CN205951571U - A material loading and unloading device - Google Patents
A material loading and unloading device Download PDFInfo
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- CN205951571U CN205951571U CN201620686945.8U CN201620686945U CN205951571U CN 205951571 U CN205951571 U CN 205951571U CN 201620686945 U CN201620686945 U CN 201620686945U CN 205951571 U CN205951571 U CN 205951571U
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Abstract
The application discloses a material loading and unloading device including X axle moving mechanism, Y axle moving mechanism and Z axle moving mechanism, still includes: the first mechanism of picking up, it includes first manipulator, installs on Y axle moving mechanism, the first manipulator of Y axle moving mechanism drive removes along Y axle direction, the unloading of processing bench is given to X axle moving mechanism, Y axle moving mechanism and the first manipulator of Z axle moving mechanism drive, and the second picks up the mechanism, and it includes supplementary subassembly, rotating assembly and the second manipulator of removing of Z axle, the supplementary unit mount that removes of Z axle on Z axle moving mechanism, rotating assembly install the Z axle is supplementary remove the subassembly on, the second manipulator is installed on rotating assembly, the supplementary subassembly that removes of Z axle drives rotating assembly and second manipulator along Z axle direction removal, and rotating assembly robot arm is rotatory, supplementary removal subassembly of Z axle and rotating assembly drive second manipulator are for unloading on the first manipulator. The overall structure of this device is little to has the higher precision of picking up.
Description
Technical field
The application is related to digit control machine Tool processing technique field and in particular to a kind of handling equipment.
Background technology
The processing work platform of the engraving machine of prior art is provided with locating piece, and locating piece is used for being accurately positioned work piece
Specified location on workbench, but locating piece is arranged on workbench, and locating piece accounts for certain space, leads to workbench to place quilt
The limited space of workpiece, and for having the engraving machine of multiple workbench, each workbench must be provided with locating piece and enters
Row positioning, not only makes device on workbench many, and reduces working (machining) efficiency.And the loading and unloading dress of engraving machine in prior art
The guide rail putting feed direction is very long so that whole handling equipment need to take a lot of spaces.
Content of the invention
The application provides a kind of handling equipment little, that loading efficiency is high that takes up room.
A kind of handling equipment is provided, including X-axis travel mechanism, Y-axis moving mechanism and Z axis moving machine in a kind of embodiment
Structure, Z axis travel mechanism is arranged in X-axis travel mechanism, and Y-axis moving mechanism is arranged in Z axis travel mechanism, X-axis travel mechanism
Z axis travel mechanism and Y-axis moving mechanism is driven to move along the x-axis, Z axis travel mechanism drives Y-axis moving mechanism to move along Z-direction
Dynamic, also include：
First mechanism for picking, it includes the first mechanical hand, and the first mechanical hand is arranged in Y-axis moving mechanism, Y-axis moving machine
Structure drives the first mechanical hand to move along Y direction；X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism drive the first machine
Tool handss are to machine table loading and unloading；
And second mechanism for picking, it includes Z axis auxiliary moving assembly, rotary components and the second mechanical hand, and Z axis auxiliary is moved
Dynamic assembly is arranged in Z axis travel mechanism, and rotary components are arranged on Z axis auxiliary moving assembly, and the second mechanical hand is arranged on rotation
Turn on assembly；Z axis travel mechanism drives Z axis auxiliary moving assembly, rotary components and the second mechanical hand to move along Z-direction, Z axis
Auxiliary moving assembly drives rotary components and the second mechanical hand to move along Z-direction, and rotary components drive mechanical hand rotation；Z axis
Auxiliary moving assembly and rotary components drive the second mechanical hand to the first mechanical hand loading and unloading.
Further, positioning component includes locating support, locating piece and positioning cylinder, and locating support is arranged on Y-axis and moves
In mechanism, positioning cylinder is arranged on the upper surface of locating support, and the outfan of positioning cylinder is connected with the first mechanical hand, positioning
Frame is provided with the slotted eye for avoiding the first mechanical hand, and the pickup end face of the first mechanical hand is down-set, and picks up end and pass through
The slotted eye of locating support protrudes from the lower surface of locating support；Locating piece has two, and two locating pieces are installed mutual vertically
In the lower surface of locating support, the output shaft of positioning cylinder becomes to preset angle setting with locating piece.
