CN204096643U - The robot manipulator structure of automatic polishing manufacturing line - Google Patents
The robot manipulator structure of automatic polishing manufacturing line Download PDFInfo
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- CN204096643U CN204096643U CN201420550684.8U CN201420550684U CN204096643U CN 204096643 U CN204096643 U CN 204096643U CN 201420550684 U CN201420550684 U CN 201420550684U CN 204096643 U CN204096643 U CN 204096643U
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Abstract
A robot manipulator structure for automatic polishing manufacturing line, belongs to automation polishing facility technology field.Comprise frame, this rack support is on the terrace at the burnishing machine place of automatic polishing manufacturing line; One beam automatic hoisting mechanism, is fixed on the top of frame; Hoisting cross beam, is connected with crossbeam automatic hoisting mechanism; Trave lling girder, is horizontally disposed with and coordinates with hoisting cross beam; One group of workpiece extracts releasing mechanism, is located on trave lling girder; Trave lling girder driver train, to be located on hoisting cross beam and to be in transmission connection with trave lling girder.Without the need to the station dispatch operations personnel for every platform burnishing machine place, human resources can be saved; The dust that can produce in polishing process from burnishing machine and influence of noise; Have good automation effect, the high efficiency polishing that can meet burnishing machine requires and can alleviate the operation intensity of operating personal; Guarantee safety, reduce operating personnel.
Description
Technical field
The utility model belongs to automation polishing facility technology field, be specifically related to a kind of robot manipulator structure of automatic polishing manufacturing line, for polished workpiece to be extracted automatically and in relay mode by the buffer bit transition of polished workpiece from the downward burnishing machine place of the polishing station at last burnishing machine place, until completed the polishing at each position to workpiece by the polishing station at last burnishing machine place.
Background technology
As is known in the industry, polishing can promote the degree of finish of workpiece and product, such as, to glass mold polishing, both can ensure the surface finish of the product (glasswork) that to be shaped by glass mold, and can improve again the flow effect of glass melt in glass mold.And for example to the material used in people's daily life be stainless cooking utensils, the vessel polishing of the pot, basin, cup and so on of dining utensil can obtain glittering and translucent mirror effect beautiful attractive in appearance.
To be finished to example to stainless-steel pan, prior art adopts following two kinds of modes to implement polishing usually, one is arrange one group of similar in by Chinese patent CN102240955B(automatic polishing machine in same rectilinear direction), CN102240956B(automatic polishing machine) and CN102240952B(automatic sander) disclosed burnishing machine, due to one group of burnishing machine polishing buff to arrange angle different, to meet the polishing one by one to multiple positions of stainless-steel pan, thus a complete polishing flow production line is formed by this group burnishing machine, and an operating personal is sent in the polishing station punishment at each burnishing machine place, first by operating personal, the rustless steel container cover die that stainless-steel pan is nested with burnishing machine in back-off mode (is called for short cover die, as follows) on, open burnishing machine again, polishing is implemented by a certain position of burnishing machine to stainless-steel pan, then the stainless-steel pan completing the polishing of a certain position is circulated to the polishing station at next burnishing machine place, by this next burnishing machine place polishing station on operating personal stainless-steel pan is nested with on the cover die of this next burnishing machine, the rest may be inferred and until completed the polishing of all sites to stainless-steel pan by one group of burnishing machine.The quantity of the visible stainless number at polishing position and the quantity of burnishing machine and operating personal is in the relation of following in sb's footsteps; Two is utilize automatic rotary platform (also claim automatic rotary dish) to be arranged at terrace on around the circumferencial direction of automatic rotary platform with space state by one group of burnishing machine, every platform burnishing machine is equipped with an operating personal equally, the stainless-steel pan that previous station completes polishing delivers to the burnishing machine polishing on a rear station by automatic rotary platform, described in the operating process ditto of operating personal.
All there is following technical matters in above-mentioned two polishing modes: one is because rustless steel container stainless-steel pan as the aforementioned needs just can complete polishing to each different parts by one group of burnishing machine, thus dropping into manpower many, is a kind of puzzled in today that human resources are increasingly deficient really; Two is because operating personal is with burnishing machine (industry custom claims " value machine "), again because the noise that the dust that produces in polishing process is comparatively serious and burnishing machine sends when polishing is ear-piercing strange, thus operating personal is subject to the dual harassment of dust and noise, very easily undermines the health of operating personal; Three is due to inefficiency and the labour intensity of operating personal is large, thus produces industrial high efficiency rate and affects; Four be due to operating personal all the time with burnishing machine for accompany, thus once owe careful easily accidents caused.
For above-mentioned prior art, be necessary to be improved, the applicant has done literature search for this reason, the enlightenment of above-mentioned technical matters of expecting to achieve a solution, but is showed no at disclosed China and foreign countries' patent and non-patent literature up to now and allly has corresponding technology to enlighten.
Summary of the invention
Task of the present utility model be to provide a kind of contribute in an automated manner the workpiece being completed polishing by the burnishing machine on last station being extracted and the burnishing machine polishing be transferred on next station and use save valuable human resources, be conducive to abandoning operating personal value machine operation mode and use the dust and noise avoiding producing in the polishing process of burnishing machine on the harassment of operating personal and affect operating personal health, be of value to the efficiency that improves polishing operation and significantly alleviate the labour intensity of operating personal and use to meet industrialization production requirements and have and be convenient to embody safety and the robot manipulator structure of using the automatic polishing manufacturing line of the accident of stopping.
