CN203992839U - A kind of radium-shine equipment that adopts robot - Google Patents
A kind of radium-shine equipment that adopts robot Download PDFInfo
- Publication number
- CN203992839U CN203992839U CN201420472014.9U CN201420472014U CN203992839U CN 203992839 U CN203992839 U CN 203992839U CN 201420472014 U CN201420472014 U CN 201420472014U CN 203992839 U CN203992839 U CN 203992839U
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- radium
- shine
- workpiece
- robot
- district
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Abstract
The utility model discloses a kind of radium-shine equipment that adopts robot, comprise support and be located at the laser machine on support, on described support, be also provided with robot and for depositing the material district of workpiece; The movable end of described robot is provided with the clamp structure moving between material district and radium-shine district for gripping workpiece; Described clamp structure is provided with the clamping part for gripping workpiece; Also comprise the detent mechanism for workpiece location.The utility model adopts robot material to be moved to the radium-shine district of laser machine from feeding area, the radium-shine complete discharging area that moves to again afterwards, realize the full-automatic operation of workpiece in radium-shine process, improved production efficiency, and reduce thus the product defects being caused by manual operations.Also adopt detent mechanism, realized the accurate location of workpiece in gripping process, realized the accurately radium-shine of workpiece with this.
Description
Technical field
The utility model relates to a kind of radium-shine equipment, more particularly refers to a kind of radium-shine equipment that adopts robot.
Background technology
In prior art, workpiece is put into and on laser machine, carries out radium-shinely, generally adopt manual loading and unloading, such mode not only production efficiency is low, and due in radium-shine process, may damage human body.In addition, the cost of labor of present stage rises, and increases thus the production cost of product.In addition, while manually product being carried out to loading and unloading, easily product surface is caused the defects such as scuffing.
Therefore, be necessary the automation equipment that exploitation makes new advances, carry out radium-shine processing.
Utility model content
The purpose of this utility model is to overcome the defect of prior art, and a kind of radium-shine equipment that adopts robot is provided.
For achieving the above object, the utility model is by the following technical solutions:
Adopt a radium-shine equipment for robot, comprise support and be located at the laser machine on support, on described support, be also provided with robot and for depositing the material district of workpiece; The movable end of described robot is provided with the clamp structure moving between material district and radium-shine district for gripping workpiece; Described clamp structure is provided with the clamping part for gripping workpiece; Also comprise the detent mechanism for workpiece location.
Its further technical scheme is: described material district comprises feeding area and discharging area, and detent mechanism is secondary positioning table, and secondary positioning table is located between feeding area and radium-shine district.
Its further technical scheme is: described secondary positioning table is provided with guiding surface oblique in four; Be square shape by radium-shine workpiece.Or secondary positioning table is provided with multiple interior oblique guiding surfaces; Be polygon block-shaped by radium-shine workpiece.
Its further technical scheme is: described secondary positioning table is finger cylinder, wafer type electricity cylinder or the servo driven type jaw mechanism of left and right centering clamping work pieces.
Its further technical scheme is: described detent mechanism is the image collecting device being fixed on clamp structure.
Its further technical scheme is: described clamp structure comprises the material clamping part for gripping material box.
Its further technical scheme is: described laser machine radium-shine be directed upwardly, down, towards left, towards right, forward or backwards.
Its further technical scheme is: described clamping part is telescopic structure.
Its further technical scheme is: artificial two of described machine, be located at respectively the both sides of laser machine; Described material district comprises left material district and right material district, and described left material district, right material district comprise respectively feeding area and discharging area; Feeding area and discharging area are respectively the front and back side of robot.
Its further technical scheme is: described machine people is 6 axle robots; Also can be 5 axle robots or 4 axle robots.Especially in the time that robot adopts reversely hung Yong to be fixed on the upper frame of support top, need movable space smaller, can adopt the robot of 4 axles or 5 axles.
