CN203993345U - A kind of gantry side hanging mobile robot automatic loading and unloading device - Google Patents
A kind of gantry side hanging mobile robot automatic loading and unloading device Download PDFInfo
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- CN203993345U CN203993345U CN201420286916.3U CN201420286916U CN203993345U CN 203993345 U CN203993345 U CN 203993345U CN 201420286916 U CN201420286916 U CN 201420286916U CN 203993345 U CN203993345 U CN 203993345U
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- paw
- robot
- unloading device
- automatic loading
- side hanging
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- 239000000463 material Substances 0.000 claims abstract description 33
- 238000003754 machining Methods 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 238000003860 storage Methods 0.000 claims abstract description 24
- 210000000078 claw Anatomy 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000003825 pressing Methods 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 14
- 238000004519 manufacturing process Methods 0.000 description 8
- 230000001050 lubricating effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 239000004519 grease Substances 0.000 description 2
- 239000000314 lubricant Substances 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 239000011265 semifinished product Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- IXSZQYVWNJNRAL-UHFFFAOYSA-N etoxazole Chemical group CCOC1=CC(C(C)(C)C)=CC=C1C1N=C(C=2C(=CC=CC=2F)F)OC1 IXSZQYVWNJNRAL-UHFFFAOYSA-N 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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Abstract
The utility model discloses a kind of gantry side hanging mobile robot automatic loading and unloading device, comprise portal frame assembly, transmission and Power Component, robot body, robot claw assembly, material storage mechanism and switch board, machining tool is provided with at least 2 processing stations, portal frame assembly is horizontally placed on machining tool top, robot body one end is connected with portal frame assembly by transmission and Power Component, the robot body other end arranges robot claw assembly, each processing stations correspondence on machining tool is provided with a material storage mechanism, machining tool, transmission and Power Component, robot body, robot claw assembly and material storage mechanism are electrically connected with switch board respectively.The utility model adopts gantry side hanging hanging structure, has reduced widely occupation of land space, and place service efficiency is high, and lathe is put flexibly, can be side-by-side two-shipper bed, side by side to the forms such as row's formula four lathes, easy to maintenance and safe and convenient.
Description
Technical field
The utility model relates to the loading and unloading apparatus field that machine tooling production line is used, particularly a kind of gantry side hanging mobile robot automatic loading and unloading device.
Background technology
Day by day universal along with intelligent, integrated production technology, on machine tooling production line, also has more and more higher requirement to automatic transport and loading and unloading.For adapting to the mode of production miscellaneous, automatic transport and handling equipment that some are novel arise at the historic moment.
Current domestic conventional loading and unloading modes such as conveyer belt type, chain gear transmission formula, pneumatic turntable formula, SERVO CONTROL rotating disc type, moving guide rail formula that have.These automatic transport and loading and unloading mode differ from one another, and are applicable to different production features.Wherein, conveyer belt type is widely used in food, health care, electronics and packing business, is equipped with vision system and can realizes accurate pipage control, and fed distance is far away, but floor space is large; Chain gear transmission formula is carried applicable to the comparatively severe short-distance and medium-distance of production environment, but its delivery precision is lower; Pneumatic turntable formula and SERVO CONTROL rotating disc type are applicable to the loading and unloading of finding and carry; Moving guide rail formula can realize multimachine bed production model in parallel, but floor space is large.Yet for the complicated machined piece of multistation parallel machine, the handling equipment that positioning precision is not higher is at present applicable.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, and gantry that a kind of loading and unloading accuracy is high, floor space is little and easy to maintenance side hanging mobile robot automatic loading and unloading device is provided.
The technical solution of the utility model is: a kind of gantry side hanging mobile robot automatic loading and unloading device, comprise portal frame assembly, transmission and Power Component, robot body, robot claw assembly, material storage mechanism and switch board, machining tool is provided with at least 2 processing stations, portal frame assembly is horizontally placed on machining tool top, robot body one end is connected with portal frame assembly by transmission and Power Component, the robot body other end arranges robot claw assembly, each processing stations correspondence on machining tool is provided with a material storage mechanism, machining tool, transmission and Power Component, robot body, robot claw assembly and material storage mechanism are electrically connected with switch board respectively.
Described portal frame assembly comprises crossbeam, column and fixed base plate, and crossbeam is horizontally placed on machining tool top, and crossbeam two ends arrange respectively column, and each column bottom is provided with fixed base plate; Crossbeam one side is provided with guide rail tooth bar installing plate.
