CN208758627U - A kind of manipulator and automatic production line - Google Patents
A kind of manipulator and automatic production line Download PDFInfo
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- CN208758627U CN208758627U CN201821511814.1U CN201821511814U CN208758627U CN 208758627 U CN208758627 U CN 208758627U CN 201821511814 U CN201821511814 U CN 201821511814U CN 208758627 U CN208758627 U CN 208758627U
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- manipulator
- lathe
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- axis
- transfer mechanism
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Abstract
This application discloses a kind of manipulators, for cooperating the processing of lathe to carry out the transhipment of workpiece, comprising: feed mechanism is installed on lathe side to place workpiece to be processed；Transfer mechanism is installed on lathe or transshipment acitivity；Transshipment acitivity is movably installed on lathe, for shifting to the workpiece on feed mechanism and transfer mechanism；And control system electronic box, feed mechanism, transshipment acitivity and the respective movement of transfer mechanism can be controlled respectively.Disclosed herein as well is a kind of automatic production line, including several industrial robots, industrial robot includes above-mentioned manipulator and lathe, is equipped with a manipulator on every lathe.A kind of manipulator and automatic production line provided by the utility model, high degree of automation, transmission efficiency and transmission precision are high, and a manipulator can be combined with a machine tool to be produced with completing a procedure, and the automatic production line of required product can also be freely combined out according to different production requirements.
Description
Technical field
The utility model relates to mechanical equipment technical fields, and in particular to a kind of manipulator and automatic production line.
Background technique
With the development of industry, the rapid expansion of enterprise's production capacity, many manual workings are manufactured in the variation of population structure
All gradually replaced by machinery, therefore, rush of demand of each industrial enterprise to automation equipment.Manipulator can imitate manpower and arm
Certain holding functions, can by fixed routine grab, carry object or operation automatic pilot, it can replace the numerous of people
Heavy work is to realize the mechanization and automation of production, to save a large amount of costs of labor, and is avoided that dangerous operating environment
It is lower artificial injured to enterprise's bring massive losses, while the quality of production and efficiency can also be improved.Efficiently, stablize, is reliable, spirit
Manipulator and production machine tool are connected into an entirety livingly, production task is completed, is that automation equipment manufacturer must
It must solve the problems, such as.
Currently, the connection of manipulator and production machine tool is mainly equipped with a manipulator and Duo Tai machine with a machine tool
Bed is equipped with director's truss-like manipulator both modes:
(1) a machine tool is equipped with the production method of a manipulator, is only capable of completing the processing of a procedure, next in progress
It needs manually to be transported through before procedure, the degree of automation of production line is not high；
(2) more lathes are equipped with the production method of director's truss-like manipulator, pass through transmission band connection between lathe, though
It can be so automatically performed the processing of multiple working procedure, but such production line has very high specificity, product processes change
After change, the processing suitable for new product is tended not to, can only be left unused, and space layout is not flexible, the life more than manufacturing procedure
Producing line, often the space occupied is larger, the workpiece between every procedure be transmitted when need to set by adjacent two
Standby cooperation is repeatedly translated and is rotated completion, and transmission efficiency is low, and manipulator can not carry out precision correction, product when clamping workpiece
The precision for being placed in processing department is not high.
Utility model content
In view of the above-mentioned problems, proposing a kind of manipulator and automatic production line, high degree of automation passes the utility model
Send efficiency and transmission precision high, a manipulator can be combined with a machine tool to be produced with completing a procedure, can also basis
The automatic production line of required product is freely combined out in different production requirements.
The technical solution that the utility model is taken is as follows: the utility model provides a kind of manipulator, for cooperating lathe
Processing carries out the transhipment of workpiece, comprising:
Feed mechanism is installed on lathe side to place workpiece to be processed；
Transfer mechanism is installed on lathe or transshipment acitivity, for shifting the workpiece after processing；
Transshipment acitivity is movably installed on lathe, for being added the workpiece transfer on feed mechanism to lathe
Work, and will be in the workpiece transfer to transfer mechanism after machine tooling；And
Control system electronic box can control feed mechanism, transshipment acitivity and transfer mechanism positioned at the lower section of feed mechanism respectively
Respective movement.