The utility model beneficial effect is compared with prior art: the utility model adopts robot material to be moved to the radium-shine district of laser machine from feeding area, the radium-shine complete discharging area that moves to again afterwards, realize the full-automatic operation of workpiece in radium-shine process, improve production efficiency, and reduced thus the product defects being caused by manual operations.Also adopt detent mechanism, realized the accurate location of workpiece in gripping process, realized the accurately radium-shine of workpiece with this.The preferably setting upward of the radium-shine direction of laser machine, the workpiece that robot takes out from feeding area, does not need upset, can directly move to radium-shine district carry out radium-shine, radium-shine complete after, do not need upset yet, directly move to discharging area.In order to reduce the displacement of robot movable end, the feeding area of same robot and discharging area are preferably located at the same side of robot, so that uniform machinery people's movable end forms an acute triangle at material loading, three stations radium-shine and blanking, to transfer workpiece in the shortest distance.
Below in conjunction with the drawings and specific embodiments, the utility model is further described.
Brief description of the drawings
Fig. 1 is the three-dimensional structure diagram (the radium-shine direction of laser machine down) of a kind of radium-shine equipment specific embodiment one that adopts robot of the utility model;
Fig. 2 is the three-dimensional structure diagram (the radium-shine of laser machine is directed upwardly) of a kind of radium-shine equipment specific embodiment two that adopts robot of the utility model;
Fig. 3 is the three-dimensional structure diagram of the clamp structure in a kind of radium-shine equipment specific embodiment that adopts robot of the utility model;
Fig. 4 is that clamp structure embodiment illustrated in fig. 3 is fixed on the three-dimensional structure diagram in robot;
Fig. 5 is that to adopt electric cylinder be the first example structure figure (only show electric cylinder, laterally activity jig arm and longitudinally-moving collet segment) of force piece to a kind of radium-shine equipment that adopts robot of the utility model;
Fig. 6 is the three-dimensional structure diagram of another angle of Fig. 5;
Fig. 7 is the Facad structure figure of Fig. 5;
Fig. 8 is that to adopt electric cylinder be the second example structure figure (only show electric cylinder, laterally activity jig arm and longitudinally-moving collet segment) of force piece to a kind of radium-shine equipment that adopts robot of the utility model;
Fig. 9 is the three-dimensional structure diagram of another angle of Fig. 8;
Figure 10 is the Facad structure figure of Fig. 8.
Reference numeral
The electric cylinder of 10 holder body 12
131,132 horizontal activity jig arm
The horizontal activity jig arm of 131A, 132A
137 gathering sill 138 pilot holes
139 lug bosses
141,142 longitudinally-moving chucks
141A, 142A longitudinally-moving chuck
143 clamping part 144 spring base portions
147 guide pad 148 leads
149 crown of roll portions
151,152 springs
151A, 152A spring
16 magazine chuck 161 magazine cylinders
17 image collecting device 171 camera light sources
18 linear slide rail 181 slide rail portions
182 S of slide unit portion robot movable ends
19 connecting column 11 clamp structures
20 support 21 racks
22 control button 23 touch-screens
30 laser machine 40 robots
31 protective cover 32 exhausting interfaces
50 51 feeding areas, material districts
52 No. 60 2 times, discharging area positioning tables
61 base plates 62 are pointed cylinder
Detailed description of the invention
In order to more fully understand technology contents of the present utility model, below in conjunction with specific embodiment, the technical solution of the utility model is further introduced and explanation, but be not limited to this.
