CN106004192B - A kind of handling equipment - Google Patents
A kind of handling equipment Download PDFInfo
- Publication number
- CN106004192B CN106004192B CN201610512574.6A CN201610512574A CN106004192B CN 106004192 B CN106004192 B CN 106004192B CN 201610512574 A CN201610512574 A CN 201610512574A CN 106004192 B CN106004192 B CN 106004192B
- Authority
- CN
- China
- Prior art keywords
- axis
- manipulator
- moving mechanism
- auxiliary
- positioning
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B1/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled three-dimensionally for making single sculptures or models
- B44B1/003—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled three-dimensionally for making single sculptures or models having several cutting tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B1/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled three-dimensionally for making single sculptures or models
- B44B1/06—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B3/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings
- B44B3/006—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings carving or engraving devices having several cutting tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B3/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings
- B44B3/06—Accessories, e.g. tool or work holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B2700/00—Machines, apparatus, tools or accessories for artistic work
- B44B2700/12—Accessories; Tool or work holders
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This application discloses a kind of handling equipment, including X-axis moving mechanism, Y-axis moving mechanism and Z axis moving mechanism, further include：First mechanism for picking, it includes the first manipulator, and in Y-axis moving mechanism, Y-axis moving mechanism drives the first manipulator to be moved along Y direction；X-axis moving mechanism, Y-axis moving mechanism and Z axis moving mechanism drive the first manipulator to give machine table loading and unloading；And second mechanism for picking, it includes Z axis auxiliary moving assembly, rotary components and the second manipulator, and Z axis auxiliary moving assembly is installed in Z axis moving mechanism, and rotary components are installed on Z axis auxiliary moving assembly, and the second manipulator is installed on rotary components；Z axis auxiliary moving assembly driving rotary components and the second manipulator are moved along Z-direction, the rotation of rotary components driving manipulator；Z axis aids in moving assembly and rotary components to drive the second manipulator to give the first manipulator loading and unloading.The overall structure of the present apparatus is small, and the pickup precision with higher.
Description
Technical field
This application involves 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 the prior art is equipped with locating piece, and locating piece is used to work piece being accurately positioned
Designated position on to workbench, but locating piece is set on workbench, locating piece accounts for certain space, causes workbench to place quilt
The space of workpiece is limited, and for the engraving machine with multiple workbench, each workbench must be provided with locating piece into
Row positioning, not only so that device is more on workbench, and reduces processing efficiency.And the loading and unloading dress of engraving machine in the prior art
The guide rail for putting feed direction is very long so that whole handling equipment need to take many spaces.
The content of the invention
The application provide it is a kind of occupy little space, the handling equipment that loading efficiency is high.
A kind of handling equipment, including X-axis moving mechanism, Y-axis moving mechanism and Z axis moving machine are provided in a kind of embodiment
Structure, Z axis moving mechanism are installed in X-axis moving mechanism, and Y-axis moving mechanism is installed in Z axis moving mechanism, X-axis moving mechanism
Driving Z axis moving mechanism and Y-axis moving mechanism move along the x-axis, and Z axis moving mechanism driving Y-axis moving mechanism is moved along Z-direction
It is dynamic, further include：
First mechanism for picking, it includes the first manipulator, and the first manipulator is installed in Y-axis moving mechanism, Y-axis moving machine
Structure drives the first manipulator to be moved along Y direction；X-axis moving mechanism, Y-axis moving mechanism and Z axis moving mechanism drive the first machine
Tool hand gives machine table loading and unloading；
And second mechanism for picking, it includes Z axis auxiliary moving assembly, rotary components and the second manipulator, and Z axis auxiliary is moved
Dynamic component is installed in Z axis moving mechanism, and rotary components are installed on Z axis auxiliary moving assembly, and the second manipulator is installed on rotation
Turn on component；Z axis moving mechanism driving Z axis auxiliary moving assembly, rotary components and the second manipulator are moved along Z-direction, Z axis
Auxiliary moving assembly driving rotary components and the second manipulator are moved along Z-direction, the rotation of rotary components driving manipulator；Z axis
Auxiliary moving assembly and rotary components drive the second manipulator to give the first manipulator loading and unloading.
