CN106271822B - Feeding and discharging manipulator of numerical control machine tool - Google Patents
Feeding and discharging manipulator of numerical control machine tool Download PDFInfo
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- CN106271822B CN106271822B CN201610680356.3A CN201610680356A CN106271822B CN 106271822 B CN106271822 B CN 106271822B CN 201610680356 A CN201610680356 A CN 201610680356A CN 106271822 B CN106271822 B CN 106271822B
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- telescopic clamping
- clamping device
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- 238000007599 discharging Methods 0.000 title claims abstract description 59
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 210000000078 claw Anatomy 0.000 claims abstract description 32
- 239000000463 material Substances 0.000 claims abstract description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 24
- 230000001360 synchronised effect Effects 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000006698 induction Effects 0.000 claims description 8
- 230000005571 horizontal transmission Effects 0.000 claims description 5
- 230000008093 supporting effect Effects 0.000 description 13
- 238000012545 processing Methods 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 230000001976 improved effect Effects 0.000 description 6
- 238000003754 machining Methods 0.000 description 6
- 238000003825 pressing Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/03—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of endless chain conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2707/00—Automatic supply or removal of metal workpieces
- B23Q2707/003—Automatic supply or removal of metal workpieces in a lathe
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Feeding Of Workpieces (AREA)
Abstract
The invention discloses a feeding and discharging manipulator of a numerical control machine tool, which comprises a base frame and a manipulator, wherein a material taking opening for grabbing a workpiece by the manipulator is formed in the base frame, the manipulator comprises a horizontal sliding table, a rotary driving device and a pair of telescopic clamping devices, the horizontal sliding table is in sliding fit on the base frame through the horizontal driving mechanism, the rotary driving device is fixedly arranged on the horizontal sliding table, the pair of telescopic clamping devices are arranged on an output shaft of the rotary driving device through a mounting frame, the pair of telescopic clamping devices are parallel to each other, the clamping claws of the two telescopic clamping devices face opposite directions, one telescopic clamping device is used for feeding, and the other telescopic clamping device is used for discharging. The mechanical arm has a small structure, shortens the feeding time and saves more labor.
Description
Technical Field
The invention relates to the field of automatic feeding and discharging processing, in particular to a feeding and discharging manipulator of a numerical control machine tool.
Background
The traditional numerical control machine tool is fed and discharged manually, and the method has the problems of high labor intensity, low efficiency, poor safety, high labor cost and the like. With the development of science and technology and the increase of labor cost, an automatic operation means is adopted, so that the labor intensity is reduced, the production efficiency is improved, the production cost is reduced, and the reduction of manpower has become a necessary trend in the field of mechanical processing. The manipulator of the numerical control machine tool is required to be automatically processed, and loading and unloading are carried out through the manipulator. The mature manipulators matched with the numerical control machine tool in the current market are as follows:
1) Truss manipulator machined part transfer chain, work piece transfer chain are outside the digit control machine tool, and truss manipulator gets the work piece of waiting to process on the work piece transfer chain, and truss manipulator rises to put in place, moves to the main shaft direction in place, and truss manipulator descends to put in place, carries out the exchange of processed work piece and waiting to process the work piece. The truss manipulator rises to the right position and moves to the direction of the conveying line to finish a loading and unloading cycle. In order to leave the working space of an operator, the working line of the truss manipulator is arranged at the top of the numerical control machine, and the workpiece conveying line is arranged beside the numerical control machine, so that the automatic feeding and discharging device of the truss manipulator workpiece conveying line is large in size, occupies space, is long in feeding auxiliary time and inconvenient to maintain, and is long in distance between the feeding and discharging stations and the spindle chuck processing stations.
2) The multi-joint manipulator is more similar to manual operation, has high requirement on motion precision, high processing and manufacturing cost, complex control system and high price. When the multi-joint manipulator conveys a workpiece, the arm of the multi-joint manipulator rotates by taking the joint as a fulcrum to form cantilever swing, and in the process of freely swinging the arm up, down, left and right, the friction of each joint of the multi-joint manipulator is large, so that each joint is easy to wear. In order to facilitate grabbing workpieces, arms of the multi-joint manipulator are generally longer, when the arms drive the workpieces to swing together, the swing distance, namely the swing distance, is long, the moment born by the multi-joint manipulator is large, and the multi-joint manipulator is easy to damage and high in maintenance cost. For a machining precision machining machine tool, after the multi-joint manipulator is damaged, the multi-joint manipulator cannot accurately position a machined workpiece on a main shaft chuck of the numerical control machine tool; and the inertia is large, so that the abrasion between the workpiece and a main shaft chuck of the numerical control machine tool is large, and the workpiece is damaged.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the feeding and discharging manipulator of the numerical control machine tool, which has the advantages of simple and small structure, difficult damage, shortened feeding time and more labor saving.