Described crossbeam and column are respectively square tube; Crossbeam two ends are respectively equipped with upright post connecting plate, and column top is provided with cross-beam connecting plate, and cross-beam connecting plate is fixedly connected with upright post connecting plate; Each column bottom is provided with gusset.Crossbeam and column form portal frame, and are fixed on ground or on lathe base by fixed base plate, and gusset is as making the reinforcement that portal frame is more firm.
Described transmission and Power Component comprise guide rail, tooth bar, gear, slide block, slide plate, reductor and servomotor, on the guide rail guide rail tooth bar installing plate being installed in portal frame assembly parallel with tooth bar, slide block is located on guide rail, slide plate is fixedly connected with slide block, wheel and rack is connected with a joggle, the clutch end of servomotor is connected with gear by reductor, servomotor and switch board electrical connection.During use, servomotor rotates by reductor driven wheel, and by the cooperation of gear and tooth bar, slide plate slidably reciprocates along guide rail by slide block, thereby drives robot body and robot hand to be displaced between the different processing stations of machining tool.
Described slide plate is provided with travel switch, travel switch and switch board electrical connection, and crossbeam two ends are respectively equipped with the collision block of spacing use.When slide block drives robot body and robot hand to move, by contacting between travel switch and collision block, its sliding scale is limited.
Slide block also can external lubricating system, by lubricating system, to slide block, provides lubricant grease, can effectively guarantee to slide more smoothly between slide block and guide rail.
Described robot body Shi Wu axle robot; Robot body is fixedly connected with slide plate.
Described robot claw assembly comprises paw connecting plate, paw and cylinder, and paw connecting plate is connected with robot body, and paw connecting plate two ends arrange respectively paw, and each paw is connected with paw connecting plate by cylinder respectively.
Described paw is three-pawl type structure, and paw is provided with pressing plate, and pressing plate is installed on cylinder; Two paws being located at paw connecting plate two ends are respectively material loading paw and blanking paw, and the cylinder being connected with material loading paw is material loading cylinder, and the cylinder being connected with blanking paw is blanking cylinder.
Described material storage mechanism comprises frame, index dial, rotating disk and workpiece locating piece, and index dial is located in frame, and rotating disk is set on index dial, is distributed with a plurality of workpiece locating pieces on rotating disk; Index dial and switch board electrical connection.
When this gantry side hanging mobile robot automatic loading and unloading device is used, its principle is: on first processing stations of machining tool, corresponding material storage mechanism provides workpiece to be processed, robot body drives robot claw assembly gripping workpiece to be processed sending on first processing stations from material storage mechanism, machining tool operation, processes the workpiece on this processing stations; Transmission and Power Component action, driven machine human body and robot claw assembly slide on next processing stations along portal frame assembly, then on this processing stations, repeat the action identical with first processing stations; After workpiece on first processing stations machines, robot body and robot claw assembly are return on this station, from machining tool, unload and complete the workpiece of processing and send the original position on material storage mechanism back to, then the next workpiece to be processed of gripping sending on first processing stations; In said process, on first processing stations and next processing stations, loading and unloading action and workpiece processing action hocket, if processing stations more than 2, between each processing stations, loading and unloading action and workpiece processing action hocket by station sequence; The action of each mechanism has been controlled by the control system in switch board.On same machining tool, if processing stations is 2, can by the first processing stations, first original workpiece be processed into semi-finished product according to actual needs, then by the second processing stations, semi-finished product be processed into finished product.
The utility model, with respect to prior art, has following beneficial effect:
This gantry side hanging mobile robot automatic loading and unloading device coordinates with lathe, adopts gantry side hanging hanging structure, has reduced widely occupation of land space, and place service efficiency is high, and production scene is arranged and provided convenience in order.Lathe is put flexibly, can be side-by-side two-shipper bed, side by side to row's formula four lathes or other special shapes.Easy to maintenance, no matter lathe or device break down, and lathe and device can not become maintenance obstacle separately, maintenance safe and convenient.
This gantry side hanging mobile robot automatic loading and unloading device by arranging portal frame assembly on machining tool, rotatablely moving of robot body is converted into rectilinear motion, and by its motion is controlled automatically, transmits precision high, repetitive positioning accuracy is high, can transmit at a distance.