As depicted in figs. 1 and 2, a kind of radium-shine equipment that adopts robot of the utility model, comprises support 20 and is located at the laser machine 30 on support 20, is also provided with robot 40 and for depositing the material district 50 of workpiece on support 20; The movable end of robot 40 is provided with the clamp structure 11 moving between material district 50 and radium-shine district (working region of laser machine) for gripping workpiece; Clamp structure 11 is provided with the clamping part for gripping workpiece; Also comprise the detent mechanism for workpiece location.Material district 50 comprises that feeding area 51 (treats that radium-shine workpiece is placed in magazine, and be layered in feeding area) and (workpiece after radium-shine is placed in magazine in discharging area 52, and be layered in discharging area), detent mechanism is secondary positioning table 60, and secondary positioning table 60 is located between feeding area 51 and radium-shine district.Secondary positioning table 60 comprises base plate 61 and is located at the finger cylinder 62 of the left and right centering clamping work pieces of base plate 61, and two clamping plate 63 that connect with finger cylinder.Detent mechanism also comprises the image collecting device 17 (as shown in Figure 3 to Figure 4) being fixed on clamp structure; Clamp structure 11 comprises the material clamping part (as shown in Figure 3 to Figure 4) for gripping material box.Also comprise the control system for control work, control system is in the rack 21 of support 20 belows, and the side of support 20 is also provided with control button 22 and touch-screen 23 (being man-machine interface).In order to keep the safety in production, prevent the radium-shine man-hour that adds, hurt operating personnel, be provided with protective cover 31 in the surrounding of laser machine, protective cover 31 is provided with for discharging the radium-shine exhausting interface 32 that adds the waste gas producing man-hour.When work, comprise the following steps:
1) the stacked feeding area that is positioned over of material box, material district matrix form is placed with several workpiece;
2) workpiece of robot gripping feeding area, moves to radium-shine district;
3) carry out radium-shine to workpiece;
4) after radium-shine, robot by Workpiece transfer to the material box of discharging area;
5) feeding area is got back to again by robot, repeats the 2nd) work of step;
Wherein, 2) also comprise an accurate position fixing process in step, accurately position fixing process is first provided with image collecting device by clamp structure and completes by framing when the material box feeding, necessary time, can also in robot is moving material process, workpiece be placed on to secondary positioning table locates for the second time, wherein, artificial two of machine, send workpiece to radium-shine district to carry out radium-shine in turn; After workpiece in the material box of feeding area is got sky, deliver to discharging area by the material clamping part gripping material packed meal in the clamp structure of robot movable end.
In bis-embodiment of earlier figures 1 and Fig. 2, artificial two of machine, is located at respectively the both sides of laser machine; Material district comprises left material district and right material district, and left material district, right material district comprise respectively feeding area and discharging area; Feeding area and discharging area are respectively the front and back side of robot; Machine people is 6 axle robots.
In other embodiment, robot can be also 5 axles or 4 axle robots.
In other embodiment, secondary positioning table is provided with guiding surface oblique in four; Be square shape by radium-shine workpiece.Or secondary positioning table is provided with multiple interior oblique guiding surfaces; Be polygon block-shaped by radium-shine workpiece.
In other embodiment, in the time that positioning precision is not high, also can omit secondary positioning table.Also can be by the image collecting device on clamp structure by pickup area in alignment with the workpiece in clamp position, in the process of being transferred at workpiece, workpiece is carried out to image recognition simultaneously, according to recognition result, adjust when radium-shine and position when blowing, can save time widely like this, enhance productivity.Such structure is particularly suitable for workpiece the situation of special identifier or identified region.
In other embodiment, the radium-shine direction of laser machine can be also towards left, towards right, forward or backwards.
In other embodiment, robot can be also one.
Clamp structure in Fig. 1 and Fig. 2 embodiment can adopt telescoping clamp structure, and concrete structure illustrates as follows:
As shown in Figure 3 to Figure 4, a kind of clamp structure 11 that adopts the radium-shine equipment of robot to adopt of the utility model, comprise the holder body 10 being connected with robot movable end S by connecting column 19, holder body 10 is provided with for generation of the electric cylinder 12 (this electricity cylinder is provided with the movable end of two symmetrical expressions) that clamps action, and electric cylinder 12 is provided with two horizontal activity jig arm 131,132 (as shown in Fig. 5-7); Laterally activity jig arm 131,132 produces transverse shifting under the driving of electric cylinder 12, comprises and clamps shift action and open shift action.Laterally the outer end of activity jig arm 131,132 is provided with the longitudinally-moving chuck 141,142 (as shown in Fig. 5-7) that longitudinal sliding motion connects; Longitudinal sliding motion connects the longitudinal extension that forms longitudinally-moving chuck 141,142; Also comprise the spring 151,152 (as shown in Fig. 5-7) that longitudinally-moving chuck 141,142 is stretched out outward, spring 151,152 can produce pretightning force, allows longitudinally-moving chuck 141,142 under the effect without external force, all the time in outermost end.Holder body 10 is also provided with the magazine chuck 16 for gripping material box, and this magazine chuck 16 is driven by magazine cylinder 161; On holder body 10, be also provided with image collecting device 17 for workpiece location (the present embodiment adopt be CCD industrial camera), and provide the camera light source 171 of light source for IMAQ.In the present embodiment, be block article, mobile phone or panel computer by the workpiece of gripping.By IMAQ, transfer to control system, by main frame, image is identified, thereby played the effect of locating feeding or location blowing.Image collector is set on clamp structure, can allows image collecting device along with the movable end of robot moves, at feeding, blowing, and the location of carrying out image recognition in moving process.Especially, image collecting device wherein can be by pickup area in alignment with the workpiece in clamp position, in the process of being transferred at workpiece, workpiece is carried out to image recognition simultaneously, according to recognition result, position when adjustment adds man-hour and blowing, can save time so widely, enhances productivity.Such structure is particularly suitable for workpiece the situation of special identifier or identified region.