The aim of the invention can be achieved by the following technical scheme:
The utility model provides a last unloading manipulator of digit control machine tool which characterized in that: the automatic feeding device comprises a base frame, wherein a manipulator is arranged at the upper end of the base frame, a material taking opening for grabbing a workpiece by the manipulator is formed in the base frame, the manipulator comprises a horizontal sliding table, a rotary driving device, a telescopic clamping device for feeding and a telescopic clamping device for discharging, the horizontal sliding table is slidably matched on the base frame through a horizontal driving mechanism, the rotary driving device is fixedly arranged on the horizontal sliding table, the telescopic clamping device for feeding and the telescopic clamping device for discharging are arranged on an output shaft of the rotary driving device through a mounting frame, and the telescopic clamping device for feeding and the telescopic clamping device for discharging are arranged in a central symmetry mode through the center of the mounting frame. The base frame is convenient for install the manipulator on material feeding unit, and the extracting port of seting up on the base frame is convenient for be used for the telescopic clamping device of material loading snatch the work piece of waiting to process on the unloading station through extracting port, and the telescopic clamping device that is convenient for be used for unloading also places the work piece of processing on last unloading station through extracting port. The axial lead of the rotation center of the rotation driving device is parallel to the movement direction of the horizontal sliding table, and the horizontal sliding table drives the telescopic clamping device to horizontally move. The telescopic clamping device for feeding and the telescopic clamping device for discharging form a pair of telescopic clamping devices, the pair of telescopic clamping devices are located above the material taking opening of the base frame, the pair of telescopic clamping devices are arranged on the plane of the mounting frame one by one, center symmetry is formed by the centers of the mounting frame, namely, the two telescopic clamping devices are parallel to each other, clamping claws of the two telescopic clamping devices face opposite directions, the center line of the mounting frame (or the plane of the mounting frame on which the pair of telescopic clamping devices are mounted) is perpendicular to the axis line of the rotation center of the rotary driving device, and the pair of telescopic clamping devices are driven to rotate through the rotary driving device to finish feeding and discharging.
The telescopic clamping device for feeding and the telescopic clamping device for discharging are composed of a telescopic device and a clamping claw, the telescopic device is connected with the clamping claw, the telescopic device is used for driving the clamping claw to extend and retract, and the clamping claw is used for clamping and loosening a workpiece; the clamping claws of the telescopic clamping device for feeding are opposite to the clamping claws of the telescopic clamping device for discharging.
The clamping paw comprises clamping fingers, a transmission mechanism of the clamping paw and a hydraulic cylinder or an air cylinder for controlling the clamping fingers to open or close, wherein the hydraulic cylinder or the air cylinder is fixed on the telescopic device, a piston rod of the hydraulic cylinder or a piston rod of the air cylinder is connected with the transmission mechanism of the clamping paw, and the clamping fingers are fixed on the transmission mechanism of the clamping paw and used for driving the clamping fingers to move along the radial direction of the hydraulic cylinder or the air cylinder. The movement of clamping fingers is realized through a hydraulic cylinder or an air cylinder.
The clamping paw is characterized in that two spring pressure plates are further arranged on the clamping paw and are overlapped on an end cover of a hydraulic cylinder or an air cylinder of the clamping paw, and a plurality of springs are arranged between the two spring pressure plates. The spring and the spring pressing disc are respectively arranged on the clamping claws of the feeding telescopic clamping device and the discharging telescopic clamping device, when a workpiece to be processed is arranged on the numerical control machine tool, the spring pressing disc of the feeding telescopic clamping device gives an axial force to the workpiece to be processed, so that the main shaft chuck of the numerical control machine tool can clamp the workpiece to be processed in place, and the processing precision of the workpiece is ensured; when the machined workpiece is taken down from the numerical control machine tool, the machined workpiece can be prevented from falling off from the machining station after the spindle chuck of the numerical control machine tool is loosened.
The telescopic clamping device for feeding and the telescopic clamping device for discharging are respectively provided with a sensor for positioning. The sensor facilitates guiding the motion of the two telescopic gripping means.
The horizontal driving mechanism adopts a hydraulic horizontal driving mechanism, a pneumatic horizontal driving mechanism or an electric horizontal driving mechanism.
The rotary driving device adopts a second rotary motor and a speed reducer, the second rotary motor and the speed reducer are fixedly arranged on the horizontal sliding table, an output shaft of the second rotary motor is connected with an input shaft of the speed reducer, and an output shaft of the speed reducer is connected with the mounting frame; the second rotary electric machine may be replaced with a pneumatic motor, or a hydraulic motor. The rotary driving device drives the feeding telescopic clamping device and the discharging telescopic clamping device to rotate, and positions of the feeding telescopic clamping device and the discharging telescopic clamping device are adjusted to achieve feeding and discharging operations of workpieces. The rotation driving device adopts the speed reducer to reduce the rotation speed of the second rotating motor, so that the pair of telescopic clamping devices are stable during rotation, and the speed reducer avoids the phenomenon that the workpiece is thrown out of the telescopic clamping devices during rapid rotation due to overlarge inertia of the workpiece in the rotation process.
