CN107671873A - A kind of desktop type machine lathe people and desktop type lathe control system - Google Patents

A kind of desktop type machine lathe people and desktop type lathe control system Download PDF

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Publication number
CN107671873A
CN107671873A CN201711135659.8A CN201711135659A CN107671873A CN 107671873 A CN107671873 A CN 107671873A CN 201711135659 A CN201711135659 A CN 201711135659A CN 107671873 A CN107671873 A CN 107671873A
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CN
China
Prior art keywords
slide bar
desktop type
slidably connected
hopper
type machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201711135659.8A
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Chinese (zh)
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CN107671873B (en
Inventor
何坤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mianyang Heidi Robot Technology Co Ltd
Original Assignee
Mianyang Heidi Robot Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mianyang Heidi Robot Technology Co Ltd filed Critical Mianyang Heidi Robot Technology Co Ltd
Priority to CN201711135659.8A priority Critical patent/CN107671873B/en
Publication of CN107671873A publication Critical patent/CN107671873A/en
Application granted granted Critical
Publication of CN107671873B publication Critical patent/CN107671873B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements

Abstract

The present invention provides a kind of desktop type machine lathe people and desktop type lathe control system, it is related to machining technology field, the desktop type lathe control system includes Switching Power Supply, control box and desktop type machine lathe people, and desktop type machine lathe people includes chassis, electric and magnetic oscillation loader, support frame and manipulator body.Electric and magnetic oscillation loader includes container, hopper, support base and electromagnetic propulsion mechanism, container is removably attachable to chassis and has a storage tank, storage tank is used to house workpiece, one end of hopper is connected with container and connected with storage tank, support base is arranged on the bottom of hopper and is detachably connected with chassis, and electromagnetic propulsion mechanism is contained in support base.Compared to prior art, a kind of desktop type machine lathe people provided by the invention, workpiece can be accurately positioned, while multi-angle, multi-faceted operation can be carried out after workpiece is gripped, can adapt to diverse location, various sizes of lathe chuck.

Description

A kind of desktop type machine lathe people and desktop type lathe control system
Technical field
The present invention relates to machining technology field, in particular to a kind of desktop type machine lathe people and desktop Type lathe control system.
Background technology
With the progress of society and the progress of mechanical technique, manipulator is very extensive in processing industry application, six axle machines The big cost of the universal volume of people is high, and in processing industry, for smallclothes processing link, such as lathe in machining, it is characterized in producing Product size is small, in light weight, special demands compact, Flexible Control, and the small scale robot of convenient regulation, which substitutes, to be accomplished manually Blanking, product are accurately positioned, the operation such as cleaning cutter, cleaning jig.
Investigate and find through inventor, it is in the prior art, low for the robot precision of smallclothes processing, and workpiece is in feeding Position inaccurate so that the mismate between manipulator and workpiece, easily cause the phenomenon of Lou folder or wrong folder.
In view of this, it is high to design and manufacture a kind of machining accuracy, the desktop type machine lathe that can be accurately positioned to workpiece People is particularly important.
The content of the invention
It is an object of the invention to provide a kind of desktop type machine lathe people, workpiece can be accurately positioned and can be polygonal Degree, multidirectional operation.
The present invention is realized using following technical scheme.
A kind of desktop type machine lathe people, including chassis, electric and magnetic oscillation loader, support frame and manipulator body, branch Support is connected to the top of chassis and has a slide rail, and electric and magnetic oscillation loader includes container, hopper, support base and electromagnetism Pushing mechanism, container are removably attachable to chassis and have a storage tank, and storage tank is used to house workpiece, one end of hopper It is connected with container and is connected with storage tank, so that workpiece skids off storage tank by hopper, support base is arranged on the bottom of hopper And be detachably connected with chassis, electromagnetic propulsion mechanism is contained in support base, for promoting workpiece to be slided along hopper.Manipulator sheet Body includes the first sliding equipment, the second sliding equipment, bindiny mechanism and gripping head, the first sliding equipment and is slidably connected to slide rail And there is the first slide bar, the bearing of trend of the first slide bar is parallel with the bearing of trend of slide rail, and the second sliding equipment is slidably connected In the first slide bar and there is the second slide bar, the bearing of trend of the bearing of trend of the second slide bar and the first slide bar is perpendicular, connects machine One end of structure is slidably connected to the second slide bar, and gripping head is rotationally connected with the one end of bindiny mechanism away from the second slide bar and with folder Fetch bit, gripping position is oppositely arranged with hopper, for gripping workpiece.