Further, positioning component includes locating support, locating piece and positioning cylinder, and locating support is moved installed in Y-axis
In mechanism, positioning cylinder is installed on the upper surface of locating support, and the output terminal of positioning cylinder is connected with the first manipulator, positioning branch
Frame is equipped with the slot for being used for avoiding the first manipulator, and the pickup end face of the first manipulator is down-set, and picks up end and pass through
The slot of locating support protrudes from the lower face of locating support；Locating piece has two, and two locating pieces are installed mutual vertically
In the lower face of locating support, output shaft and the locating piece of positioning cylinder are set into default angle.
Further, positioning component further includes positioning guide rail and positioning sliding block, and positioning guide rail is installed on locating support, fixed
Position sliding block be slidably mounted on positioning guide rail, the first manipulator be installed on positioning sliding block on, 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 further includes Y-axis auxiliary moving assembly, and Y-axis aids in moving assembly to be moved installed in Y-axis
On motivation structure, locating support is installed on Y-axis auxiliary moving assembly；Y-axis moving mechanism driving Y-axis auxiliary moving assembly, positioning
Component and the first manipulator are moved along Y direction, and Y-axis auxiliary moving assembly drives positioning component and the first manipulator 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 are installed 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 installed on Y-axis auxiliary slider, and locating support is installed in Y-axis auxiliary guide rail, Y-axis auxiliary
The output terminal of cylinder is fixedly connected with locating support, and the output shaft and Y-axis auxiliary guide rail of Y-axis assistant cylinder are set along Y direction
Put.
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 are installed in Z axis moving 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 installed on Z axis auxiliary slider, and rotary components are installed in Z axis auxiliary guide rail, Z axis auxiliary
The output shaft of cylinder is fixedly connected with rotary components, and the output shaft of Z axis assistant cylinder is set with Z axis auxiliary guide rail along Z-direction.
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 manipulator is fixed in swing arm；Rotary cylinder drives the second manipulator to be rotated by 90 °, and makes
The second manipulator is obtained between horizontal level and vertical position to replace, when the second manipulator is rotated to horizontal level, the second machinery
The pickup end of hand is bonded with the pickup end face opposite of the first manipulator.
Further, the second mechanism for picking mounting base is further included, the second mechanism for picking mounting base is fixedly mounted on Z axis movement
In mechanism, Z axis auxiliary stand is fixed in the second mechanism for picking mounting base.
Further, further include：
Rack, specific works face；
Machine table, machine table have four, and four machine tables are arranged side by side along X-direction, and X-axis moving mechanism is installed on machine
The side of frame working face, machine table are installed on the opposite side of rack working face；
And workpiece slot, workpiece slot include being used to place unprocessed undressed part groove vertically and add for placing vertically
The machined part groove of workpiece, undressed part groove and machined part groove are installed on rack working face along X-direction, and are located at X-axis
Between moving mechanism and machine table.
According to the handling equipment of above-described embodiment, due to equipped with the first mechanism for picking and the second mechanism for picking, the first ten
Taking mechanism, common in X-axis moving mechanism, Y-axis moving mechanism and Z axis moving mechanism drives in Y-axis moving mechanism
Under, the first manipulator of the first mechanism for picking can carry out loading and unloading with machine table, and the second mechanism for picking is installed on Z axis moving mechanism
On, it can be moved together in company with the first mechanism for picking in X-axis and Z-direction, and the second mechanism for picking further includes Z axis auxiliary and moves
Dynamic component and rotary components so that the second manipulator can also carry out Z-direction movement and in horizontal level relative to the first manipulator
Alternating is rotated between vertical position so that the second manipulator can carry out loading and unloading to the first manipulator.This handling equipment
Loading and unloading to machine table are completed by the first manipulator and the linking of the second manipulator, since the second manipulator instead of the first machine
Part movement in the rotation of tool hand and Z axis, reduces amount of movement of first manipulator in Z-direction, so that the Z that degraded
The stroke of axis moving mechanism, and rotary components need not be moved in Y direction, improve the pickup precision of workpiece.Therefore more increasings
A manipulator is added so that the overall structure of the present apparatus diminishes, and has the pickup precision of higher.
Brief description of the drawings
Fig. 1 is a kind of structure diagram of handling equipment in embodiment；
Fig. 2 is a kind of structure diagram of the first mechanism for picking of handling equipment in embodiment；
Fig. 3 is a kind of Local map of the structure diagram of the first mechanism for picking of handling equipment in embodiment；
Fig. 4 is a kind of structure diagram of the second mechanism for picking of handling equipment in embodiment.
