CN107443144B - Clamping workpiece manipulator on a kind of numerically-controlled machine tool - Google Patents
Clamping workpiece manipulator on a kind of numerically-controlled machine tool Download PDFInfo
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- CN107443144B CN107443144B CN201710926072.2A CN201710926072A CN107443144B CN 107443144 B CN107443144 B CN 107443144B CN 201710926072 A CN201710926072 A CN 201710926072A CN 107443144 B CN107443144 B CN 107443144B
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- clamping
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- motor
- clamping limb
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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
-
- 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
- B23Q7/046—Handling workpieces or tools
Abstract
The invention discloses clamping workpiece manipulators on a kind of numerically-controlled machine tool, including mechanical arm, fixing seat, clamping limb one, connecting rod one, motor one, gear one, internal gear, rotary oil cylinder, rotating disk, connecting rod two, clamping limb two, clamping disk, rotating seat, spin chuck one, overturning motor one, clamping limb three, threaded hole one, sliding seat one, screw rod one, connection gear, transmission case, motor two, screw rod two, threaded hole two, sliding seat two, clamping limb four, overturning motor two and spin chuck two；The present invention have it is structurally reasonable it is simple, production cost is low, easy for installation, when clamping, it drives this manipulator that workpiece is placed into clamping device by mechanical arm first to be clamped to process workpiece top surface, here pass through rotation clamping device and overturning clamping device, it being capable of effective rotating and turn over to workpiece, to ensure that six face multipotencys of workpiece are processed, to substantially increase the efficiency of processing and the precision of clamping.
Description
Technical field:
The present invention relates to mechanical equipment technical field, in particular to clamping workpiece manipulator on a kind of numerically-controlled machine tool.
Background technique:
Numerically-controlled machine tool is the abbreviation of numerically-controlled machine tool, is a kind of automated machine tool equipped with program control system；The control
System processed, which can be handled logically, has control coding or other symbolic instruction regulated procedures, and is decoded, to make machine
Bed processing part；And existing clamping workpiece is fairly simple with manipulator function, and corresponding folder can only will be placed after workpiece grabbing
Top surface is processed in clamper, this be for the numerically-controlled machine tool of automation it is far from being enough, not only imitated by artificial clamping
Rate is low, while precision does not reach requirement yet.
Summary of the invention:
The object of the invention is that solve the above-mentioned problems and to provide clamping workpiece on a kind of numerically-controlled machine tool mechanical
Hand, it is fairly simple to solve existing clamping workpiece manipulator function, can only will place after workpiece grabbing and corresponding clamp folder
Top surface is processed in tool, this be for the numerically-controlled machine tool of automation it is far from being enough, by artificial clamping not only low efficiency,
Not the problem of precision does not reach requirement yet simultaneously.
To solve the above-mentioned problems, the present invention provides a kind of technical solutions: clamping workpiece machine on a kind of numerically-controlled machine tool
Tool hand, including mechanical arm, innovative point are: further including fixing seat, clamping limb one, connecting rod one, motor one, gear one, internal tooth
Wheel, rotary oil cylinder, rotating disk, connecting rod two, clamping limb two, clamping disk and rotating seat；Machine is fixedly connected on the upside of the fixing seat
On tool arm, central movable is connected with rotating seat on the downside of the fixing seat；Left and right is movably connected in rotation on the upside of the clamping limb one
On the side rails of seat lower-left；Left and right is movably connected on the side rails of rotating seat bottom right on the upside of the clamping limb two；The motor one is solid
Surely it is connected to rotating seat upper interior, is fixedly connected with gear one on the one upside output shaft end of motor；The gear one with
It is connected on the inside of internal gear；The internal gear is fixedly connected on central interior on the downside of fixing seat；The rotary oil cylinder is fixedly connected
The central interior on the downside of rotating seat is fixedly connected with rotating disk on output shaft end on the downside of the rotary oil cylinder；The connecting rod one is left
Side is flexibly connected with one upper right side of clamping limb, and one right side of connecting rod is flexibly connected with rotating disk lower left side；The connecting rod two is right
Side is flexibly connected with two upper left side of clamping limb, and two left side of connecting rod is flexibly connected with rotating disk lower right side；The clamping disk is
Two, the clamping disk is respectively fixedly connected with the relative position below the inside of clamping limb one and clamping limb two.