This gantry side hanging mobile robot automatic loading and unloading device arranges material storage mechanism by correspondence on each processing stations, to coordinate robot body and robot claw assembly, realize automatic loading/unloading, realize high efficiency, intellectuality, flexibility, the accurately loading and unloading of control, be particularly suitable for carrying out loading and unloading for baroque part processing.
According to the Workpiece structure of reality processing, this gantry side hanging mobile robot automatic loading and unloading device can be realized by changing robot hand, jig, the material storage mechanism corresponding with workpiece the loading and unloading of different workpieces processing, applying flexible, widely applicable.
Accompanying drawing explanation
Fig. 1 is the structural representation of Ben Longmen side hanging mobile robot automatic loading and unloading device.
Fig. 2 is the structural representation of portal frame assembly.
Fig. 3 is the structural representation of transmission and Power Component.
Fig. 4 is the structural representation of robot body and switch board.
Fig. 5 is the part structural representation of robot hand group
Fig. 6 is the structural representation of material storage mechanism.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail, but embodiment of the present utility model is not limited to this.
Embodiment
A kind of gantry of the present embodiment side hanging mobile robot automatic loading and unloading device, its structure as shown in Figure 1, comprise portal frame assembly 1, transmission and Power Component 2, robot body 4, robot claw assembly 5, material storage mechanism 7 and switch board 6, machining tool 3 is provided with at least 2 processing stations 3-1, portal frame assembly is horizontally placed on machining tool top, robot body one end is connected with portal frame assembly by transmission and Power Component, the robot body other end arranges robot claw assembly, each processing stations correspondence on machining tool is provided with a material storage mechanism, machining tool, transmission and Power Component, robot body, robot claw assembly and material storage mechanism are electrically connected with switch board respectively.
As shown in Figure 2, portal frame assembly 1 comprises crossbeam 1-1, column 1-2 and fixed base plate 1-3, and crossbeam is horizontally placed on machining tool top, and crossbeam two ends arrange respectively column, and each column bottom is provided with fixed base plate; Crossbeam one side is provided with guide rail tooth bar installing plate 1-5.
Crossbeam and column are respectively square tube; Crossbeam two ends are respectively equipped with upright post connecting plate 1-6, and column top is provided with cross-beam connecting plate 1-7, and cross-beam connecting plate is fixedly connected with upright post connecting plate; Each column bottom is provided with gusset 1-8.Crossbeam and column form portal frame, and are fixed on ground or on lathe base by fixed base plate, and gusset is as making the reinforcement that portal frame is more firm.
As shown in Figure 3, transmission and Power Component 2 comprise guide rail 2-1, tooth bar 2-2, gear 2-3, slide block 2-4, slide plate 2-5, reductor 2-6 and servomotor 2-7, on the guide rail guide rail tooth bar installing plate being installed in portal frame assembly parallel with tooth bar, slide block is located on guide rail, slide plate is fixedly connected with slide block, wheel and rack is connected with a joggle, and the clutch end of servomotor is connected with gear by reductor, servomotor and switch board electrical connection.During use, servomotor rotates by reductor driven wheel, and by the cooperation of gear and tooth bar, slide plate slidably reciprocates along guide rail by slide block, thereby drives robot body and robot hand to be displaced between the different processing stations of machining tool.
Slide plate is provided with travel switch 2-8, travel switch and switch board electrical connection, and crossbeam two ends are respectively equipped with the collision block 2-9 of spacing use.When slide block drives robot body and robot hand to move, by contacting between travel switch and collision block, its sliding scale is limited.
Slide block also can external lubricating system, by lubricating system, to slide block, provides lubricant grease, can effectively guarantee to slide more smoothly between slide block and guide rail.
Robot body is the modified type RB20 Wu Zhou robot of Guangzhou Numerical Control Equipment Co., Ltd; Robot body is fixedly connected with slide plate.The structure of robot body and switch board as shown in Figure 4.
As shown in Figure 5, robot claw assembly 5 comprises paw connecting plate 5-1, paw 5-2 and cylinder 5-3, and paw connecting plate is connected with robot body, and paw connecting plate two ends arrange respectively paw, and each paw is connected with paw connecting plate by cylinder respectively.
Paw is three-pawl type structure, and paw is provided with pressing plate 5-4, and pressing plate is installed on cylinder; Two paws being located at paw connecting plate two ends are respectively material loading paw and blanking paw, and the cylinder being connected with material loading paw is material loading cylinder, and the cylinder being connected with blanking paw is blanking cylinder.