The lower extreme of bed frame is equipped with the induction system who is used for detecting the work piece. The base frame comprises backup pad and supporting platform, supporting platform installs in the backup pad, be equipped with on the supporting platform with horizontal slip table sliding fit's slide rail, the backup pad is fixed on the lathe bed, sets up the induction system who is used for detecting the work piece in the backup pad of base frame.
The invention has the beneficial effects that: the manipulator comprises a horizontal sliding table, a rotary driving device, a telescopic clamping device for feeding and a telescopic clamping device for discharging, wherein the horizontal sliding table of the manipulator is slidably matched with a base frame through a horizontal driving mechanism and is used for driving the manipulator to move forwards and backwards transversely and extend into a machine tool spindle of a machine tool to form an arm of the manipulator. And a material taking opening for grabbing the workpiece by the manipulator is formed in the base frame, so that the manipulator can grab the workpiece conveniently. The rotary driving device of the manipulator is fixedly arranged on the horizontal sliding table, the telescopic clamping device for feeding and the telescopic clamping device for discharging of the manipulator are arranged on an output shaft of the rotary driving device through mounting frames, the rotary driving device drives a pair of telescopic clamping devices to rotate, and positions of the telescopic clamping devices for feeding and the telescopic clamping devices for discharging are adjusted to form a wrist of the manipulator. The telescopic clamping devices are used for clamping workpieces to form the paw of the manipulator.
When the horizontal sliding table of the manipulator transversely moves, the telescopic clamping device for feeding and the telescopic clamping device for discharging are driven to move towards the machine tool spindle direction of the numerical control machine until the machine tool spindle of the numerical control machine tool is right in front, the spindle chuck is loosened, the machined workpiece is clamped on the telescopic clamping device for discharging, and the telescopic clamping device for discharging drives the machined workpiece to retract to the right position. When the telescopic clamping devices for unloading are retracted into position, the rotary driving device drives the two telescopic clamping devices to rotate, so that the telescopic clamping devices for unloading and the telescopic clamping devices for loading on the mounting frame have parallel forces with opposite directions, a couple is formed, the two telescopic clamping devices are ensured to have small moment in the process of freely rotating up and down, and the moment is less, and is more labor-saving relative to the multi-joint manipulator. The telescopic clamping device is used for replacing the whole manipulator to approach the target position of the main shaft of the numerical control machine tool, so that the manipulator only needs to move and adjust at the position of transverse movement, and the feeding and discharging functions can be realized without adjusting the position of longitudinal movement, thereby saving the space. According to the invention, under the condition of the same feeding speed of the existing manipulator, the time for loading and unloading is shortest, the production efficiency is improved, and the production cost is reduced. The invention is suitable for machine tools such as a numerical control lathe, a numerical control grinder and the like, has high positioning accuracy, can meet the requirements of a precision machining machine tool, and is especially suitable for a precision numerical control horizontal lathe. The manipulator is assembled on the precise numerical control lathe, so that the labor intensity of operators controlling the precise numerical control lathe is greatly reduced, and the operators are liberated from frequent simple work such as feeding and discharging. Due to the reduction of labor intensity, one operator can control more precise numerical control lathes. The labor cost of enterprises is reduced, and the production efficiency of the enterprises is improved. The mechanical arm is simple in structure and low in manufacturing cost, and the automatic processing capability of enterprises is improved.
Drawings
FIG. 1 is a schematic diagram of a manipulator according to the present invention (double-headed arrow X in the figure indicates horizontal movement of a horizontal sliding table of the manipulator along an X axis);
FIG. 2 is a view from B in FIG. 1 (double-headed arrow D in the drawing indicates that the telescopic clamping device rotates clockwise or counterclockwise around the axis of the output shaft of the rotary driving device under the drive of the rotary driving device);
FIG. 3 is a view in the direction C of FIG. 2;
FIG. 4 is a cross-sectional view A-A of FIG. 1 (double-headed arrow D in the drawing indicates that the telescopic clamping device is rotated clockwise or counterclockwise about the axis of the output shaft of the rotary driving device under the drive of the rotary driving device);
FIG. 5 is a schematic view of the structure of the gripper jaw;
Fig. 6 is a schematic view of the structure of the manipulator of the present invention mounted on a machine tool bed.