Embodiment
The present invention is described in further detail below by embodiment combination attached drawing.
A kind of handling equipment is provided in the present embodiment, this handling equipment adds as mobile phone glass CNC carving machines
A kind of handling equipment of work, the processing of CNC finishing impressions and CNC processing, this handling equipment can also be used for the upper and lower of other equipment
Material.
As shown in Figure 1, handling equipment includes X-axis moving mechanism 1, Y-axis moving mechanism 2, Z axis moving mechanism 3, the first ten
Take mechanism 4, the second mechanism for picking 5, rack 6, machine table 7 and workpiece slot 8.Rack 6 has working face.
X-axis moving mechanism 1, Y-axis moving mechanism 2, Z axis moving mechanism 3 include mounting base, motor, screw, guide rail and cunning
Block.Wherein motor and guide rail is fixed in mounting base, and motor is stepper motor, and screw is rotatably installed in peace by bearing
Fill on seat, the output shaft of motor is connected by shaft coupling or belt wheel with screw, and motor driving screw rotates, and sliding block is with guide rail
Dove-tail slide structure, sliding block are slidably mounted on guide rail, and guide rail and screw are arranged in parallel.
The mounting base of X-axis moving mechanism 1 is fixedly mounted on the working face of rack 6, and the mounting base of Z axis moving mechanism 3 is consolidated
It is scheduled on the sliding block of X-axis moving mechanism 1, in other embodiments, the sliding block of X-axis moving mechanism 1 and the peace of Z axis moving mechanism 3
Dress seat is an integral structure.The mounting base of Y-axis moving mechanism 2 is fixed on the sliding block of Z axis moving mechanism 3, in other embodiment
In, the mounting base of Y-axis moving mechanism 2 and the sliding block of Z axis moving mechanism 3 are an integral structure.Therefore X-axis moving mechanism 1 drives Z axis
Moving mechanism 3 and Y-axis moving mechanism 2 are moved along X-direction together, and Z axis moving 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 41,42 and first manipulator of positioning component
43.Y-axis auxiliary moving assembly 41 is fixed on the sliding block of Y-axis moving mechanism 2, and positioning component 42 is fixedly mounted on Y-axis auxiliary and moves
On dynamic component 41, the first manipulator 43 is installed on positioning component 42.Y-axis auxiliary moving assembly 41 drives 43 edge of the first manipulator
Y direction moves, and Y-axis moving mechanism 2 is formed in the two-stage drive in Y-axis movement, and positioning component 42 drives the first manipulator
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 are fixed on the sliding 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 411, Y-axis auxiliary guide rail 413 is installed on Y-axis auxiliary slider
On 414, positioning component 42 is installed in Y-axis auxiliary guide rail 413, and output terminal and the positioning component 42 of Y-axis assistant cylinder 412 are fixed
Connection, the output shaft and Y-axis auxiliary guide rail 413 of Y-axis assistant cylinder 412 are set along Y direction.Y-axis assistant cylinder 412 passes through
Driving positioning component 42 drives the first manipulator 43 to be moved along Y direction, and Y-axis auxiliary moving assembly 41 forms an auxiliary and drives
Dynamic, the stroke that the formation and Y-axis moving mechanism 2 that Y-axis auxiliary moving assembly 41 drives drive synthesizes the head office of the first manipulator 43
Journey so that the guide rail of Y-axis moving mechanism 2 is reduced, so as to reduce the length of Y-axis moving mechanism 2 in the Y-axis direction, is made
It is more compact to obtain whole equipment, has saved space.
As shown in Figures 2 and 3, detent mechanism 42 is led including locating support 421, locating piece 422, positioning cylinder 423, positioning
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 face of locating support 421, and locating support 421, which is equipped with, to be used to avoid the first machine
The slot of tool hand 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
A right angle used for positioning.Positioning guide rail 424 is fixedly mounted on the upper surface of locating support 421, and positioning guide rail 424 and two determine
The angular bisector at the right angle that position block 422 is formed is parallel, or on angular bisector, meanwhile, slot, positioning cylinder 423 it is defeated
Shaft is parallel with positioning guide rail 424, and positioning sliding block 425 is slidably mounted on positioning guide rail 424, and the first manipulator 43 is pacified
On positioning sliding block 425, the pickup end of the first manipulator 43 is four vacuum holding nozzles of array arrangement, and vacuum holding nozzle leads to
Cross tracheae to be connected with vacuum negative pressure device, the slot of four vacuum holding nozzles through locating support 421 protrudes from locating support 421
Lower surface, after vacuum holding nozzle absorption glass, glass and locating piece 422 are located on the horizontal plane in thickness section, that is, work as glass
Block 422 can be positioned after movement to block.
