CN213059167U - Double-claw loading and unloading device - Google Patents
Double-claw loading and unloading device Download PDFInfo
- Publication number
- CN213059167U CN213059167U CN202021532996.8U CN202021532996U CN213059167U CN 213059167 U CN213059167 U CN 213059167U CN 202021532996 U CN202021532996 U CN 202021532996U CN 213059167 U CN213059167 U CN 213059167U
- Authority
- CN
- China
- Prior art keywords
- axis
- fixing plate
- central shaft
- double
- clamping jaw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a double-claw loading and unloading device, which comprises a driving mechanism and a manipulator connected with the driving mechanism, wherein the manipulator comprises a Z-axis profile and a double-claw switching mechanism arranged at the bottom of the Z-axis profile; the Z-axis profile is driven by the driving mechanism to drive the manipulator to move in the vertical direction; the double-jaw switching mechanism comprises a central shaft, a clamping jaw assembly, a crankshaft and a linear cylinder, wherein one end of the central shaft is connected with a crank, and the crank is hinged with a piston rod of the linear cylinder and is used for converting the linear motion of the linear cylinder into the rotary motion of the central shaft; the clamping jaw assemblies are provided with two sets and connected to the central shaft through clamping jaw connecting plates, and the central shaft rotates to drive the two sets of clamping jaw assemblies to rotate simultaneously to perform position switching. The utility model discloses the double claw switches the principle simply, and mechanical structure is simple and easy, low in production cost, and is not fragile, can consider material loading and unloading operation with the actuating mechanism cooperation concurrently.
Description
Technical Field
The utility model relates to a unloader on double claw belongs to numerical control processing technology field.
Background
In the prior art, when a numerical control machine tool is used for processing a workpiece, two methods are generally adopted for feeding and discharging the workpiece, the first method is to manually feed and discharge the workpiece, and although the method can meet the requirement of placing the workpiece in the feeding and discharging process, the dependence degree on an operator is high, and the labor intensity is high. According to statistics, in the processing process of the workpiece, the time of the processes of feeding, loading, blanking, conveying and the like is about two thirds of the total working hours, the cost is about one third of the total cost, and most accidents occur in the processes. And because the manual feeding and discharging can have the deviation on the placing position of the workpiece, the difference in the processing of the workpiece can be brought, so that the product quality is unstable.
And the other method adopts a mechanical arm to carry out feeding and discharging. However, most of the existing feeding and discharging manipulators for the machine tool are of a single-claw structure or a double-claw structure driven by a swing cylinder, the single-claw mechanism cannot simultaneously consider the feeding and discharging operations, and the double-claw structure driven by the swing cylinder is high in cost and easy to damage.
Disclosure of Invention
The utility model aims to overcome not enough among the prior art, provide a unloader on two claws, two claws switch the principle simple, with low costs, can consider material loading and unloading function concurrently, improve production efficiency, reduce labour cost, avoid the potential safety hazard.
In order to achieve the purpose, the utility model is realized by adopting the following technical scheme:
a double-claw loading and unloading device comprises a driving mechanism and a manipulator connected to the driving mechanism, wherein the manipulator comprises a Z-axis profile and a double-claw switching mechanism arranged at the bottom of the Z-axis profile; the Z-axis profile is driven by the driving mechanism to drive the manipulator to move in the vertical direction;
the double-jaw switching mechanism comprises a central shaft, a clamping jaw assembly, a crankshaft and a linear cylinder, wherein a bottom plate is fixedly connected to the lower end face of the Z-axis profile, a left central shaft fixing plate and a right central shaft fixing plate are fixedly connected to two sides of the lower end face of the bottom plate, the central shaft is supported between the left central shaft fixing plate and the right central shaft fixing plate through shaft sleeves embedded in the left central shaft fixing plate and the right central shaft fixing plate, one end of the central shaft is connected with a crank, and the crank is simultaneously hinged to a piston rod of the linear cylinder and used for converting linear motion of the linear cylinder;
the clamping jaw assemblies are provided with two sets and connected to the central shaft through clamping jaw connecting plates, and the central shaft rotates to drive the two sets of clamping jaw assemblies to rotate simultaneously to perform position switching.
Preferably, the truss mechanism comprises a cross beam, and the driving mechanism is mounted on the cross beam.
Furthermore, the driving mechanism comprises an X-axis motor and a Z-axis motor, and an output shaft of the motor is respectively meshed with the X-axis gear and the Z-axis gear; the lateral surface of the cross beam is provided with a horizontal rack which is in meshing transmission with the X-axis gear and provides power for the horizontal movement of the manipulator and the driving mechanism on the cross beam; and the side surface of the Z-axis profile is provided with a vertical rack which is in meshed transmission with a Z-axis gear to provide power for the vertical movement of the Z-axis profile.
Further, the clamping jaw assembly comprises a clamping jaw and a clamping jaw air cylinder, one end of the clamping jaw air cylinder is fixedly connected to one end face of the clamping jaw connecting plate, and the other end of the clamping jaw air cylinder is connected with the clamping jaw.
Furthermore, a mechanical dead gear is arranged at the limit position of the upper end of the Z-axis section bar for axial limiting; and a buffer and a mechanical limit are arranged between the Z-axis profile and the bottom plate to limit the range of the rotation angle of the manipulator when the clamping jaw assembly is switched.
Furthermore, Z axle left and right fixed plate are fixedly connected to two sides of the Z axle section bar, and the bottom ends of the Z axle left and right fixed plates are fixedly connected with the bottom plate.
Preferably, the Z-axis left fixing plate is fixedly connected with a linear cylinder fixing piece, and the linear cylinder fixing piece is annularly connected to the periphery of the linear cylinder.
Preferably, proximity switches are further arranged in the middle of the Z-axis profile and in the middle of the cross beam.
Furthermore, a Z-axis motor fixing plate is mounted on the side face of the Z-axis motor, a Z-axis sliding block is fixedly connected to the Z-axis motor fixing plate, an X-axis motor fixing plate is mounted on the side face of the X-axis motor, an X-axis sliding block is fixedly connected to the X-axis motor fixing plate, and the Z-axis motor fixing plate is fixedly connected with the X-axis motor fixing plate for mutual limiting.
Furthermore, a vertical linear guide rail is fixedly connected to the Z-axis profile, and the Z-axis sliding block is connected to the vertical linear guide rail and can limit the vertical movement of the Z-axis profile; the upper end face of the cross beam is further fixedly connected with a horizontal linear guide rail, and the X-axis sliding block is connected to the horizontal linear guide rail and can limit the horizontal movement of the manipulator and the driving mechanism.
Compared with the prior art, the invention has the following beneficial effects:
the manipulator of the double-claw loading and unloading device is hinged with a piston rod through a crank, linear motion of the linear cylinder is converted into rotary motion of the central shaft, the central shaft rotates to drive the two clamping jaws to rotate simultaneously to switch positions, the clamping jaw switching principle is simple, the mechanical structure is simple, a mode of switching the clamping jaws through a swinging cylinder commonly used in the market at present is cancelled, and the double-claw loading and unloading device has the characteristics of low production cost and difficulty in damage;
the driving device arranged on the double-claw loading and unloading device comprises an X-axis motor and a Z-axis motor, the driving device moves in the vertical direction and the horizontal direction, and the loading operation and the unloading operation can be considered by matching with a mechanical arm, so that the waiting time of the machining operation can be obviously shortened, the production efficiency is greatly improved, and the double-claw loading and unloading device has obvious advantages under the working condition that the machining task is heavy and time tight;
the manipulator, the driving mechanism and the truss mechanism work in a cooperative mode, and the proximity switch is further arranged, so that the workpiece machining position can be accurately positioned, unstable product quality caused by manual discharging is effectively avoided, and the product quality is greatly improved.