Further, positioning component also includes positioning guide rail and positioning sliding block, and positioning guide rail is arranged on locating support, fixed
Position slide block be slidably mounted on positioning guide rail, the first mechanical hand is arranged on positioning sliding block, the output shaft of positioning cylinder with
Positioning guide rail is parallel；The angular bisector that positioning guide rail forms right angle with two locating pieces is parallel, or positioning guide rail is located at two
Locating piece is formed on the angular bisector at right angle.
Further, the first mechanism for picking also includes Y-axis auxiliary moving assembly, and Y-axis auxiliary moving assembly is arranged on Y-axis and moves
On motivation structure, locating support is arranged on Y-axis auxiliary moving assembly；Y-axis moving mechanism drives Y-axis auxiliary moving assembly, positioning
Assembly and the first mechanical hand move along Y direction, and Y-axis auxiliary moving assembly drives positioning component and the first mechanical hand along Y-axis side
To movement.
Further, Y-axis auxiliary moving assembly includes Y-axis auxiliary stand, Y-axis assistant cylinder, Y-axis auxiliary guide rail and Y-axis
Auxiliary slider, Y-axis auxiliary stand is arranged in Y-axis moving mechanism, and Y-axis assistant cylinder and Y-axis auxiliary slider are fixedly mounted on Y-axis
On auxiliary stand, Y-axis auxiliary guide rail is arranged on Y-axis auxiliary slider, and locating support is arranged in Y-axis auxiliary guide rail, and Y-axis assists
The outfan of cylinder is fixedly connected with locating support, the output shaft of Y-axis assistant cylinder and Y-axis auxiliary guide rail all with along Y direction
Setting.
Further, Z axis auxiliary moving assembly includes Z axis auxiliary stand, Z axis assistant cylinder, Z axis auxiliary guide rail and Z axis
Auxiliary slider, Z axis auxiliary stand is arranged in Z axis travel mechanism, and Z axis assistant cylinder and Z axis auxiliary slider are fixedly mounted on Z axis
On auxiliary stand, Z axis auxiliary guide rail is arranged on Z axis auxiliary slider, and rotary components are arranged in Z axis auxiliary guide rail, and Z axis assist
The output shaft of cylinder is fixedly connected with rotary components, and the output shaft of Z axis assistant cylinder is arranged along Z-direction with Z axis auxiliary guide rail.
Further, rotary components include runing rest, rotary cylinder and swing arm, and runing rest is fixed on Z axis auxiliary and leads
On rail, Z axis assistant cylinder is fixedly connected with runing rest, and rotary cylinder is fixed on runing rest, and swing arm is vertically fixed on rotation
On the rotating output shaft of rotaring cylinder, the second mechanical hand is fixed in swing arm；Rotary cylinder drives the second mechanical hand to ratate 90 degrees, and makes
Obtain the second mechanical hand to replace between horizontal level and vertical position, when the second mechanical hand rotates to horizontal level, the second machinery
Fitted with the pickup end face opposite of the first mechanical hand in the pickup end of handss.
Further, also include the second mechanism for picking mounting seat, the second mechanism for picking mounting seat is fixedly mounted on Z axis and moves
In mechanism, Z axis auxiliary stand is fixed in the second mechanism for picking mounting seat.
Further, also include：
Frame, specific works face；
Machine table, machine table has four, and four machine table are arranged side by side along X-direction, and X-axis travel mechanism is arranged on machine
The side of frame work surface, machine table is arranged on the opposite side of frame work surface；
And workpiece slot, workpiece slot include for vertical place unprocessed undressed part groove and for vertical place plus
The machined part groove of workpiece, undressed part groove and machined part groove are arranged on frame work surface along X-direction, and are located at X-axis
Between travel mechanism and machine table.