Task of the present utility model has been come like this, and a kind of robot manipulator structure of automatic polishing manufacturing line, comprises a frame, and this frame is supported on the terrace at burnishing machine place of automatic polishing manufacturing line in a state of use; One crossbeam automatic hoisting mechanism, this crossbeam automatic hoisting mechanism is fixed on the top of described frame; One hoisting cross beam, this hoisting cross beam is fixedly connected with described crossbeam automatic hoisting mechanism with horizontality; One trave lling girder, this trave lling girder with horizontality arrange and with described hoisting cross beam bearing fit; One group for extract workpiece and by extracted workpiece discharge workpiece extract releasing mechanism, this group workpiece extract releasing mechanism be arranged on described trave lling girder with space state; One for ordering about the trave lling girder driver train of described trave lling girder horizontal reciprocating movement on described hoisting cross beam, and this trave lling girder driver train to be arranged on hoisting cross beam and to be in transmission connection with trave lling girder.
In a specific embodiment of the present utility model, described frame is made up of frame left column, frame right column and frame crossbeam, the left and right column of frame is corresponding with aspectant state each other and be supported on the terrace at burnishing machine place of automatic polishing manufacturing line in a state of use, the left end of frame crossbeam and the top of left column are fixed, and the right-hand member of frame crossbeam and the top of right column are fixed, described crossbeam automatic hoisting mechanism is fixed on described frame crossbeam, the left end of described hoisting cross beam is provided with a left limit signal picker, and the right-hand member of hoisting cross beam is provided with a right limit signal picker, the left end of described trave lling girder is provided with a left limit signal picker trigger member, and the right-hand member of trave lling girder is provided with a right limit signal picker trigger member, left limit signal picker trigger member is corresponding with left limit signal picker and match, and right limit signal picker trigger member is corresponding with right limit signal picker and match, one group of described workpiece extracts releasing mechanism and is arranged on the side of described trave lling girder back to described hoisting cross beam with space state, described trave lling girder driver train is arranged on the left end of described hoisting cross beam, wherein: described frame, crossbeam automatic hoisting mechanism, hoisting cross beam, trave lling girder, one group of workpiece extracts releasing mechanism, trave lling girder driver train and burnishing machine are closed in a dust control and noise absorption railway carriage or compartment, the right side wall in this dust control and noise absorption railway carriage or compartment offers workpiece feeding mouth, a workpiece outlet is offered on the left side wall in dust control and noise absorption railway carriage or compartment and corresponding to the position of workpiece feeding mouth, the front side wall in dust control and noise absorption railway carriage or compartment offers the window of waxing for waxing to workpiece at the position of polishing station corresponding to described burnishing machine place, and the sweep-up pipe matching hole offered on the rear wall and/or roof in dust control and noise absorption railway carriage or compartment for the dust in the chamber, railway carriage or compartment in dust control and noise absorption railway carriage or compartment is drawn.
In another specific embodiment of the present utility model, described left limit signal picker and right limit signal picker are travel switch, micro-switch, position proximity switch, dry-reed tube or hall sensing element.
In another specific embodiment of the present utility model, described crossbeam automatic hoisting mechanism comprises frame crossbeam adapter plate, bay-lift fixed frame, bay-lift, lifting motor and lifting screw, frame crossbeam adapter plate is fixed on frame crossbeam towards a side position of described hoisting cross beam corresponding to described frame crossbeam, bay-lift fixed frame and frame crossbeam adapter plate are fixed, bay-lift and bay-lift fixed frame are fixed back to the side of frame crossbeam, a upper sealing plate is fixed with horizontality on the top of this bay-lift, this shrouding is also fixed with the top of bay-lift fixed frame, shrouding is fixed with horizontality equally in the bottom of bay-lift and corresponding to the position of upper sealing plate, this lower shrouding is also fixed with the bottom of bay-lift fixed frame, lifting motor is the servomotor with rotating function, this lifting motor is fixed on bay-lift back to the side of bay-lift fixed frame and is positioned at the top of bay-lift, the lifting motor axle of this lifting motor towards under, the upper end of lifting screw is connected with lifting motor shaft drive, and the lower end of lifting screw is bearing on described bay-lift rotationally, described hoisting cross beam and described bay-lift bearing fit, and match with described lifting screw, a trave lling girder translating rails is fixed with towards the bottom of the length direction of the side of described trave lling girder at hoisting cross beam, and be fixed with a translating rails slide block at trave lling girder towards the bottom of the length direction of the side of hoisting cross beam and in the position corresponding to trave lling girder translating rails, this translating rails slide block and trave lling girder translating rails bearing fit.
In another specific embodiment of the present utility model, a pair riser guide is fixed with towards the side of described hoisting cross beam with longitudinally parallel state at described bay-lift, described lifting screw corresponds to this between riser guide, a hoisting cross beam permanent seat is fixed with towards the side of bay-lift in the position corresponding with bay-lift at hoisting cross beam, a pair riser guide slide block is fixed with towards the side of bay-lift and corresponding to the position of a pair riser guide at this hoisting cross beam permanent seat, this is to riser guide slide block and a pair riser guide bearing fit, a nut seat is being fixed with on hoisting cross beam permanent seat and corresponding to the position between a pair riser guide slide block, this nut seat matches with described lifting screw.
Also have in a specific embodiment of the present utility model, the described left side of bay-lift fixed frame or the wall body on right side are fixed with a hoisting cross beam lifting position-limit signal picker and hoisting cross beam descending spacing signal picker, hoisting cross beam descending spacing signal picker corresponds to the below of hoisting cross beam lifting position-limit signal picker, described hoisting cross beam is rising with described hoisting cross beam, the position of descending spacing signal picker is fixed with a signal picker trigger member, when this signal picker trigger member is corresponding with hoisting cross beam lifting position-limit signal picker, described hoisting cross beam stops rising, and when this signal picker trigger member is corresponding with hoisting cross beam descending spacing signal picker, described hoisting cross beam stops declining.
More of the present utility model and in a specific embodiment, described hoisting cross beam lifting position-limit signal picker and hoisting cross beam descending spacing signal picker are travel switch, micro-switch, position proximity switch, dry-reed tube or hall sensing element.