The positioning principle of detent mechanism 42 is：When first manipulator 43 need to adsorb glass, positioning cylinder 423 drives the first machine
The right angle used for positioning that tool hand 43 is formed away from two locating pieces 422；After the first manipulator 43 adsorbs glass, positioning cylinder
423 the first manipulators of driving 43 are blocked the positioning realized to glass by two locating pieces 422 close to the right angle of positioning, glass,
And there is the moisture of processing on glass, therefore after locating piece 422 blocks glass, the first manipulator 43 can continue to lean on to positioning right angle
Closely, predeterminated position is reached, therefore the adsorption mouth of opposite first manipulator 43 is slidably, therefore to position during glass in position fixing process
The glass that the first manipulator 43 can be adsorbed different deviations in mechanism 42 realizes positioning.And moved in the air in the first manipulator 43
During positioning can be achieved, improve the efficiency of feeding.
As shown in figure 4, the second mechanism for picking 5 includes Z axis auxiliary moving assembly 51,52 and second manipulator of rotary components
53.In order to preferably install the second mechanism for picking 5, this handling equipment is on the sliding block of Z axis moving mechanism 2 or Y-axis moves
Second mechanism for picking mounting base 9 is installed, the second mechanism for picking mounting base 9 consolidates the second mechanism for picking 5 in the mounting base of mechanism
It is scheduled on the first extreme position of the manipulator 43 away from machine table 7.
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
Axis auxiliary slider 514, Z axis auxiliary stand 511 are installed in the second mechanism for picking mounting base 9, and Z axis assistant cylinder 512 and Z axis are auxiliary
Sliding block 514 is helped to be fixedly mounted on Z axis auxiliary stand 511, Z axis auxiliary guide rail 513 is installed on Z axis auxiliary slider 514, rotation
Component 52 is installed in Z axis auxiliary guide rail 513, and the output shaft of Z axis assistant cylinder is fixedly connected with rotary components 52, Z axis auxiliary
The output shaft of cylinder 512 is set with Z axis auxiliary guide rail 513 along Z-direction.Z axis auxiliary moving assembly 51 can drive the second machinery
Hand 53 relative to the first manipulator 43 Z-direction movement.On the one hand, Z axis auxiliary moving assembly 51 and Y-axis auxiliary moving assembly
41 principle is the same, and Z axis auxiliary moving assembly 51 instead of partial journey of the Z axis moving mechanism 3 in Z-direction so that Z axis moves
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 loading and unloading of second manipulator 53 to the first manipulator 43.
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 manipulator 53 is fixed in swing arm 523；Rotation
Rotaring cylinder 522 drives the second manipulator 53 to be rotated by 90 ° so that the second manipulator 53 is handed between horizontal level and vertical position
Replace, when the second manipulator 53 is rotated to horizontal level, the pickup end and the pickup end face of the first manipulator 43 of the second manipulator 53
Opposite is bonded, i.e. the second manipulator 53 will can expect on the first manipulator 43 on glass, or the second manipulator 53 is from the first machine
43 loading and unloading of tool hand.Second manipulator 53 is consistent with the structure of the first manipulator 43, and the pickup end of the second manipulator 53 is array
Three vacuum holding nozzles of arrangement, vacuum holding nozzle are connected by tracheae with vacuum negative pressure device.
Machine table 7 has four, and along X-direction, spaced set, X-axis moving mechanism 1 are installed on four machine tables 7 side by side
The side of 6 working face of rack, machine table 7 are installed on the opposite side of the rack working face.
Workpiece slot 8 includes being used to place unprocessed undressed part groove vertically and for placing adding for machined part vertically
Workpiece slot, undressed part groove and machined part groove are installed on 6 working face of rack along X-direction, and are located at X-axis moving mechanism 1
Between machine table 7, undressed part groove and machined part groove are parallel with the second manipulator 53 in the Y-axis direction.Undressed part groove
Multiple vertical card slots are equipped with machined part groove, glass can be placed on the pickup for being easy to the second manipulator 53 in card slot vertically
Or place.