According to the handling equipment of above-described embodiment, due to being provided with the first mechanism for picking and the second mechanism for picking, the first ten
Take mechanism on being arranged on Y-axis moving mechanism, in the common driving of X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism
Under, the first mechanical hand of the first mechanism for picking can carry out loading and unloading with machine table, and the second mechanism for picking is arranged on Z axis travel mechanism
On, can move together with Z-direction in X-axis in company with the first mechanism for picking, and the second mechanism for picking also includes Z axis auxiliary and moves
Dynamic assembly is with rotary components so that the second mechanical hand can also carry out Z-direction relative to the first mechanical hand moves and in horizontal level
Rotation is alternately so that the second mechanical hand can carry out loading and unloading to the first mechanical hand and vertical position between.This handling equipment
Loading and unloading to machine table are completed by the first mechanical hand and the linking of the second mechanical hand, because the second mechanical hand instead of the first machine
Partly moving in the rotation of tool handss and Z axis, reduces the amount of movement in Z-direction for first mechanical hand, so that the Z that degraded
The stroke of axle travel mechanism, and rotary components do not need Y direction move, improve the pickup precision of workpiece.Therefore increase more
Add a mechanical hand so that the overall structure of this device diminishes, and there is higher pickup precision.
Brief description
Fig. 1 is a kind of structural representation of handling equipment in embodiment；
Fig. 2 is a kind of structural representation of the first mechanism for picking of handling equipment in embodiment；
Fig. 3 is a kind of Local map of the structural representation of the first mechanism for picking of handling equipment in embodiment；
Fig. 4 is a kind of structural representation of the second mechanism for picking of handling equipment in embodiment.
Specific embodiment
Combine accompanying drawing below by specific embodiment the present invention is described in further detail.
Provide a kind of handling equipment in the present embodiment, this handling equipment adds as mobile phone glass CNC carving machine
A kind of handling equipment of work, the processing of CNC finishing impression and CNC processing, this handling equipment can also be used for the loading and unloading of other equipment.
As shown in figure 1, handling equipment include X-axis travel mechanism 1, Y-axis moving mechanism 2, Z axis travel mechanism 3, the first ten
Take mechanism 4, the second mechanism for picking 5, frame 6, machine table 7 and workpiece slot 8.Frame 6 has work surface.
X-axis travel mechanism 1, Y-axis moving mechanism 2, Z axis travel mechanism 3 all include mounting seat, motor, screw mandrel, guide rail and cunning
Block.Wherein motor and guide rail are fixed in mounting seat, and motor is motor, and screw mandrel is rotatably installed in peace by bearing
On dress seat, the output shaft of motor passes through shaft coupling or belt wheel is connected with screw mandrel, and Motor drive screw mandrel rotates, and slide block with guide rail is
Dove-tail slide structure, slide block is slidably mounted on guide rail, and guide rail and screw mandrel be arranged in parallel.
The mounting seat of X-axis travel mechanism 1 is fixedly mounted on the work surface of frame 6, and the mounting seat of Z axis travel mechanism 3 is solid
It is scheduled on the slide block of X-axis travel mechanism 1, in other embodiments, the peace of the slide block of X-axis travel mechanism 1 and Z axis travel mechanism 3
Dress seat is integral type structure.The mounting seat of Y-axis moving mechanism 2 is fixed on the slide block of Z axis travel mechanism 3, in other embodiment
In, the slide block of the mounting seat of Y-axis moving mechanism 2 and Z axis travel mechanism 3 is integral type structure.Therefore X-axis travel mechanism 1 drives Z axis
Travel mechanism 3 moves along X-direction together with Y-axis moving mechanism 2, and Z axis travel mechanism 3 drives Y-axis moving mechanism 2 along Z axis side
To movement.
As shown in Fig. 2 the first mechanism for picking 4 includes Y-axis auxiliary moving assembly 41, positioning component 42 and the first mechanical hand
43.Y-axis auxiliary moving assembly 41 is fixed on the slide block of Y-axis moving mechanism 1, and positioning component 42 is fixedly mounted on Y-axis auxiliary and moves
On dynamic assembly 41, the first mechanical hand 43 is arranged on positioning component 42.Y-axis auxiliary moving assembly 41 drives the first mechanical hand 43 edge
Y direction moves, and Y-axis moving mechanism 2 is formed at the two-stage drive that Y-axis moves, and positioning component 42 drives the first mechanical hand
43 are positioned in the air.