The embodiment of clamp structure as shown in Figures 5 to 7, laterally the outside of activity jig arm 131,132 is provided with lug boss 139, and lug boss 139 is provided with pilot hole 138 and is positioned at the gathering sill 137 of pilot hole 138 both sides; The guide pad 147 that longitudinally-moving chuck 141,142 is provided with the lead corresponding with pilot hole 138 148 and coordinates with gathering sill 137; Lead 148 is through pilot hole 138 and be provided with the crown of roll portion 149 for locating in the inner of lug boss 139; Spring 151,152 is sheathed on the lead 148 of lug boss 139 outer ends.While not being subject to external force, longitudinally-moving chuck 141,142 is under the effect of spring 151,152, all the time protruding, when at feeding or blowing, when the outer end of longitudinally-moving chuck 141,142 is subject to hindering, spring is compressed power, produce distortion, thereby the rigidity of eliminating between chuck and other object is interfered, improve the flexibility of robot in gripping material process, improve the adaptive capacity of robot gripping material.The shortcoming of the present embodiment structure is: pilot hole and lead, and there is gap between gathering sill and guide pad, when gripping material, there is error in a small amount.Advantage is that cost is low.
The embodiment of another kind of clamp structure as Figure 8-Figure 10, laterally activity jig arm 131A, 132A are provided with the linear slide rail 18 for being slidably connected with longitudinally-moving chuck 141A, 142A, and the inner of longitudinally-moving chuck 141A, 142A is provided with described spring 151A, 152A.Linear slide rail 18 comprises slide rail portion 181 and slide unit portion 182; Horizontal activity jig arm 131A, 132A are fixed in the inner of slide rail portion 181, and slide unit portion 182 and longitudinally-moving chuck 141A, 142A are fixedly connected; Longitudinally-moving chuck 141A, 142A are strip and block structure, and outer end is clamping part 143, and slide unit portion 182 is extended in the inner, are configured for the spring base portion 144 of fixing spring 151A, 152A.The shortcoming of the present embodiment structure is: the gap of linear slide rail is very small, and when gripping material, very steady, reliability is high, can use for a long time, and shortcoming is that cost is high.
In other embodiment, force piece can be also finger cylinder, and finger cylinder is provided with the movable end of two symmetrical expressions; Force piece also can adopt servo-actuating device.
In other embodiment, the movable end of force piece can be provided with three, connects rotund article for gripping, can be also four, for gripping out-of-shape or larger article.
In other embodiment, the body of clamping part and longitudinally-moving chuck can adopt removable Split type structure, in the time of gripping for different workpieces, can change difform clamping part.
In sum, the utility model adopts robot material to be moved to the radium-shine district of laser machine from feeding area, radium-shinely moves to discharging area after complete again, realizes the full-automatic operation of workpiece in radium-shine process, improve production efficiency, and reduced thus the product defects being caused by manual operations.Also adopt detent mechanism, realized the accurate location of workpiece in gripping process, realized the accurately radium-shine of workpiece with this.The preferably setting upward of the radium-shine direction of laser machine, the workpiece that robot takes out from feeding area, does not need upset, can directly move to radium-shine district carry out radium-shine, radium-shine complete after, do not need upset yet, directly move to discharging area.In order to reduce the displacement of robot movable end, the feeding area of same robot and discharging area are preferably located at the same side of robot, so that uniform machinery people's movable end forms an acute triangle at material loading, three stations radium-shine and blanking, to transfer workpiece in the shortest distance.The clamp structure that the utility model adopts is laterally being provided with being slidably connected under spring pre-tightening effect between activity jig arm and longitudinally-moving chuck, make workpiece in gripping process, can realize the compensation of lengthwise position, thereby eliminate the rigidity interference of clamp structure and material box or production equipment and so on.The utility model is particularly suitable for the occasion that clamp structure needs workpiece to be realized an installation action in the time of blowing simultaneously, in this applied environment, can, by increasing travel switch as induced signal, end the feed motion (being installation action) of robot with this.