This handling equipment further includes controller, and all motors, cylinder and vacuum negative pressure device in handling equipment are equal
It is electrically connected with the controller, controller realizes the coordination of control motor, cylinder and vacuum negative pressure device by the control program write
Action, it is final to control the first manipulator 43 and the second manipulator 53 to complete loading and unloading action, and controller and engraving machine jointly
Connection, engraving machine have two engraving members, and controller controls the first manipulator 43 and the second manipulator 53 real to two machine tables 7
Now the time of material and feeding is less than two engraving members of engraving machine and two glass of other two machine tables 7 is processed at the same time
Time so that two engraving members of engraving machine incessantly can be processed the glass in two machine tables 7, finally carry
The high processing efficiency of engraving machine.
The action step of this handling equipment feeding is：
S101：First manipulator 43 is moved to and X-axis moving mechanism 1 by Y-axis moving mechanism 2 and Y-axis auxiliary moving assembly 41
Nearest extreme position, the position and the second manipulator 53 are parallel in the Y-axis direction；
S102：X-axis moving mechanism 1 drives the first manipulator 43 and the second manipulator 53 to move close to undressed part groove at the same time
Designated position；
S103：Rotary components 52 drive the first manipulator 43 to rotate to vertical position, and the second manipulator 53 is not positioned at this time
Surface on workpiece groove outermost glass side；
S104：Z axis auxiliary moving assembly 51 drives the second manipulator 53 to be moved downward to undressed part groove outermost glass
Side on；
S105：Second manipulator 53 adsorbs glass, and Z axis auxiliary moving assembly 51 drives the second manipulator 53 to moving up afterwards
It is dynamic；
S106：Rotary components 52 drive the second manipulator 53 to rotate to horizontal level, the second manipulator 53 pickup at this time
Glass is located at the lower section of the first manipulator 43；
S107：While first manipulator 43 adsorbs undressed glass, the second manipulator 53 leaves the position；
S108：Detent mechanism 42 drives the first manipulator 43 to position glass；
S109：X-axis moving mechanism 1 and Z axis moving mechanism 3 drive the first manipulator 43 be moved to assigned work platform 7 for
X-axis and Z axis position；
S110：Y-axis auxiliary moving assembly 41 drives the first manipulator 43 to be moved to extreme position along Y-axis workbench 7, then
Y-axis moving mechanism 2 drives the first manipulator 43 to continue to be moved to the top of workbench 7 along Y direction；
S111：First manipulator 43 puts down undressed glass, and retracts, and completes the positioning feeding to undressed glass.
The blanking step of this handling equipment is with feeding step on the contrary, simply wherein blanking step saves compared with feeding step
The step of having gone positioning, so it will not be repeated.
Handling equipment provided in this embodiment, on the one hand, due to equipped with the first mechanism for picking 4 and the second mechanism for picking 5,
First mechanism for picking 4 is in Y-axis moving mechanism 2, in X-axis moving mechanism 1, Y-axis moving mechanism 2 and Z axis moving mechanism 3
Common driving under, the first manipulator 43 of the first mechanism for picking 4 can carry out loading and unloading with machine table, and the second mechanism for picking 5 be pacified
In Z axis moving mechanism 3, it can be moved together in company with the first mechanism for picking 5 in X-axis and Z-direction, and the second pickup machine
Structure 5 further includes Z axis auxiliary moving assembly 51 and rotary components 52 so that 53 opposite first manipulator 43 of the second manipulator can also be into
Row Z-direction is mobile and alternating is rotated between horizontal level and vertical position so that the second manipulator 53 can be to the first machine
Tool hand 43 carries out loading and unloading.This handling equipment is completed to machine table by the first manipulator 43 and the linking of the second manipulator 53
Loading and unloading, the part movement in the rotation and Z axis of the first manipulator 43 is instead of due to the second manipulator 53, reduces the first machine
Tool hand 43 is in the amount of movement of Z-direction, so that the stroke of degradation LiaoZZhou moving mechanisms 3, and rotary components 52 need not
Moved in Y direction, improve the pickup precision of workpiece.Therefore add a manipulator more and the overall structure of the present apparatus is become
It is small, and the pickup precision with higher.