Further, electromagnetic propulsion mechanism includes electromagnet, lubricating nozzle and grease pump, electromagnet and lubricating oil Pump is contained in support base, and one end of lubricating nozzle is stretched into support base and is connected with grease pump, and the other end stretches into hopper, is used In spraying lubricating oil into hopper.
Further, chassis is connected to support frame including support body, electric mounting board and multiple lifting handles, support body With container and there is an electric installation cavity, the accommodating son of electric mounting board is electrically in installation cavity, multiple two-phases of lifting handle two Set up separately over the ground in the both sides of support body.
Further, gripping head includes multiple range sensors, multiple gripping finger, finger connecting plate and rotation connections Block, the one end for being rotatablely connected block are rotationally connected with bindiny mechanism, and the other end is connected to finger connecting plate, multiple gripping fingers Releasably be connected to finger connecting plate, multiple range sensors be fixedly connected on rotation connection block and correspondingly with it is multiple Grip finger electrical connection.
Further, bindiny mechanism is slidably connected to second including the first sliding block, connection arm-tie and mounting bracket, the first sliding block Slide bar, the one end for connecting arm-tie are removably attachable to the first sliding block, and the other end is connected to mounting bracket, one is provided with mounting bracket Mandrel, rotation connection block are rotationally connected with mandrel.
Further, bindiny mechanism also includes connection reinforcement plate, and connection reinforcement plate is provided with bending-like and in edge Reinforcement, and the side of connection reinforcement plate is sticked on connection arm-tie and is detachably connected with being connected arm-tie, connection reinforcement plate Opposite side is sticked on mounting bracket and is detachably connected with mounting bracket.
Further, the first sliding equipment is slidably connected platform, the first actuator, drive belt and driving plate including first, First platform that is slidably connected is slidably connected on slide rail, and first, which is slidably connected at the top of platform, is provided with the first slide bar, the first actuator Be removably attachable to first be slidably connected platform one end and be connected with the first slide bar, drive belt is arranged on first and is slidably connected platform Side and be fixedly connected with driving plate, driving plate is removably attachable to the second sliding equipment.
Further, the second sliding equipment include the second sliding block, metal plate box, second be slidably connected platform and second driving Part, the second sliding block are fixedly connected on the bottom of metal plate box and are slidably connected to the first slide bar, and metal plate box is connected to the second slip company Connect the side of platform, second side of the platform away from metal plate box that be slidably connected is provided with the second slide bar, and the second actuator is connected to second Be slidably connected platform one end and be connected with the second slide bar.
Further, the outer peripheral face of the first slide bar and the second slide bar is provided with external screw thread, the second sliding block and the first slide bar Threaded connection, bindiny mechanism are threadedly coupled with the second slide bar.
A kind of desktop type lathe control system, including Switching Power Supply, control box and desktop type machine lathe people, desktop type Machine lathe people includes chassis, electric and magnetic oscillation loader, support frame and manipulator body, and support frame is connected to the top of chassis And there is a slide rail, it is removable that electric and magnetic oscillation loader includes container, hopper, support base and electromagnetic propulsion mechanism, container Be connected to chassis with unloading and there is a storage tank, storage tank is used to house workpiece, one end of hopper be connected with container and with appearance Groove connection is put, so that workpiece skids off storage tank by hopper, support base is arranged on the bottom of hopper and is detachably connected with chassis, Electromagnetic propulsion mechanism is contained in support base, for promoting workpiece to be slided along hopper.Manipulator body include the first sliding equipment, Second sliding equipment, bindiny mechanism and gripping head, the first sliding equipment are slidably connected to slide rail and have the first slide bar, and first The bearing of trend of slide bar is parallel with the bearing of trend of slide rail, and the second sliding equipment is slidably connected to the first slide bar and with second Slide bar, the bearing of trend of the bearing of trend of the second slide bar and the first slide bar is perpendicular, and one end of bindiny mechanism is slidably connected to Two slide bars, gripping head are rotationally connected with the one end of bindiny mechanism away from the second slide bar and with gripping positions, grip position and hopper phase To setting, for gripping workpiece.Switching Power Supply is removably attachable to chassis, and control box is removably attachable to support frame and divided Do not electrically connected with the first sliding equipment, the second sliding equipment and gripping head.
