CN203765369U - High-pressure pipe joint part loading and unloading robot and loading and unloading system thereof - Google Patents
High-pressure pipe joint part loading and unloading robot and loading and unloading system thereof Download PDFInfo
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- CN203765369U CN203765369U CN201420175086.7U CN201420175086U CN203765369U CN 203765369 U CN203765369 U CN 203765369U CN 201420175086 U CN201420175086 U CN 201420175086U CN 203765369 U CN203765369 U CN 203765369U
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- 230000003028 elevating effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000003754 machining Methods 0.000 abstract 3
- 239000012636 effector Substances 0.000 description 13
- 238000012545 processing Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 239000011265 semifinished product Substances 0.000 description 8
- 238000007599 discharging Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 239000000047 product Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 239000000256 polyoxyethylene sorbitan monolaurate Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The utility model provides a high-pressure pipe joint part loading and unloading robot which comprises a base, stand columns, supports and a machine head. The base is composed of supporting legs and ball guide rails arranged on the upper portions of the supporting legs. The stand columns are vertically arranged at the upper ends of the ball guide rails. The bottoms of the stand columns are provided with ball sliding blocks which do the linear motion in the horizontal direction of the ball guide rails. The tops of the stand columns are provided with the supports which are respectively perpendicular to the ball guide rails and the stand columns. The supports are provided with screw rod transmission devices. Screw rod nuts of the screw rod transmission devices are connected with the machine head. The machine head comprises a machine base and a loading and unloading tail end execution device installed on the machine base. The utility model further discloses a high-pressure pipe joint part loading and unloading system. The high-pressure pipe joint part loading and unloading system is matched with a numerically-controlled machine tool, high-pressure pipe joint parts can be loaded or unloaded automatically in the thread machining process when machining stations are changed, and automatic and unmanned loading and unloading in the machining process can be achieved.
Description
Technical field
The utility model belongs to Computerized Numerical Control processing technology field, is specifically related to lathe handling equipment, is specifically related to a kind of loading and unloading machine people of high-voltage tube fitting, also relates to the loading and unloading system of the high-voltage tube fitting of the loading and unloading machine people based on high-voltage tube fitting.
Background technology
Lathe loading and unloading machine people is a just incipient new industry at home in recent years. but in western developed country and Japan and Korea S, before 20 years, loading and unloading machine people is just widely used on various types of Digit Control Machine Tools.Loading and unloading machine people combines with Digit Control Machine Tool, can realize workpiece automatic capturing, material loading, blanking, be installed, all technical process such as processing, can greatly save cost of labor, enhance productivity.Be specially adapted to processings in enormous quantities, middle-size and small-size parts.
In the process of middle-size and small-size pipe joint, adopt at present machine tools more, by workman's manual operation, complete material loading, processing and blanking process, cause like this workman's labour intensity very large, production efficiency is low, and long-time tired operation, workman cannot concentrate one's energy, and easily produces waste product, even causes personal damage.In addition, along with expanding economy, every profession and trade increases to the demand of pipe joint, and shop floor worker is also improving the requirement of work situation, and traditional production model can not meet the production requirement of enterprise and the needs of shop floor worker.
Summary of the invention
The technical problems to be solved in the utility model is to provide a kind of high-voltage tube fitting loading and unloading system, realizes the automatic loading/unloading of high-pressure pipe connector, can reduce workman's labour intensity and cost of labor, enhances productivity.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of high-voltage tube fitting loading and unloading machine people, and its innovative point is: comprise base, column, bearing and head;
Described base is comprised of leg and the spherical guide that is arranged at leg top;
Described column is vertically installed in spherical guide upper end, and column bottom is provided with ball slider, along spherical guide moving linearly in the horizontal direction;
Described column top arranges one, respectively perpendicular to the bearing of spherical guide and column, spindle gear is set on bearing, and the feed screw nut of spindle gear connects head;
Described head comprises support and is installed on the loading and unloading end actuating unit on support.