As shown in Fig. 2 Y-axis auxiliary moving assembly 41 includes Y-axis auxiliary stand 411, Y-axis assistant cylinder 412, Y-axis auxiliary
Guide rail 413 and Y-axis auxiliary slider 414, Y-axis auxiliary stand 411 is fixed on the slide block of Y-axis moving mechanism 2, Y-axis assistant cylinder
412 and Y-axis auxiliary slider 414 be fixedly mounted on Y-axis auxiliary stand 414, Y-axis auxiliary guide rail 413 is arranged on Y-axis auxiliary slider
On 414, positioning component 42 is arranged in Y-axis auxiliary guide rail 414, and the outfan of Y-axis assistant cylinder 412 is fixing with positioning component 42
Connect, the output shaft of Y-axis assistant cylinder 412 and Y-axis auxiliary guide rail 413 are all arranged with along Y direction.Y-axis assistant cylinder 412 leads to
Positioning component 42 of overdriving drives the first mechanical hand 43 to move along Y direction, and Y-axis auxiliary moving assembly 41 forms an auxiliary and drives
Dynamic, Y-axis assists the formation of moving assembly 41 driving and the stroke of Y-axis moving mechanism 2 driving to synthesize the head office of the first mechanical hand 43
Journey, so that the guide rail of Y-axis moving mechanism 2 is reduced, thus decreasing Y-axis moving mechanism 2 length in the Y-axis direction, makes
Obtain whole equipment more compact, save space.
As shown in Figures 2 and 3, detent mechanism 42 includes locating support 421, locating piece 422, positioning cylinder 423, positions and lead
Rail 424 and positioning sliding block 425.Locating support 421 is fixedly mounted in Y-axis auxiliary guide rail 413, and with Y-axis assistant cylinder 412
Output shaft be fixedly connected.Locating support 421 is platy structure, and positioning cylinder 423 is fixedly mounted on the upper end of locating support 421
On face, locating piece 422 is fixedly mounted on the lower surface of locating support 421, and locating support 421 is provided with for avoiding the first machine
The slotted eye of tool handss 43.Locating piece 422 has two, and two locating pieces 422 are arranged in a mutually vertical manner, and two locating pieces 422 form one
The individual right angle for positioning.Positioning guide rail 424 is fixedly mounted on the upper surface of locating support 421, positioning guide rail 424 and two fixed
Position block 422 formed right angle angular bisector parallel, or be located at angular bisector on, meanwhile, slotted eye, positioning cylinder 423 defeated
Shaft is all parallel with positioning guide rail 424, and positioning sliding block 425 is slidably mounted on positioning guide rail 424, and the first mechanical hand 43 is pacified
It is contained on positioning sliding block 425, four vacuum holding nozzles arranging for array of pickup end of the first mechanical hand 43, vacuum holding nozzle is logical
Cross trachea to be connected with vacuum negative pressure device, four vacuum holding nozzles pass through the slotted eye of locating support 421 to protrude from locating support 421
Lower surface, after vacuum holding nozzle absorption glass, glass and locating piece 422 are located on the interval horizontal plane of thickness, that is, work as glass
Block 422 can be positioned after movement block.
The positioning principle of detent mechanism 42 is：When first mechanical hand 43 need to adsorb glass, positioning cylinder 423 drives the first machine
The right angle for positioning that tool handss 43 are formed away from two locating pieces 422；After the first mechanical hand 43 absorption glass glass, positioning
Cylinder 423 drives the first mechanical hand 43 near the right angle of positioning, and glass is blocked to achieve by two locating pieces 422 to be determined to glass
Position, and the moisture of processing is had on glass, therefore behind 422 two locating piece 422 of locating piece, the first mechanical hand 43 can continue to calmly
Position right angle is close, reaches predeterminated position, therefore is to slide relative to the adsorption mouth of the first mechanical hand 43 during glass in position fixing process
Ground, therefore positioning realized by the glass that detent mechanism 42 can adsorb different deviations to the first mechanical hand 43.And in the first mechanical hand 43
Can achieve positioning during moving in the air, improve the efficiency of feeding.
As shown in figure 4, the second mechanism for picking 5 includes Z axis auxiliary moving assembly 51, rotary components 52 and the second mechanical hand
53.In order to preferably install the second mechanism for picking 5, on the slide block of Z axis travel mechanism 2 or Y-axis moves this handling equipment
Second mechanism for picking mounting seat 9 is provided with the mounting seat of mechanism, the second mechanism for picking mounting seat 9 will be solid for the second mechanism for picking 5
It is scheduled on the extreme position away from machine table 7 for first mechanical hand 43.