The invention has the advantages that:
A kind of desktop type machine lathe people provided by the invention, support frame is connected to the top of chassis, and on support frame With a slide rail.Container is removably attachable to chassis and with the storage tank for being used to house workpiece, one end of hopper and appearance Put box to connect and connect with storage tank, the other end stretches to gripping head, and support base is arranged on the bottom of hopper and detachable with chassis Connection, electromagnetic propulsion mechanism are contained in support base.First sliding equipment is slidably connected to slide rail and has the first slide bar, and first The bearing of trend of slide bar is parallel with the bearing of trend of slide rail, and the second sliding equipment is slidably connected to the first slide bar and with second Slide bar, the bearing of trend of the bearing of trend of the second slide bar and the first slide bar is perpendicular, and one end of bindiny mechanism is slidably connected to Erhuang is pacified, and gripping head is rotationally connected with the one end of bindiny mechanism away from the second slide bar and is located at hopper phase with gripping position, gripping To setting.In practical work process, the workpiece in storage tank slips into hopper, and electromagnetic propulsion mechanism is formed in hopper promotes magnetic , accommodating workpiece therein accurately slides into the other end along hopper under the influence of a magnetic field and positioned, and gripping head passes through gripping Position gripping workpiece, and adjustment angle and position under the collective effect of the first sliding equipment, the second sliding equipment and bindiny mechanism Put, workpiece is transported to lathe chuck, complete the transfer of workpiece.Compared to prior art, a kind of desktop type provided by the invention Machine lathe people, workpiece can be accurately positioned, while multi-angle, multi-faceted behaviour can be carried out after workpiece is gripped Make, can adapt to diverse location, various sizes of lathe chuck.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the overall structure diagram for the desktop type machine lathe people that first embodiment of the invention provides;
Fig. 2 is the attachment structure schematic diagram that head is gripped in Fig. 1;
Fig. 3 is the structural representation of Tu1Zhong bindiny mechanisms;
Fig. 4 is the attachment structure schematic diagram of the first sliding equipment and the second sliding equipment in Fig. 1.
Icon:10- desktop type machine lathe people;100- manipulator bodies;The sliding equipments of 110- first;111- first is slided Connected unit;The actuators of 113- first;115- drive belts;The sliding equipments of 130- second;The sliding blocks of 131- second;133- metal plate boxes; 135- second is slidably connected platform;The actuators of 137- second;150- bindiny mechanisms;The sliding blocks of 151- first;153- connection arm-ties;155- Mounting bracket;157- connection reinforcement plates;170- grips head;171- range sensors;173- grips finger;175- finger connecting plates; 177- is rotatablely connected block;190- wiper mechanisms;200- chassis;300- electric and magnetic oscillation loaders;310- containers;330- hoppers; 350- support bases;370- electromagnetic propulsions mechanism;371- electromagnet;373- lubricating nozzles;375- grease pumps;400- support frames.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is Part of the embodiment of the present invention, rather than whole embodiments.The present invention implementation being generally described and illustrated herein in the accompanying drawings The component of example can be configured to arrange and design with a variety of.
Therefore, below the detailed description of the embodiments of the invention to providing in the accompanying drawings be not intended to limit it is claimed The scope of the present invention, but be merely representative of the present invention selected embodiment.It is common based on the embodiment in the present invention, this area The every other embodiment that technical staff is obtained under the premise of creative work is not made, belong to the model that the present invention protects Enclose.
It should be noted that:Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " vertical ", " level ", " interior ", " outer " Orientation or position relationship Deng instruction are based on orientation shown in the drawings or position relationship, or are used to during the invention product use The orientation or position relationship often put, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply and be signified Device or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the present invention Limitation.In addition, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively important Property.
In the description of the invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ", " connected ", " installation ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or one Connect body;Can be mechanical connection or electrical connection;Can be joined directly together, can also be indirect by intermediary It is connected, can is the connection of two element internals.For the ordinary skill in the art, on being understood with concrete condition State the concrete meaning of term in the present invention.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting Feature in embodiment can be mutually combined.
First embodiment
Referring to Fig. 1, the present embodiment provides a kind of desktop type machine lathe people 10, including manipulator body 100, chassis 200, Electric and magnetic oscillation loader 300 and support frame 400, support frame 400 are connected to the top of chassis 200 and have a slide rail, machinery Hand body 100 is slidably connected to slide rail, and electric and magnetic oscillation loader 300 is connected to chassis 200, for housing workpiece.