Further, described loading and unloading end actuating unit comprises horizontal rotary mechanism, elevating mechanism, telescoping mechanism, grasping mechanism and vertical rotary mechanism;
Described horizontal rotary mechanism comprises axle sleeve A, rotating shaft A and cylinder A, and axle sleeve A is fixed on support upper end, and rotating shaft A is inserted in axle sleeve, and the lower end of rotating shaft A is stretched in support, and the piston rod of cylinder A is connected by crank with rotating shaft A;
Described elevating mechanism comprises lifting platform, lift cylinder and holder; Described lifting platform suit is upper with rotating shaft A, and rotating shaft A top arranges holder, and lift cylinder is installed in holder both sides, and the piston rod of lift cylinder is connected with lifting platform;
Described telescoping mechanism comprises telescopic stand, cylinder C, and the both sides of telescopic stand arrange two cylinder C, and the piston rod of cylinder C connects telescopic stand;
Described grasping mechanism comprises cylinder D, connecting rod and air-actuated jaw, and the piston rod of cylinder D is connected with connecting-rod head, and the other end of connecting rod is connected with air-actuated jaw.
Described vertical rotating mechanism comprises cylinder E, axle sleeve B, rotating shaft B, and rotating shaft B inserts in axle sleeve B, and the piston rod of cylinder E is connected by crank with rotating shaft B.
The utility model also provides a kind of high-voltage tube fitting loading and unloading system based on high-voltage tube fitting loading and unloading machine people, comprises lathe A, vibration feeding machine, loading and unloading 4-coordinate robot, workpiece steering gear, lathe B and Work transfer device; Described lathe A and lathe B are arranged at a side of blanking 4-coordinate robot, vibration feeding machine is arranged at loading and unloading 4-coordinate robot near the end of lathe A one end, workpiece steering gear is arranged between lathe A and lathe B, workpiece steering gear is arranged between lathe A and lathe B, and workpiece conveyer is arranged at loading and unloading 4-coordinate robot near one end of lathe B;
Described vibration feeding machine comprises frame, vibrating motor and vibrating disk, and described vibrating disk is arranged on the top of frame, and vibrating motor is arranged on the bottom of vibrating disk, is provided with feed bin in vibrating disk, and feed bin sidewall is provided with the feeding channel that extends to vibrating disk outside;
Described workpiece steering gear comprises checkout gear and the rotation cylinder of raising wages.
The beneficial effects of the utility model:
1, robot of the present utility model can realize with Digit Control Machine Tool and matching, the automatic loading/unloading in realize high-voltage tube fitting in screw thread process processing stations when conversion, realize the automation, unmanned of loading and unloading in process, in addition, the structure of industrial machine robot end manipulator is slightly done to change, just can realize the automatic charging of various workpieces; In actual production, can improve the quality of product, save the energy, alleviate workman's labour intensity.
2, the compact conformation of robot of the present utility model and high-voltage tube fitting loading and unloading system thereof, transmission efficiency is high, and return difference is little, and transmission progress is high, reliable operation.
3, high-voltage tube fitting loading and unloading system of the present utility model arranges workpiece steering gear, and pipe connecting piece is carried out to sensing detection and pose adjustment, realizes the process requirements of lathe to Same Part diverse location.
4, robot end of the present utility model is small and exquisite, flexible, is applicable to the operation of feeding and discharging of high-voltage tube fitting, C is installed endways to rotating shaft on actuator, can adjust easily the angle of end effector.
accompanying drawing explanation
Fig. 1 is high-voltage tube fitting loading and unloading machine people's of the present utility model structural representation.
Fig. 2 is the structural representation of high-voltage tube fitting loading and unloading machine people's of the present utility model head
Fig. 3 is the structural representation of high-voltage tube fitting loading and unloading system of the present utility model.
Fig. 4 is the structural representation of vibration feeding machine of the present utility model.
Fig. 5 is the structural representation of changing of workpieces parallel operation of the present utility model.
the specific embodiment
Below in conjunction with the drawings and specific embodiments, the technical solution of the utility model is elaborated.