In the accompanying drawings: 1 is a base frame, 1-1 is an outer support plate, 1-2 is a middle support plate, 1-3 is an inner support plate, 1-4 is a material taking opening, 1-5 is a sliding rail, 2 is a yielding space, 3 is an induction device, 4 is a manipulator, 41 is a horizontal sliding table, 41-1 is a screw rod, 41-2 is a first synchronous pulley, 41-3 is a first synchronous belt, 41-4 is a horizontal driving mechanism, 41-5 is a first rotating motor, 41-6 is a sliding block, 41-7 is a gasket, 41-8 is a nut seat, 41-9 is a nut, 42 is a rotating driving device, 42-1 is a speed reducer, 42-2 is a second synchronous pulley, 42-3 is a second synchronous belt, 42-4 is a second rotating motor, 43 is a telescopic clamping device, 43a telescopic clamping device for feeding, 43a telescopic clamping device for discharging, 43-1 is a clamping claw, 43-11 is a clamping finger, 43-12 is a transmission mechanism of the clamping claw, 43-13 is a pressure plate, 43-2 is a pressure plate, 43-1 is a speed reducer, 44-2 is a spring bed, 44-1 is a spring bed, 44-9 is a workpiece, and a workpiece is a machine tool, and a workpiece is a workpiece to be processed.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 6, a loading and unloading manipulator of a numerical control machine tool comprises a manipulator 4 and a base frame 1, wherein the manipulator 4 is installed on the base frame 1, the manipulator 4 is installed on a feeding platform 10 through the base frame 1, a workpiece is placed on the feeding platform 10, the feeding platform 10 can be arranged on a machine tool body 6, or the base frame 1 is directly installed on the machine tool body 6. The base frame 1 comprises a plurality of supporting plates and a supporting platform, wherein the supporting plates are fixed on a feeding platform 10, the supporting platform is installed on the supporting plates, a workpiece yielding space 2 is reserved between the supporting platform and the feeding platform 10, a material taking opening 1-4 for a manipulator to grasp the workpiece is formed in the supporting platform, the material taking opening 1-4 is located right above a loading and unloading station, a front bearing seat and a rear bearing seat are arranged on the upper end face of the supporting platform, two sliding rails 1-5 are arranged on the upper end face of the supporting platform, and reinforcing ribs are arranged between the two sliding rails 1-5. In this embodiment, three support plates, namely an outer support plate 1-1, a middle support plate 1-2 and an inner support plate 1-3, are provided, and support the support platform above the feeding platform 10. In this embodiment: the manipulator 4 is mounted on a feeding platform 10 through a base frame 1, and the feeding platform 10 is mounted on a machine tool body 6.
The manipulator 4 comprises a horizontal sliding table 41, a rotary driving device 42, a telescopic clamping device 43a for feeding and a telescopic clamping device 43b for discharging. The lower end face of the horizontal sliding table 41 is provided with a sliding block 41-6 and a connecting seat which are matched with the sliding rail 1-5 of the base frame 1, the horizontal sliding table 41 is in sliding fit on the base frame 1 through a horizontal driving mechanism 41-4, the horizontal driving mechanism 41-4 drives the horizontal sliding table 41 to transversely move, and the horizontal sliding table 41 forms an arm of a mechanical arm. The sliding rail 1-5 of the base frame 1 is longer than the horizontal sliding table 41, so that part of the horizontal sliding table 41 can extend out of the base frame 1 and reach the front of a machine tool main shaft of the numerical control machine tool. The horizontal driving mechanism 41-4 adopts a hydraulic horizontal driving mechanism, a pneumatic horizontal driving mechanism or an electric horizontal driving mechanism. The hydraulic horizontal driving mechanism adopts a hydraulic cylinder, the pneumatic horizontal driving mechanism adopts a cylinder, the electric horizontal driving mechanism adopts a linear motor, the hydraulic cylinder or the linear motor is fixed on the base frame 1, and a piston rod of the hydraulic cylinder or a piston rod of the cylinder or a shaft lever of the linear motor is fixedly connected with a connecting seat arranged on the horizontal sliding table 41 to drive the horizontal sliding table 41 to transversely move.
The horizontal driving mechanism 41-4 can also adopt a first rotating motor 41-5 and a horizontal transmission mechanism for horizontal driving, the first rotating motor for horizontal driving adopts a servo motor, the horizontal transmission mechanism adopts a ball screw nut pair, two ends of a screw 41-1 of the ball screw nut pair are rotatably supported in a front bearing seat and a rear bearing seat on a base frame through bearings, the first rotating motor 41-5 for horizontal driving is arranged on one side of the base frame 1, a first synchronous belt pulley 41-2 is arranged on an output shaft of the first rotating motor 41-5 for horizontal driving and the screw 41-1 of the ball screw nut pair, a first synchronous belt 41-3 is arranged between the two first synchronous belt pulleys 41-2, the first rotating motor 41-5 for horizontal driving is connected with the screw 41-1 of the ball screw nut pair through the first synchronous belt 41-3, a nut 41-9 of the ball screw nut pair is arranged in a nut seat 41-8, and the nut seat 41-8 is fixed on a connecting seat of the horizontal sliding table 41 through screws and pins. When the first rotary motor 41-5 for horizontal driving of the horizontal driving mechanism 41-4 works, the first synchronous belt wheel 41-2 on the rotary motor 41-5 for horizontal driving acts on the first synchronous belt 41-3, the first synchronous belt 41-3 drives the screw 41-1 of the ball screw nut pair to rotate, the screw 41-1 of the ball screw nut pair drives the nut 41-9 of the ball screw nut pair to axially move, and the nut 41-9 of the ball screw nut pair drives the horizontal sliding table 41 to transversely move, so that the manipulator is driven to approach the numerical control machine tool. The first rotary motor 41-5 for horizontal driving and the screw 41-1 of the ball screw nut pair may also be directly connected through a coupling. A gasket 41-7 is further arranged between the nut 41-9 of the ball screw nut pair and the connecting seat of the horizontal sliding table 41.