Preferably, further including spin chuck one, overturning motor one, clamping limb three, threaded hole one, sliding seat one, screw rod
One, connection gear, transmission case, motor two, screw rod two, threaded hole two, sliding seat two, clamping limb four, overturning motor two and rotation
Chuck two；Left and right is movably connected in fixing seat on the right side of side guidance on the upside of the clamping limb three, three upper interior of clamping limb
Equipped with threaded hole one, three lower inner part of clamping limb is fixedly connected with overturning motor one；Left and right is lived on the upside of the clamping limb four
Dynamic to be connected in fixing seat on the left of side guidance, four upper interior of clamping limb is equipped with threaded hole two, four downside of clamping limb
Inside is fixedly connected with overturning motor two；The one left side output shaft end of overturning motor is fixedly connected with spin chuck one；It is described
Spin chuck two is fixedly connected on overturning two right side output shaft end of motor；The connection gear is movably connected on the upside of fixing seat
Guide groove center, the connection gear right center are fixedly connected with screw rod one, and the connection gear Left-side center is fixedly connected with
Screw rod two, the connection gear upside are connected with output gear on the downside of transmission case；The screw rod one is connected with threaded hole one；
The screw rod two is connected with threaded hole two；The transmission case is fixedly connected on fixing seat upper interior, the transmission case upper left
Side input shaft end is fixedly connected with two right side output shaft end of motor.
Preferably, the connecting rod one is identical with the length of connecting rod two.
Preferably, the motor one is stepper motor.
Preferably, the overturning motor one and overturning motor two are stepper motor.
Preferably, the screw rod one is right handed screw, and match with threaded hole one.
Preferably, the screw rod two is left-handed screw, and match with threaded hole two.
Preferably, the transmission case includes cabinet, input shaft, gear two and output gear；Cabinet upper left side opening
In be connected with input shaft；Gear two is fixedly connected on shaft end on the right side of the input shaft；The gear two is movably connected in
On the upside of box house, it is connected on the upside of two downside of gear and output gear；The output gear is movably connected in cabinet
Subordinate side, the output gear downside are located at outside cabinet.
Beneficial effects of the present invention: the present invention have it is structurally reasonable it is simple, production cost is low, easy for installation, first when clamping
It first passes through mechanical arm and drives this manipulator that workpiece is placed into clamping device and be clamped to be processed to workpiece top surface,
When needing to process workpiece bottom, rotation disc spins are driven by rotary oil cylinder first, and the rotation of rotating disk then divides
Not Tong Guo connecting rod one and connecting rod two drive clamping limb one and clamping limb two while moving inward by clamping chuck clamping workpiece side
Face, then clamping device unclamps workpiece and overturns so that this manipulator is moved to home to workpiece, when overturning, first by
Motor one drives workpiece to rotate horizontally 90 degree and keeps workpiece leading flank parallel with two right side of spin chuck, then starting electricity
Machine two drives connection gear rotation by transmission case, and the rotation of connection gear then drives screw rod one and screw rod two to rotate simultaneously,
It is postrotational by spin chuck two and spin chuck a pair to drive clamping limb four and clamping limb San Tong method to move inward
Workpiece is clamped, and then rotary oil cylinder is driving clamping disk to be released away from workpiece, then starting overturning motor one and overturning
Motor two overturns workpiece top and bottom, and workpiece after overturning is then being placed into folder according to work counter motion above
It is clamped in clamper to be processed to workpiece bottom after overturning, passes through rotation clamping device and overturning clamping machine here
Structure, can effective rotating and turn over to workpiece, to ensure that six face multipotencys of workpiece are processed, thus significantly
Improve the efficiency of processing and the precision of clamping.
Detailed description of the invention:
Detailed description will be given by the following detailed implementation and drawings by the present invention for ease of explanation,.
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is partial structural diagram of the invention.
Fig. 3 is the structural schematic diagram of transmission case.
1- mechanical arm；2- fixing seat；3- clamping limb one；4- connecting rod one；5- motor one；6- gear one；7- internal gear；8- rotation
Turn oil cylinder；9- rotating disk；10- connecting rod two；11- clamping limb two；12- clamping disk；13- rotating seat；14- spin chuck one；15- is turned over
Rotating motor one；16- clamping limb three；17- threaded hole one；18- sliding seat one；19- screw rod one；20- connection gear；21- transmission case；
22- motor two；23- screw rod two；24- threaded hole two；25- sliding seat two；26- clamping limb four；27- overturns motor two；28- rotation
Chuck two；211- cabinet；212- input shaft；213- gear two；214- output gear.
