CN114670178A - Feeding and discharging mechanical arm - Google Patents
Feeding and discharging mechanical arm Download PDFInfo
- Publication number
- CN114670178A CN114670178A CN202210362856.8A CN202210362856A CN114670178A CN 114670178 A CN114670178 A CN 114670178A CN 202210362856 A CN202210362856 A CN 202210362856A CN 114670178 A CN114670178 A CN 114670178A
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- Prior art keywords
- axis
- sucker
- mounting plate
- plate
- turnover shaft
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- 238000007599 discharging Methods 0.000 title abstract description 14
- 230000007306 turnover Effects 0.000 claims abstract description 24
- 241000252254 Catostomidae Species 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 19
- 230000009471 action Effects 0.000 claims description 12
- 230000006698 induction Effects 0.000 claims description 11
- 239000000523 sample Substances 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 abstract description 21
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000003754 machining Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 229910052594 sapphire Inorganic materials 0.000 description 1
- 239000010980 sapphire Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The invention relates to a feeding and discharging manipulator which comprises a turnover shaft, a sucker mounting plate and a sucker, wherein the sucker mounting plate is arranged in a radial plane of the turnover shaft and is fixed on the turnover shaft, and the sucker mounting plate can be driven by the turnover shaft to swing around the axis of the turnover shaft in a reciprocating manner and can be accurately positioned in a horizontal and vertical posture; the front surface and the back surface of the sucker mounting plate are provided with a plurality of suckers. The invention has simple structure, easy control and low cost, and can effectively reduce the material changing time and improve the production efficiency.
Description
Technical Field
The invention belongs to the field of numerical control automation, and particularly relates to a feeding and discharging manipulator.
Background
In order to realize high-precision and high-efficiency processing of thin sheet products such as glass sheets, ceramic sheets, sapphire sheets, panels and the like, a numerical control machine with an automatic feeding and discharging function is generally adopted for production and processing. At present, an automatic loading and unloading machine tool for processing products adopts a sucker type structure on an loading and unloading manipulator, and drives a sucker to move between a material table and a workbench through a moving mechanism so as to realize loading and unloading actions. Receive current sucking disc formula manipulator structure to influence, current digit control machine tool when last unloading, go up the unloading action and need go on step by step, the manipulator takes off the finished product material earlier from the workstation and places in the unloading district promptly, then absorbs the blank material from the loading district again and transfers to the workstation on, whole reloading process time is longer, is unfavorable for production efficiency's improvement. Part lathe can adopt two manipulator structures for improving the efficiency of reloading, and one is responsible for the material loading, and one is responsible for the unloading, but this kind of mode often the structure is complicated, and the control degree of difficulty is big to it is with high costs.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides the feeding and discharging manipulator which is simple in structure, easy to control and low in cost, so that the material changing time is effectively shortened, and the production efficiency is improved.
In order to solve the technical problems, the invention is realized by the following technical scheme: a feeding and discharging manipulator comprises a turnover shaft, a sucker mounting plate and a sucker, wherein the sucker mounting plate is arranged in a radial plane of the turnover shaft and fixed on the turnover shaft, and can swing back and forth around the axis of the turnover shaft under the driving of the turnover shaft and can be accurately positioned in a horizontal and vertical posture; the front surface and the back surface of the sucker mounting plate are provided with a plurality of suckers.
In the feeding and discharging manipulator, the suckers on the front side and the back side of the sucker mounting plate can suck workpieces, and when the sucker on one side sucks a workpiece, the sucker mounting plate can be turned over to continuously suck the workpiece by the sucker on the other side; when the suckers on the front side and the back side of the sucker mounting plate suck workpieces, the relative positions of the two workpieces can be exchanged by turning over the sucker mounting plate.
The feeding and discharging manipulator further comprises a turnover support, a driving motor, a worm and gear transmission mechanism and a roller bearing, wherein the driving motor is installed in the turnover support through a motor installation seat, the worm and gear transmission mechanism is connected to the output end of the driving motor, a worm is connected with the driving motor, and a worm is installed on the turnover support through the roller bearing and is in rotary motion through matching with the worm; the turning shaft is connected with the turbine through a roller bearing and rotates along with the turbine.
In the loading and unloading manipulator, the overturning support is internally provided with the zero point induction block and the proximity sensor, and the zero point induction block is arranged on the roller bearing, is overlapped with the turbine and can rotate along with the turbine; the proximity sensor is arranged on the overturning support; the origin position of the driving motor can be determined by a proximity sensor detection zero induction block.