The horizontal transmission mechanism of the horizontal driving mechanism 41-4 may also adopt a rack and pinion mechanism, a rack of the rack and pinion mechanism is fixed on one side of the horizontal sliding table 41, a gear is mounted on a shaft of the rotating motor for horizontal driving and meshed with the rack of the rack and pinion mechanism, and the rotating motor for horizontal driving is fixedly connected with a connecting seat of the horizontal sliding table 41 through the rack and pinion mechanism.
The rotation driving device 42 is fixedly installed on the horizontal sliding table 41, and the rotation driving device 42 forms a wrist of the manipulator. The rotary driving device 42 adopts a second rotary motor 42-4 and a speed reducer 42-1, the second rotary motor 42-4 and the speed reducer 42-1 are fixed on the horizontal sliding table 41, the second rotary motor 42-4 is fixedly installed on the horizontal sliding table 41 through a motor base, a second synchronous pulley 42-2 is arranged on an output shaft of the second rotary motor 42-4 and an input shaft of the speed reducer 42-1, the second rotary motor 42-4 is connected with the speed reducer 42-1 through the second synchronous pulley 42-2 and a second synchronous belt 42-3, an output shaft of the speed reducer 42-1 is connected with the mounting frame 5, and the second rotary motor 42-4 is connected with the mounting frame 5 through the speed reducer 42-1. The second rotating motor 42-4 drives the input shaft of the speed reducer 42-1 to rotate through the second synchronous pulley 42-2 and the second synchronous belt 42-3, and the output shaft of the speed reducer 42-1 rotates to drive the mounting frame 5 to do rotary motion. The speed reducer 42-1 reduces the rotation speed of the second rotary motor 42-4, so that the telescopic clamping device is more stable in rotation, and workpieces are prevented from being thrown out of the telescopic clamping device in rapid rotation. The second rotary motor 42-4 is a servo motor. The second rotating electric machine 42-4 and the speed reducer 42-1 may also be directly connected through a coupling. The second rotary electric machine 42-4 may be replaced with a pneumatic motor, or a hydraulic motor.
The telescopic clamping device 43a for feeding and the telescopic clamping device 43b for discharging respectively comprise a telescopic device 43-2 and a clamping claw 43-1, the telescopic device 43-2 is connected with the clamping claw 43-1, the telescopic clamping device 43a for feeding and the telescopic clamping device 43b for discharging are arranged symmetrically in the center of the mounting frame 5, namely, the telescopic clamping device 43a for feeding and the telescopic clamping device 43b for discharging are parallelly fixed on the mounting frame 5, and the clamping claws of the telescopic clamping device 43a for feeding and the telescopic clamping device 43b for discharging are opposite in orientation. The telescopic gripping means 43a for loading and the telescopic gripping means 43b for unloading constitute a pair of telescopic gripping means 43. A pair of telescoping clamping devices 43 are located directly above the reclaiming openings 1-4 of the base frame 1. The telescopic clamping device 43a for feeding is used for clamping a workpiece to be processed on the workpiece tray 55 of the feeding and discharging station to the workpiece through the material taking opening 1-4 of the base frame 1, and then is arranged on the main shaft chuck 7 of the numerical control machine tool. The telescopic clamping device 43b for unloading is used for taking the processed workpiece off the spindle chuck 7 of the numerical control machine tool and placing the processed workpiece on the workpiece tray 55 of the loading and unloading station through the material taking port 1-4 of the base frame 1. The telescopic clamping device 43a for feeding and the telescopic clamping device 43b for discharging are arranged on an output shaft of the rotary driving device through a mounting frame 5, and the mounting frame 5 is connected to the rotary driving device 42 through a flange plate. The rotation driving device 42 drives the pair of telescopic clamping devices 43 to rotate, and positions of the telescopic clamping devices 43a for feeding and the telescopic clamping devices 43b for discharging are adjusted. The two telescopic clamping devices are arranged in parallel, when the two telescopic clamping devices clamp the workpiece, and when the two telescopic clamping devices clamp the workpiece, the rotary driving device 42 acts on the mounting frame 5 to form a pair of parallel forces, namely force couples, which are equal in size, opposite in direction and non-collinear. The couple causes the object to exhibit no translational movement at all, but only pure rotational movement. The load of the connection part of the rotary driving device and the pair of telescopic clamping devices is reduced, and the service life of the related device is prolonged.
The output shaft of the rotary driving device 42 adopts a hollow shaft, the center of the mounting frame 5 is provided with a threading hole, and the threading hole is used for a signal wire of a sensor on the telescopic clamping device 43, an air pipe of an air cylinder, a hydraulic pipe of a hydraulic cylinder and a wire of a linear motor to penetrate through, so that wiring installation is facilitated, and the telescopic clamping device is prevented from winding a pipeline in the rotating process.