As shown in Figure 6, material storage mechanism 7 comprises frame 7-1, index dial 7-2, rotating disk 7-3 and workpiece locating piece 7-4, and index dial is located in frame, and rotating disk is set on index dial, is distributed with a plurality of workpiece locating pieces on rotating disk; Index dial and switch board electrical connection.
When this gantry side hanging mobile robot automatic loading and unloading device is used, its principle is: on first processing stations of machining tool, corresponding material storage mechanism provides workpiece to be processed, robot body drives robot claw assembly gripping workpiece to be processed sending on first processing stations from material storage mechanism, machining tool operation, processes the workpiece on this processing stations; Transmission and Power Component action, driven machine human body and robot claw assembly slide on next processing stations along portal frame assembly, then on this processing stations, repeat the action identical with first processing stations; After workpiece on first processing stations machines, robot body and robot claw assembly are return on this station, from machining tool, unload and complete the workpiece of processing and send the original position on material storage mechanism back to, then the next workpiece to be processed of gripping sending on first processing stations; In said process, on first processing stations and next processing stations, loading and unloading action and workpiece processing action hocket, if processing stations more than 2, between each processing stations, loading and unloading action and workpiece processing action hocket by station sequence; The action of each mechanism has been controlled by the control system in switch board, the GSK-RC control system that the control system in switch board is Guangzhou Numerical Control Equipment Co., Ltd.
As mentioned above, just can realize preferably the utility model, above-described embodiment is only preferred embodiment of the present utility model, is not used for limiting practical range of the present utility model; Be that all equalizations of doing according to the utility model content change and modify, all by the utility model claim scope required for protection, contained.
Claims (9)
1. gantry side hanging mobile robot automatic loading and unloading device, it is characterized in that, comprise portal frame assembly, transmission and Power Component, robot body, robot claw assembly, material storage mechanism and switch board, machining tool is provided with at least 2 processing stations, portal frame assembly is horizontally placed on machining tool top, robot body one end is connected with portal frame assembly by transmission and Power Component, the robot body other end arranges robot claw assembly, each processing stations correspondence on machining tool is provided with a material storage mechanism, machining tool, transmission and Power Component, robot body, robot claw assembly and material storage mechanism are electrically connected with switch board respectively.
2. a kind of gantry side hanging mobile robot automatic loading and unloading device according to claim 1, it is characterized in that, described portal frame assembly comprises crossbeam, column and fixed base plate, and crossbeam is horizontally placed on machining tool top, crossbeam two ends arrange respectively column, and each column bottom is provided with fixed base plate; Crossbeam one side is provided with guide rail tooth bar installing plate.
3. a kind of gantry side hanging mobile robot automatic loading and unloading device according to claim 2, is characterized in that, described crossbeam and column are respectively square tube; Crossbeam two ends are respectively equipped with upright post connecting plate, and column top is provided with cross-beam connecting plate, and cross-beam connecting plate is fixedly connected with upright post connecting plate; Each column bottom is provided with gusset.
4. a kind of gantry side hanging mobile robot automatic loading and unloading device according to claim 2, it is characterized in that, described transmission and Power Component comprise guide rail, tooth bar, gear, slide block, slide plate, reductor and servomotor, on the guide rail guide rail tooth bar installing plate being installed in portal frame assembly parallel with tooth bar, slide block is located on guide rail, slide plate is fixedly connected with slide block, wheel and rack is connected with a joggle, the clutch end of servomotor is connected with gear by reductor, servomotor and switch board electrical connection.
5. a kind of gantry side hanging mobile robot automatic loading and unloading device according to claim 4, is characterized in that, described slide plate is provided with travel switch, travel switch and switch board electrical connection, and crossbeam two ends are respectively equipped with the collision block of spacing use.
6. a kind of gantry side hanging mobile robot automatic loading and unloading device according to claim 4, is characterized in that, described robot body Shi Wu axle robot; Robot body is fixedly connected with slide plate.
7. a kind of gantry side hanging mobile robot automatic loading and unloading device according to claim 1, it is characterized in that, described robot claw assembly comprises paw connecting plate, paw and cylinder, paw connecting plate is connected with robot body, paw connecting plate two ends arrange respectively paw, and each paw is connected with paw connecting plate by cylinder respectively.