In the feeding and discharging manipulator, the overturning support is respectively moved along the X-axis direction and the Z-axis direction under the action of the X-direction moving mechanism and the Z-direction moving mechanism; the X-direction moving mechanism comprises an X-axis beam, an X-axis guide rail, an X-axis driving device and a transverse bottom plate, the Z-direction moving mechanism comprises a Z-axis bottom plate, a Z-axis sliding rail and a Z-axis driving device, the X-axis guide rail is arranged on the X-axis beam, and the transverse bottom plate acts on the X-axis guide rail through a sliding block and reciprocates along the X-axis guide rail under the action of the X-axis driving device; the Z-axis bottom plate is fixed on the transverse bottom plate, and the Z-axis sliding plate is connected with the Z-axis bottom plate in a sliding manner through a Z-axis sliding rail arranged on the back surface and can reciprocate along the Z-axis direction under the action of a Z-axis driving device; the overturning support is fixedly connected to the Z-axis sliding plate through the overturning upright post and moves along with the Z-axis sliding plate.
Above-mentioned go up unloading manipulator, still be provided with on the Z axle sliding plate and at the quick-witted measurement mechanism, including gauge head support, gauge head mount pad and gauge head, on the gauge head support was fixed in the Z axle sliding plate, the gauge head mount pad was installed on the gauge head support, and the gauge head is installed in the gauge head mount pad.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the double-sided sucker structure is adopted, so that the blank and the finished product can be respectively sucked on the front side and the back side, and the blank and the finished product can be quickly replaced by combining the overturning structure, so that the material replacing time is effectively reduced, and the processing efficiency is further improved. The overturning structure realizes overturning by driving the worm and the worm gear through the motor, can realize accurate positioning in the horizontal and vertical directions, and ensures the positioning precision of workpieces. In addition, the on-machine measuring mechanism is integrated on the Z-axis movement assembly, the position alignment of the blank and the on-machine detection of finished products can be realized, the automation level of machine tool machining is favorably improved, the machining auxiliary time is reduced, and the on-machine measuring mechanism is simple in structure, small in occupied space and high in integration level.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic diagram of the flip driving structure of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the loading and unloading manipulator of the present invention includes an X-axis beam 1, an X-axis guide rail 2, an X-axis driving device 3, a horizontal bottom plate 4, a Z-axis bottom plate 5, a Z-axis sliding plate 6, a Z-axis sliding rail 7, a Z-axis driving device 8, a turning upright column 9, a turning support 10, a turning shaft 11, a suction cup mounting plate 12, a suction cup 13, a measuring head support 14, a measuring head mounting seat 15, and a measuring head 16.
The X-axis guide rail 2 is fixed on the X-axis beam 1 along the X-axis direction, the transverse bottom plate 4 acts on the X-axis guide rail 2 through a sliding block and reciprocates along the X-axis guide rail 2 under the action of the X-axis driving device 3, and the X-axis driving device 3 is installed on the X-axis beam 1. The Z-axis bottom plate 5 is fixed on the transverse bottom plate 4, the Z-axis sliding plate 6 is connected with the Z-axis bottom plate 5 in a sliding mode through a Z-axis sliding rail 7 and a sliding block (not shown in the figure), the Z-axis sliding plate can move in a reciprocating mode along the Z-axis direction under the action of a Z-axis driving device 8, the Z-axis sliding rail 7 and the Z-axis driving device 8 are both installed on the Z-axis sliding plate 6, and the sliding block is fixed on the Z-axis bottom plate 5. The overturning support 10 and the measuring head support 14 are respectively arranged on the front side and the rear side of the Z-axis sliding plate 6, wherein the overturning support 10 is supported on the front side of the Z-axis sliding plate 6 through four overturning upright columns 9, and the overturning upright columns 9 and the overturning support 10 and the overturning upright columns 9 and the Z-axis sliding plate 6 are fixedly connected. The overturning support 10 is provided with an overturning shaft 11, and the overturning shaft 11 is parallel to the Y-axis direction and can rotate around the Y-axis. Two sucker mounting plates 12 are fixedly mounted on the turning shaft 11, and the two sucker mounting plates 12 are located on the same radial plane of the turning shaft 11 and can swing back and forth around the axis of the turning shaft under the driving of the turning shaft 11. The front and back surfaces of each sucker mounting plate 12 are respectively provided with four suckers 13, and workpieces can be sucked from the front and back surfaces. The measuring head support 14 is fixedly arranged on the rear side of the Z-axis sliding plate 6, the measuring head mounting base 15 is fastened on the measuring head support 14, the measuring head 16 is locked on the measuring head mounting base 15 through a jackscrew, and the workpiece can be detected on machine through the reciprocating motion of the Z-axis sliding plate 6 along the X axis and the Z axis, so that the position alignment of a workpiece blank and the sorting detection of finished products are realized. In order to protect the probe 16, probe impact prevention plates 17 are respectively provided on the left and right sides of the probe holder 14.