On the other hand, since equipped with positioning component 42 is equipped with the first mechanism for picking 4, detent mechanism 42 can be in the air
The glass of mobile the first manipulator 43 pickup is accurately positioned.Positioned, taken after the first manipulator 43 picks up glass
Positioned for existing manipulator when static state is in pickup or placement, that is, saved the time of static positioning, and lead to
It is high to cross the precision that mutually perpendicular two locating pieces 422 are positioned.
The structure of this handling equipment is more compact in summary, occupies little space, and with the basis of high-precision
Realize efficient loading and unloading.
Use above specific case is illustrated the present invention, is only intended to help and understands the present invention, not limiting
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make some simple
Deduce, deform or replace.
Claims (8)
1. a kind of handling equipment, including X-axis moving mechanism, Y-axis moving mechanism and Z axis moving mechanism, the Z axis moving mechanism
In the X-axis moving mechanism, the Y-axis moving mechanism is installed in the Z axis moving mechanism, the X-axis moving machine
Structure drives the Z axis moving mechanism and Y-axis moving mechanism to move along the x-axis, and the Z axis moving mechanism drives the Y-axis moving machine
Structure is moved along Z-direction, it is characterised in that is further included：
First mechanism for picking, it includes the first manipulator, and first manipulator is installed in the Y-axis moving mechanism, the Y
Axis moving mechanism drives first manipulator to be moved along Y direction；The X-axis moving mechanism, Y-axis moving mechanism and Z axis move
Motivation structure drives first manipulator to give machine table loading and unloading；
And second mechanism for picking, it includes Z axis auxiliary moving assembly, rotary components and the second manipulator, and the Z axis auxiliary is moved
Dynamic component is installed in the Z axis moving mechanism, and the rotary components are installed on Z axis auxiliary moving assembly, and described the
Two manipulators are installed on the rotary components；The Z axis moving mechanism drives the Z axis auxiliary moving assembly, rotary components
Moved with the second manipulator along Z-direction, the Z axis auxiliary moving assembly drives the rotary components and the second manipulator along Z
Direction of principal axis moves, and the rotary components drive the manipulator rotation；The Z axis auxiliary moving assembly and rotary components driving institute
The second manipulator is stated to the first manipulator loading and unloading；
First mechanism for picking further includes positioning component, and the positioning component is installed in the Y-axis moving mechanism, and described the
One manipulator is installed on the positioning component；The positioning component drives first manipulator to be moved to designated position realization
Positioning；
The positioning component includes locating support, locating piece and positioning cylinder, and the locating support is installed on the Y-axis moving machine
On structure, the positioning cylinder is installed on the upper surface of the locating support, the output terminal of the positioning cylinder and first machine
Tool hand connects, and the locating support is equipped with the slot for being used for avoiding first manipulator, the pickup of first manipulator
End face is down-set, and the slot of pickup end through the locating support protrudes from the lower face of the locating support；
The locating piece has two, and two locating pieces are installed on the lower face of the locating support mutual vertically, described fixed
The output shaft of position cylinder is set with the locating piece into default angle.
2. handling equipment as claimed in claim 1, it is characterised in that the positioning component further includes positioning guide rail and positioning
Sliding block, the positioning guide rail are installed on the locating support, and the positioning sliding block is slidably mounted in the positioning guide rail
On, first manipulator is installed on the positioning sliding block, and the output shaft of the positioning cylinder is parallel with the positioning guide rail；
The positioning guide rail is parallel with the angular bisector that two locating pieces form right angle, or the positioning guide rail is located at two institutes
Locating piece is stated to be formed on the angular bisector at right angle.
3. handling equipment as claimed in claim 2, it is characterised in that first mechanism for picking further includes Y-axis auxiliary and moves
Dynamic component, the Y-axis auxiliary moving assembly are installed in the Y-axis moving mechanism, and it is auxiliary that the locating support is installed on the Y-axis
Help on moving assembly；The Y-axis moving mechanism drives Y-axis auxiliary moving assembly, positioning component and first manipulator along Y-axis
Direction is moved, and the Y-axis auxiliary moving assembly drives the positioning component and the first manipulator to be moved along Y direction.