The telescopic device 43a for feeding and the telescopic device 43-2 for discharging of the telescopic clamping device 43b are respectively a hydraulic cylinder or an air cylinder or a linear motor, the hydraulic cylinder or the air cylinder or the linear motor is fixed on the mounting frame 5, and a piston rod 43-21 of the hydraulic cylinder or a piston rod 43-21 of the air cylinder or an output shaft of the linear motor is connected with the clamping claw 43-1 and is used for driving the clamping claw 43-1 to stretch forwards and backwards. In this embodiment, the telescopic device 43-2 adopts a cylinder, and the cylinder adopts a crisscross guide rail sliding table cylinder. The clamping claws 43-1 of the feeding telescopic clamping device 43a and the clamping claws 43-1 of the discharging telescopic clamping device 43b face opposite directions.
The clamping claws 43-1 of the telescopic clamping device 43a for feeding and the telescopic clamping device 43b for discharging respectively comprise clamping fingers 43-11, a transmission mechanism 43-12 of the clamping claws, and a hydraulic cylinder or an air cylinder 43-13 for controlling the opening or closing of the clamping fingers, wherein the clamping fingers 43-11 are L-shaped, the hydraulic cylinder or the air cylinder is fixed on the telescopic device 43-2, the clamping fingers 43-11 are fixedly connected to the transmission mechanism 43-12 of the clamping claws through bolts, a piston rod of the hydraulic cylinder or a piston rod of the air cylinder 43-13 is connected with the transmission mechanism 43-12 of the clamping claws, and the piston rod of the hydraulic cylinder or the piston rod of the air cylinder acts on the transmission mechanism of the clamping claws and is used for driving the clamping fingers 43-11 to move along the radial direction of the hydraulic cylinder or the air cylinder 43-13. The transmission mechanism 43-12 of the clamping paw comprises a guide sleeve and a plurality of guide sliding blocks, the guide sleeve is fixed on a piston rod of the air cylinder, an outwards protruding wedge-shaped bulge is arranged on the outer side face of the guide sleeve, a sliding groove which is in sliding fit with the wedge-shaped bulge of the guide sleeve is formed in the guide sliding block and is used for controlling the hydraulic cylinder or the air cylinder 43-13 for opening or closing the clamping finger to drive each guide sliding block to move along the radial direction of the hydraulic cylinder or the air cylinder through the guide sleeve, and the clamping finger 43-11 is fixed on each guide sliding block through a bolt. The gripper fingers 43-1 constitute fingers of a robot for gripping and releasing a workpiece. In this embodiment, three clamping fingers are arranged, a cylindrical guide sleeve is sleeved on a piston rod of the cylinder 43-13 for controlling the opening or closing of the clamping fingers, three wedge-shaped protrusions which are equally spaced and equally divided by 360 degrees are arranged on the guide sleeve, the wedge-shaped protrusions of the guide sleeve are slidably matched with three guide sliding blocks which move along the radial direction of the cylinder, the three guide sliding blocks are equally spaced and equally divided by 360 degrees, namely, the three guide sliding blocks are evenly distributed along the circumference, and the three clamping fingers 43-11 are respectively fixed on the three guide sliding blocks.
The clamping paw 43-1 is also provided with two spring pressure plates 8, the two spring pressure plates 8 are overlapped on an end cover of a hydraulic cylinder or an air cylinder 43-13 of the clamping paw 43-1, the end cover is a front end cover of the hydraulic cylinder or the air cylinder 43-13, and a plurality of springs 9 are arranged between the two spring pressure plates 8. In this embodiment: the clamping paw 43-1 is provided with three springs 9 and two spring pressure plates 8, the two spring pressure plates 8 are provided with three outwardly extending wings, the three outwardly extending wings are equally spaced and equally divided by 360 degrees, the three wings of the two spring pressure plates 8 are overlapped, and the three springs 9 are respectively positioned between the outwardly extending wings of the upper spring pressure plate 8 and the lower spring pressure plate 8. The three outwardly extending wings of the two spring pressure plates 8 are staggered with the three gripping fingers 43-11 of the gripping fingers 43-1. The spring and the spring pressing plate are respectively arranged on the clamping claws 43-1 of the feeding telescopic clamping device 43a and the discharging telescopic clamping device 43b, when a workpiece to be machined is arranged on the numerical control machine tool, the spring pressing plate of the feeding telescopic clamping device gives an axial force to the workpiece to be machined, so that the machine tool spindle chuck of the numerical control machine tool can clamp the workpiece to be machined in place, and the machining precision of the workpiece is ensured; when the machined workpiece is taken off from the machine tool, the machined workpiece can be prevented from falling off from the machining station after the machine tool spindle chuck of the machine tool is loosened.
The telescopic clamping device 43a for feeding and the telescopic clamping device 43b for discharging are respectively provided with a sensor for positioning, and the sensors adopt magnetic sensors. A pair of telescopic clamping devices 43 are provided with sensors for monitoring whether the telescopic devices and the clamping devices are in place or not, and whether the telescopic clamping devices 43 perform the basis of the next action or not. When the pair of telescopic clamping devices 43 are in a vertical state during assembly, the axial lead of the downward clamping paw and the center of the loading and unloading station are positioned in the same straight line.