In an embodiment of the utility model, the transfer mechanism includes pedestal, connecting rod and clamping jaw, the connection
One end of bar is rotatably mounted in the pedestal, and the clamping jaw is installed on the other end of the connecting rod for fixing workpiece.
In an embodiment of the utility model, the clamping jaw is rotationally connect with the connecting rod, the transfer machine
Structure further includes the first driving mechanism, and first driving mechanism connects the control system electronic box, is turned for controlling the clamping jaw
It is dynamic.
In an embodiment of the utility model, first driving mechanism is motor or rotary cylinder.
In an embodiment of the utility model, the transfer mechanism further includes the second driving mechanism, second driving
Mechanism connects the control system electronic box, for controlling the connecting rod rotation.
In an embodiment of the utility model, second driving mechanism is motor or rotary cylinder.
In an embodiment of the utility model, the transshipment acitivity includes truss, the first guide rail, X-axis Z axis driving mould
Block, the second guide rail, motor and clamping jaw combination, the truss includes support rod, Z axis bar and X-axis bar, one end of the X-axis bar
It is connect with the support rod, the other end of the X-axis bar is connect with the Z axis bar, and first guide rail is installed on the X-axis bar
On, second guide rail is installed on the Z axis bar, and the X-axis Z axis drive module is slidably mounted on first guide rail
On, the X-axis Z axis drive module is slidably mounted on second guide rail, described in the X-axis Z axis drive module connection
Control system electronic box, for control from X-direction and Z-direction move back and forth and the movement of the motor, it is described
Motor is installed in the X-axis Z axis drive module, and the clamping jaw combination is set on the motor, described in the motor control
Conversion and grabbing workpiece between clamping jaw combination.
In an embodiment of the utility model, the clamping jaw combination includes material pawl and finished product pawl, and the material pawl is used
In crawl material workpiece, the finished product pawl is set to the electricity for grabbing finished work-piece, the material pawl and the finished product pawl
Conversion on machine, between material pawl described in the motor control and the finished product pawl.
In an embodiment of the utility model, the feed mechanism includes charging tray, mounting bracket and third guide rail, institute
Third guide rail is stated in the mounting bracket, the charging tray is movably disposed on the third guide rail, the control system
Electronic box controls the charging tray and moves on the third guide rail along Y-axis.
It further include teaching machine in an embodiment of the utility model, the teaching machine connects the control system electronic box,
Order, which is inputted, by teaching machine controls the feed mechanism, the transshipment acitivity and the respective movement of the transfer mechanism.
The utility model also provides a kind of automatic production line, including several industrial robots, the industrial robot packet
Above-mentioned manipulator and lathe are included, is equipped with a manipulator on every lathe, two adjacent industrial robots are with a work
The transfer mechanism of industry robot is placed adjacent to the mode of the feed mechanism of another industrial robot, wherein an industrial robot
Transshipment acitivity can clamp workpiece from the transfer mechanism of an industrial robot adjacent thereto.
The beneficial effects of the utility model are: the utility model provides a kind of manipulator and automatic production line, manipulator
It is installed on lathe, is used cooperatively with lathe, manipulator includes feed mechanism, transfer mechanism, transshipment acitivity and control system
Electronic box, workpiece to the machine tooling portion that control system electronic box control transshipment acitivity clamps on feed mechanism is processed, and is processed
On workpiece to transfer mechanism after finishing in transshipment acitivity clamping processing department, one of manufacturing procedure can be automatically performed.This is practical new
Type also provides a kind of automatic production line, and Jiang Duotai manipulator provided by the utility model is used cooperatively with more lathes, can be with
The processing that a kind of automatic production line can be automatically performed multiple working procedure is formed, the transshipment acitivity of First manipulator clamps feeding
Workpiece in mechanism carries out the processing of the first procedure to the processing department of First lathe, and transshipment acitivity clamping adds after completion of processing
On workpiece to transfer mechanism in the Ministry of worker, workpiece is delivered to the position that second manipulator can clamp by transfer mechanism rotation, so
Afterwards, the transshipment acitivity of second manipulator clamps the processing of the workpiece on the transfer mechanism of First manipulator to second lathe
Portion carries out the processing of second operation work, and the transshipment acitivity of second manipulator clamps the processing department of second lathe after completion of processing
On workpiece to transfer mechanism on, then, the transshipment acitivity of third platform manipulator clamps on the transfer mechanism of second manipulator
Workpiece carry out third procedure processing, until complete last procedure processing, pass through more manipulators and Duo Tai machine
Cooperation is automatically performed the processing of multiple working procedure between bed, and high degree of automation, transmission efficiency and transmission precision are high, when the production of processing
After product replacement, the automatic production line of required product can also be freely combined out according to different production requirements.
Detailed description of the invention
Fig. 1 is that a kind of manipulator of the utility model is installed on the front view on lathe；
Fig. 2 is that a kind of manipulator of the utility model is installed on the schematic perspective view on lathe；
Fig. 3 is a kind of schematic diagram of the transshipment acitivity of manipulator of the utility model；
Fig. 4 is a kind of schematic diagram of the transfer mechanism of manipulator of the utility model；
The schematic diagram of the manipulator of Fig. 5 the utility model and the cooperation of more lathes.
Each appended drawing reference in figure are as follows: 1, feed mechanism, 2, transfer mechanism, 3, transshipment acitivity, 4, control system electronic box, 5, work
Part, 6, teaching machine, 21, pedestal, 22, connecting rod, 23, clamping jaw, the 24, first driving mechanism, the 25, second driving mechanism, 32, first
Guide rail, 33, X-axis Z axis drive module, the 34, second guide rail, 36, motor, 37, clamping jaw combination, 311, support rod, 312, Z axis bar,
313, X-axis bar, 11, charging tray, 12, mounting bracket, 13, third guide rail, 8, First lathe, 9, second lathes, 10, third platform
Lathe, the 81, first transshipment acitivity, the 82, first feed mechanism, the 83, first processing department, the 84, first transfer mechanism, 91, second turns
Transport mechanism, the 92, second processing department, the 93, second transfer mechanism, 101, third transshipment acitivity.
Specific embodiment
Below with reference to each attached drawing, by specific embodiment, the utility model in detail, completely describe.
It please refers to shown in Fig. 1-3, the utility model provides a kind of manipulator, for cooperating the processing of lathe to carry out workpiece
Transhipment, comprising: feed mechanism 1 is installed on lathe side to place workpiece 5 to be processed；Transfer mechanism 2, be installed on lathe or
On transshipment acitivity, for shifting the workpiece 5 after processing；Transshipment acitivity 3, is movably installed on lathe, is used for feeder
Workpiece 5 on structure 1 is transferred to lathe and is processed, and the workpiece 5 after machine tooling is transferred on transfer mechanism 2；And
It is each to control feed mechanism 1, transshipment acitivity 3 and transfer mechanism 2 positioned at the lower section of feed mechanism 1 respectively for control system electronic box 4
From movement.When manipulator and lathe are used cooperatively, control system electronic box 4 controls the work on the clamping feed mechanism 1 of transshipment acitivity 3
Part 5 to machine tooling portion is processed, and after completion of processing, transshipment acitivity 3 is clamped on the workpiece 5 to transfer mechanism 2 in processing department,
One of manufacturing procedure can be automatically performed.Transfer mechanism 2 may be mounted on the lathe being used cooperatively with manipulator.But it is not limited to
This, transfer mechanism 2 also may be mounted on transshipment acitivity, and this mounting means is more practical, by live lathe uncertain factor
Influence it is smaller, the utility model does not limit this.
It please refers to shown in Fig. 4, transfer mechanism 2 includes pedestal 21, connecting rod 22 and clamping jaw 23, and one end of connecting rod 22 can
It is rotatably mounted to pedestal 21, clamping jaw 23 is installed on the other end of connecting rod 22 for fixing workpiece 5.Transshipment acitivity 3 will be processed
Complete workpiece 5 is placed on clamping jaw 23, and workpiece 5 is transmitted to next station by the rotation of connecting rod 22.The length of connecting rod 22 is
0.5-1.5 meters, the length of connecting rod 22 is too short, and the transshipment acitivity 3 of the industrial robot adjacent after rotating of connecting rod 22 cannot
It clamps from transfer mechanism 3 to workpiece 5；The length of connecting rod 22 is too long, will affect the precision of the rotation of connecting rod 22.
Clamping jaw 23 is rotationally connect with connecting rod 22, and transfer mechanism 2 further includes the first driving mechanism 24, the first driving machine
Structure 24 connects control system electronic box 4, rotates for controlling clamping jaw 23.Workpiece 5 is placed on clamping jaw 23 or from folder by transshipment acitivity 3
When clamping workpiece 5 on pawl 23, clamping jaw 23 is adjusted to transshipment acitivity 3 and preferably clamps workpiece 5, make by rotating certain angle
It is higher to clamp precision.But not limited to this, clamping jaw 23 can also be fixedly connected with connecting rod 22, it cannot be adjusted by rotation,
The utility model does not limit this.
First driving mechanism 24 is motor or rotary cylinder.
Transfer mechanism 2 further includes the second driving mechanism 25, and the second driving mechanism 25 connects control system electronic box 4, for controlling
The rotation of connecting rod 22 processed.Workpiece 5 is placed on transfer mechanism 2, and the second driving mechanism 25 controls the rotation of connecting rod 22, by workpiece
5 are transported to next station.
Second driving mechanism 25 is motor or rotary cylinder.
It please refers to shown in Fig. 1-3, transshipment acitivity 3 is led including truss, the first guide rail 32, X-axis Z axis drive module 33, second
Rail 34, motor 36 and clamping jaw combination 37, truss includes support rod 311, Z axis bar 312 and X-axis bar 313, one end of X-axis bar 313
It being connect with support rod 311, the other end of X-axis bar 313 is connect with Z axis bar 312, and the first guide rail 32 is installed on X-axis bar 313, the
Two guide rails 34 are installed on Z axis bar 312, and X-axis Z axis drive module 33 is slidably mounted on the first guide rail 32, and X-axis Z axis drives
Dynamic model block 33 is slidably mounted on the second guide rail 34, and X-axis Z axis drive module 33 connects control system electronic box 4, for controlling
From in X-direction Z-direction move back and forth and the movement of motor 36, motor 36 are installed on X-axis Z axis drive module 33
On, clamping jaw combination 37 is set on motor 36, and motor 36 controls conversion and grabbing workpiece 5 between clamping jaw combination 37.X-axis Z axis
Drive module 33 is moved along Z-direction, realizes the transmission in vertical direction, and X-axis Z axis drive module 33 moves along the x axis, real
The transmission of horizontal direction on present feed mechanism 1, transfer mechanism 2 and transshipment acitivity 3.Preferably, transfer mechanism 2 can be installed
In on X-axis bar 313, this mounting means is more practical, is influenced by live lathe uncertain factor smaller.
Clamping jaw combination 37 includes material pawl and finished product pawl, material pawl for grabbing material workpiece, finished product pawl for grab at
Product workpiece, material pawl and the finished product pawl are set on motor 36, and motor 36 controls the conversion of material pawl and finished product pawl.Before processing
The shape of workpiece 5 afterwards can change, and taken by setting material pawl with finished product claw clip, transmission precision can be improved.
The feed mechanism 1 includes charging tray 11, mounting bracket 12 and third guide rail 13, and third guide rail 13 is set to installation branch
On frame 12, charging tray 11 is movably disposed on third guide rail 13, and control system electronic box 4 controls the edge on third guide rail 13 of charging tray 11
Y-axis is mobile.The workpiece 5 on charging tray 11 is set to be directed at the position that transshipment acitivity 3 clamps by the movement along the y axis of charging tray 11
It sets, convenient for clamping.
It further include teaching machine 6, teaching machine 6 connects control system electronic box 4, inputs order control feeder by teaching machine 6
Human-computer interaction is realized in structure 1, transshipment acitivity 3 and the respective movement of transfer mechanism 2.
The utility model also provides a kind of automatic production line, including several industrial robots, the industrial robot packet
Above-mentioned manipulator and lathe are included, is equipped with a manipulator on every lathe, two adjacent industrial robots are with a work
The transfer mechanism 2 of industry robot is placed adjacent to the mode of the feed mechanism 1 of another industrial robot, wherein an industrial machine
The transshipment acitivity 3 of people can clamp workpiece 5 from the transfer mechanism 2 of an industrial robot adjacent thereto.
It please refers to shown in Fig. 5, the utility model can realize two kinds of operating modes, the first is single cpu mode, i.e. transfer fills
It sets and does not work, through material pawl after clamping material workpiece in the independent charging tray of every machine, send to processing department and process, then use
Finished product claw clip takes the finished work-piece processed to send the product region into charging tray.
Second is online mode.More manipulators provided by the utility model and more lathes are used cooperatively, it can be with
Form the processing that a kind of automatic production line can be automatically performed multiple working procedure, the first transshipment acitivity 81 folder of First manipulator
The workpiece 5 on the first feed mechanism 82 is taken to carry out the processing of the first procedure, processing to the first processing department 83 of First lathe 8
After the first transshipment acitivity 81 clamp the first processing department 83 on 5 to the first transfer mechanism 84 of workpiece on, the first transfer mechanism
84 180 ° of rotations, will originally go to the direction of second lathe 9 towards the workpiece 5 of First lathe 8, and workpiece 5 is delivered to the
The position that second transshipment acitivity 91 of two manipulators can clamp, meanwhile, the rotation reduction of the first transfer mechanism 84, the first conveyance
Structure 81 is moved to the first feed mechanism 82 clamping workpiece 5 and restarts to carry out the processing of the first procedure.Then, the second conveyance
The second processing department 92 that structure 91 clamps 5 to the second lathes of workpiece 9 on the first transfer mechanism 84 carries out adding for second operation work
Work, the second transshipment acitivity 91 clamps on the clamping jaw of 5 to the second transfer mechanism 93 of workpiece in the second processing department 92 after completion of processing,
Second transfer mechanism 93 rotates the direction that 180 ° of workpiece 5 by original second lathe 9 of direction go to third platform lathe 10, together
When, the second transfer mechanism 93 rotation reduction, the second transshipment acitivity 91 is moved to the second transfer mechanism 84 clamping workpiece 5 and restarts
Carry out the processing of second operation work.Then, the third transshipment acitivity 101 of third platform manipulator clamps on the second transfer mechanism 93
Workpiece 5 carries out the processing of third procedure, until completing the processing of last procedure, passes through more manipulators and Duo Tai lathe
Between cooperation be automatically performed the processing of multiple working procedure, high degree of automation, transmission efficiency and transmission precision are high, when the product of processing
After replacement, the automatic production line of required product can also be freely combined out according to different production requirements.
The above is only the preferred embodiment of the present invention, not thereby limits the utility model of the utility model
Protection scope, it is all with equivalent structure transformation made by the utility model specification and accompanying drawing content, directly or indirectly use
It similarly include within the protection scope of the present utility model in other related technical areas.
Claims (10)
1. a kind of manipulator, for cooperating the processing of lathe to carry out the transhipment of workpiece characterized by comprising
Feed mechanism is installed on lathe side to place workpiece to be processed；
Transfer mechanism is installed on lathe or transshipment acitivity, for shifting the workpiece after processing；
Transshipment acitivity is movably installed on lathe, for the workpiece transfer on feed mechanism to lathe to be processed, with
And it will be in the workpiece transfer to transfer mechanism after machine tooling；And
Control system electronic box can control respectively feed mechanism, transshipment acitivity and transfer mechanism respectively positioned at the lower section of feed mechanism
Movement.
2. manipulator as described in claim 1, which is characterized in that the transfer mechanism includes pedestal, connecting rod and clamping jaw,
One end of the connecting rod is rotatably mounted in the pedestal, and the clamping jaw is installed on the other end of the connecting rod for solid
Determine workpiece.
3. manipulator as claimed in claim 2, which is characterized in that the clamping jaw is rotationally connect with the connecting rod, institute
Stating transfer mechanism further includes the first driving mechanism, and first driving mechanism connects the control system electronic box, for controlling
State clamping jaw rotation.
4. manipulator as claimed in claim 3, which is characterized in that first driving mechanism is motor or rotary cylinder.
5. manipulator as claimed in claim 2, which is characterized in that the transfer mechanism further includes the second driving mechanism, described
Second driving mechanism connects the control system electronic box, for controlling the connecting rod rotation.
6. manipulator as claimed in claim 5, which is characterized in that second driving mechanism is motor or rotary cylinder.
7. manipulator as described in claim 1, which is characterized in that the transshipment acitivity includes truss, the first guide rail, X-axis Z axis
Drive module, the second guide rail, motor and clamping jaw combination, the truss includes support rod, Z axis bar and X-axis bar, the X-axis bar
One end connect with the support rod, the other end of the X-axis bar is connect with the Z axis bar, and first guide rail is installed on institute
It states on X-axis bar, second guide rail is installed on the Z axis bar, and the X-axis Z axis drive module is slidably mounted on described
On first guide rail, the X-axis Z axis drive module is slidably mounted on second guide rail, the X-axis Z axis drive module
The control system electronic box is connected, for controlling from X-direction and moving back and forth for Z-direction and moving for the motor
Make, the motor is installed in the X-axis Z axis drive module, and the clamping jaw combination is set on the motor, the motor control
Make the conversion between the clamping jaw combination and grabbing workpiece.
8. manipulator as described in claim 1, which is characterized in that the feed mechanism includes charging tray, mounting bracket and
Three guide rails, the third guide rail are set in the mounting bracket, and the charging tray is movably disposed on the third guide rail, described
Control system electronic box controls the charging tray and moves on the third guide rail along Y-axis.
9. manipulator as described in claim 1, which is characterized in that further include teaching machine, the teaching machine connects the control
It is respective to input the order control feed mechanism, the transshipment acitivity and the transfer mechanism by teaching machine for system electronic box
Movement.
10. a kind of automatic production line, which is characterized in that including several industrial robots, the industrial robot includes right
It is required that the 1-9 any manipulator and lathe, a manipulator, two adjacent industrial robots are equipped on every lathe
It is placed in such a way that the transfer mechanism of an industrial robot is adjacent to the feed mechanism of another industrial robot, wherein a work
The transshipment acitivity of industry robot can clamp workpiece from the transfer mechanism of an industrial robot adjacent thereto.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821511814.1U CN208758627U (en) | 2018-09-14 | 2018-09-14 | A kind of manipulator and automatic production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821511814.1U CN208758627U (en) | 2018-09-14 | 2018-09-14 | A kind of manipulator and automatic production line |
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| Publication Number | Publication Date |
|---|---|
| CN208758627U true CN208758627U (en) | 2019-04-19 |
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ID=66135009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201821511814.1U Active CN208758627U (en) | 2018-09-14 | 2018-09-14 | A kind of manipulator and automatic production line |
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| CN (1) | CN208758627U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110449965A (en) * | 2019-08-09 | 2019-11-15 | 台州北平机床有限公司 | A kind of automatic loading and unloading device of lathe |
| CN113829115A (en) * | 2021-11-03 | 2021-12-24 | 安徽省长凌智能装备有限公司 | Lathe feeding manipulator |
-
2018
- 2018-09-14 CN CN201821511814.1U patent/CN208758627U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110449965A (en) * | 2019-08-09 | 2019-11-15 | 台州北平机床有限公司 | A kind of automatic loading and unloading device of lathe |
| CN113829115A (en) * | 2021-11-03 | 2021-12-24 | 安徽省长凌智能装备有限公司 | Lathe feeding manipulator |
| CN113829115B (en) * | 2021-11-03 | 2024-01-30 | 安徽省长凌智能装备有限公司 | Lathe feeding manipulator |
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