8. a kind of gantry side hanging mobile robot automatic loading and unloading device according to claim 7, is characterized in that, described paw is three-pawl type structure, and paw is provided with pressing plate, and pressing plate is installed on cylinder; Two paws being located at paw connecting plate two ends are respectively material loading paw and blanking paw, and the cylinder being connected with material loading paw is material loading cylinder, and the cylinder being connected with blanking paw is blanking cylinder.
9. a kind of gantry side hanging mobile robot automatic loading and unloading device according to claim 1, it is characterized in that, described material storage mechanism comprises frame, index dial, rotating disk and workpiece locating piece, and index dial is located in frame, rotating disk is set on index dial, on rotating disk, is distributed with a plurality of workpiece locating pieces; Index dial and switch board electrical connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420286916.3U CN203993345U (en) | 2014-05-30 | 2014-05-30 | A kind of gantry side hanging mobile robot automatic loading and unloading device |
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| CN201420286916.3U CN203993345U (en) | 2014-05-30 | 2014-05-30 | A kind of gantry side hanging mobile robot automatic loading and unloading device |
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| CN203993345U true CN203993345U (en) | 2014-12-10 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106270623A (en) * | 2016-09-27 | 2017-01-04 | 东莞汉为智能技术有限公司 | A kind of three axle drilling equipment and control methods thereof |
| CN107932165A (en) * | 2018-01-08 | 2018-04-20 | 东莞市铭航智能科技有限公司 | One drags four manipulators to coordinate bloom CNC automatic loading and unloading systems |
| CN108032130A (en) * | 2018-01-08 | 2018-05-15 | 东莞市铭航智能科技有限公司 | Two drag three manipulators to coordinate bloom CNC automatic loading and unloading systems |
| CN108127470A (en) * | 2018-01-08 | 2018-06-08 | 东莞市铭航智能科技有限公司 | One drag two manipulator coordinates bloom CNC automatic loading and unloading systems |
| CN108788883A (en) * | 2017-05-03 | 2018-11-13 | 施瓦本机床有限公司 | Toolroom machine with modular robot load units |
| CN110497378A (en) * | 2019-09-04 | 2019-11-26 | 上海海事大学 | A kind of automatic loading and unloading robot for part processing |
| CN110683314A (en) * | 2019-08-30 | 2020-01-14 | 上海大学 | Automatic loading and unloading robot unit and method for automatic processing equipment |
| CN111319943A (en) * | 2020-01-22 | 2020-06-23 | 苏州华兴源创科技股份有限公司 | Pipeline anti-collision system, anti-collision method, computer equipment and storage medium |
-
2014
- 2014-05-30 CN CN201420286916.3U patent/CN203993345U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106270623A (en) * | 2016-09-27 | 2017-01-04 | 东莞汉为智能技术有限公司 | A kind of three axle drilling equipment and control methods thereof |
| CN108788883A (en) * | 2017-05-03 | 2018-11-13 | 施瓦本机床有限公司 | Toolroom machine with modular robot load units |
| CN108788883B (en) * | 2017-05-03 | 2022-03-29 | 施瓦本机床有限公司 | Machine tool with modular robot loading unit |
| CN107932165A (en) * | 2018-01-08 | 2018-04-20 | 东莞市铭航智能科技有限公司 | One drags four manipulators to coordinate bloom CNC automatic loading and unloading systems |
| CN108032130A (en) * | 2018-01-08 | 2018-05-15 | 东莞市铭航智能科技有限公司 | Two drag three manipulators to coordinate bloom CNC automatic loading and unloading systems |
| CN108127470A (en) * | 2018-01-08 | 2018-06-08 | 东莞市铭航智能科技有限公司 | One drag two manipulator coordinates bloom CNC automatic loading and unloading systems |
| CN110683314A (en) * | 2019-08-30 | 2020-01-14 | 上海大学 | Automatic loading and unloading robot unit and method for automatic processing equipment |
| CN110497378A (en) * | 2019-09-04 | 2019-11-26 | 上海海事大学 | A kind of automatic loading and unloading robot for part processing |
| CN111319943A (en) * | 2020-01-22 | 2020-06-23 | 苏州华兴源创科技股份有限公司 | Pipeline anti-collision system, anti-collision method, computer equipment and storage medium |
| CN111319943B (en) * | 2020-01-22 | 2022-04-15 | 苏州华兴源创科技股份有限公司 | Pipeline anti-collision system, anti-collision method, computer equipment and storage medium |
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