As shown in fig. 2, the inside of the flip stand 10 is provided with a cavity, and the cavity is sealed by a protective cover 18. And an overturning driving device is arranged in the cavity and comprises a driving motor 19, a worm 20, a turbine 21, a roller bearing 22, a zero induction block 23 and a proximity sensor 24. The driving motor 19 is arranged in the cavity through a motor mounting seat 25, and the motor mounting seat 25 is fixed on the cavity. The worm 20 is installed in the motor mounting seat 25, is connected with the output end of the driving motor 19, and rotates under the action of the driving motor 19. The worm wheel 21 is installed in the cavity of the overturning support 10 through the roller bearing 22 and is matched with the worm 20 to rotate, and accurate positioning at any position can be realized through a gear-rack transmission mode. The tumble shaft 11 is coupled with the turbine 21 through a roller bearing 22 and rotates together with the turbine 21. In order to determine the origin position of the driving motor 19 to accurately control the rotation angle, a zero point induction block 23 and a proximity sensor 24 are further arranged in the cavity, and the zero point induction block 23 is mounted on the roller bearing 22 and is overlapped with the turbine 21; the proximity sensor 24 is arranged on the sensor mounting block 26 and is fixed in the cavity of the overturning support 10 together; the zero point induction block 23 rotates together with the turbine 21, and the proximity sensor 24 can determine the origin position of the driving motor 19 by detecting the zero point induction block 23, so that the accurate control of the rotation angle can be realized, and the accurate positioning can be ensured. Under the action of the turnover driving device, the sucker mounting plate 12 reciprocates 180 degrees around the turnover shaft 11 and can be respectively positioned at the horizontal 0 degree position, the vertical 90 degree position and the horizontal 180 degree position, so that the actions of taking and placing the sucker are finished.
The invention can not only finish the material taking of flat material discharging, but also finish the automatic feeding and discharging of straight-insert material basket type material discharging. When the automatic turnover device works, the sucker mounting plate 12 is kept at a vertical 90-degree position, after a sucker on one side sucks blank materials from the material basket, the turnover shaft 11 drives the sucker mounting plate 12 to turn over for 90 degrees, and one side of the blank materials faces upwards; after the workpiece on the workbench is machined, the machined workpiece can be directly sucked by the sucker on the other side, then the turnover shaft 11 rotates in the reverse direction for 180 degrees, so that the blank material is placed on the machining jig of the workbench to be machined downwards on one side, and the finished workpiece on the sucker can be conveyed to the material receiving system in the machining process of the blank material and then can be circularly taken again. The material preparation and discharging processes are completed in the processing process, so that the material changing time is greatly reduced, and the production efficiency is improved.
In addition, the invention also integrates an on-machine detection device, and can directly detect the machined workpiece after machining, thereby easily realizing the on-line sorting of NG materials and further improving the production efficiency. Meanwhile, the position of the workpiece can be aligned for the blank material. And the movement mechanism of the on-machine detection device adopts the movement mechanism of the mechanical arm, so that the structure space is saved and the measurement precision can be ensured.
Although the present invention has been described in detail hereinabove, the present invention is not limited thereto, and those skilled in the art can make various modifications in accordance with the principle of the present invention. Thus, modifications made in accordance with the principles of the present invention should be understood to fall within the scope of the present invention.
Claims (6)
1. A loading and unloading manipulator is characterized by comprising a turnover shaft, a sucker mounting plate and a sucker, wherein the sucker mounting plate is arranged in a radial plane of the turnover shaft and fixed on the turnover shaft, and can swing back and forth around the axis of the turnover shaft under the driving of the turnover shaft and can be accurately positioned in a horizontal and vertical posture; the front surface and the back surface of the sucker mounting plate are provided with a plurality of suckers.
2. The loading and unloading manipulator as claimed in claim 1, wherein the suckers on the front and back sides of the sucker mounting plate can suck the workpiece, and when the sucker on one side sucks the workpiece, the sucker mounting plate can be turned over to continuously suck the workpiece by the sucker on the other side; when the suckers on the front side and the back side of the sucker mounting plate suck workpieces, the relative positions of the two workpieces can be exchanged by turning over the sucker mounting plate.
3. The loading and unloading manipulator as claimed in claim 1 or 2, further comprising a turning support, a driving motor, a worm gear transmission mechanism and a roller bearing, wherein the driving motor is mounted in the turning support through a motor mounting seat, the worm gear transmission mechanism is coupled to an output end of the driving motor, wherein the worm is coupled to the driving motor, and the worm gear is mounted on the turning support through the roller bearing and performs rotary motion through cooperation with the worm; the turning shaft is connected with the turbine through a roller bearing and rotates along with the turbine.