A kind of high-voltage tube fitting loading and unloading machine people as shown in Figure 1, comprises base 100, column 200, bearing 300 and head 400;
Base 100 is comprised of leg 101 and the spherical guide 102 that is arranged at leg 101 tops;
Column 200 is vertically installed in spherical guide 102 upper ends, and column 200 bottoms are provided with ball slider 201, along spherical guide 102 moving linearly in the horizontal direction;
Column 200 tops arrange one, respectively perpendicular to the bearing 300 of spherical guide 102 and column 200, spindle gear 301 are set on bearing 300, and the feed screw nut of spindle gear 301 connects head 400;
Head 400 comprises support 410 and is installed on the loading and unloading end actuating unit 420 on support 410.
Loading and unloading end actuating unit 420 comprises horizontal rotary mechanism, elevating mechanism, telescoping mechanism, grasping mechanism and vertical rotary mechanism;
Horizontal rotary mechanism, comprise axle sleeve A421, rotating shaft A422 and cylinder A423, axle sleeve A421 is fixed on support 410 upper ends, and rotating shaft A422 is inserted in axle sleeve 421, the lower end of rotating shaft A422 is stretched in support 410, and the piston rod of cylinder A421 is connected by crank with rotating shaft A422;
Elevating mechanism, comprises lifting platform 424, lift cylinder 425 and holder 426; Lifting platform 424 suits are upper with rotating shaft A422, and rotating shaft A422 top arranges holder 426, and lift cylinder 425 is installed in holder 426 both sides, and the piston rod of lift cylinder 425 is connected with lifting platform 424;
Telescoping mechanism, comprises telescopic stand 427, cylinder C428, and the both sides of telescopic stand 427 arrange two cylinder C428, and the piston rod of cylinder C428 connects telescopic stand 427;
Grasping mechanism, comprises cylinder D429, connecting rod 430 and air-actuated jaw 431, and the piston rod of cylinder D429 is connected with connecting rod 430 ends, and the other end of connecting rod 430 is connected with air-actuated jaw 431.
Vertical rotating mechanism, comprises cylinder E432, axle sleeve B433, rotating shaft B434, and rotating shaft B434 inserts in axle sleeve B4332, and the piston rod of cylinder E432 is connected by crank with rotating shaft B434.
High-voltage tube fitting loading and unloading machine people's of the present utility model high-voltage tube fitting loading and unloading system comprises lathe A500, lathe B600, vibration feeding machine 700, loading and unloading 4-coordinate robot 800, workpiece steering gear 900 and workpiece conveyer 1000; Described lathe A500 and lathe B600 are arranged at a side of blanking 4-coordinate robot 800, vibration feeding machine 700 is arranged at loading and unloading 4-coordinate robot 800 ends near lathe A500 one end, workpiece steering gear 900 is arranged between lathe A500 and lathe B600, and workpiece conveyer 1000 is arranged at loading and unloading 4-coordinate robot 800 one end near lathe B600;
Vibration feeding machine 700 comprises frame 701, vibrating motor 702 and vibrating disk 703, vibrating disk 703 is arranged on the top of frame 701, vibrating motor 702 is arranged on the bottom of vibrating disk 703, in vibrating disk 703, be provided with feed bin 704, feed bin 704 sidewalls are provided with the feeding channel 705 that extends to vibrating disk 703 outsides;
Workpiece steering gear 900 comprises bearing 901, checkout gear 902, steering gear rotating shaft 903, rotating disk 904 and the rotation cylinder 905 of raising wages, the piston rod that rotates the cylinder 905 of raising wages is connected by crank with steering gear rotating shaft 903 one end, and the other end of steering gear rotating shaft 903 connects rotating disk 904.
The method of work of this system:
1) high-voltage tube fitting to be processed is put into the hopper of vibration feeding machine, vibration feeding machine vibration feeding;
2) loading and unloading 4-coordinate robot moves to left end vibration feeding machine discharging opening position, and robot charge end effector picks up a pipe connecting piece to be processed from vibration feeding machine discharging opening; Robot charge end effector Rotate 180 °, second pipe connecting piece to be processed of subsequent pick-up;
3) loading and unloading 4-coordinate robot moves to pipe connecting piece numerical control machine tool M; Loading and unloading 4-coordinate robot and numerical control machine tool M contact by real-time Communication for Power, the pipe connecting piece to be processed picking up are put into correct clamping on the fixture of numerical control machine tool M; After clamping, loading and unloading 4-coordinate robot exits numerical control machine tool M, and numerical control machine tool M starts the processing of pipe connecting piece the first operation;
After to be processed, numerical control machine tool M and loading and unloading 4-coordinate robot contact by real-time Communication for Power, and loading and unloading 4-coordinate robot takes out from the fixture of numerical control machine tool M the pipe connecting piece (being called for short pipe connecting piece semi-finished product) that has completed the processing of first operation; Then, robot charge end effector Rotate 180 °, puts into second pipe connecting piece to be processed picking up correct clamping on the fixture of numerical control machine tool M, and after clamping, loading and unloading 4-coordinate robot exits numerical control machine tool M;
Loading and unloading 4-coordinate robot moves to workpiece steering gear position, and the pipe connecting piece semi-finished product on loading and unloading end effector are put into workpiece steering gear, is rotated posture adjustment; Posture adjustment is complete, and loading and unloading end effector is pickup tube fitting semi-finished product again, and moves to numerical control machine tool N;
Robot charge end effector Rotate 180 °, loading and unloading 4-coordinate robot and numerical control machine tool N contact by real-time Communication for Power, pipe connecting piece semi-finished product are put into correct clamping on the fixture of numerical control machine tool N, after clamping, loading and unloading 4-coordinate robot exits numerical control machine tool N, and numerical control machine tool N starts the processing of pipe connecting piece the second operation;
Loading and unloading 4-coordinate robot moves to left end vibration feeding machine discharging opening position; Robot charge end effector picks up a pipe connecting piece to be processed from vibration feeding machine discharging opening;
Loading and unloading 4-coordinate robot moves to pipe connecting piece numerical control machine tool M; Loading and unloading 4-coordinate robot and numerical control machine tool M contact by real-time Communication for Power, and robot charge end effector Rotate 180 ° takes out from the fixture of numerical control machine tool M the pipe connecting piece fitting semi-finished product that completed the processing of first operation; Then, robot charge end effector Rotate 180 °, puts into the pipe connecting piece to be processed picking up correct clamping on the fixture of numerical control machine tool M;
After clamping, loading and unloading 4-coordinate robot exits numerical control machine tool M;
Loading and unloading 4-coordinate robot moves to workpiece steering gear position, and the pipe connecting piece semi-finished product on loading and unloading end effector are put into workpiece steering gear, is rotated posture adjustment; Posture adjustment is complete, and loading and unloading end effector is pickup tube fitting semi-finished product again, and moves to numerical control machine tool N;
Loading and unloading 4-coordinate robot and numerical control machine tool N contact by real-time Communication for Power, from the fixture of numerical control machine tool N, take out the pipe connecting piece (being called for short pipe connecting piece finished product) that has completed second operation work processing; Then, robot charge end effector Rotate 180 ° is put into pipe connecting piece semi-finished product correct clamping on the fixture of numerical control machine tool N;
After clamping, loading and unloading 4-coordinate robot exits numerical control machine tool N;
Loading and unloading 4-coordinate robot moves to right-hand member finished product conveyer, and the pipe connecting piece finished product that machines two procedures is placed on workpiece transfer machine;
Loading and unloading machine people moves to left end vibration feeding machine discharging opening position, completes first a complete workpiece fabrication cycles at this point.
Workflow is jumped into the 9th step 9), start circulation.
Claims (3)
1. a high-voltage tube fitting loading and unloading machine people, is characterized in that: comprise base, column, bearing and head;
Described base is comprised of leg and the spherical guide that is arranged at leg top;
Described column is vertically installed in spherical guide upper end, and column bottom is provided with ball slider, along spherical guide moving linearly in the horizontal direction;
Described column top arranges one, respectively perpendicular to the bearing of spherical guide and column, spindle gear is set on bearing, and the feed screw nut of spindle gear connects head;
Described head comprises support and is installed on the loading and unloading end actuating unit on support.
2. a kind of high-voltage tube fitting loading and unloading machine people according to claim 1, is characterized in that: described loading and unloading end actuating unit comprises horizontal rotary mechanism, elevating mechanism, telescoping mechanism, grasping mechanism and vertical rotary mechanism;
Described horizontal rotary mechanism comprises axle sleeve A, rotating shaft A and cylinder A, and axle sleeve A is fixed on support upper end, and rotating shaft A is inserted in axle sleeve, and the lower end of rotating shaft A is stretched in support, and the piston rod of cylinder A is connected by crank with rotating shaft A;
Described elevating mechanism comprises lifting platform, lift cylinder and holder; Described lifting platform suit is upper with rotating shaft A, and rotating shaft A top arranges holder, and lift cylinder is installed in holder both sides, and the piston rod of lift cylinder is connected with lifting platform;
Described telescoping mechanism comprises telescopic stand, cylinder C, and the both sides of telescopic stand arrange two cylinder C, and the piston rod of cylinder C connects telescopic stand;
Described grasping mechanism comprises cylinder D, connecting rod and air-actuated jaw, and the piston rod of cylinder D is connected with connecting-rod head, and the other end of connecting rod is connected with air-actuated jaw;
Described vertical rotary mechanism comprises cylinder E, axle sleeve B, rotating shaft B, and rotating shaft B inserts in axle sleeve B, and the piston rod of cylinder E is connected by crank with rotating shaft B.
3. the high-voltage tube fitting loading and unloading system based on high-voltage tube fitting loading and unloading machine people claimed in claim 1, is characterized in that: comprise lathe A, vibration feeding machine, loading and unloading 4-coordinate robot, workpiece steering gear, lathe B and workpiece conveyer; Described lathe A and lathe B are arranged at a side of blanking 4-coordinate robot, vibration feeding machine is arranged at loading and unloading 4-coordinate robot near the end of lathe A one end, workpiece steering gear is arranged between lathe A and lathe B, and workpiece conveyer is arranged at loading and unloading 4-coordinate robot near one end of lathe B;
Described vibration feeding machine comprises frame, vibrating motor and vibrating disk, and described vibrating disk is arranged on the top of frame, and vibrating motor is arranged on the bottom of vibrating disk, is provided with feed bin in vibrating disk, and feed bin sidewall is provided with the feeding channel that extends to vibrating disk outside;
Workpiece steering gear comprises checkout gear, steering gear rotating shaft, rotating disk and the rotation cylinder of raising wages, and the raise wages piston rod of cylinder of rotation is connected by crank with steering gear rotating shaft one end, the other end connection rotating disk of steering gear rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420175086.7U CN203765369U (en) | 2014-04-12 | 2014-04-12 | High-pressure pipe joint part loading and unloading robot and loading and unloading system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420175086.7U CN203765369U (en) | 2014-04-12 | 2014-04-12 | High-pressure pipe joint part loading and unloading robot and loading and unloading system thereof |
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| Publication Number | Publication Date |
|---|---|
| CN203765369U true CN203765369U (en) | 2014-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420175086.7U Expired - Lifetime CN203765369U (en) | 2014-04-12 | 2014-04-12 | High-pressure pipe joint part loading and unloading robot and loading and unloading system thereof |
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| CN (1) | CN203765369U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103909439A (en) * | 2014-04-12 | 2014-07-09 | 南通爱慕希机械有限公司 | Robot and system for feeding and discharging high-pressure pipe joint parts and operation method implemented by robot and system |
-
2014
- 2014-04-12 CN CN201420175086.7U patent/CN203765369U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103909439A (en) * | 2014-04-12 | 2014-07-09 | 南通爱慕希机械有限公司 | Robot and system for feeding and discharging high-pressure pipe joint parts and operation method implemented by robot and system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 226010, 1, 19 East Road, Nantong economic and Technological Development Zone, Jiangsu Patentee after: NANTONG AMC MACHINERY Co.,Ltd. Address before: 226009 Nantong Province Economic and Technological Development Zone, new East Road, No. 19, No. Patentee before: NANTONG AMC MACHINERY CO.,LTD. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140813 |