack-up rotating mechanism (a) are arranged on reductor I(a2) on, jack-up plate (a1) is in swivel plate (e) below, reductor I(a2) be embedded on reductor connecting plate (a3), reductor connecting plate (a3) one group of diagonal angle is wherein connected with two guide rods (a4) respectively and another group diagonal angle is connected with the piston rod of two jack-up cylinders (a5), the cylinder body of two guide holders (a6) and jack-up cylinder (a5) is arranged in column member (a7), guide rod is arranged in fairlead (a8), fairlead (a8) is arranged in guide holder (a6), column member (a7) is provided with cover plate (a9), described guide rod (a4) and jack-up cylinder (a5) piston rod all pass cover plate (a9), described reductor I(a2) by servomotor I(a10) drive,
Material loading is proofreaied and correct clamp mechanism (b) and is made up of aligning gear and clamp mechanism two parts, the leg (b1) of clamp mechanism and manipulator deck (b2) are arranged on respectively the upper and lower surface of swivel plate (e) one end, manipulator deck (b2) is furnished with clamping adjusting nut (b3), spring-loaded pawl (b4) is furnished with spring-loaded pawl overcoat (b5) and is arranged in manipulator deck (b2), connecting axle (b6) is connected with cylinder (b7) through swivel plate (e), and cylinder (b7) is arranged on leg (b1), the auxiliary claw position of aligning gear is taking spring-loaded pawl (b4) as concentric circles, be distributed in spring-loaded pawl (b4) around, auxiliary claw is arranged on upper junction plate (b8) through swivel plate (e), upper junction plate (b8) is fixed on the upper surface of swivel plate (e), lever (b9) is fixed on lever support plate (b11) by lever shaft (b10), the shorter one end of lever arm of force is connected with upper junction plate (b8), the longer one end of lever arm of force is near magnetic sensor (b12) and ensure that lever (b9) touches magnetic sensor (b12) when rotated, magnetic sensor (b12) is fixed on swivel plate (e) by sensor support plate (b13),
The quantity of auxiliary claw is at least 2, its structure is that spring (b14) is inserted in central spindle of the spring (b15), central spindle of the spring (b16) is arranged in spring guide (b17), spring guide (b16) is provided with plug, spring guide (b16) lower end is embedded in one end of locating fork (b18), and alignment pin (b19) is fixed on the other end of locating fork (b18).
The slide unit support (c1) of slide unit rotary synchronous detent mechanism (c) is arranged on the side of the column member (a7) of jack-up rotating mechanism (a1), Pneumatic slid platform (c2) be fixed on slide unit support (c1) above, slide unit upper plate (c3) be fixed on Pneumatic slid platform (c2) above, one end of slide unit upper plate (c3) connects reductor II(c4) mounting flange face, correcting wheel assembly (c5) is through slide unit upper plate (c3) and reductor II(c4) be connected, reductor II(c4) by servomotor II(c6) drive.
In implementation process, for adjusting workpiece in the exact position of feeding station, be also provided with workpiece and adjust positioning component, this assembly is by limited block (f1), limited block fixed head (f2), and conveyer belt fixed head (f3), bearing (f4), adjusts pressing plate (f5) composition.
Limited block fixed head (f2) and driving-belt fixed head (f3) are arranged on respectively conveyer belt support both sides, limited block fixed head (f2) other end is fixed on slide unit support (c1), limited block (f1) is across being fixed on transport tape on limited block fixed head (f2) and driving-belt fixed head (f3), adjusting pressing plate (f5) is arranged on conveyer belt fixed head (f3), bearing (f4) is arranged on adjusts pressing plate (f5) above, and the position of bearing (f4) is as the criterion with workpiece pressing.
The sequence of motion explanation of manipulator:
Workpiece (1) arrives feeding station (3) under the drive of conveyer belt (2), after sensor senses, material loading is proofreaied and correct clamp mechanism (b) and is relied on servomotor I(a10) rotatablely move arrive workpiece (1) directly over, two jack-up cylinders (a5) DL synchronization is near workpiece (1).Pneumatic slid platform (c2) promotes correcting wheel assembly (c5) workpiece pressing (1), simultaneously servomotor II(c6) rotarily drive workpiece (1) low speed rotation.Alignment pin after several seconds (b19) falls into locating hole.Central spindle of the spring (b15) causes the displacement of lever (b9) to down stroke, and then cause that signal passed to control system by magnetic sensor (b12), after control system order Pneumatic slid platform (c2), move, cylinder (b7) drives spring-loaded pawl (b4) clamping work pieces (1).The synchronous driving mechanical of two jack-up cylinder jack-up cylinders (a5) is gone on hand.Servomotor I(a10) counter-rotate above the upper material clamp (4) that drives material loading to proofread and correct clamp mechanism (b) arrival equipment.Waiting facilities sends order that can material loading.Obtain after passable instruction, two jack-up cylinders (a5) DL synchronization is near upper material clamp (4), and cylinder (b7) unclamps workpiece (1), and workpiece (1) is put in material clamp (4).The synchronous driving mechanical of two jack-up cylinders (a5) is gone on hand.Material loading is proofreaied and correct clamp mechanism (b) and is relied on servomotor I(a10) rotatablely move again arrive workpiece directly over, start material loading work next time.