Drawings
Fig. 1 is a schematic view of an overall structure of a double-claw loading and unloading device provided in an embodiment of the present invention;
fig. 2 is a schematic structural view of a manipulator of a double-claw loading and unloading device according to a first embodiment of the present invention;
fig. 3 is an exploded view of a manipulator of a double-jaw loading and unloading device according to a first embodiment of the present invention;
fig. 4 is a schematic structural view of a driving mechanism of a double-claw loading and unloading device according to a first embodiment of the present invention;
fig. 5 is a schematic structural view of another view angle of the driving mechanism of the double-claw loading and unloading device according to the first embodiment of the present invention;
fig. 6 is a schematic structural view of a truss mechanism of a double-claw loading and unloading device according to a first embodiment of the present invention;
fig. 7 is a front view of a practical application of a double-claw loading and unloading device provided in the second embodiment of the present invention;
fig. 8 is a practical application side view of a double-claw loading and unloading device provided by the second embodiment of the present invention.
In the figure: 1. a manipulator; 1-1, Z-axis profile; 1-2, a bottom plate; 1-3, a buffer; 1-4, a Z-axis left fixing plate; 1-5, a Z-axis right fixing plate; 1-6, central axis; 1-7, a central shaft left fixing plate; 1-8, a central shaft right fixing plate; 1-9, shaft sleeve; 1-10, spring washer; 1-11, a clamping jaw connecting plate; 1-12, a clamping jaw cylinder; 1-13, clamping jaw; 1-14, a linear cylinder; 1-15, a linear cylinder fixing piece; 1-16, a crank; 1-17, mechanically limiting;
2. a drive mechanism; 2-1, an X-axis motor; 2-2, fixing a plate for an X-axis motor; 2-3, an X-axis gear; 2-4, an X-axis slide block; 2-5, a Z-axis motor; 2-6, fixing a Z-axis motor plate; 2-7, Z-axis gear; 2-8, Z-axis slide block;
3. a truss mechanism; 3-1, a base plate; 3-2, adjusting the horizontal position of the ground feet; 3-3, foundation reinforcing ribs; 3-4, upright columns; 3-5, a cross beam; 3-6, fixing a beam; 3-7, adjusting the horizontal plate of the beam; 3-8, beam reinforcing ribs; 3-9, mechanically locking the cross beam; 3-10, horizontal linear guide rail; 3-11, horizontal rack; 3-12, fixing a rack guide rail plate;
4. a feeding mechanism;
5. a blanking mechanism.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
In the description of the present patent, it is to be noted that the terms "upper", "lower", "left", "right", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present patent and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present patent.
Example 1:
as shown in fig. 1, a double-claw loading and unloading device includes a truss mechanism 3, a driving mechanism 2 and a manipulator 1, and cooperates with a loading mechanism 4 and an unloading mechanism 5 to deliver a workpiece to be processed from the loading mechanism 4 to a processing position on a machine tool and take down the processed workpiece from the processing position to the unloading mechanism 5.
As shown in fig. 2 and 3, the manipulator 1 is a mechanism for clamping a workpiece, and comprises a Z-axis profile 1-1, a bottom plate 1-2, a buffer 1-3, a Z-axis left fixing plate 1-4, a Z-axis right fixing plate 1-5, a central shaft 1-6, a central shaft left fixing plate 1-7, a central shaft right fixing plate 1-8, a shaft sleeve 1-9, a spring gasket 1-10, a jaw connecting plate 1-11, a jaw air cylinder 1-12, a jaw assembly, a linear air cylinder 1-14, a linear air cylinder fixing part 1-15 and a crank 1-16, wherein the left and right of the fixing plates are determined based on the orientation shown in fig. 2.
As shown in figure 2, a vertical linear guide rail and a vertical rack are fixedly connected to the side surface of the Z-axis section bar 1-1, and a longitudinal mechanical dead stop is arranged at the limit position of the upper end of the Z-axis section bar 1-1 for axial limiting. The lower end face of the Z-axis section bar 1-1 is fixedly connected with a bottom plate 1-2, two sides of the Z-axis section bar 1-1 are fixedly connected with a Z-axis left fixing plate 1-4 and a Z-axis right fixing plate 1-5, and the bottom ends of the Z-axis left fixing plate 1-4 and the Z-axis right fixing plate 1-5 are fixedly connected with the bottom plate 1-2. In the embodiment, the Z-axis left fixing plate 1-4 and the Z-axis right fixing plate 1-5 are fixed on the side surface of the Z-axis section bar 1-1 through screws, and the bottom plate 1-2 is fixedly connected with the Z-axis left fixing plate 1-4, the Z-axis right fixing plate 1-5 and the bottom plate 1-2 through screws. However, the present invention is not limited thereto, and other fixing means such as adhesion, welding, etc. may be used to fix the Z-axis and Z-axis left fixing plates 1-4, the Z-axis right fixing plates 1-5, and the bottom plates 1-2.
As shown in fig. 2, a linear cylinder fixing member 1-15 is fixed to the outer side of the left Z-axis fixing plate 1-4 (the left fixing plate is determined based on the orientation shown in fig. 2), and a linear cylinder 1-14 is fixed to the inner side of the linear cylinder fixing member 1-15. Specifically, the linear cylinder fixing piece 1-15 is fixedly connected to the outer side of the Z-axis left fixing plate 1-4 through a screw, and the linear cylinder 1-14 is fixedly connected with the linear cylinder fixing piece 1-15 through a screw.
As shown in fig. 3, two sides of the lower end surface of the bottom plate 1-2 are fixedly connected with a central shaft left fixing plate 1-7 and a central shaft right fixing plate 1-8, and the central shaft 1-6 is supported between the central shaft left fixing plate 1-7 and the central shaft right fixing plate 1-8 through a shaft sleeve 1-9 nested with the central shaft left fixing plate 1-7 and the central shaft right fixing plate 1-8. Preferably, the central shafts 1-6 are stepped shafts, so that the installation is convenient, and the axial limiting function of the central shafts can be realized. In this embodiment, the central shaft left fixing plate 1-7 and the central shaft right fixing plate 1-8 are fixedly connected with the bottom plate 1-2 through screws, and the shaft sleeve 1-9 is arranged between the central shaft left fixing plate 1-7 and the central shaft right fixing plate 1-8, so that the abrasion of the central shaft 1-6 can be reduced. The central shaft 1-6 is provided with a spring gasket 1-10 at the outer side of the left fixing plate 1-7 of the central shaft, which plays the roles of buffering and axial limiting.
As shown in figure 3, the left end of the central shaft 1-6 is connected with a crank 1-16 through a screw, and the crank 1-16 is hinged with the piston rod of the linear cylinder 1-14 at the same time and is used for converting the linear motion of the linear cylinder 1-14 into the rotary motion of the central shaft 1-6.
As shown in fig. 3, two sets of clamping jaw assemblies are connected to the central shaft 1-6 through clamping jaw connecting plates 1-11, and when the central shaft 1-6 rotates, the two sets of clamping jaw assemblies can be driven to rotate simultaneously to perform position switching. Specifically, the clamping jaw assembly comprises clamping jaws 1-13 and clamping jaw cylinders 1-12, one ends of the clamping jaw cylinders 1-12 are fixedly connected to one end faces of the clamping jaw connecting plates 1-11 through screws, and the other ends of the clamping jaw cylinders are connected with the clamping jaws 1-13 through screws. In order to avoid the clamping jaws 1-13 from falling off or being unstable when clamping a workpiece, a plurality of concave grooves are arranged in the clamping jaws 1-13, and the abrasion between the clamping jaws 1-13 and the workpiece can be reduced. In the embodiment, a buffer 1-3 and a mechanical limit 1-17 are further arranged between the Z-axis profile 1-1 and the bottom plate 1-2, and are used for limiting and avoiding the rotation angle range of the manipulator 1 when switching the clamping jaw assembly. In order to ensure efficient operation of the device and to avoid unnecessary collisions, it is recommended that the angle of rotation be limited to between 90 ° and 120 °. Specifically, in the present embodiment, the mechanical stoppers 1 to 17 may be stopper screws, but are not limited thereto, and stopper keys and the like are applicable.
As shown in fig. 4 and 5, the driving mechanism 2 includes an X-axis motor 2-1 and a Z-axis motor 2-5, an X-axis motor fixing plate 2-2 is mounted on a side surface of the X-axis motor 2-1, and an X-axis slider 2-4 is fixedly connected to the X-axis motor fixing plate 2-2; a Z-axis motor fixing plate 2-6 is arranged on the side surface of the Z-axis motor 2-5, and a Z-axis sliding block 2-8 is fixedly connected to the Z-axis motor fixing plate 2-6; the Z-axis motor fixing plate 2-6 is fixedly connected with the X-axis motor fixing plate 2-2 through screws, and mechanical limiting is carried out mutually. In this embodiment, the motor is fixed on the motor fixing plate by screws, but not limited thereto, and other fixing methods such as adhesion, welding, etc. can be used to fix the motor and the motor fixing plate.
As shown in figure 2, a vertical linear guide rail and a vertical rack are fixedly connected to the Z-axis section bar 1-1, and a Z-axis sliding block 2-8 is connected to the vertical linear guide rail. As shown in figure 5, an output shaft of a Z-axis motor 2-5 is meshed with a Z-axis gear 2-7, a vertical rack is meshed with the Z-axis gear 2-7, the Z-axis motor 2-5 drives the Z-axis gear 2-7 to rotate, the Z-axis gear 2-7 is meshed with the vertical rack to shift the vertical rack, a Z-axis sliding block 2-8 and a vertical linear guide rail move relatively, and a Z-axis section bar 1-1 can move in the vertical direction.
As shown in figure 6, the double-claw loading and unloading device further comprises a truss mechanism 3, wherein the truss mechanism 3 comprises cross beams 3-5, horizontal linear guide rails 3-10 are fixedly connected to the upper end faces of the cross beams 3-5, horizontal racks 3-11 are fixedly connected to the side faces of the cross beams 3-5, and X-axis sliding blocks 2-4 are connected to the horizontal linear guide rails 3-10. As shown in figure 5, an output shaft of an X-axis motor 2-1 is meshed with an X-axis gear 2-3, a horizontal rack 3-11 is meshed with the X-axis gear 2-3, the X-axis motor 2-1 drives the X-axis gear 2-3 to rotate, the X-axis gear 2-3 is meshed with the horizontal rack 3-11 to stir, an X-axis sliding block 2-4 and a horizontal linear guide rail 3-10 move relatively, and the driving mechanism 2 and the manipulator 1 can move in the horizontal direction.
As shown in figure 6, the truss mechanism 3 further comprises a base plate 3-1, and a base leveling plate 3-2 and a column 3-4 are fixedly connected to the base plate 3-1. The device is fixed on the ground by the base plate 3-1, and a base reinforcing rib 3-3 is fixedly connected between the base leveling plate 3-2 and the upright post 3-4. The foundation leveling plate 3-2 and the bolts are jointly adjusted to enable the upright post 3-4 to be vertical to the ground so as to ensure that the cross beam 3-5 is level to the ground. In the embodiment, the base plate 3-1 is fixed to the ground through an expansion screw, the base plate 3-1 is connected with the foundation leveling plate 3-2 through a bolt, and the foundation reinforcing rib 3-3 is welded and fixed with the foundation leveling plate 3-2 and the upright post 3-4.
As shown in fig. 6, the truss mechanism 3 further includes a beam fixing plate 3-6 for fixing the beam 3-5 to the column 3-4. Crossbeam level adjusting plates 3-7 are fixedly connected to the crossbeam fixing plates 3-6, a plurality of groups of mounting holes are formed in the crossbeam level adjusting plates 3-7, and the crossbeams 3-5 are fixedly connected to different mounting holes to adjust front and back mounting positions (based on the orientation shown in fig. 6). In this embodiment, the lateral side of the beam fixing plate 3-6 is fixed to the beam 3-5 by bolts, and the beam leveling plate 3-7 is fixed to the upper surface of the beam fixing plate 3-6 by bolts. In the embodiment, the beam reinforcing ribs 3-8 are welded and fixed with the upright posts 3-4 and the beam fixing plates 3-6.
As shown in fig. 6, the cross beam 3-5 is provided with a cross beam mechanical dead gear 3-9, the cross beam mechanical dead gear is mounted on the cross beam 3-5 through a screw, is in a U-shaped groove structure, is adjustable in left and right mounting positions (based on the position shown in fig. 6), and plays a role in radial limiting, so that the X-axis sliding block 2-4 is protected from being disengaged from the horizontal linear guide rail 3-10, and the X-axis gear 2-3 is protected from being engaged with the horizontal rack 3-11. In this embodiment, the horizontal linear guide 3-10 and the horizontal rack 3-11 are connected to the upper end surface and the side surface of the rack guide fixing plate 3-12 by screws, and the rack guide fixing plate 3-12 is welded to the upper end and the inner side of the cross beam 3-5.
As shown in figure 1, a proximity switch is also arranged in the middle of the Z-axis section bar 1-1 and the middle of the cross beam 3-5.
Example 2:
as shown in fig. 7 and 8, the embodiment of the present invention provides a double-claw loading and unloading device, which can cooperate with a loading mechanism 4 and an unloading mechanism 5, and can make a manipulator 1 reach any point in a planar space range by controlling an x-axis motor 2-1 and a z-axis motor 2-5, and in addition, a beam level adjusting plate 3-7 designed on a beam 3-5 can adjust the front and back positions of the device, so that the device is changed from planar motion to 'spatial motion'.
It should be noted that the central shaft 1-6, the linear cylinder 1-14 and the crank 1-16 form a crank-connecting rod structure. The linear motion of the linear cylinders 1-14 will drive the central shafts 1-6 to rotate. Meanwhile, the movement stroke of the linear air cylinders 1-14 just enables the central shaft 1-6 to rotate 90 degrees, the angle of the manipulator 1 for switching the clamping jaw assembly can accurately reach a set angle by reasonably selecting the stroke of the linear air cylinders 1-14 and designing the length of the cranks 1-16, and particularly, the set angle is limited within the range of 90-120 degrees.
As shown in fig. 7 and 8, after the feeding mechanism 4 finishes feeding the workpiece to be processed, the Z-axis motor 2-5 controls the Z-axis profile 1-1 to descend, the first clamping jaw clamps the workpiece to be processed, and the Z-axis motor 2-5 controls the Z-axis profile 1-1 to move upwards. When a proximity switch in the middle of the Z-axis section bar 1-1 senses that the manipulator 1 moves to a set position, the linear cylinder 1-14 works, the guide rod extends out to drive the central shaft 1-6 to rotate 90 degrees clockwise, and the Z-axis motor 2-5 controls the Z-axis section bar 1-1 to move up continuously and reach an upper limit position. An X-axis motor 2-1 drives a manipulator 1 to horizontally move right to a machining position, a Z-axis motor 2-5 controls a Z-axis section bar 1-1 to descend, a second clamping jaw clamps a machined workpiece, a linear cylinder 1-14 works to drive a central shaft 1-6 to rotate 90 degrees anticlockwise, a first clamping jaw places the workpiece to be machined in a machining area of a machine tool, and a three-jaw chuck in the machining area of the machine tool clamps the workpiece to be machined. The Z-axis motor 2-5 controls the Z-axis section bar 1-1 to ascend to the upper limit position, the X-axis motor 2-1 drives the manipulator 1 to horizontally move left and reach the blanking mechanism 5, the Z-axis motor 2-5 controls the Z-axis section bar 1-1 to move downwards, and the second clamping jaw places the machined workpiece on a workpiece groove of the blanking mechanism 5; and controlling the Z-axis section bar 1-1 to ascend to an upper limit position by the Z-axis motor 2-5, driving the mechanical arm 1 mechanism to horizontally move leftwards to a left end limit position by the X-axis motor 2-1, and carrying out the next working period after the feeding of the feeding mechanism 4 is finished.
It should be noted that in the present embodiment, in order to distinguish between the two sets of jaw assemblies, the jaws of the two sets of jaw assemblies are respectively named as a first jaw and a second jaw, which are only used for distinguishing and simplifying the description, and cannot be understood as indicating or implying relative importance.
Compared with the prior art, the invention completes the switching of the clamping jaws through the crank-connecting rod mechanism, has simple principle and simple mechanical structure, cancels the mode of switching the clamping jaws through the swinging cylinder commonly used in the current market, and has the characteristics of low production cost and difficult damage; the mechanical arm 1, the driving mechanism 2 and the truss mechanism 3 can take the feeding operation and the discharging operation into consideration, the processing operation waiting time can be obviously shortened, the production efficiency is greatly improved, and the mechanical arm has obvious advantages under the working condition that the processing task is heavy and time is tight.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The double-claw loading and unloading device is characterized by comprising a driving mechanism and a manipulator connected to the driving mechanism, wherein the manipulator comprises a Z-axis profile and a double-claw switching mechanism arranged at the bottom of the Z-axis profile; the Z-axis profile is driven by the driving mechanism to drive the manipulator to move in the vertical direction;
the double-jaw switching mechanism comprises a central shaft, a clamping jaw assembly, a crankshaft and a linear cylinder, wherein a bottom plate is fixedly connected to the lower end face of the Z-axis profile, a left central shaft fixing plate and a right central shaft fixing plate are fixedly connected to two sides of the lower end face of the bottom plate, the central shaft is supported between the left central shaft fixing plate and the right central shaft fixing plate through shaft sleeves embedded in the left central shaft fixing plate and the right central shaft fixing plate, one end of the central shaft is connected with a crank, and the crank is simultaneously hinged to a piston rod of the linear cylinder and used for converting linear motion of the linear cylinder;
the clamping jaw assemblies are provided with two sets and connected to the central shaft through clamping jaw connecting plates, and the central shaft rotates to drive the two sets of clamping jaw assemblies to rotate simultaneously to perform position switching.
2. The dual jaw loading and unloading unit of claim 1 further comprising a truss mechanism including a cross beam, the drive mechanism being mounted on the cross beam.
3. The double-claw loading and unloading device according to claim 2, wherein the driving mechanism comprises an X-axis motor and a Z-axis motor, and output shafts of the motors are respectively meshed with an X-axis gear and a Z-axis gear; the lateral surface of the cross beam is provided with a horizontal rack which is in meshing transmission with the X-axis gear and provides power for the horizontal movement of the manipulator and the driving mechanism on the cross beam; and the side surface of the Z-axis profile is provided with a vertical rack which is in meshed transmission with a Z-axis gear to provide power for the vertical movement of the Z-axis profile.
4. The double-jaw loading and unloading device according to claim 1, wherein the clamping jaw assembly comprises a clamping jaw and a clamping jaw cylinder, one end of the clamping jaw cylinder is fixedly connected to one end face of the clamping jaw connecting plate, and the other end of the clamping jaw cylinder is connected with the clamping jaw.
5. The double-claw loading and unloading device according to claim 1, wherein a mechanical dead stop is arranged at the upper end limit position of the Z-axis profile for axial limiting; and a buffer and a mechanical limit are arranged between the Z-axis profile and the bottom plate to limit the range of the rotation angle of the manipulator when the clamping jaw assembly is switched.
6. The double-claw loading and unloading device according to claim 1, wherein a Z-axis left fixing plate and a Z-axis right fixing plate are fixedly connected to two sides of the Z-axis section, and bottom ends of the Z-axis left fixing plate and the Z-axis right fixing plate are fixedly connected with the bottom plate respectively.
7. The double-claw loading and unloading device according to claim 6, wherein the Z-axis left fixing plate is fixedly connected with a linear cylinder fixing piece, and the linear cylinder fixing piece is annularly connected to the periphery of the linear cylinder.
8. The double-claw loading and unloading device according to claim 2, wherein a proximity switch is further arranged in the middle of the Z-axis profile and in the middle of the cross beam.
9. The double-claw loading and unloading device according to claim 3, wherein a Z-axis motor fixing plate is mounted on a side surface of a Z-axis motor, a Z-axis slider is fixedly connected to the Z-axis motor fixing plate, an X-axis motor fixing plate is mounted on a side surface of an X-axis motor, an X-axis slider is fixedly connected to the X-axis motor fixing plate, and the Z-axis motor fixing plate is fixedly connected to the X-axis motor fixing plate for mutual limiting.
10. The double-claw loading and unloading device according to claim 9, wherein a vertical linear guide rail is further fixedly connected to the Z-axis profile, and the Z-axis slider is connected to the vertical linear guide rail and can limit vertical movement of the Z-axis profile; the upper end face of the cross beam is further fixedly connected with a horizontal linear guide rail, and the X-axis sliding block is connected to the horizontal linear guide rail and can limit the horizontal movement of the manipulator and the driving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021532996.8U CN213059167U (en) | 2020-07-29 | 2020-07-29 | Double-claw loading and unloading device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021532996.8U CN213059167U (en) | 2020-07-29 | 2020-07-29 | Double-claw loading and unloading device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213059167U true CN213059167U (en) | 2021-04-27 |
Family
ID=75578960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021532996.8U Active CN213059167U (en) | 2020-07-29 | 2020-07-29 | Double-claw loading and unloading device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213059167U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113909981A (en) * | 2021-09-29 | 2022-01-11 | 方冠（常州）数控科技有限公司 | A manipulator assembly for unloading in automation |
| CN114407068A (en) * | 2022-01-14 | 2022-04-29 | 佛山市晟尚智能科技有限公司 | Mechanical arm |
-
2020
- 2020-07-29 CN CN202021532996.8U patent/CN213059167U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113909981A (en) * | 2021-09-29 | 2022-01-11 | 方冠（常州）数控科技有限公司 | A manipulator assembly for unloading in automation |
| CN114407068A (en) * | 2022-01-14 | 2022-04-29 | 佛山市晟尚智能科技有限公司 | Mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN213059167U (en) | Double-claw loading and unloading device | |
| CN102528799A (en) | Manipulator for automatic stamping production | |
| CN105619156A (en) | Sucker type feeding and discharging manipulator of vertical punching machine | |
| CN213561198U (en) | Processing clamping device for elliptical metal workpiece arranged on milling machine | |
| CN210064438U (en) | Turnover mechanism for robot and production line with turnover mechanism | |
| CN211589031U (en) | Robot welding system | |
| CN210633264U (en) | Automatic metal processing production line for casting ball socket | |
| CN205552113U (en) | Feeding mechanical arm in vertical punch press sucking disc formula | |
| CN112692817A (en) | Material transports arm | |
| CN209753749U (en) | High-intelligent automatic discharging transverse stamping device | |
| CN103692274A (en) | Full-automatic feeding and discharging device for crankshafts | |
| CN202964649U (en) | Two-axis manipulator used on stamping production line | |
| CN212239715U (en) | Welding workstation at bottom of elevator sedan-chair | |
| CN210648300U (en) | Feeding and discharging machine of thread rolling machine | |
| CN114131059A (en) | Truss manipulator for loading and unloading parts | |
| CN109465587B (en) | Light-load reciprocating rod | |
| CN210588105U (en) | Composite processing machine tool for shearing, bending and punching sheet metal parts | |
| CN109262032B (en) | Method for realizing five-axis gantry horizontal type turning plate milling and turning plate milling machine | |
| CN108655469B (en) | Special processing equipment for replacing turning with milling | |
| CN201394750Y (en) | Dual-station processing machine tool | |
| CN216422603U (en) | Cantilever hanging manipulator | |
| CN215431213U (en) | Servo-driven front supporting device for bending machine | |
| CN218285273U (en) | Double-station integrated fixture for industrial robot manufacturing | |
| CN218556860U (en) | Fixing tool for barrel workpiece | |
| CN219852395U (en) | Profile cutting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220106 Address after: 215314 No. 199, Yingbin East Road, Zhoushi Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Xinchengjia Precision Machinery Co.,Ltd. Address before: 441053 Luzhong Road, Xiangcheng District, Xiangyang, Hubei Province, No. 296 Patentee before: HUBEI University OF ARTS AND SCIENCE |
|
| TR01 | Transfer of patent right |