Above-mentionedly only further illustrate technology contents of the present utility model with embodiment; so that reader is easier to understand; but do not represent that embodiment of the present utility model only limits to this, any technology of doing according to the utility model is extended or recreation, is all subject to protection of the present utility model.Protection domain of the present utility model is as the criterion with claims.
Claims (10)
1. adopt a radium-shine equipment for robot, comprise support and be located at the laser machine on support, it is characterized in that being also provided with robot on described support and for depositing the material district of workpiece; The movable end of described robot is provided with the clamp structure moving between material district and radium-shine district for gripping workpiece; Described clamp structure is provided with the clamping part for gripping workpiece; Also comprise the detent mechanism for workpiece location.
2. a kind of radium-shine equipment that adopts robot according to claim 1, is characterized in that described material district comprises feeding area and discharging area, and detent mechanism is secondary positioning table, and secondary positioning table is located between feeding area and radium-shine district.
3. a kind of radium-shine equipment that adopts robot according to claim 2, is characterized in that described secondary positioning table is provided with guiding surface oblique in four; Be square shape by radium-shine workpiece.
4. a kind of radium-shine equipment that adopts robot according to claim 2, is characterized in that described secondary positioning table is finger cylinder, wafer type electricity cylinder or the servo driven type jaw mechanism of left and right centering clamping work pieces.
5. a kind of radium-shine equipment that adopts robot according to claim 1, is characterized in that described detent mechanism is the image collecting device being fixed on clamp structure.
6. a kind of radium-shine equipment that adopts robot according to claim 1, is characterized in that described clamp structure comprises the material clamping part for gripping material box.
7. a kind of radium-shine equipment that adopts robot according to claim 1, it is characterized in that described laser machine be radium-shinely directed upwardly, down, towards left, towards right, forward or backwards.
8. a kind of radium-shine equipment that adopts robot according to claim 1, is characterized in that described clamping part is telescopic structure.
9. a kind of radium-shine equipment that adopts robot according to claim 1, is characterized in that artificial two of described machine, is located at respectively the both sides of laser machine; Described material district comprises left material district and right material district, and described left material district, right material district comprise respectively feeding area and discharging area; Feeding area and discharging area are respectively the front and back side of robot.
10. a kind of radium-shine equipment that adopts robot according to claim 1, is characterized in that described machine people is 6 axle robots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420472014.9U CN203992839U (en) | 2014-08-19 | 2014-08-19 | A kind of radium-shine equipment that adopts robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420472014.9U CN203992839U (en) | 2014-08-19 | 2014-08-19 | A kind of radium-shine equipment that adopts robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203992839U true CN203992839U (en) | 2014-12-10 |
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ID=52032903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420472014.9U Expired - Fee Related CN203992839U (en) | 2014-08-19 | 2014-08-19 | A kind of radium-shine equipment that adopts robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN203992839U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105081635A (en) * | 2015-08-31 | 2015-11-25 | 江苏新光数控技术有限公司 | Wheel type rotating precise machining welding robot |
| CN112676926A (en) * | 2021-02-02 | 2021-04-20 | 沭阳金伯利机械有限公司 | Full-automatic grinding device of agricultural machine casting part blank |
-
2014
- 2014-08-19 CN CN201420472014.9U patent/CN203992839U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105081635A (en) * | 2015-08-31 | 2015-11-25 | 江苏新光数控技术有限公司 | Wheel type rotating precise machining welding robot |
| CN112676926A (en) * | 2021-02-02 | 2021-04-20 | 沭阳金伯利机械有限公司 | Full-automatic grinding device of agricultural machine casting part blank |
| CN112676926B (en) * | 2021-02-02 | 2021-10-26 | 沭阳金伯利机械有限公司 | Full-automatic grinding device of agricultural machine casting part blank |
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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: 20141210 Termination date: 20180819 |
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| CF01 | Termination of patent right due to non-payment of annual fee |