Z axis auxiliary moving assembly 51 includes Z axis auxiliary stand 511, Z axis assistant cylinder 512, Z axis auxiliary guide rail 513 and Z
Axle auxiliary slider 514, Z axis auxiliary stand 511 is arranged in the second mechanism for picking mounting seat 9, and Z axis assistant cylinder 512 and Z axis are auxiliary
Slide block 514 is helped to be fixedly mounted on Z axis auxiliary stand 511, Z axis auxiliary guide rail 513 is arranged on Z axis auxiliary slider 514, rotation
Assembly 52 is arranged in Z axis auxiliary guide rail 513, and the output shaft of Z axis assistant cylinder is fixedly connected with rotary components 52, and Z axis assist
The output shaft of cylinder 512 is arranged along Z-direction with Z axis auxiliary guide rail 513.Z axis auxiliary moving assembly 51 can drive the second machinery
Handss 53 are relative to the first mechanical hand 43 moving in Z-direction.On the one hand, Z axis auxiliary moving assembly 51 and Y-axis auxiliary moving assembly
41 principle is the same, and Z axis assist moving assembly 51 to instead of Z axis travel mechanism 3 in the partial journey of Z-direction so that Z axis move
The stroke of motivation structure 3 is brief, reduces the height of whole handling equipment；Another aspect Z axis auxiliary moving assembly 51 also coordinates
Rotary components 52 realize the loading and unloading to the first mechanical hand 43 for second mechanical hand 53.
Rotary components 52 include runing rest 521, rotary cylinder 522 and swing arm 523, and it is auxiliary that runing rest 521 is fixed on Z axis
On assistant director of a film or play's rail 513, Z axis assistant cylinder 512 is fixedly connected with runing rest 521, and rotary cylinder 522 is fixed on runing rest 521
On, swing arm 523 is vertically fixed on the rotating output shaft of rotary cylinder 522, and the second mechanical hand 53 is fixed in swing arm 523；Rotation
Rotaring cylinder 522 drives the second mechanical hand 53 to ratate 90 degrees so that the second mechanical hand 53 is handed between horizontal level and vertical position
Replace, when the second mechanical hand 53 rotates to horizontal level, the pickup end face picking up end and the first mechanical hand 43 of the second mechanical hand 53
Fit in opposite, that is, the second mechanical hand 53 can will be expected on the first mechanical hand 43 on glass, or the second mechanical hand 53 is from the first machine
Tool handss 43 loading and unloading.Second mechanical hand 53 is consistent with the structure of the first mechanical hand 43, and the pickup end of the second mechanical hand 53 is array
Three vacuum holding nozzles of arrangement, vacuum holding nozzle is connected with vacuum negative pressure device by trachea.
Machine table 7 has four, and along X-direction spaced set side by side, X-axis travel mechanism 1 is arranged on four machine table 7
The side of frame 6 work surface, machine table 7 is arranged on the opposite side of described frame work surface.
Workpiece slot 8 is included for vertically placing unprocessed undressed part groove and adding for the machined part of vertical placement
Workpiece slot, undressed part groove and machined part groove are arranged on frame 6 work surface along X-direction, and are located at X-axis travel mechanism 1
And machine table 7 between, undressed part groove is parallel with the second mechanical hand 53 in the Y-axis direction with machined part groove.Undressed part groove
It is provided with multiple vertical draw-in grooves with machined part groove, glass can vertically be placed on the pickup being easy to the second mechanical hand 53 in draw-in groove
Or place.
This handling equipment also includes controller, and all motors in handling equipment, cylinder and vacuum negative pressure device are equal
It is electrically connected with the controller, the control program that controller passes through to write realizes the coordination of controlled motor, cylinder and vacuum negative pressure device
Action, final control the first mechanical hand 43 and the second mechanical hand 53 complete loading and unloading action jointly, and controller and engraving machine
Connect, engraving machine has two engraving members, controller controls the first mechanical hand 43 and the second mechanical hand 53 real to two machine table 7
Now the time of material and feeding is processed to two glass of other two machine table 7 less than two engraving members of engraving machine simultaneously
Time so that two engraving members of engraving machine can be processed to the glass in two machine table 7 incessantly, finally carry
The high working (machining) efficiency of engraving machine.