In an of the present utility model and then specific embodiment, on described bay-lift and corresponding to the position between described upper and lower shrouding, be provided with one for covering the lifting screw dust boot protected to described lifting screw, this lifting screw dust boot is flexible corrugated dust boot.
Of the present utility model again more and in a specific embodiment, one group of described workpiece extracts releasing mechanism and respectively comprises sucker vertical columns and sucker, upper end and the described trave lling girder of sucker vertical columns are fixed back to the side of described hoisting cross beam, and the lower end of sucker vertical columns is stretched downwards towards the direction away from trave lling girder, the lower end of sucker and sucker vertical columns is fixed, this sucker has an air-breathing pipe nipple, and this air-breathing pipe nipple is connected with depression generator by aspirate tube.
In an again of the present utility model and then specific embodiment, described trave lling girder driver train comprises mobile motor permanent seat, mobile motor and trave lling girder connecting screw rod, mobile motor permanent seat is fixed in the position of the left end end face corresponding to described hoisting cross beam and hoisting cross beam, mobile motor is the servomotor with rotating function, this mobile motor is fixed on mobile motor permanent seat with horizontally-arranged state, and the mobile motor axle of this mobile motor is towards trave lling girder connecting screw rod, trave lling girder connecting screw rod is the level of state setting, this trave lling girder connecting screw rod to be bearing in rotationally towards one end of mobile motor on trave lling girder connecting screw rod seat and to be connected with described mobile motor shaft drive, connecting screw rod nut is equipped with space state at the length direction of trave lling girder connecting screw rod, connecting screw rod nut corresponds between described hoisting cross beam and trave lling girder and fixes with trave lling girder, a Telescopic dustproof cover is provided with between described mobile motor permanent seat and the left end of described trave lling girder.
One of technique effect of the technical scheme that the utility model provides, by the crossbeam automatic hoisting mechanism be arranged in frame, hoisting cross beam is elevated together with trave lling girder, thus drive one group of workpiece to extract the corresponding lifting of releasing mechanism by trave lling girder, extract releasing mechanism by one group of workpiece to extract workpiece and to discharge, make trave lling girder shift reciprocately by trave lling girder driver train simultaneously, make one group of workpiece extract releasing mechanism and will be completed the burnishing machine polishing of workpiece transfer to next station of polishing by the burnishing machine on last station in relay mode, thus without the need to the station dispatch operations personnel for every platform burnishing machine place, valuable human resources can be saved, two, because operating personal is without the need to directly with burnishing machine, the dust that thus can produce in polishing process from burnishing machine and influence of noise, three, owing to having good automation effect, the high efficiency polishing that thus can meet burnishing machine requires and can alleviate the operation intensity of operating personal, four, due to man-machine isolation can be realized and the polishing station of workpiece is many more also only needs two operators on duty, thus both can guarantee safety, operating personnel can be reduced again ultimate attainmently.
Accompanying drawing explanation
Fig. 1 is the first enforcement illustration of the present utility model.
Fig. 2 is the second enforcement illustration of the present utility model.
Fig. 3 is the detailed structure view of Fig. 2 left side.
Fig. 4 is the detailed structure view of Fig. 2 right-hand part.
Detailed description of the invention
In order to enable the inspector of Patent Office especially the public clearly understand technical spirit of the present utility model and beneficial effect, applicant will elaborate below by way of example, but not all the restriction to the utility model scheme to the description of embodiment, any according to being only pro forma but not substantial equivalent transformation and all should being considered as the technical solution of the utility model category done by the utility model design.
Everyly in the following description relate to upper and lower, left and right, the concept of directivity (or claim directionality) of front and rear is all for the location status residing for the figure be described, object is to facilitate public understanding, thus can not be understood as being particularly limited to the technical scheme that the utility model provides.
Embodiment 1:
Refer to Fig. 1, give a frame 1, burnishing machine 8(Fig. 2 and Fig. 4 that this frame 1 is supported on automatic polishing manufacturing line in a state of use shows) on the terrace at place, as shown in Figure 1, the structure (below also will describe) of whole frame 1 in portal frame.Give a crossbeam automatic hoisting mechanism 2, this crossbeam automatic hoisting mechanism 2 is fixed on the top of aforementioned frame 1 with vertical cantilever state.Give a hoisting cross beam 3 preferably adopting the rectangular or foursquare metal tube of shape of cross section to make, this hoisting cross beam 3 is fixedly connected with crossbeam automatic hoisting mechanism 2 with horizontality.Give a trave lling girder 4, this trave lling girder 4 with horizontality arrange and with aforesaid hoisting cross beam 3 bearing fit.Give one group for extracting workpiece and the workpiece extraction releasing mechanism 5 discharged by extracted workpiece, this group workpiece extracts releasing mechanism 5 and is arranged on aforementioned trave lling girder 4 with space state.Give one for ordering about the trave lling girder driver train 6 of trave lling girder 4 horizontal reciprocating movement on hoisting cross beam 3, this trave lling girder driver train 6 to be arranged on hoisting cross beam 3 and to be in transmission connection with trave lling girder 4.
In the present embodiment, workpiece that is that mentioned above and that also will repeatedly mention below refers to that stainless-steel pan 10(Fig. 2 and Fig. 4 illustrates), but be not limited only to stainless-steel pan 10, such as corrosion-resistant steel steel basin, tank etc.