4. handling equipment as claimed in claim 3, it is characterised in that the Y-axis auxiliary moving assembly includes Y-axis auxiliary branch
Frame, Y-axis assistant cylinder, Y-axis auxiliary guide rail and Y-axis auxiliary slider, the Y-axis auxiliary stand are installed on the Y-axis moving mechanism
On, the Y-axis assistant cylinder and Y-axis auxiliary slider are fixedly mounted on the Y-axis auxiliary stand, the Y-axis auxiliary guide rail peace
On the Y-axis auxiliary slider, the locating support be installed on the Y-axis auxiliary guide rail on, the Y-axis assistant cylinder it is defeated
Outlet is fixedly connected with the locating support, and the output shaft and Y-axis auxiliary guide rail of the Y-axis assistant cylinder are set along Y direction
Put.
5. handling equipment as claimed in claim 4, it is characterised in that the Z axis auxiliary moving assembly includes Z axis auxiliary branch
Frame, Z axis assistant cylinder, Z axis auxiliary guide rail and Z axis auxiliary slider, the Z axis auxiliary stand are installed on the Z axis moving mechanism
On, the Z axis assistant cylinder and Z axis auxiliary slider are fixedly mounted on the Z axis auxiliary stand, the Z axis auxiliary guide rail peace
On the Z axis auxiliary slider, the rotary components be installed on the Z axis auxiliary guide rail on, the Z axis assistant cylinder it is defeated
Shaft is fixedly connected with the rotary components, and the output shaft of the Z axis assistant cylinder and the Z axis auxiliary guide rail are along Z-direction
Set.
6. handling equipment as claimed in claim 5, it is characterised in that the rotary components include runing rest, rotary pneumatic
Cylinder and swing arm, the runing rest are fixed in the Z axis auxiliary guide rail, and the Z axis assistant cylinder is consolidated with the runing rest
Fixed connection, the rotary cylinder are fixed on the runing rest, and the swing arm is vertically fixed on the rotation of the rotary cylinder
On output shaft, second manipulator is fixed in the swing arm；The rotary cylinder drives the second manipulator rotation 90
Degree so that between horizontal level and vertical position alternately, second manipulator is rotated to horizontal position second manipulator
When putting, the pickup end of second manipulator is bonded with the pickup end face opposite of first manipulator.
7. handling equipment as claimed in claim 6, it is characterised in that further include the second mechanism for picking mounting base, described
Two mechanism for picking mounting bases are fixedly mounted in the Z axis moving mechanism, and the Z axis auxiliary stand is fixed on second pickup
In mechanism mounting base.
8. such as claim 1 to 7 any one of them handling equipment, it is characterised in that further include：
Rack, specific works face；
Machine table, the machine table have four, and four machine tables are arranged side by side along X-direction, the X-axis moving mechanism
Installed in the side of the rack working face, the machine table is installed on the opposite side of the rack working face；
And workpiece slot, the workpiece slot include being used to place unprocessed undressed part groove vertically and add for placing vertically
The machined part groove of workpiece, the undressed part groove and machined part groove are installed on the rack working face along X-direction, and
Between the X-axis moving mechanism and machine table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610512574.6A CN106004192B (en) | 2016-06-30 | 2016-06-30 | A kind of handling equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610512574.6A CN106004192B (en) | 2016-06-30 | 2016-06-30 | A kind of handling equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106004192A CN106004192A (en) | 2016-10-12 |
| CN106004192B true CN106004192B (en) | 2018-05-15 |
Family
ID=57106113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610512574.6A Active CN106004192B (en) | 2016-06-30 | 2016-06-30 | A kind of handling equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106004192B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106784963B (en) * | 2016-11-28 | 2020-01-07 | 深圳吉阳智能科技有限公司 | Continuous feeding device of lithium battery insulating film |
| CN107244174A (en) * | 2017-06-30 | 2017-10-13 | 中山华粹智能装备有限公司 | A kind of intelligent engraving system with automatic loading/unloading function |
| CN107775244B (en) * | 2017-09-21 | 2019-07-26 | 佛山市富可思自动化设备有限公司 | Four axis focusing systems |