The action step of this handling equipment feeding is：
S101：First mechanical hand 43 is moved to and X-axis moving machine by Y-axis moving mechanism 2 and Y-axis Y-axis auxiliary moving assembly 41
The nearest extreme position of structure 1, this position is parallel in the Y-axis direction with the second mechanical hand 53；
S102：X-axis travel mechanism 1 drives the first mechanical hand 43 and the second mechanical hand 53 to move close to undressed part groove simultaneously
Specified location；
S103：Rotary components 52 drive the first mechanical hand 43 to rotate to vertical position, and now the second mechanical hand 53 is located at not
Surface on workpiece groove outermost glass side；
S104：Z axis auxiliary moving assembly 51 drives the second mechanical hand 53 to be moved downward to undressed part groove outermost glass
Side on；
S105：Second mechanical hand 53 adsorbs glass, and Z axis auxiliary moving assembly 51 drives the second mechanical hand 53 to move upwards afterwards
Dynamic；
S106：Rotary components 52 drive the second mechanical hand 53 to rotate to horizontal level, now the second mechanical hand 53 pickup
Glass is located at the lower section of the first mechanical hand 43；
S107：While first mechanical hand 43 adsorbs undressed glass, the second mechanical hand 53 leaves this position；
S108：Detent mechanism 42 drives the first mechanical hand 43 that glass is positioned；
S109：X-axis travel mechanism 1 and Z axis travel mechanism 3 drive the first mechanical hand 43 move to assigned work platform 7 for
X-axis and Z axis position；
S110：Y-axis auxiliary moving assembly 41 drives the first mechanical hand 43 to move to extreme position along Y-axis workbench 7, then
Y-axis moving mechanism 2 drives the first mechanical hand 43 to continue above along Y direction movement to workbench 7；
S111：First mechanical hand 43 puts down undressed glass, and returns, and completes the positioning feeding to undressed glass.
The blanking step of this handling equipment is contrary with feeding step, simply wherein blanking step province compared with feeding step
Go the step positioning, therefore repeated no more.
The handling equipment that the present embodiment provides, on the one hand, due to being provided with the first mechanism for picking 4 and the second mechanism for picking 5,
First mechanism for picking 4 on being arranged on Y-axis moving mechanism 2, in X-axis travel mechanism 1, Y-axis moving mechanism 2 and Z axis travel mechanism 3
Common driving under, the first mechanical hand 43 of the first mechanism for picking 4 can carry out loading and unloading with machine table, and the second mechanism for picking 5 is pacified
It is contained in Z axis travel mechanism 3, can move together with Z-direction in X-axis in company with the first mechanism for picking 5, and the second pickup machine
Structure 5 also includes Z axis auxiliary moving assembly 51 with rotary components 52 so that relative first mechanical hand 43 of the second mechanical hand 53 can also enter
Row Z-direction is mobile and rotates alternately so that the second mechanical hand 53 can be to the first machine between horizontal level and vertical position
Tool handss 43 carry out loading and unloading.This handling equipment passes through the first mechanical hand 43 and the second mechanical hand 53 linking completes to machine table
Loading and unloading, because the second mechanical hand 53 instead of partly moving in the rotation of the first mechanical hand 43 and Z axis, reduce the first machine
Tool handss 43 are in the amount of movement of Z-direction, so that the stroke of degradation LiaoZZhou travel mechanism 3, and rotary components 52 do not need
Move in Y direction, improve the pickup precision of workpiece.Therefore increased a mechanical hand more and the overall structure of this device is become
Little, and there is higher pickup precision.
On the other hand, positioning component 42 is provided with the first mechanism for picking 4 due to being provided with, detent mechanism 42 can be in the air
The glass of the first mechanical hand 43 pickup of movement is accurately positioned.Positioned after the first mechanical hand 43 pickup glass, taken
Positioned when static state is in pickup or placement for existing mechanical hand, that is, saved the time of static positioning, and led to
Cross the high precision that mutually perpendicular two locating pieces 422 are positioned.
The structure of this handling equipment is more compact in sum, takes up room little, and have high-precision on the basis of
Achieve efficient loading and unloading.
Use above specific case is illustrated to the present invention, is only intended to help and understands the present invention, not in order to limit
The present invention processed.For those skilled in the art, according to the thought of the present invention, can also make some simple
Deduce, deform or replace.
Claims (10)
1. a kind of handling equipment, including X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism, described Z axis travel mechanism
It is arranged in described X-axis travel mechanism, described Y-axis moving mechanism is arranged in described Z axis travel mechanism, described X-axis moving machine
Structure drives described Z axis travel mechanism and Y-axis moving mechanism to move along the x-axis, and described Z axis travel mechanism drives described Y-axis moving machine
Structure moves it is characterised in that also including along Z-direction：
First mechanism for picking, it includes the first mechanical hand, and described first mechanical hand is arranged in described Y-axis moving mechanism, described Y
Axle travel mechanism drives described first mechanical hand to move along Y direction；Described X-axis travel mechanism, Y-axis moving mechanism and Z axis move
Motivation structure drives described first mechanical hand to machine table loading and unloading；
And second mechanism for picking, it includes Z axis auxiliary moving assembly, rotary components and the second mechanical hand, and described Z axis auxiliary is moved
Dynamic assembly is arranged in described Z axis travel mechanism, and described rotary components are arranged on described Z axis auxiliary moving assembly, and described the
Two mechanical hands are arranged on described rotary components；Described Z axis travel mechanism drives described Z axis auxiliary moving assembly, rotary components
Move along Z-direction with the second mechanical hand, described Z axis auxiliary moving assembly drives described rotary components and the second mechanical hand along Z
Direction of principal axis moves, and described rotary components drive described mechanical hand rotation；Described Z axis auxiliary moving assembly and rotary components drive institute
State the second mechanical hand to described first mechanical hand loading and unloading.
2. handling equipment as claimed in claim 1 is it is characterised in that described first mechanism for picking also includes positioning component,
Described positioning component is arranged in described Y-axis moving mechanism, and described first mechanical hand is arranged on described positioning component；Described fixed
First mechanical hand described in the Component driver of position moves to specified location and realizes positioning.
3. handling equipment as claimed in claim 2 is it is characterised in that described positioning component includes locating support, locating piece
And positioning cylinder, described locating support is arranged in described Y-axis moving mechanism, and described positioning cylinder is arranged on described locating support
Upper surface, the outfan of described positioning cylinder is connected with described first mechanical hand, and described locating support is provided with for avoiding
The slotted eye of described first mechanical hand, the pickup end face of described first mechanical hand is down-set, and described pickup end pass through described
The slotted eye of locating support protrudes from the lower surface of described locating support；Described locating piece has two, two described locating piece phases
Mutually it is vertically installed at the lower surface of described locating support, the output shaft of described positioning cylinder becomes to preset angle with described locating piece
Setting.
4. handling equipment as claimed in claim 3 is it is characterised in that described positioning component also includes positioning guide rail and positioning
Slide block, described positioning guide rail is arranged on described locating support, and described positioning sliding block is slidably mounted in described positioning guide rail
On, described first mechanical hand is arranged on described positioning sliding block, and the output shaft of described positioning cylinder is parallel with described positioning guide rail；
The angular bisector that described positioning guide rail forms right angle with two described locating pieces is parallel, or described positioning guide rail is located at two institutes
State locating piece to be formed on the angular bisector at right angle.
5. handling equipment as claimed in claim 4 is it is characterised in that described first mechanism for picking also includes Y-axis auxiliary shifting
Dynamic assembly, described Y-axis auxiliary moving assembly is arranged in described Y-axis moving mechanism, and it is auxiliary that described locating support is arranged on described Y-axis
Help on moving assembly；Described Y-axis moving mechanism drives described Y-axis auxiliary moving assembly, positioning component and the first mechanical hand along Y-axis
Direction is moved, and described Y-axis auxiliary moving assembly drives described positioning component and the first mechanical hand to move along Y direction.
6. handling equipment as claimed in claim 5 is it is characterised in that described Y-axis auxiliary moving assembly includes Y-axis auxiliary
Frame, Y-axis assistant cylinder, Y-axis auxiliary guide rail and Y-axis auxiliary slider, described Y-axis auxiliary stand is arranged on described Y-axis moving mechanism
On, described Y-axis assistant cylinder and Y-axis auxiliary slider are fixedly mounted on described Y-axis auxiliary stand, described Y-axis auxiliary guide rail peace
Be contained on described Y-axis auxiliary slider, described locating support is arranged in described Y-axis auxiliary guide rail, described Y-axis assistant cylinder defeated
Go out end to be fixedly connected with described locating support, the output shaft of described Y-axis assistant cylinder and Y-axis auxiliary guide rail all with along Y direction
Setting.