Further, the lower end of the base frame 1 is provided with a sensing device 3 for detecting a workpiece, the sensing device 3 for detecting the workpiece is arranged on a supporting plate of the base frame 1, the sensing device 3 is offset from the axis of an output shaft of the rotary driving device 42, and the sensing device 3 can adopt a sensing switch such as an infrared sensor or a proximity switch. A feeding device can also be arranged on the feeding platform 10, and the base frame 1 is positioned right above the feeding device. When the sensing device 3 detects the workpiece, the feeding device stops moving, so that the action of the feeding device is controlled. The induction device 3 controls the workpiece tray to stop on the feeding and discharging stations of the feeding device by inducing the workpieces on the workpiece tray.
The working principle of the invention is as follows: the manipulator 4 is arranged on the machine tool body 6 through the base frame 1, the horizontal driving mechanism of the manipulator drives the telescopic clamping device 43a for feeding and the telescopic clamping device 43b for discharging to horizontally move, and the rotary driving device drives the telescopic clamping device 43a for feeding and the telescopic clamping device 43b for discharging to rotate. When the rotary driving device rotates 180 degrees, the position of the telescopic clamping device for feeding after rotation coincides with the position of the telescopic clamping device for discharging before rotation, and the position of the telescopic clamping device for discharging coincides with the position of the telescopic clamping device for feeding before rotation. When the pair of telescopic clamping devices 43 rotate to be in an upright state, the pair of telescopic clamping devices 43 are perpendicular to the feeding and discharging stations, the central axis of the telescopic clamping device for feeding is coaxial with the central axis of the feeding and discharging stations, and the telescopic clamping device for feeding clamps a workpiece to be machined on the feeding and discharging stations through the material taking opening of the base frame. When the pair of telescopic clamping devices 43 rotate to be in a horizontal state, the pair of telescopic clamping devices 43 are parallel to the machine tool spindle of the numerical control machine, the central axis of the telescopic clamping device for unloading and the central axis of the machine tool spindle of the numerical control machine are located on the same horizontal plane, the telescopic clamping device for unloading takes down a machined workpiece on the numerical control machine, the central axis of the telescopic clamping device for feeding and the central axis of the machine tool spindle of the numerical control machine tool are located on the same horizontal plane through rotation of the rotary driving device, and the workpiece to be machined clamped by the telescopic clamping device for feeding is installed on the machine tool spindle of the numerical control machine tool. According to the invention, the manipulator 4 is arranged on the machine tool body 6 through the base frame 1, the manipulator 4 can send a workpiece to be processed to a processing station of the spindle chuck 7 through a simple transverse motion, the feeding and discharging time is obviously shortened, the production efficiency is improved, the logistics space is saved, the manpower resource is saved, the device is suitable for a precise numerical control horizontal lathe with higher requirement, and the overall competitiveness in the processing industry is effectively improved.
Claims (2)
1. The utility model provides a last unloading manipulator of digit control machine tool which characterized in that: comprises a base frame (1), wherein a manipulator (4) is arranged at the upper end of the base frame (1), the manipulator (4) is arranged on a feeding platform (10) through the base frame (1), the feeding platform (10) is arranged on a machine tool body (6), a material taking opening (1-4) for grabbing a workpiece by the manipulator is arranged on the base frame (1), the manipulator (4) comprises a horizontal sliding table (41), a rotary driving device (42), a telescopic clamping device (43 a) for feeding and a telescopic clamping device (43 b) for discharging, the horizontal sliding table (41) is in sliding fit on the base frame (1) through a horizontal driving mechanism (41-4), the lower end face of the horizontal sliding table (41) is provided with a sliding block (41-6) which is matched with the sliding rail (1-5) of the base frame (1), the horizontal driving mechanism (41-4) drives the horizontal sliding table (41) to transversely move, the sliding rail (1-5) of the base frame (1) is longer than the horizontal sliding table (41), and part of the horizontal sliding table (41) can extend out of the base frame (1) to reach the front of a machine tool main shaft of the numerical control machine tool; The horizontal driving mechanism (41-4) adopts a first rotating motor (41-5) for horizontal driving and a horizontal transmission mechanism, the first rotating motor for horizontal driving adopts a servo motor, the horizontal transmission mechanism adopts a ball screw nut pair, two ends of a screw (41-1) of the ball screw nut pair are rotatably supported in a front bearing seat and a rear bearing seat on a base frame through bearings, the first rotating motor (41-5) for horizontal driving is arranged on one side of the base frame (1), a first synchronous belt pulley (41-2) is arranged on an output shaft of the first rotating motor (41-5) for horizontal driving and the screw (41-1) of the ball screw nut pair, A first synchronous belt (41-3) is arranged between the two first synchronous pulleys (41-2), a first rotating motor (41-5) for horizontal driving is connected with a screw rod (41-1) of a ball screw nut pair through the first synchronous belt (41-3), a nut (41-9) of the ball screw nut pair is arranged in a nut seat (41-8), and the nut seat (41-8) is fixed on a connecting seat of the horizontal sliding table (41) through a screw and a pin; The rotary driving device (42) is fixedly arranged on the horizontal sliding table (41), the rotary driving device (42) adopts a second rotary motor (42-4) and a speed reducer (42-1), the second rotary motor (42-4) and the speed reducer (42-1) are fixed on the horizontal sliding table (41), a second synchronous pulley (42-2) is arranged on an output shaft of the second rotary motor (42-4) and an input shaft of the speed reducer (42-1), the second rotary motor (42-4) is connected with the speed reducer (42-1) through a second synchronous belt (42-3), an output shaft of the speed reducer (42-1) is connected with the mounting frame (5), an output shaft of the speed reducer (42-1) rotates to drive the mounting frame (5) to do rotary motion; The telescopic clamping device (43 a) for feeding and the telescopic clamping device (43 b) for discharging are arranged on an output shaft of the rotary driving device (42) through the mounting frame (5), and the telescopic clamping device (43 a) for feeding and the telescopic clamping device (43 b) for discharging are arranged symmetrically in a center of the mounting frame (5); the telescopic clamping device (43 a) for feeding and the telescopic clamping device (43 b) for discharging are composed of a telescopic device (43-2) and a clamping claw (43-1), the telescopic device (43-2) is connected with the clamping claw (43-1), the telescopic device (43-2) is used for driving the clamping claw (43-1) to extend and retract, and the clamping claw (43-1) is used for clamping and loosening a workpiece; The clamping claw (43-1) of the telescopic clamping device (43 a) for feeding and the clamping claw (43-1) of the telescopic clamping device (43 b) for discharging face opposite, the telescopic clamping device (43 a) for feeding and the telescopic clamping device (43 b) for discharging are parallelly fixed on the mounting frame (5), two spring pressure plates (8) are further arranged on the clamping claw (43-1), the two spring pressure plates (8) are overlapped on the end cover of the hydraulic cylinder or the air cylinder (43-13) of the clamping claw (43-1), the end cover is the front end cover of the hydraulic cylinder or the air cylinder (43-13), The two spring pressure plates (8) are provided with three outwards extending wings, the three outwards extending wings are equally spaced and equally divided by 360 degrees, the three wings of the two spring pressure plates (8) are overlapped, the three springs (9) are respectively positioned between the outwards extending wings of the upper spring pressure plate (8) and the outwards extending wings of the lower spring pressure plate (8), the three outwards extending wings of the two spring pressure plates (8) are staggered with the three clamping fingers (43-11) of the clamping paw (43-1), the telescopic clamping device (43 a) for feeding and the telescopic clamping device (43 b) for discharging are respectively provided with a sensor for positioning, the sensors adopt magnetic sensors, The lower extreme of bed frame (1) is equipped with induction system (3) that are used for detecting the work piece, induction system (3) that are used for detecting the work piece set up in the backup pad of bed frame (1), and this induction system (3) skew rotation driving device (42) output shaft axial lead, induction system (3) can adopt infrared inductor or proximity switch.
2. The loading and unloading manipulator of a numerically-controlled machine tool according to claim 1, wherein: the clamping paw (43-1) comprises clamping fingers (43-11), a transmission mechanism (43-12) of the clamping paw and a hydraulic cylinder or air cylinder (43-13) for controlling the clamping fingers to open or close, wherein the hydraulic cylinder or air cylinder (43-13) is fixed on the telescopic device (43-2), a piston rod of the hydraulic cylinder or a piston rod of the air cylinder (43-13) is connected with the transmission mechanism (43-12) of the clamping paw, and the clamping fingers (43-11) are fixed on the transmission mechanism (43-12) of the clamping paw and used for driving the clamping fingers (43-11) to move along the radial direction of the hydraulic cylinder or air cylinder (43-13).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610680356.3A CN106271822B (en) | 2016-08-18 | 2016-08-18 | Feeding and discharging manipulator of numerical control machine tool |
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| CN201610680356.3A CN106271822B (en) | 2016-08-18 | 2016-08-18 | Feeding and discharging manipulator of numerical control machine tool |
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| CN106271822B true CN106271822B (en) | 2024-06-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107186226A (en) * | 2017-06-01 | 2017-09-22 | 常熟市金华机械股份有限公司 | A kind of automatic numerical control lathe |
| CN107678434A (en) * | 2017-10-23 | 2018-02-09 | 广州大学 | A kind of 2 D shifting unit and its control method based on pneumatic control |
| CN108555882B (en) * | 2018-05-07 | 2024-03-15 | 杭州宇控机电工程有限公司 | Full sea depth hydraulic mechanical wrist joint |
| CN111469152A (en) * | 2020-04-30 | 2020-07-31 | 上海工程技术大学 | Automatic change and go up unloading machinery and grab |
| CN112276990A (en) * | 2020-11-09 | 2021-01-29 | 天津市天森智能设备有限公司 | Robot tail end tool for clamping rotary workpieces |
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| CN106271822A (en) | 2017-01-04 |
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