Claims (2)
1. with the horizontal rotation type loading and unloading manipulator of intelligent positioning function, mainly by jack-up rotating mechanism (a), material loading is proofreaied and correct clamp mechanism (b), slide unit rotary synchronous detent mechanism (c), blanking clamp mechanism (d) composition, each mechanism is by control system control, it is characterized in that, swivel plate (e) center is arranged on (a) on jack-up rotating mechanism, slide unit rotary synchronous detent mechanism (c) is arranged on jack-up rotating mechanism (a) side, it is identical with blanking clamp mechanism (d) structure and be arranged on respectively swivel plate (e) two ends that material loading is proofreaied and correct clamp mechanism (b),
The jack-up plate (a1) of described jack-up whirler (a) is arranged on reductor with swivel plate (e)
(a2) upper, jack-up plate (a1) is at swivel plate (e) below, reductor
(a2) be embedded in reductor connecting plate
(a3) on, reductor connecting plate (a3) one group of diagonal angle is wherein connected with two guide rods (a4) respectively and another group diagonal angle is connected with the piston rod of two jack-up cylinders (a5), the cylinder body of two guide holders (a6) and jack-up cylinder (a5) is arranged in column member (a7), guide rod (a4) is arranged in fairlead (a8), fairlead (a8) is arranged in guide holder (a6), column member (a7) is provided with cover plate (a9), described guide rod (a4) and jack-up cylinder (a5) piston rod all pass cover plate (a9), described reductor
(a2) by servomotor
(a10) drive;
Described material loading is proofreaied and correct clamp mechanism (b) and is made up of aligning gear and clamp mechanism two parts, the leg (b1) of described clamp mechanism and manipulator deck (b2) are arranged on respectively the upper and lower surface of swivel plate (e) one end, manipulator deck (b2) is furnished with clamping adjusting nut (b3), spring-loaded pawl (b4) is furnished with spring-loaded pawl overcoat (b5) and is arranged in manipulator deck (b2), connecting axle (b6) is connected with cylinder (b7) through swivel plate (e), and cylinder (b7) is arranged on leg (b1), the auxiliary claw position of described aligning gear is taking spring-loaded pawl (b4) as concentric circles, be distributed in spring-loaded pawl (b4) around, auxiliary claw is arranged on upper junction plate (b8) through swivel plate (e), upper junction plate (b8) is fixed on the upper surface of swivel plate (e), lever (b9) is fixed on lever support plate (b11) by lever shaft (b10), the shorter one end of lever arm of force is connected with upper junction plate (b8), the longer one end of lever arm of force is near magnetic sensor (b12) and ensure that lever (b9) touches magnetic sensor (b12) when rotated, magnetic sensor (b12) is fixed on swivel plate (e) by sensor support plate (b13),
The slide unit support (c1) of described slide unit rotary synchronous detent mechanism (c) is arranged on the side of the column member (a7) of jack-up rotating mechanism (a1), Pneumatic slid platform (c2) be fixed on slide unit support (c1) above, slide unit upper plate (c3) be fixed on Pneumatic slid platform (c2) above, one end of slide unit upper plate (c3) connects reductor
(c4) mounting flange face, correcting wheel assembly (c5) is through slide unit upper plate (c3) and reductor
(c4) be connected, reductor
(c4) by servomotor
(c6) drive.
2. with the horizontal rotation type loading and unloading manipulator of intelligent positioning function, it is characterized in that, the quantity of described auxiliary claw is at least 2, its structure is that spring (b14) is inserted in central spindle of the spring (b15), central spindle of the spring (b15) is arranged in spring guide (b16), spring guide (b16) is provided with plug (b17), and spring guide (b16) lower end is embedded in one end of locating fork (b18), and alignment pin (b19) is fixed on the other end of locating fork (b18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420300263.XU CN203945245U (en) | 2014-06-09 | 2014-06-09 | With the horizontal rotation type loading and unloading manipulator of intelligent positioning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420300263.XU CN203945245U (en) | 2014-06-09 | 2014-06-09 | With the horizontal rotation type loading and unloading manipulator of intelligent positioning function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203945245U true CN203945245U (en) | 2014-11-19 |
Family
ID=51887304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420300263.XU Expired - Fee Related CN203945245U (en) | 2014-06-09 | 2014-06-09 | With the horizontal rotation type loading and unloading manipulator of intelligent positioning function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203945245U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113290309A (en) * | 2021-05-07 | 2021-08-24 | 温州职业技术学院 | Intelligent automatic welding system |
-
2014
- 2014-06-09 CN CN201420300263.XU patent/CN203945245U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113290309A (en) * | 2021-05-07 | 2021-08-24 | 温州职业技术学院 | Intelligent automatic welding system |
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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 |
Granted publication date: 20141119 Termination date: 20150609 |
|
| EXPY | Termination of patent right or utility model |