Specific embodiment:
As depicted in figs. 1 and 2, present embodiment uses a kind of following technical scheme: clamping workpiece on numerically-controlled machine tool
With manipulator, including mechanical arm 1, further include fixing seat 2, clamping limb 1, connecting rod 1, motor 1, gear 1, internal gear 7,
Rotary oil cylinder 8, rotating disk 9, connecting rod 2 10, clamping limb 2 11, clamping disk 12 and rotating seat 13；It is fixed on the upside of the fixing seat 2
It is connected on mechanical arm 1, the 2 downside central movable of fixing seat is connected with rotating seat 13；It lives the one 3 upside left and right of clamping limb
It is dynamic to be connected on 13 lower-left side rails of rotating seat；The 2 11 upside left and right of clamping limb is movably connected in 13 lower right side of rotating seat and leads
On rail；The motor 1 is fixedly connected on 13 upper interior of rotating seat, is fixedly connected on the one 5 upside output shaft end of motor
There is gear 1；It is connected on the inside of the gear 1 and internal gear 7；The internal gear 7 is fixedly connected on 2 downside center of fixing seat
It is internal；The rotary oil cylinder 8 is fixedly connected on 13 downside central interior of rotating seat, on the 8 downside output shaft end of rotary oil cylinder
It is fixedly connected with rotating disk 9；One 4 left side of the connecting rod is flexibly connected with one 3 upper right side of clamping limb, on the right side of the connecting rod 1 and
9 lower left side of rotating disk is flexibly connected；2 10 right side of connecting rod is flexibly connected with 2 11 upper left side of clamping limb, the connecting rod 2 10
Left side is flexibly connected with 9 lower right side of rotating disk；The clamping disk 12 is two, and the clamping disk 12, which is respectively fixedly connected with, to be clamped
Relative position below the inside of arm 1 and clamping limb 2 11.
It wherein, further include spin chuck 1, overturning motor 1, clamping limb 3 16, threaded hole 1, sliding seat one
18, screw rod 1, connection gear 20, transmission case 21, motor 2 22, screw rod 2 23, threaded hole 2 24, sliding seat 2 25, clamping
Arm 4 26, overturning motor 2 27 and spin chuck 2 28；The 3 16 upside left and right of clamping limb is movably connected in 2 upside of fixing seat
On the right side of guide groove, 3 16 upper interior of clamping limb is equipped with threaded hole 1, and 3 16 lower inner part of clamping limb is fixedly connected
There is overturning motor 1；The 4 26 upside left and right of clamping limb is movably connected in fixing seat 2 on the left of side guidance, the clamping limb
4 26 upper interiors are equipped with threaded hole 2 24, and 4 26 lower inner part of clamping limb is fixedly connected with overturning motor 2 27；It is described
Overturning one 15 left side output shaft end of motor is fixedly connected with spin chuck 1；On the 2 27 right side output shaft end of overturning motor
It is fixedly connected with spin chuck 2 28；The connection gear 20 is movably connected in side guidance center, the tooth connection in fixing seat 2
It takes turns 20 right centers and is fixedly connected with screw rod 1,20 Left-side center of connection gear is fixedly connected with screw rod 2 23, described
20 upside of connection gear is connected with 21 downside output gear of transmission case；The screw rod 1 is connected with threaded hole 1；Institute
Screw rod 2 23 is stated to be connected with threaded hole 2 24；The transmission case 21 is fixedly connected on 2 upper interior of fixing seat, the transmission case
21 upper left side input shaft ends are fixedly connected with 2 22 right side output shaft end of motor.
Wherein, the connecting rod 1 is identical with the length of connecting rod 2 10；The motor 1 is stepper motor；The overturning electricity
Machine 1 and overturning motor 2 27 are stepper motor；The screw rod 1 is right handed screw, and is matched with threaded hole 1；
The screw rod 2 23 is left-handed screw, and is matched with threaded hole 2 24.
As shown in figure 3, the transmission case 21 includes cabinet 211, input shaft 212, gear 2 213 and output gear 214；Institute
It states in 211 upper left side opening of cabinet and is connected with input shaft 212；Gear is fixedly connected on the 212 right side shaft end of input shaft
2 213；The gear 2 213 is movably connected in 211 upper inside of cabinet, 2 213 downside of gear on output gear 214
Side is connected；The output gear 214 is movably connected in 211 inner lower of cabinet, is located at cabinet on the downside of the output gear 214
Outside 211.