7. handling equipment as claimed in claim 6 is it is characterised in that described Z axis auxiliary moving assembly includes Z axis auxiliary
Frame, Z axis assistant cylinder, Z axis auxiliary guide rail and Z axis auxiliary slider, described Z axis auxiliary stand is arranged on described Z axis travel mechanism
On, described Z axis assistant cylinder and Z axis auxiliary slider are fixedly mounted on described Z axis auxiliary stand, described Z axis auxiliary guide rail peace
Be contained on described Z axis auxiliary slider, described rotary components are arranged in described Z axis auxiliary guide rail, described Z axis assistant cylinder defeated
Shaft is fixedly connected with described rotary components, and the output shaft of described Z axis assistant cylinder and described Z axis auxiliary guide rail are along Z-direction
Setting.
8. handling equipment as claimed in claim 7 is it is characterised in that described rotary components include runing rest, rotary pneumatic
Cylinder and swing arm, described runing rest is fixed in described Z axis auxiliary guide rail, and described Z axis assistant cylinder is solid with described runing rest
Fixed connection, described rotary cylinder is fixed on described runing rest, and described swing arm is vertically fixed on the rotation of described rotary cylinder
On output shaft, described second mechanical hand is fixed in described swing arm；Described rotary cylinder drives described second mechanical hand rotation 90
So that described second mechanical hand replaces between horizontal level and vertical position, described second mechanical hand rotates to horizontal position degree
When putting, fitted with the pickup end face opposite of described first mechanical hand in the pickup end of described second mechanical hand.
9. handling equipment as claimed in claim 8 is it is characterised in that also include the second mechanism for picking mounting seat, and described
Two mechanism for picking mounting seats are fixedly mounted in described Z axis travel mechanism, and described Z axis auxiliary stand is fixed on described second pickup
In mechanism's mounting seat.
10. the handling equipment as described in any one of claim 1 to 9 is it is characterised in that also include：
Frame, specific works face；
Machine table, described machine table has four, and four described machine table are arranged side by side along X-direction, described X-axis travel mechanism
It is arranged on the side of described frame work surface, described machine table is arranged on the opposite side of described frame work surface；
And workpiece slot, described workpiece slot include for vertical place unprocessed undressed part groove and for vertical place plus
The machined part groove of workpiece, described undressed part groove and machined part groove are arranged on described frame work surface along X-direction, and
Positioned between described X-axis travel mechanism and machine table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620686945.8U CN205951571U (en) | 2016-06-30 | 2016-06-30 | A material loading and unloading device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620686945.8U CN205951571U (en) | 2016-06-30 | 2016-06-30 | A material loading and unloading device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205951571U true CN205951571U (en) | 2017-02-15 |
Family
ID=57970157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620686945.8U Withdrawn - After Issue CN205951571U (en) | 2016-06-30 | 2016-06-30 | A material loading and unloading device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205951571U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106004192A (en) * | 2016-06-30 | 2016-10-12 | 东莞市瑞必达科技股份有限公司 | Material loading and unloading device |
| CN107378321A (en) * | 2017-08-04 | 2017-11-24 | 安徽盛美金属科技有限公司 | A kind of Full-automatic welding machine |
-
2016
- 2016-06-30 CN CN201620686945.8U patent/CN205951571U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106004192A (en) * | 2016-06-30 | 2016-10-12 | 东莞市瑞必达科技股份有限公司 | Material loading and unloading device |
| CN107378321A (en) * | 2017-08-04 | 2017-11-24 | 安徽盛美金属科技有限公司 | A kind of Full-automatic welding machine |
| CN107378321B (en) * | 2017-08-04 | 2019-11-26 | 安徽荣盛精密科技有限责任公司 | A kind of Full-automatic welding machine |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Liaobu Zhen Niu Yang Village in Guangdong province Dongguan City nobile road 518103 No. 17 Patentee after: Dongguan ruilida glass Polytron Technologies Inc Address before: Liaobu Zhen Niu Yang Village in Guangdong province Dongguan City nobile road 518103 No. 17 Patentee before: Dongguan City Rui Bida Science and Technology Co., Ltd. |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170215 Effective date of abandoning: 20180515 |