| CN108608783B (en) * | 2018-04-19 | 2020-03-27 | 常州信息职业技术学院 | Board carving machine capable of automatically feeding and discharging |
| CN108672777B (en) * | 2018-05-23 | 2020-06-05 | 赵加文 | Automatic machining equipment for wire stripping blade and cutting and milling angle control method thereof |
| CN109807670A (en) * | 2019-02-21 | 2019-05-28 | 广东科杰机械自动化有限公司 | A kind of manipulator for double Z axis lathes and double Z axis lathes using it |
| CN112338281B (en) * | 2019-08-09 | 2022-02-22 | 河北拓思机械设备有限公司 | Automatic tooth grinding machine for front angle of saw blade |
| CN114406883A (en) * | 2022-02-08 | 2022-04-29 | 安徽澳达光电科技有限公司 | Automatic transfer device is used in production of cell-phone apron |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2338866A1 (en) * | 1973-07-31 | 1975-02-13 | Motch Merryweather Machinery | Workpiece loading and unloading device - between loading station and machining station, has gripper and operating device |
| JPS51131059A (en) * | 1975-05-08 | 1976-11-15 | Yutaka Kitahara | Loading and unloading device installed in vehicle etc |
| CN203210975U (en) * | 2013-04-10 | 2013-09-25 | 深圳市远洋翔瑞机械股份有限公司 | Automatic loading and unloading mechanism of engraving and milling machine |
| CN204196551U (en) * | 2014-07-04 | 2015-03-11 | 叶贤松 | A kind of manipulator of automatic loading/unloading |
| CN104354097B (en) * | 2014-10-20 | 2017-10-24 | 深圳市远洋翔瑞机械股份有限公司 | A kind of automatic loading and unloading device of Digit Control Machine Tool |
| CN105437843B (en) * | 2015-12-22 | 2019-06-25 | 东莞市瑞必达科技股份有限公司 | A kind of handling equipment of engraving machine |
| CN205951571U (en) * | 2016-06-30 | 2017-02-15 | 东莞市瑞必达科技股份有限公司 | A material loading and unloading device |
-
2016
- 2016-06-30 CN CN201610512574.6A patent/CN106004192B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106004192A (en) | 2016-10-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106004192B (en) | A kind of handling equipment | |
| CN204974340U (en) | Two -sided adhesive deposite device | |
| CN105437843B (en) | A kind of handling equipment of engraving machine | |
| TWI691465B (en) | Glass plate working apparatus | |
| CN109759924B (en) | Double-gantry single-beam movable combined machining tool | |
| CN109228767B (en) | Movable column type automatic feeding and discharging glass engraving and milling machine and working method thereof | |
| TWI572438B (en) | Multi-spindle cnc device | |
| CN103056766B (en) | Workpiece periphery grinding device | |
| CN109834545A (en) | The automatic processing integrated machine of optical mirror slip | |
| CN205951571U (en) | A material loading and unloading device | |
| CN109177618A (en) | Horizontal cold carving machine and horizontal cold carving machine control method | |
| CN205381077U (en) | Last unloader of engraver | |
| TWM463630U (en) | Horizontal five-sided processing equipment | |
| CN208051058U (en) | A kind of helical bevel gear processing device | |
| CN217224926U (en) | Vibration material disk grinding device | |
| CN205363406U (en) | It has automatic shedding mechanism digit control machine tool of going up to embed | |
| CN214274168U (en) | Automatic assembly fixture | |
| CN110666996B (en) | Glass processing center and processing method thereof | |
| CN210190981U (en) | Mini digit control machine tool of unloading processing in panel automation | |
| CN111644961A (en) | Accurate five-axis grinding machine in duplex position | |
| CN208978542U (en) | Horizontal cold carving machine | |
| CN216266910U (en) | Intelligent engraving and milling machine | |
| TW202233347A (en) | Automatic pick-and-place device attached to processing machine including a pick-and-place unit that utilizes axial movement of a processing machine body and the pick-and-place unit to transport a workpiece between a worktable and a material tray | |
| CN209257744U (en) | A kind of dynamic pillar automatic loading/unloading glass carving machine | |
| CN208409261U (en) | Mobile phone glass processing and loading clamp mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: Liaobu Zhen Niu Yang Village in Guangdong province Dongguan City nobile road 523430 No. 17 Applicant after: Dongguan ruilida glass Polytron Technologies Inc Address before: Liaobu Zhen Niu Yang Village in Guangdong province Dongguan City nobile road 518103 No. 17 Applicant before: Dongguan City Rui Bida Science and Technology Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |