CN105880642A - Automatic loading and unloading mechanical arm of numerically controlled lathe - Google Patents

Automatic loading and unloading mechanical arm of numerically controlled lathe Download PDF

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Publication number
CN105880642A
CN105880642A CN201410733724.7A CN201410733724A CN105880642A CN 105880642 A CN105880642 A CN 105880642A CN 201410733724 A CN201410733724 A CN 201410733724A CN 105880642 A CN105880642 A CN 105880642A
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CN
China
Prior art keywords
numerically controlled
controlled lathe
slide unit
clamping
automatic loading
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Pending
Application number
CN201410733724.7A
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Chinese (zh)
Inventor
林志贺
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林志贺
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Application filed by 林志贺 filed Critical 林志贺
Priority to CN201410733724.7A priority Critical patent/CN105880642A/en
Publication of CN105880642A publication Critical patent/CN105880642A/en
Pending legal-status Critical Current

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Abstract

Disclosed is an automatic loading and unloading mechanical arm of a numerically controlled lathe. According to the structure of the automatic loading and unloading mechanical arm of the numerically controlled lathe, a longitudinal slide table parallel to the rotation axis of the numerically controlled lathe is installed on a base of the mechanical arm, a heightening seat is installed on the longitudinal slide table, a rotary main shaft composed of rolling bearings is installed inside the heightening seat, and a set of numerically controlled reduction box is installed on the rotary main shaft. A piece of connection plate is installed at the main shaft end of the rotary main shaft, and a second numerically controlled reduction box perpendicular to the rotary main shaft is installed at the other end of the connection plate. A swing arm is installed at an output shaft end of the second numerically controlled reduction box and provided with clamping mechanisms. The automatic loading and unloading mechanical arm of the numerically controlled lathe is simple and reliable in structure and capable of loading, unloading and transporting parts to be machined by the numerically controlled lathe fully automatically, so that labor intensity of workers is largely reduced, efficiency is improved, and personal safety of the workers is ensured. Further, workpiece loading and unloading can be conducted from the front face of the numerically controlled lathe, and therefore, the automatic reform of a prior numerically controlled lathe is facilitated.

Description

Numerically controlled lathe automatic loading and unloading manipulator
Technical field
The present invention relates to a kind of numerical control lathe mechanical hand, especially relate to one and be applicable to the automation loading and unloading transformation of old numerically controlled lathe Manipulator.
Technical background
Lathe is most commonly seen equipment in machining, and its lathe occupancy volume comes out at the top in machining equipment;This machine Bed belongs to labour intensive, technology requires one of work post high, that safety standard requirements are tight.The current numerically controlled lathe overwhelming majority is all Being the loading and unloading manually having removed workpiece, its labour intensity is big, time-consuming effort, and efficiency is low, and cost is high, and workman is the most careless Arise that security incident;The newest numerical control device has started to adapted truss-like manipulator progressively, but its manipulator need to be from top Portion enters chuck position and carries out loading and unloading, but old numerical control device is both for artificial carrying out manual loading and unloading from front, thus the top gem of a girdle-pendant Frame type mechanical arm is difficult to transform existing equipment, and additionally truss depth is higher, and its debugging and cost expense are the highest; Hence it is imperative that realize the stronger manipulator of versatility to replace the automatic loading/unloading of new and old numerically controlled lathe.
Summary of the invention
It is an object of the invention to provide the manipulator of the good numerically controlled lathe automatic clamping and placing material of a kind of versatility.
In order to reach above-mentioned goal of the invention, the technical solution adopted in the present invention is: this device mainly by numerically controlled lathe, material storehouse, Manipulator, control system, numerical-control motor, clamping device form;It is characterized in that: be provided with on manipulator base one with Longitudinal slide unit that lathe axis of rotation is parallel, this slide unit uses cylinder, oil cylinder or numerical-control motor to be driven;Longitudinal slide unit On a heightening base is installed, heightening base is provided with the rotary main shaft being made up of rolling bearing, gyroaxis is provided with a set of Numerical control reducing motor;The spindle end of gyroaxis is provided with one piece of gusset piece, and the other end of gusset piece is provided with one and gyroaxis No. 2 perpendicular numerical control reductors;The axle of No. 2 numerical control reductors goes out axle head and is provided with a swing arm, and swing arm is provided with folder Hold mechanism, clamping device preferred Pneumatic clamping cylinder;For convenience of the radial position regulation of manipulator, longitudinal slide unit with increase the end One slide unit perpendicular with lathe axis of rotation is installed between Zuo, or gusset piece installs a slide unit, or pendulum with revolution between centers Installing a slide unit between arm and clamping device, this slide unit uses cylinder, oil cylinder or numerical-control motor to be driven.
As the further improvement of technique scheme, described swing arm is with to be provided with an axis of rotation between clamping device equal with arm The revolution cylinder of row, clamping device uses two clamping cylinders, and is arranged on revolution cylinder in 90 degree;This improvement can be square Just workpiece is at the material vertically in material storehouse, strengthens the optional mode in material storehouse.
As the further improvement of technique scheme, described No. 2 numerical control reductors and revolution between centers radial distance are more than 100 Millimeter, so can shorten pendulum arm length, improves loading and unloading precision.
In order to make this manipulator more economy, No. 2 numerical control reductor preferred numerical control worm reduction gears, worm reducer has certainly Lock function, can save motor and use the expense of brake gear, and additionally the bearing bearing strength at the two ends of worm gear is good, can save Install the expense of gyroaxis additional.
The invention has the beneficial effects as follows: present configuration is simple, reliable, can automatically capture the workpiece on material storehouse, take away on chuck Workpiece, load onto new workpiece, workpiece is put back to material storehouse;Thus reduce greatly the labour intensity of workman, improve efficiency, protect Demonstrate,prove the personal safety of workman;Additionally the present invention can carry out the handling up and down of workpiece from numerically controlled lathe front, thus facilitates old The automatic improving of numerically controlled lathe.
Accompanying drawing explanation
Fig. 1 is the structure principle chart of first embodiment of the invention.
Fig. 2 is the front view of Fig. 1 three-jaw clamping cylinder
Fig. 3 is that Fig. 2 three-jaw clamps cylinder top view
Fig. 4 is the feeding schematic diagram of first embodiment of the invention.
Fig. 5, Fig. 6 are that first embodiment of the invention is illustrated in when carrying out loading and unloading with opposite two chassis bed, and gusset piece length is to pendulum The impact of arm lengths.
Fig. 7 is the structure principle chart of second embodiment of the invention.
Fig. 8 is the structure principle chart of third embodiment of the invention.
Fig. 9 is the K portion enlarged drawing of third embodiment of the invention
In figure: 1 is base, 2 is line slideway, and 3 is rolling lead screw, and 4 is No. 2 line slideways, and 5 are No. 2 rolls silk Bar, 6 is No. 2 servomotors, and 7 is heightening base, and 8 is angular contact bearing, and 9 is harmonic speed reducer, and 10 is No. 3 servos Motor, 11 is main-axis end, and 12 is gusset piece, and 13 is worm reducer, and 14 is No. 4 servomotors, and 15 is swing arm, 16 clamp cylinder for three-jaw, and 17 is planetary reduction gear, and 18 is two pawl clamping cylinders, and 19 is cylinder crossed roller bearing, and 20 Being 90 degree of revolution cylinders, 21 is No. 1 servomotor.
Detailed description of the invention
Embodiment 1: with reference to shown in Fig. 1, be provided with one in the present embodiment on base 1 by line slideway 2 and rolling lead screw 3 The longitudinal slide unit combined, this longitudinal direction slide unit uses No. 1 servomotor 21 to be driven and travel track returns with lathe Shaft axis is parallel;Installing a horizontal slide unit perpendicular with it on longitudinal slide unit, this horizontal slide unit uses No. 2 straight lines to lead 4, No. 2 rolling lead screws 5 of rail form with No. 2 servomotors 6;The heightening base of one pipe composition is laterally installed on slide unit 7, heightening base 7 is provided with the rotary main shaft being made up of a set of back-to-back diagonally contact bearing 8, its rotary motive power by The numerical control reducing motor that No. 3 servomotors 10 and harmonic speed reducer 9 combine drives;The spindle end 11 of gyroaxis is pacified Equipped with one piece of gusset piece 12, the other end of gusset piece 12 is provided with one by worm reducer 13 and No. 4 servomotors 14 Combination and numerical control reducing motor, the axis of the output shaft of worm reducer 13 is perpendicular with gyroaxis;Worm reducer 13 Axle go out axle head one swing arm 15 with square tube composition be installed, swing arm 15 is provided with two three-jaws arranged side by side clamping cylinders 16, two three-jaw 16 1, cylinders of clamping are for feeding, and one is used for feeding.
With reference to shown in Fig. 1,2,3,4, control system controls 4 servomotors and two three-jaw clamping cylinders, below with right Carry out operating principle explanation on lathe as a example by supplied materials: controller first control No. 4 servomotors 14 allow swing arm 15 towards top, then Controlling No. 1 servomotor 21 allows longitudinal slide unit move to 100 millimeters of places backward, feeding position, then No. 3 servomotors of control 10 allow gyroaxis forward three-jaw clamping cylinder 16 axis to parallels position with lathe axis;Control No. 4 servomotors 14 again to allow The axis that swing arm 15 moves down the three-jaw clamping cylinder 16 so that being responsible for feeding is parallel with main-shaft axis short transverse;Control 2 again Number servomotor 6 allows the axis of three-jaw clamping cylinder 16 that horizontal slide unit moves to be responsible for feeding put down with main-shaft axis horizontal direction OK;So it is responsible for axis and the height of main-shaft axis of three-jaw clamping cylinder 16 of feeding, horizontal direction the most parallel, and Two axial lines is the most parallel, is coaxial;Control No. 1 servomotor 21 the most again and coaxial line translation can carry out feeding, take Retreat 100 millimeters after material again, No. 4 servomotors 14 allow swing arm 15 move on to material clamping cylinder 16 axis short transverse with The equal line position of main-shaft axis, No. 2 servomotors 6 allow horizontal slide unit move on to material clamping cylinder 16 axis laterally and spindle shaft The equal line position of line;No. 1 servomotor 21 is allowed to drive longitudinal slide unit that upper material clamping cylinder 16 is carried out feeding the most again.Above-mentioned Action the most all can run simultaneously in two or three actions, simply for convenience of statement movement decomposition;The material that picks and places in material storehouse moves Make principle the most same.
It is for illustrating that gusset piece 12 length carrying out benefit during loading and unloading, Fig. 5 with opposite two chassis bed with reference to Fig. 5, Fig. 6 For the gusset piece 12 state time shorter, Fig. 6 be gusset piece 12 longer time state;Connection can be clearly visible by two figures The longer length being conducive to shortening swing arm 15 of plate 12, swing arm 15 is the shortest, and its precision is the highest, and can reduce mobile radius, More favourable to space layout.
Embodiment 2: with reference to shown in Fig. 7, the present embodiment is different from first embodiment to be: eliminate longitudinal slide unit and increase Horizontal slide unit between seat 7, makes gusset piece 12 into revolution between centers by 4, No. 2 rolling lead screws 5,2 of No. 2 line slideways The slide unit of number servomotor 6 composition;Additional embodiment 1 lifts the harmonic speed reducer 9 joined also with No. 3 servomotors 10 Use planetary reduction gear 17 instead;In embodiment 1 two three-jaw clamping cylinders 16 are had also to use two pawl clamping cylinders instead again 18, be so conducive to the part clamping long bar with the processing of band thimble.Its operating principle is same as in Example 1.
Embodiment 3: with reference to shown in Fig. 8, Fig. 9, the present embodiment is different from first embodiment to be: gyroaxis paired Angular contact bearing 8 uses cylinder crossed roller bearing 19 instead, and harmonic speed reducer 9 and No. 3 servomotors 10 is made into upward Install, the most favorably keep in repair;Planetary reduction gear 17 also used instead by worm reducer 13 in additional embodiment 1;Have again It is exactly that two three-jaw arranged side by side clamping cylinders 16 in embodiment 1 have also been changed mounting means, and turns round cylinders with 90 degree 20 carry out indexing, and its structure is the parallel installation of axis of rotation swing arm 15 of 90 degree of revolution cylinders 20, two three-jaw clampings Cylinder 16 is arranged on 90 degree of revolution cylinders 20 in 90 degree, uses the clamping device of this linkage that workpiece can be facilitated at material The material vertically in storehouse, strengthens the optional mode in material storehouse.Its operating principle is same as in Example 1.
The upper described specific embodiment being only the present invention, but the architectural feature of the present invention is not limited thereto, the skill of any this area Art personnel, change or the modification made in the field of the invention are all contained among the scope of the claims of the present invention.

Claims (6)

1. a numerically controlled lathe automatic loading and unloading manipulator, it is characterised in that: being provided with a longitudinal slide unit paralleled with lathe axis of rotation on manipulator base, this slide unit uses cylinder, oil cylinder or numerical-control motor to be driven;On longitudinal slide unit, a heightening base is installed, heightening base is provided with the rotary main shaft being made up of rolling bearing, gyroaxis is provided with a set of numerical control reducing motor;The spindle end of gyroaxis is provided with one piece of gusset piece, and the other end of gusset piece is provided with perpendicular with a gyroaxis No. 2 numerical control reductor;The axle of No. 2 numerical control reductors goes out axle head and is provided with a swing arm, and swing arm is provided with clamping device;Longitudinal slide unit and increase and be provided with a slide unit perpendicular with lathe axis of rotation between base, or gusset piece is installed one with revolution between centers and is installed a slide unit between slide unit, or swing arm and clamping device, and this slide unit employing cylinder, oil cylinder or numerical-control motor are driven.
Numerically controlled lathe automatic loading and unloading manipulator the most according to claim 1, it is characterized in that: described swing arm with the revolution cylinder that an axis of rotation is paralleled with arm is installed between clamping device, clamping device uses two clamping cylinders, and is arranged on revolution cylinder in 90 degree.
3. according to the numerically controlled lathe automatic loading and unloading manipulator described in claim, it is characterised in that: No. 2 described numerical control reductors and revolution between centers radial distance are more than 100 millimeters.
4. according to the numerically controlled lathe automatic loading and unloading manipulator described in claim 1-3 any one, it is characterised in that: No. 2 described numerical control reductors use numerical control worm reduction gear.
Numerically controlled lathe automatic loading and unloading manipulator the most according to claim 1, it is characterised in that: the described numerical control reductor being arranged on gyroaxis uses harmonic wave speed reducing machine.
6. according to the numerically controlled lathe automatic loading and unloading manipulator described in claim 1-5 any one, it is characterised in that: described clamping device uses Pneumatic clamping cylinder.
CN201410733724.7A 2014-12-03 2014-12-03 Automatic loading and unloading mechanical arm of numerically controlled lathe Pending CN105880642A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410733724.7A CN105880642A (en) 2014-12-03 2014-12-03 Automatic loading and unloading mechanical arm of numerically controlled lathe

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410733724.7A CN105880642A (en) 2014-12-03 2014-12-03 Automatic loading and unloading mechanical arm of numerically controlled lathe

Publications (1)

Publication Number Publication Date
CN105880642A true CN105880642A (en) 2016-08-24

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106583582A (en) * 2016-12-28 2017-04-26 滁州品之达电器科技有限公司 Flexible stamping manipulator
CN109093524A (en) * 2018-08-13 2018-12-28 苏州豪运精密模具有限公司 A kind of mobile phone frame sand blasting jig
CN111438376A (en) * 2020-05-28 2020-07-24 淮南联合大学(安徽广播电视大学淮南分校淮南职工大学) Unloader for numerical control lathe

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106583582A (en) * 2016-12-28 2017-04-26 滁州品之达电器科技有限公司 Flexible stamping manipulator
CN109093524A (en) * 2018-08-13 2018-12-28 苏州豪运精密模具有限公司 A kind of mobile phone frame sand blasting jig
CN111438376A (en) * 2020-05-28 2020-07-24 淮南联合大学(安徽广播电视大学淮南分校淮南职工大学) Unloader for numerical control lathe
CN111438376B (en) * 2020-05-28 2021-05-04 淮南联合大学(安徽广播电视大学淮南分校淮南职工大学) Unloader for numerical control lathe

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Application publication date: 20160824