4. The loading and unloading manipulator as claimed in claim 3, wherein a zero point induction block and a proximity sensor are further arranged in the overturning support, and the zero point induction block is mounted on the roller bearing, is stacked with the turbine and can rotate along with the turbine; the proximity sensor is arranged on the overturning support; the origin position of the driving motor can be determined by a proximity sensor detection zero induction block.
5. The loading and unloading manipulator of claim 4, wherein the turning support is moved along the X-axis direction and the Z-axis direction by the X-direction moving mechanism and the Z-direction moving mechanism respectively; the X-direction moving mechanism comprises an X-axis beam, an X-axis guide rail, an X-axis driving device and a transverse bottom plate, the Z-direction moving mechanism comprises a Z-axis bottom plate, a Z-axis sliding rail and a Z-axis driving device, the X-axis guide rail is arranged on the X-axis beam, and the transverse bottom plate acts on the X-axis guide rail through a sliding block and reciprocates along the X-axis guide rail under the action of the X-axis driving device; the Z-axis bottom plate is fixed on the transverse bottom plate, and the Z-axis sliding plate is connected with the Z-axis bottom plate in a sliding manner through a Z-axis sliding rail arranged on the back surface and can reciprocate along the Z-axis direction under the action of a Z-axis driving device; the overturning support is fixedly connected to the Z-axis sliding plate through the overturning upright post and moves along with the Z-axis sliding plate.
6. The loading and unloading manipulator as claimed in claim 5, wherein the Z-axis sliding plate is further provided with an on-machine measuring mechanism, which includes a probe holder, a probe mounting seat and a probe, the probe holder is fixed on the Z-axis sliding plate, the probe mounting seat is mounted on the probe holder, and the probe is mounted in the probe mounting seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210362856.8A CN114670178A (en) | 2022-04-08 | 2022-04-08 | Feeding and discharging mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210362856.8A CN114670178A (en) | 2022-04-08 | 2022-04-08 | Feeding and discharging mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114670178A true CN114670178A (en) | 2022-06-28 |
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ID=82078288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210362856.8A Pending CN114670178A (en) | 2022-04-08 | 2022-04-08 | Feeding and discharging mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN114670178A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05319572A (en) * | 1992-05-15 | 1993-12-03 | Nippon Steel Metal Prod Co Ltd | Reverse piling device |
| CN207511424U (en) * | 2017-08-22 | 2018-06-19 | 福建海源自动化机械股份有限公司 | A kind of automatic transferring of carbon fibre composite production line |
| CN210148090U (en) * | 2019-03-28 | 2020-03-17 | 滁州瑞祥智能科技有限公司 | Glass snatchs manipulator with 180 degrees upset functions |
| CN214086706U (en) * | 2020-12-28 | 2021-08-31 | 湖北航鹏化学动力科技有限责任公司 | Roll-over stand with adjustable gravity center |
| CN215401697U (en) * | 2021-06-21 | 2022-01-04 | 华普电子（常熟）有限公司 | Material taking and placing mechanism |
| CN215825306U (en) * | 2021-07-01 | 2022-02-15 | 厦门柔性电子研究院有限公司 | Turnover manipulator |
| CN216913828U (en) * | 2022-04-08 | 2022-07-08 | 北京精雕科技集团有限公司 | Feeding and discharging mechanical arm |
-
2022
- 2022-04-08 CN CN202210362856.8A patent/CN114670178A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05319572A (en) * | 1992-05-15 | 1993-12-03 | Nippon Steel Metal Prod Co Ltd | Reverse piling device |
| CN207511424U (en) * | 2017-08-22 | 2018-06-19 | 福建海源自动化机械股份有限公司 | A kind of automatic transferring of carbon fibre composite production line |
| CN210148090U (en) * | 2019-03-28 | 2020-03-17 | 滁州瑞祥智能科技有限公司 | Glass snatchs manipulator with 180 degrees upset functions |
| CN214086706U (en) * | 2020-12-28 | 2021-08-31 | 湖北航鹏化学动力科技有限责任公司 | Roll-over stand with adjustable gravity center |
| CN215401697U (en) * | 2021-06-21 | 2022-01-04 | 华普电子（常熟）有限公司 | Material taking and placing mechanism |
| CN215825306U (en) * | 2021-07-01 | 2022-02-15 | 厦门柔性电子研究院有限公司 | Turnover manipulator |
| CN216913828U (en) * | 2022-04-08 | 2022-07-08 | 北京精雕科技集团有限公司 | Feeding and discharging mechanical arm |
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