Use state of the invention are as follows: the present invention have it is structurally reasonable it is simple, production cost is low, easy for installation, when clamping,
It drives this manipulator that workpiece is placed into clamping device by mechanical arm 1 first to be clamped to add workpiece top surface
Work drives rotating disk 9 to rotate by rotary oil cylinder 8 first when needing to process workpiece bottom, and the rotation of rotating disk 9
Turn then to drive clamping limb 1 and clamping limb 2 11 by connecting rod 1 and connecting rod 2 10 respectively while moving inward and pass through clamping
Disk 12 clamps side surface of workpiece, and then clamping device unclamps workpiece and turns over so that this manipulator is moved to home to workpiece
Turn, when overturning, drives workpiece to rotate horizontally 90 degree by motor 1 first and make on the right side of workpiece leading flank and spin chuck 2 28
Face is parallel, then starts motor 2 22 and drives connection gear 20 to rotate by transmission case 21, and the rotation of connection gear 20 is then
Screw rod 1 and screw rod 2 23 is driven to rotate simultaneously, to drive clamping limb 4 26 and clamping limb 3 16 while move inward logical
It crosses one 14 pairs of postrotational workpiece of spin chuck 2 28 and spin chuck to be clamped, then rotary oil cylinder 8 is driving clamping disk
12 are released away from workpiece, and then starting overturning motor 1 and overturning 2 27 pairs of workpiece top and bottom of motor are overturn, then
Workpiece after overturning is placed into according to work counter motion above be clamped in clamping device so as to overturning after work
Part bottom surface is processed, being capable of effective rotating to workpiece here by rotation clamping device and overturning clamping device
And overturning, to ensure that six face multipotencys of workpiece are processed, to substantially increase the efficiency of processing and the essence of clamping
Degree.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, the technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention, the claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (8)
1. clamping workpiece manipulator on a kind of numerically-controlled machine tool, including mechanical arm (1), it is characterised in that: further include fixing seat
(2), clamping limb one (3), connecting rod one (4), motor one (5), gear one (6), internal gear (7), rotary oil cylinder (8), rotating disk
(9), connecting rod two (10), clamping limb two (11), clamping disk (12) and rotating seat (13)；
It is fixedly connected on mechanical arm (1) on the upside of the fixing seat (2), central movable is connected with rotation on the downside of the fixing seat (2)
Swivel base (13)；
Left and right is movably connected on the side rails of rotating seat (13) lower-left on the upside of the clamping limb one (3)；
Left and right is movably connected on the side rails of rotating seat (13) bottom right on the upside of the clamping limb two (11)；
The motor one (5) is fixedly connected on rotating seat (13) upper interior, fixed on output shaft end on the upside of the motor one (5)
It is connected with gear one (6)；
It is connected on the inside of the gear one (6) and internal gear (7)；
The internal gear (7) is fixedly connected on central interior on the downside of fixing seat (2)；
The rotary oil cylinder (8) is fixedly connected on central interior on the downside of rotating seat (13), output shaft on the downside of the rotary oil cylinder (8)
Rotating disk (9) are fixedly connected on end；
It is flexibly connected on the left of the connecting rod one (4) with clamping limb one (3) upper right side, connecting rod one (4) right side and rotating disk (9)
Lower left side is flexibly connected；
It is flexibly connected on the right side of the connecting rod two (10) with clamping limb two (11) upper left side, connecting rod two (10) left side and rotating disk
(9) lower right side is flexibly connected；
The clamping disk (12) is two, and the clamping disk (12) is respectively fixedly connected in clamping limb one (3) and clamping limb two
(11) relative position below inside.
2. clamping workpiece manipulator on a kind of numerically-controlled machine tool according to claim 1, it is characterised in that: further include rotation
Chuck one (14), overturning motor one (15), clamping limb three (16), threaded hole one (17), sliding seat one (18), screw rod one (19),
Connection gear (20), transmission case (21), motor two (22), screw rod two (23), threaded hole two (24), sliding seat two (25), clamping
Arm four (26), overturning motor two (27) and spin chuck two (28)；
Left and right is movably connected on fixing seat (2) on the right side of side guidance on the upside of the clamping limb three (16), the clamping limb three (16)
Upper interior is equipped with threaded hole one (17), and clamping limb three (16) lower inner part is fixedly connected with overturning motor one (15)；
Left and right is movably connected on fixing seat (2) on the left of side guidance on the upside of the clamping limb four (26), the clamping limb four (26)
Upper interior is equipped with threaded hole two (24), and clamping limb four (26) lower inner part is fixedly connected with overturning motor two (27)；
Output shaft end is fixedly connected with spin chuck one (14) on the left of the overturning motor one (15)；
Spin chuck two (28) is fixedly connected on output shaft end on the right side of the overturning motor two (27)；
The connection gear (20) is movably connected in side guidance center, connection gear (20) right center on fixing seat (2)
It is fixedly connected with screw rod one (19), connection gear (20) Left-side center is fixedly connected with screw rod two (23), the tooth connection
It is connected on the upside of wheel (20) with output gear on the downside of transmission case (21)；
The screw rod one (19) is connected with threaded hole one (17)；
The screw rod two (23) is connected with threaded hole two (24)；
The transmission case (21) is fixedly connected on fixing seat (2) upper interior, transmission case (21) the upper left side input shaft end with
Output shaft end is fixedly connected on the right side of motor two (22).
3. clamping workpiece manipulator on a kind of numerically-controlled machine tool according to claim 1, it is characterised in that: the connecting rod one
(4) identical with the length of connecting rod two (10).
4. clamping workpiece manipulator on a kind of numerically-controlled machine tool according to claim 1, it is characterised in that: the motor one
It (5) is stepper motor.
5. clamping workpiece manipulator on a kind of numerically-controlled machine tool according to claim 2, it is characterised in that: the overturning electricity
Machine one (15) and overturning motor two (27) are stepper motor.
6. clamping workpiece manipulator on a kind of numerically-controlled machine tool according to claim 2, it is characterised in that: the screw rod one
(19) it is right handed screw, and matches with threaded hole one (17).
7. clamping workpiece manipulator on a kind of numerically-controlled machine tool according to claim 2, it is characterised in that: the screw rod two
(23) it is left-handed screw, and matches with threaded hole two (24).
8. clamping workpiece manipulator on a kind of numerically-controlled machine tool according to claim 2, it is characterised in that: the transmission case
It (21) include cabinet (211), input shaft (212), gear two (213) and output gear (214)；
Input shaft (212) are connected in the side opening of cabinet (211) upper left；
Gear two (213) is fixedly connected on shaft end on the right side of the input shaft (212)；
The gear two (213) is movably connected in cabinet (211) upper inside, gear two (213) downside and output gear
(214) upside is connected；
The output gear (214) is movably connected in cabinet (211) inner lower, is located at case on the downside of the output gear (214)
Body (211) is external.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710926072.2A CN107443144B (en) | 2017-10-06 | 2017-10-06 | Clamping workpiece manipulator on a kind of numerically-controlled machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710926072.2A CN107443144B (en) | 2017-10-06 | 2017-10-06 | Clamping workpiece manipulator on a kind of numerically-controlled machine tool |
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| Publication Number | Publication Date |
|---|---|
| CN107443144A CN107443144A (en) | 2017-12-08 |
| CN107443144B true CN107443144B (en) | 2019-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710926072.2A Active CN107443144B (en) | 2017-10-06 | 2017-10-06 | Clamping workpiece manipulator on a kind of numerically-controlled machine tool |
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| CN (1) | CN107443144B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109572745B (en) * | 2018-12-03 | 2020-01-21 | 南通航运职业技术学院 | Vertical traffic track safety brake |
| CN110587637A (en) * | 2019-09-19 | 2019-12-20 | 于丹 | Manipulator clamping device capable of being telescopically adjusted |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100783424B1 (en) * | 2006-06-20 | 2007-12-07 | 현대자동차주식회사 | Core clamping system |
| CN101168251A (en) * | 2007-11-06 | 2008-04-30 | 大连阿拇特科技发展有限公司 | Automatic loading and unloading mechanical arm |
| CN201124314Y (en) * | 2007-12-25 | 2008-10-01 | 山东法因数控机械股份有限公司 | Mechanical automatic turnover device |
| CN105479244A (en) * | 2016-01-11 | 2016-04-13 | 淮安娇子金属科技有限公司 | Automatic material hanging device capable of improving machining efficiency |
| CN206215928U (en) * | 2016-10-24 | 2017-06-06 | 南通理工学院 | A kind of numerically controlled lathe Workpiece tilting device |
| CN106826896A (en) * | 2017-01-18 | 2017-06-13 | 赵浩琛 | A kind of manipulator for being easy to adjustment width |
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2017
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| CN107443144A (en) | 2017-12-08 |
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Effective date of registration: 20190321 Address after: 063000 South Police West Road, Nvzhizhai Village, Lunan District, Tangshan City, Hebei Province Applicant after: Tangshan Jihui Machinery Equipment Co., Ltd. Address before: 273500 No. 757 Mingjian Road, Zoucheng City, Jining City, Shandong Province (Cylinder Workshop, Yankuang Donghua Heavy Industry Machinery and Electrical Equipment Manufacturing Branch) Applicant before: Yu Zhenping |
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