Aforesaid frame 1 is made up of frame left column 11, frame right column 12 and frame crossbeam 13, and the left and right column of frame 11,12 is corresponding with aspectant state each other and be supported in a state of use on the terrace at burnishing machine 8 place of automatic polishing manufacturing line.Preferred scheme fixes a frame left column adapter plate 111, fix a frame right column adapter plate 121(Fig. 4 to show in the bottom of frame right column 12), the built-in fitting on the left and right column adapter plate 111,121 of frame and terrace is fixed; Fix a frame left column crossbeam supporting plate 112 at the top of frame left column 11, and fix a frame right column crossbeam supporting plate 122 at the top of frame right column 12.Namely the left end of frame crossbeam 13 has the left adapter plate 131 of a crossbeam towards one end solid welding of frame left column 11, and the left adapter plate of this crossbeam 131 adopts left adapter plate screw 1311 to fix with aforesaid frame left column crossbeam supporting plate 112; Namely the right-hand member of frame crossbeam 13 has the right adapter plate 132 of a crossbeam towards one end solid welding of frame right column 12, and the right adapter plate of this crossbeam 132 adopts right adapter plate screw 1321 to fix with aforesaid frame right column crossbeam supporting plate 122.Aforementioned crossbeam automatic hoisting mechanism 2 to be fixed on frame crossbeam 13 and to be positioned at the middle position of the length direction of frame crossbeam 13.As shown in Figure 1, the structure of frame 1 in portal frame be made up of the left and right column 11,12 of frame and frame crossbeam 13, or claim the shape in portal frame.
The left end of aforesaid hoisting cross beam 3 is provided with a left limit signal picker 31, and the right-hand member of hoisting cross beam 3 is provided with a right limit signal picker 32; The left end of aforesaid trave lling girder 4 is provided with a left limit signal picker trigger member 41, and the right-hand member of trave lling girder 4 is provided with a right limit signal picker trigger member 42, left limit signal picker trigger member 41 is corresponding with left limit signal picker 31 and match, and right limit signal picker trigger member 42 is corresponding with right limit signal picker 32 and match; Aforesaid one group of workpiece extracts releasing mechanism 5 and is arranged on the side of trave lling girder 4 back to aforementioned hoisting cross beam 3 with space state; Aforementioned trave lling girder driver train 6 is arranged on the left end of described hoisting cross beam 3.
For the location status shown in Fig. 1, when trave lling girder 4 is moved to the left and when the left limit signal picker trigger member 41 on it is corresponding with the left limit signal picker 31 on hoisting cross beam 3, so collect signal by left limit signal picker 31 and by signal feedback to electric control box, instruction is sent by electric control box, the trave lling girder driver train 6 also will described in detail below making quits work, and namely trave lling girder 4 is no longer to left dislocation; When trave lling girder 4 moves right and when the right limit signal picker trigger member 42 on it is corresponding with the right limit signal picker 32 on hoisting cross beam 3, so collect signal by right limit signal picker 32, as aforementioned, trave lling girder 4 displacement no longer to the right.
In order to embody Environment protection and safety, aforementioned frame 1, crossbeam automatic hoisting mechanism 2, hoisting cross beam 3, trave lling girder 4, one group of workpiece extracts releasing mechanism 5, trave lling girder driver train 6 and burnishing machine 8 are closed in a dust control and noise absorption railway carriage or compartment 7, the right side wall in this dust control and noise absorption railway carriage or compartment 7 offers workpiece feeding mouth 71, a workpiece outlet 72 is offered on the left side wall in dust control and noise absorption railway carriage or compartment 7 and corresponding to the position of workpiece feeding mouth 71, the front side wall in dust control and noise absorption railway carriage or compartment 7 offers the window 73 of waxing for waxing to workpiece at the position of polishing station corresponding to described burnishing machine 8 place, and the sweep-up pipe matching hole 74 offered on the rear wall in dust control and noise absorption railway carriage or compartment 7 for the dust in the chamber, railway carriage or compartment in dust control and noise absorption railway carriage or compartment 7 is drawn.Aforesaid workpiece feeding mouth 71, workpiece outlet 72, window 73 of waxing, sweep-up pipe matching hole 74 and burnishing machine 8 are illustrated by Fig. 2.In addition, if also offer sweep-up pipe matching hole 74 or only offer sweep-up pipe matching hole 74 on the roof in dust control and noise absorption railway carriage or compartment 7 on the roof in dust control and noise absorption railway carriage or compartment 7, so should be considered as belonging to technology contents category disclosed in the utility model.In addition, why applicant claims dust control and noise absorption railway carriage or compartment 7, is because it has the structural principle of vehicle as the compartment of train.Aforesaid left and right limit signal collector trigger member 41,42 is in fact a contact (also can claim to ram), is more particularly the parts for obtaining signal for left and right limit signal collector 31,32.In the present embodiment, left and right limit signal collector 31,32 is travel switch, micro-switch, position proximity switch, dry-reed tube and even hall sensing element.
Aforesaid crossbeam automatic hoisting mechanism 2 preferably but not the structure be definitely limited to is as follows: comprise frame crossbeam adapter plate 21, bay-lift fixed frame 22, bay-lift 23, lifting motor 24 and lifting screw 25, frame crossbeam adapter plate 21 preferably adopts welding manner to be fixed on frame crossbeam 13 towards a side position of aforementioned hoisting cross beam 3 corresponding to aforementioned frame crossbeam 13, bay-lift fixed frame 22 is preferred equally to be fixed with welding manner and frame crossbeam adapter plate 21, bay-lift 23 adopts bay-lift fix screw 235 and bay-lift fixed frame 22 to fix back to the side of frame crossbeam 13, a upper sealing plate 231 is fixed with horizontality on the top of this bay-lift 23, this shrouding 231 is also fixed with the top of bay-lift fixed frame 22, shrouding 232 is fixed with horizontality equally in the position of below corresponding to upper sealing plate 231 in the bottom of bay-lift 23, this lower shrouding 232 is also fixed with the bottom of bay-lift fixed frame 22, lifting motor 24 is for having the servomotor of rotating function, this lifting motor 24 is fixed on motor cabinet 242, and motor cabinet 242 is fixed on bay-lift 23 back to the side of bay-lift fixed frame 22 is positioned at the middle position on the top of bay-lift 23, the lifting motor axle 241 of this lifting motor 24 towards under, the upper end of lifting screw 25 is bearing on lifting screw seat 251 rotationally, and lifting screw seat 251 is fixed on aforesaid motor cabinet 242, shown in figure, the upper end of lifting screw 25 leans out motor cabinet 242 and is in transmission connection with coupler 252 and lifting motor axle 241, and the lower end of lifting screw 25 is bearing on lifting screw supporting base 253 rotationally, this lifting screw supporting base 253 is fixed on the bottom of bay-lift 23.Aforementioned hoisting cross beam 3 and bay-lift 23 bearing fit, and coordinate with the transmission of aforementioned lifting screw 25, a trave lling girder translating rails 34 is fixed with towards the bottom of the length direction of the side of aforementioned trave lling girder 4 at hoisting cross beam 3, and be fixed with a translating rails slide block 43 at trave lling girder 4 towards the bottom of the length direction of the side of hoisting cross beam 3 and in the position corresponding to trave lling girder translating rails 34, this translating rails slide block 43 and trave lling girder translating rails 34 bearing fit.
Be fixed with a pair riser guide 233 with longitudinally parallel state by riser guide fix screw 2331 towards the side of hoisting cross beam 3 at aforesaid bay-lift 23, aforesaid lifting screw 25 corresponds to this between riser guide 233.At hoisting cross beam 3 towards the side of bay-lift 23 and in the position corresponding with bay-lift 23 to weld or to be fixed with a hoisting cross beam permanent seat 33 in the mode that fastener is fixing, adopt slide block fix screw 3311 to be fixed with a pair riser guide slide block 331 towards the side of bay-lift 23 in the position corresponding to a pair riser guide 233 at this hoisting cross beam permanent seat 33, this is to riser guide slide block 331 and a pair riser guide 233 bearing fit.On hoisting cross beam permanent seat 33 and corresponding to the position between a pair riser guide slide block 331, adopt nut seat fix screw 3321 being fixed with a nut seat 332, this nut seat 332 matches with aforesaid lifting screw 25.
When the lifting motor 24 with rotating function works, lifting screw 25 is driven to rotate by lifting motor axle 241, because hoisting cross beam 3 is matched with lifting screw 25 by the screw rod mating holes 3322 on the nut seat 332 on lifting screw permanent seat 33, and due to a pair riser guide slide block 331 on hoisting cross beam permanent seat 33 and a pair riser guide 233 bearing fit, thus just drive hoisting cross beam permanent seat 33 by nut seat 332 when lifting screw 25 rotates, drive hoisting cross beam 3 to be elevated by hoisting cross beam permanent seat 33.As aforementioned, because lifting motor 24 has rotating function, thus lifting screw 25 can make cw or left-hand revolution, and hoisting cross beam 3 just can rise or decline.Be arranged on hoisting cross beam 3 slidably because trave lling girder 4 extracts releasing mechanism 5 together with one group of workpiece again, and trave lling girder drive motor 6 is arranged on hoisting cross beam 3 equally, the one group of workpiece be located on trave lling girder 4 extracts releasing mechanism 6 therefore to drive trave lling girder 4(to comprise by the lifting of hoisting cross beam 3) and the corresponding lifting of trave lling girder driver train 6.
Please continue to refer to Fig. 1, on the wall body on the right side of aforesaid bay-lift fixed frame 22, (on the wall body on the left of also can being) is fixed with a hoisting cross beam lifting position-limit signal picker 221 and hoisting cross beam descending spacing signal picker 222, hoisting cross beam descending spacing signal picker 222 corresponds to the below of hoisting cross beam lifting position-limit signal picker 221, hoisting cross beam 3 is rising with aforementioned hoisting cross beam, descending spacing signal picker 221, the position of 222 is fixed with a signal picker trigger member 35, when this signal picker trigger member 35 is corresponding with hoisting cross beam lifting position-limit signal picker 221, so, aforementioned hoisting cross beam 3 stops rising, and when this signal picker trigger member 35 is corresponding with hoisting cross beam descending spacing signal picker 222, so, aforementioned hoisting cross beam 3 stops declining.
In the present embodiment, aforesaid hoisting cross beam lifting position-limit signal picker 221 and hoisting cross beam descending spacing signal picker 222 are travel switch, but also can use micro-switch, position proximity switch, dry-reed tube or hall sensing element; Aforesaid signal picker trigger member 35 is as the description to left and right limit signal collector trigger member 41,42.
On aforesaid bay-lift 23 and corresponding to the position between aforementioned upper and lower shrouding 231,232, be provided with one for covering the lifting screw dust boot 234 protected to aforementioned lifting screw 25, this lifting screw dust boot 234 is the corrugated dust boot that can stretch.
Aforesaid one group of workpiece extracts releasing mechanism 5 and respectively comprises sucker vertical columns 51 and sucker 52, the upper end of sucker vertical columns 51 adopts sucker column fix screw 511 to fix back to the side of aforementioned hoisting cross beam 3 with trave lling girder 4, and the lower end of sucker vertical columns 51 is stretched downwards towards the direction away from trave lling girder 4, sucker 52 is fixed with the lower end of sucker vertical columns 51, this sucker 52 has an air-breathing pipe nipple 521, this air-breathing pipe nipple 521 is connected with depression generator by aspirate tube, and negative pressure device is as vacuum pump, negative-pressure air fan or similar device.
Aforesaid trave lling girder driver train 6 preferably but not the structure be definitely limited to is as follows: comprise mobile motor permanent seat 61, mobile motor 62 and trave lling girder connecting screw rod 63, mobile motor permanent seat 61 is fixed in the position of the left end end face corresponding to hoisting cross beam 3 and hoisting cross beam 3, mobile motor 62 is for having the servomotor of rotating function, this mobile motor 62 is fixed on mobile motor permanent seat 61 with horizontally-arranged state, and the mobile motor axle 621 of this mobile motor 62 is towards trave lling girder connecting screw rod 63, trave lling girder connecting screw rod 63 is the level of state setting, this trave lling girder connecting screw rod 63 to be bearing in rotationally towards one end of mobile motor 62 on trave lling girder connecting screw rod seat 631 and to be in transmission connection with mobile motor axle 621, connecting screw rod nut 632 is provided with so that space state is supporting at the length direction of trave lling girder connecting screw rod 63, connecting screw rod nut 632 to correspond between hoisting cross beam 3 and trave lling girder 4 and with screw and trave lling girder 4 fixing, the Telescopic dustproof cover 64 of a corrugated is provided with between aforementioned mobile motor permanent seat 61 and the left end of trave lling girder 4.
Preferably, also the afterbody of aforementioned mobile motor 62 can be leant out outside aforesaid dust control and noise absorption railway carriage or compartment 7.
Embodiment 2:
Refer to Fig. 2 to Fig. 4, Fig. 2 is in fact the expansion of Fig. 1, because when the polishing station of the stainless-steel pan 10 exemplified above to workpiece being is many, such as polishing station is five or more times, so the distance between left and right for frame column 11,12 is amplified, the length of frame crossbeam 13 increases (lengthening), and the length in dust control and noise absorption railway carriage or compartment 7 also does comformability prolongation, and the quantity of the burnishing machine 8 of outfit also increases simultaneously.In view of this situation, in the present embodiment 2, by the crossbeam automatic hoisting mechanism 2 of embodiment 1, hoisting cross beam 3, trave lling girder 4, one group of workpiece extracts releasing mechanism 5 and trave lling girder driver train 6 doubles, namely two covers are had, for trave lling girder 4, connected by expansion fixed connecting plate 44 between two trave lling girders 4.Specifically, the structure of Fig. 1 is positioned at the left side of Fig. 2, add and a set of mechanism identical with Fig. 1 is positioned at the right-hand part of Fig. 2, be the structure of Fig. 1 shown in Fig. 3, shown in Fig. 4, be a set of mechanism of increase.The motion of Liang Tao mechanism is synchronous, and such as hoisting cross beam 3 one liters all rises, and one falls and all falls, and when shifting chute 4 moves, moves right left or together together.According to professional general knowledge, when trave lling girder 4 will be made to left dislocation, the sense of motion of two mobile motors 62 of the left and right half portion in Fig. 3 and Fig. 4 is contrary, and when making trave lling girder 4 displacement to the right, the sense of motion of two mobile motors 62 of the left and right half portion in Fig. 3 and Fig. 4 is contrary too.
In fig. 2, show the feed mechanism 9 at the position being positioned at workpiece feeding mouth 71, and showing seven polishing stations, corresponding burnishing machine 8 has seven, and window 73 of waxing accordingly has seven, and workpiece extracts releasing mechanism 5 seven.Certainly, quantity said here is not absolute, can according to needing increase and decrease.Because burnishing machine 8 belongs to known technology, such as can see above mentioned Chinese patent CN103240955B, CN102240956B, CN102240952B, etc., thus applicant repeats no more.
Known by above-mentioned explanation, no matter polishing station is many again, as long as usually can be met by two operating personals, wherein operating personal is in the position of workpiece feeding mouth 71, the stainless-steel pan 10 awaiting polishing is placed on feed mechanism 9, and another operating personal is in the position of workpiece outlet 72, by the stainless-steel pan 10 completing polishing from the cover die 81 of the burnishing machine 8 in end get from, and any operating personal in two operating personals also can be held a concurrent post and be waxed (purple wax) to stainless-steel pan 10 simultaneously, specifically wax by means of window 73 pairs of stainless-steel pans of waxing.All the other are all with the description to embodiment 1.
Applicant is for Fig. 2 and composition graphs 1 describes working process of the present utility model, first worked by the mobile motor 62 of trave lling girder driver train 6, trave lling girder connecting screw rod 63 is moved, trave lling girder 4 is driven to move right (by the bearing fit of translating rails slide block 43 with trave lling girder translating rails 34) by trave lling girder connecting screw rod 63, until make right limit signal picker trigger member 42 correspond to right limit signal picker 32, mobile motor 62 break-off, now, a workpiece of the rightmost side in one group of workpiece extraction releasing mechanism 5 extracts the position that releasing mechanism is in the top corresponding to aforementioned feed mechanism 9.Then crossbeam automatic hoisting mechanism 2 works, by applicant above to the description of this mechanism, until when signal picker trigger member 35 is corresponding with hoisting cross beam descending spacing signal picker 222, and lifting motor 24 break-off of crossbeam automatic hoisting mechanism 2.Now, the sucker 52 of a workpiece extraction releasing mechanism of the rightmost side in one group of workpiece extraction releasing mechanism 5 is in the state being tending towards with the stainless-steel pan 10 awaiting polishing on feed mechanism 9 contacting, and then, under the work of negative pressure device vacuum pump as the aforementioned or negative-pressure air fan, sucker 52 is made to produce negative pressure, by sucker 52, the stainless-steel pan 10 on feed mechanism 9 is held, meanwhile, remaining workpiece that one group of workpiece extracts releasing mechanism 5 extract releasing mechanism also move to right simultaneously a station and the stainless-steel pan 10(on corresponding cover die 81 is completed to the stainless-steel pan 10 of last station polishing) hold.Then aforesaid lifting motor 24 reverse operation, make hoisting cross beam 3 up, until when signal picker trigger member 35 is corresponding with hoisting cross beam lifting position-limit signal picker 221, lifting motor 24 just quits work, now mobile motor 62 reverse operation, make trave lling girder 4 to the distance of a left dislocation station, until mobile motor 62 quits work when stainless-steel pan 10 corresponds to the position of the top of cover die 81.Again then, lifting motor 24 works, make hoisting cross beam 3 descending, now aforesaid negative pressure device quits work, the stainless-steel pan 10 previously held by sucker 52 is made to be nested with on cover die 81, in this process, one group of workpiece extracts releasing mechanism 5 all to left dislocation station, is that is moved left on the cover die 81 of an adjacent burnishing machine 8 by stainless-steel pan 10 in relay mode.Repeat aforementioned process and stainless-steel pan 10 be transferred to embodying automatic high-efficiency rate the station at next burnishing machine 8 place from the station at last burnishing machine 8 place, until by the operating personal in workpiece outlet 72 on duty get from.
Claims (10)
1.
a robot manipulator structure for automatic polishing manufacturing line, it is characterized in that comprising a frame (1), this frame (1) is supported on the terrace at burnishing machine place of automatic polishing manufacturing line in a state of use; One crossbeam automatic hoisting mechanism (2), this crossbeam automatic hoisting mechanism (2) is fixed on the top of described frame (1); One hoisting cross beam (3), this hoisting cross beam (3) is fixedly connected with described crossbeam automatic hoisting mechanism (2) with horizontality; One trave lling girder (4), this trave lling girder (4) with horizontality arrange and with described hoisting cross beam (3) bearing fit; One group for extract workpiece and by extracted workpiece discharge workpiece extract releasing mechanism (5), this group workpiece extract releasing mechanism (5) be arranged on described trave lling girder (4) with space state; One for ordering about the trave lling girder driver train (6) of described trave lling girder (4) horizontal reciprocating movement on described hoisting cross beam (3), and this trave lling girder driver train (6) is arranged on hoisting cross beam (3) and goes up and be in transmission connection with trave lling girder (4).
2.
the robot manipulator structure of automatic polishing manufacturing line according to claim 1, it is characterized in that described frame (1) is made up of frame left column (11), frame right column (12) and frame crossbeam (13), the left and right column of frame (11,12) is corresponding with aspectant state each other and be supported on the terrace at burnishing machine place of automatic polishing manufacturing line in a state of use, the left end of frame crossbeam (13) and the top of left column (11) are fixed, and the top of the right-hand member of frame crossbeam (13) and right column (12) is fixed, described crossbeam automatic hoisting mechanism (2) is fixed on described frame crossbeam (13), the left end of described hoisting cross beam (3) is provided with a left limit signal picker (31), and the right-hand member of hoisting cross beam (3) is provided with a right limit signal picker (32), the left end of described trave lling girder (4) is provided with a left limit signal picker trigger member (41), and the right-hand member of trave lling girder (4) is provided with a right limit signal picker trigger member (42), left limit signal picker trigger member (41) is corresponding with left limit signal picker (31) and match, and right limit signal picker trigger member (42) is corresponding with right limit signal picker (32) and match, one group of described workpiece extracts releasing mechanism (5) and is arranged on the side of described trave lling girder (4) back to described hoisting cross beam (3) with space state, described trave lling girder driver train (6) is arranged on the left end of described hoisting cross beam (3), wherein: described frame (1), crossbeam automatic hoisting mechanism (2), hoisting cross beam (3), trave lling girder (4), one group of workpiece extracts releasing mechanism (5), trave lling girder driver train (6) and burnishing machine are closed in a dust control and noise absorption railway carriage or compartment (7), the right side wall in this dust control and noise absorption railway carriage or compartment (7) offers workpiece feeding mouth (71), a workpiece outlet (72) is offered on the left side wall of dust control and noise absorption railway carriage or compartment (7) and corresponding to the position of workpiece feeding mouth (71), the front side wall of dust control and noise absorption railway carriage or compartment (7) offers the window of waxing (73) for waxing to workpiece at the position of polishing station corresponding to described burnishing machine place, and the sweep-up pipe matching hole (74) offered on the rear wall and/or roof of dust control and noise absorption railway carriage or compartment (7) for the dust in the chamber, railway carriage or compartment of dust control and noise absorption railway carriage or compartment (7) is drawn.
3.
the robot manipulator structure of automatic polishing manufacturing line according to claim 2, is characterized in that described left limit signal picker (31) and right limit signal picker (32) are travel switch, micro-switch, position proximity switch, dry-reed tube or hall sensing element.
4.
the robot manipulator structure of automatic polishing manufacturing line according to claim 2, it is characterized in that described crossbeam automatic hoisting mechanism (2) comprises frame crossbeam adapter plate (21), bay-lift fixed frame (22), bay-lift (23), lifting motor (24) and lifting screw (25), frame crossbeam adapter plate (21) is fixed on frame crossbeam (13) towards a side position of described hoisting cross beam (3) corresponding to described frame crossbeam (13), bay-lift fixed frame (22) is fixed with frame crossbeam adapter plate (21), bay-lift (23) and bay-lift fixed frame (22) are fixed back to the side of frame crossbeam (13), a upper sealing plate (231) is fixed with horizontality on the top of this bay-lift (23), this shrouding (231) is also fixed with the top of bay-lift fixed frame (22), shrouding (232) is fixed with horizontality equally in the bottom of bay-lift (23) and corresponding to the position of upper sealing plate (231), this lower shrouding (232) is also fixed with the bottom of bay-lift fixed frame (22), lifting motor (24) is for having the servomotor of rotating function, this lifting motor (24) is fixed on bay-lift (23) back to the side of bay-lift fixed frame (22) and is positioned at the top of bay-lift (23), the lifting motor axle (241) of this lifting motor (24) towards under, upper end and the lifting motor axle (241) of lifting screw (25) are in transmission connection, and the lower end of lifting screw (25) is bearing on described bay-lift (23) rotationally, described hoisting cross beam (3) and described bay-lift (23) bearing fit, and match with described lifting screw (25), a trave lling girder translating rails (34) is fixed with towards the bottom of the length direction of the side of described trave lling girder (4) at hoisting cross beam (3), and be fixed with a translating rails slide block (43) at trave lling girder (4) towards the bottom of the length direction of the side of hoisting cross beam (3) and in the position corresponding to trave lling girder translating rails (34), this translating rails slide block (43) and trave lling girder translating rails (34) bearing fit.
5.
the robot manipulator structure of automatic polishing manufacturing line according to claim 4, it is characterized in that being fixed with a pair riser guide (233) towards the side of described hoisting cross beam (3) with longitudinally parallel state at described bay-lift (23), described lifting screw (25) corresponding to this between riser guide (233), a hoisting cross beam permanent seat (33) is fixed with towards the side of bay-lift (23) in the position corresponding with bay-lift (23) at hoisting cross beam (3), a pair riser guide slide block (331) is fixed with towards the side of bay-lift (23) and corresponding to the position of a pair riser guide (233) at this hoisting cross beam permanent seat (33), this is to riser guide slide block (331) and a pair riser guide (233) bearing fit, go up at hoisting cross beam permanent seat (33) and be fixed with a nut seat (332) corresponding to the position between a pair riser guide slide block (331), this nut seat (332) matches with described lifting screw (25).
6.
the robot manipulator structure of automatic polishing manufacturing line according to claim 4, it is characterized in that being fixed with a hoisting cross beam lifting position-limit signal picker (221) and hoisting cross beam descending spacing signal picker (222) on the described left side of bay-lift fixed frame (22) or the wall body on right side, hoisting cross beam descending spacing signal picker (222) is corresponding to the below of hoisting cross beam lifting position-limit signal picker (221), go up at described hoisting cross beam (3) and rising with described hoisting cross beam, descending spacing signal picker (221,222) position is fixed with a signal picker trigger member (35), when this signal picker trigger member (35) is corresponding with hoisting cross beam lifting position-limit signal picker (221), described hoisting cross beam (3) stops rising, and when this signal picker trigger member (35) is corresponding with hoisting cross beam descending spacing signal picker (222), described hoisting cross beam (3) stops declining.
7.
the robot manipulator structure of automatic polishing manufacturing line according to claim 6, is characterized in that described hoisting cross beam lifting position-limit signal picker (221) and hoisting cross beam descending spacing signal picker (222) are travel switch, micro-switch, position proximity switch, dry-reed tube or hall sensing element.
8.
the robot manipulator structure of automatic polishing manufacturing line according to claim 4, it is characterized in that going up at described bay-lift (23) and being provided with one for covering the lifting screw dust boot (234) protected to described lifting screw (25) corresponding to the position between described upper and lower shrouding (231,232), this lifting screw dust boot (234) is flexible corrugated dust boot.
9.
the robot manipulator structure of automatic polishing manufacturing line according to claim 2, it is characterized in that one group of described workpiece extracts releasing mechanism (5) and respectively comprises sucker vertical columns (51) and sucker (52), upper end and the described trave lling girder (4) of sucker vertical columns (51) are fixed back to the side of described hoisting cross beam (3), and the lower end of sucker vertical columns (51) is stretched downwards towards the direction away from trave lling girder (4), sucker (52) is fixed with the lower end of sucker vertical columns (51), this sucker (52) has an air-breathing pipe nipple (521), this air-breathing pipe nipple (521) is connected with depression generator by aspirate tube.
10.
the robot manipulator structure of automatic polishing manufacturing line according to claim 2, it is characterized in that described trave lling girder driver train (6) comprises mobile motor permanent seat (61), mobile motor (62) and trave lling girder connecting screw rod (63), mobile motor permanent seat (61) is fixed in the position of the left end end face corresponding to described hoisting cross beam (3) and hoisting cross beam (3), mobile motor (62) is for having the servomotor of rotating function, this mobile motor (62) is fixed on mobile motor permanent seat (61) with horizontally-arranged state, and the mobile motor axle (621) of this mobile motor (62) is towards trave lling girder connecting screw rod (63), trave lling girder connecting screw rod (63) is the level of state setting, this trave lling girder connecting screw rod (63) is bearing in trave lling girder connecting screw rod seat (631) rotationally towards one end of mobile motor (62) upper and be in transmission connection with described mobile motor axle (621), connecting screw rod nut (632) is equipped with space state at the length direction of trave lling girder connecting screw rod (63), connecting screw rod nut (632) corresponding between described hoisting cross beam (3) and trave lling girder (4) and with trave lling girder (4) fix, a Telescopic dustproof cover (64) is provided with between described mobile motor permanent seat (61) and the left end of described trave lling girder (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420550684.8U CN204096643U (en) | 2014-09-24 | 2014-09-24 | The robot manipulator structure of automatic polishing manufacturing line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420550684.8U CN204096643U (en) | 2014-09-24 | 2014-09-24 | The robot manipulator structure of automatic polishing manufacturing line |
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| CN204096643U true CN204096643U (en) | 2015-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420550684.8U Withdrawn - After Issue CN204096643U (en) | 2014-09-24 | 2014-09-24 | The robot manipulator structure of automatic polishing manufacturing line |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104261130A (en) * | 2014-09-24 | 2015-01-07 | 常熟市隆成无纺机械有限公司 | Manipulator structure for automatic polishing production line |
| CN104959903A (en) * | 2015-07-16 | 2015-10-07 | 孟如苗 | Plate polishing and waxing device |
-
2014
- 2014-09-24 CN CN201420550684.8U patent/CN204096643U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104261130A (en) * | 2014-09-24 | 2015-01-07 | 常熟市隆成无纺机械有限公司 | Manipulator structure for automatic polishing production line |
| CN104959903A (en) * | 2015-07-16 | 2015-10-07 | 孟如苗 | Plate polishing and waxing device |
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