Electric and magnetic oscillation loader 300 includes container 310, hopper 330, support base 350 and electromagnetic propulsion mechanism 370, Container 310 is removably attachable to chassis 200 and has a storage tank, and storage tank is used to house workpiece, one end of hopper 330 It is connected with container 310 and is connected with storage tank, so that workpiece skids off storage tank by hopper 330, support base 350 is arranged on material The bottom of groove 330 is simultaneously detachably connected with chassis 200, and electromagnetic propulsion mechanism 370 is contained in support base 350, for promoting work Part slides along hopper 330.
Electromagnetic propulsion mechanism 370 includes electromagnet 371, lubricating nozzle 373 and grease pump 375, electromagnet 371 and Grease pump 375 is contained in support base 350, one end of lubricating nozzle 373 stretch into support base 350 and with grease pump 375 Connection, the other end stretches into hopper 330, for spraying lubricating oil into hopper 330.
Manipulator body 100 includes the first sliding equipment 110, the second sliding equipment 130, bindiny mechanism 150 and gripping First 170, the first sliding equipment 110 is slidably connected to slide rail and has the first slide bar, the bearing of trend of the first slide bar and slide rail Bearing of trend is parallel, and the second sliding equipment 130 is slidably connected to the first slide bar and has the second slide bar, the extension of the second slide bar Direction and the bearing of trend of the first slide bar are perpendicular, and one end of bindiny mechanism 150 is slidably connected to the second slide bar, gripping first 170 It is rotationally connected with the one end of bindiny mechanism 150 away from the second slide bar and is oppositely arranged with gripping position, gripping position with hopper 330, For gripping workpiece.
In the present embodiment, wiper mechanism 190 is additionally provided with gripping first 170, wiper mechanism 190 is located in gripping head It is in 170 and protruding, and wiper mechanism 190 has a cleaning oil nozzle, cleans the gripping in the oil spout direction and gripping position of oil nozzle Direction is parallel, for cleaning workpiece.
In the present embodiment, the cleansing oil that sprays atomization is cleaned in oil nozzle, for being cleaned to gripping position.Wherein clean Oil is stored in fuel tank and connected by pipeline with cleaning oil nozzle.
Chassis 200 includes support body, electric mounting board and multiple lifting handles, and support body is connected to the He of support frame 400 Container 310 simultaneously has an electric installation cavity, in the electric installation cavity of the accommodating son of electric mounting board, multiple two-phases of lifting handle two Set up separately over the ground in the both sides of support body.
The bottom of chassis 200 is provided with multiple rolling mechanism (not shown), convenient to whole desktop type machine lathe people 10 Move, each rolling mechanism includes roller, support column, bolster stake, connecting rod and fixture block, and one end of support column, which is fixed, to be connected The bottom of chassis 200 is connected to, the other end is articulated with the middle part of connecting rod, and one end and the roller of connecting rod are rotatablely connected, the other end It is fixedly connected on bolster stake, the hinged place of connecting rod and support column has a neck, and fixture block is contained in neck, so that support column It is relatively fixed with connecting rod.Specifically, when fixture block is placed in neck, the both sides of fixture block are connected to connecting rod and support respectively Post so that can be relatively fixed between connecting rod and support column, now roller contact ground, whole chassis 200 can be in roller Drive under move, when fixture block is taken away from neck, can be relatively rotated between support column and connecting rod, now bolster stake Bottom contacts ground, and whole chassis 200 is fixed under the support of bolster stake, and by the dismounting of fixture block, the shifting of chassis 200 can be achieved It is dynamic and fixed.
Referring to Fig. 2, gripping first 170 includes multiple range sensors 171, multiple gripping fingers 173, finger connecting plate 175 And rotation connection block 177, one end of rotation connection block 177 are rotationally connected with bindiny mechanism 150, the other end is connected to finger company Fishplate bar 175, multiple gripping fingers 173 are removably attachable to finger connecting plate 175, and multiple range sensors 171, which are fixed, to be connected It is connected on rotation connection block 177 and is electrically connected correspondingly with multiple gripping fingers 173.Wiper mechanism 190 removably connects It is connected to finger connecting plate 175 and between multiple gripping fingers 173.Specifically, grip finger 173 number be two, two Individual gripping finger 173 sets up separately in the both sides of wiper mechanism 190.
In the present embodiment, being rotatablely connected block 177 has rotating disk and is built-in with rotary electric machine, and rotating disk is rotatably connected on connection Relative rotating disk rotates in mechanism 150 and under the drive of rotary electric machine, so as to realize the dress of the gripping different angle of finger 173 Folder.
Each gripping finger 173 includes fixture block, clamping part, connecting seat and detector installing plate, fixture block and removably connected The bottom of connecting seat is connected to, clamping part is removably attachable to fixture block, and the side of connecting seat is removably attachable to finger connection Plate 175, detector installing plate are removably attachable to the top of connecting seat and are oppositely arranged with fixture block.
In the present embodiment, detector installing plate is L-shaped, and the side plate fitting of wherein L-type is arranged on the top of connecting seat, Another side plate stretches out upwards.And the top of detector installing plate is provided with pointer, for referring to the position of gripping first 170 Show, conveniently positioned.
In the present embodiment, wiper mechanism 190 includes blow gun and blow gun mounting bracket 155, and blow gun mounting bracket 155 is removably It is connected to the side wall of rotation connection block 177 and extends downwardly from, blow gun is arranged on the bottom of blow gun mounting bracket 155, and the peace of blow gun It is parallel with the installation direction of clamping part to fill direction.
Referring to Fig. 3, bindiny mechanism 150 includes the first sliding block 151, connection arm-tie 153, mounting bracket 155 and connection reinforcement Plate 157, the first sliding block 151 are slidably connected to the second slide bar, and one end of connection arm-tie 153 is removably attachable to the first sliding block 151, the other end is connected to mounting bracket 155, and a mandrel is provided with mounting bracket 155, and rotation connection block 177 is rotationally connected with core Axle.Specifically, the rotating disk in gripping first 170 is set in mandrel and stretches out one end of mounting bracket 155 and can be rotated along mandrel.Connection adds Strong plate 157 is in bending-like and reinforcement is provided with edge, and the side of connection reinforcement plate 157 is sticked in connection arm-tie 153 Above and with being connected arm-tie 153 it is detachably connected, the opposite side of connection reinforcement plate 157 is sticked on mounting bracket 155 and and mounting bracket 155 are detachably connected.
In the present embodiment, connection reinforcement plate 157 has the first side plate and the second side plate, and the first side plate and the second side plate are in L-type sets and is connected with reinforcement in edge, wherein the first side plate is bolted with being connected arm-tie 153, the second side plate It is bolted with the top of mounting bracket 155, so that mounting bracket 155 can be firmly connected to arm-tie.
With reference to referring to Fig. 4, the first sliding equipment 110 is slidably connected platform 111, the first actuator 113, drive belt including first 115 and driving plate (not shown), first platform 111 that is slidably connected is slidably connected on slide rail, the first top for being slidably connected platform 111 Portion is provided with the first slide bar, the first actuator 113 be removably attachable to first be slidably connected platform 111 one end and slided with first Bar connect, drive belt 115 be arranged on first be slidably connected platform 111 side and be fixedly connected with driving plate, driving plate is detachable Ground is connected to the second sliding equipment 130.Specifically, drive belt 115 plays the sliding equipment of auxiliary pushing second in the present embodiment 130 effect.
Second sliding equipment 130 include the second sliding block 131, metal plate box 133, second be slidably connected platform 135 and second drive Moving part 137, the second sliding block 131 are fixedly connected on the bottom of metal plate box 133 and are slidably connected to the first slide bar, and metal plate box 133 connects It is connected to the second side for being slidably connected platform 135, second side of the platform 135 away from metal plate box 133 that be slidably connected is provided with the second cunning Bar, the second actuator 137 be connected to second be slidably connected platform 135 one end and be connected with the second slide bar.
In the present embodiment, the outer peripheral face of the first slide bar and the second slide bar is provided with external screw thread, the second sliding block 131 and One slide bar is threadedly coupled, and bindiny mechanism 150 is threadedly coupled with the second slide bar.Specifically, the first slide bar is a screw mandrel, and first drives Part 113 is motor, and the output shaft of the motor is fixedly connected with the first slide bar, when the driving motors drive, drives the One slide bar rotates, and the second sliding equipment 130 being set on the first slide bar can then move along the first slide bar, so as to drive gripping First 170 move along the bearing of trend of the first slide bar.Second slide bar is also a screw mandrel, and the second actuator 137 is also motor, should The output shaft of motor is fixedly connected with the second slide bar, when the driving motors drive, drives the second slide bar to rotate, and is set in The first sliding block 151 on second slide bar can then move along the first slide bar, so as to drive gripping first 170 along the extension side of the second slide bar To motion.
In summary, a kind of desktop type machine lathe people 10 that the present embodiment provides, the gripping hand in gripping first 170 is passed through Refer to 173 pairs of workpiece to grip, and realized by bindiny mechanism 150, the second sliding equipment 130 and the first sliding equipment 110 Multi-angle, multi-faceted running, and electromagnetic propulsion mechanism 370 is set in the bottom of hopper 330, the workpiece in hopper 330 is realized It is accurately positioned.Its operation principle is as follows:Workpiece is contained in storage tank and acts on lower slider to hopper 330 in electric and magnetic oscillation, Electromagnetic propulsion mechanism 370 forms push magnetic field in hopper 330, promotes workpiece to move to end along hopper 330 and accurately determine Position, gripping first 170 are in the first operating angle, grip the workpiece of the end of hopper 330, the gripping first 170 of gripping to workpiece downwards Respectively along the bearing of trend of the second slide bar and under the collective effect of the second sliding equipment 130 and the first sliding equipment 110 The bearing of trend motion of one slide bar, so that workpiece is transported near lathe chuck, now grip first 170 rotary electric machine band Dynamic lower relative bindiny mechanism 150 is rotated, and so as to adjust the angle of workpiece, finally workpiece is sent on chuck.Every After secondary conveying workpieces, clean in oil nozzle and spray the cleansing oil of atomization, chuck is rinsed, it is ensured that crumble will not be bonded above, So as to ensure that crudy.Compared to prior art, a kind of desktop type machine lathe people 10 of the present embodiment offer can be right Workpiece is accurately positioned, and greatly improves gripping precision, at the same workpiece can be carried out multi-angle, it is multi-faceted convey, and Chuck can be cleaned, ensure that machining accuracy and crudy.
Second embodiment
Present embodiments provide a kind of desktop type lathe control system, including Switching Power Supply (non-label in figure), control box (non-label in figure) and desktop type machine lathe people 10, the wherein basic structure of desktop type machine lathe people 10 and principle and production Raw technique effect is identical with first embodiment, and to briefly describe, the present embodiment part does not refer to part, refers to the first implementation Corresponding contents in example.
Desktop type machine lathe people 10 includes chassis 200, electric and magnetic oscillation loader 300, support frame 400 and manipulator sheet Body 100, support frame 400 are connected to the top of chassis 200 and have a slide rail, and electric and magnetic oscillation loader 300 includes container 310th, hopper 330, support base 350 and electromagnetic propulsion mechanism 370, container 310 are removably attachable to chassis 200 and had One storage tank, storage tank are used to house workpiece, and one end of hopper 330 is connected with container 310 and connected with storage tank, so that work Part skids off storage tank by hopper 330, and support base 350 is arranged on the bottom of hopper 330 and is detachably connected with chassis 200, electricity Magnetic pushing mechanism 370 is contained in support base 350, for promoting workpiece to be slided along hopper 330.
Manipulator body 100 includes the first sliding equipment 110, the second sliding equipment 130, bindiny mechanism 150 and gripping First 170, the first sliding equipment 110 is slidably connected to slide rail and has the first slide bar, the bearing of trend of the first slide bar and slide rail Bearing of trend is parallel, and the second sliding equipment 130 is slidably connected to the first slide bar and has the second slide bar, the extension of the second slide bar Direction and the bearing of trend of the first slide bar are perpendicular, and one end of bindiny mechanism 150 is slidably connected to the second slide bar, gripping first 170 It is rotationally connected with the one end of bindiny mechanism 150 away from the second slide bar and is oppositely arranged with gripping position, gripping position with hopper 330, For gripping workpiece.
Switching Power Supply is removably attachable to chassis 200, and control box is removably attachable to support frame 400 and respectively with One sliding equipment 110, the second sliding equipment 130 and first 170 electrical connection of gripping, for controlling the first sliding equipment 110, second Sliding equipment 130 and the motion of gripping first 170, realize the accurate gripping and placement to workpiece.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies Change, equivalent substitution, improvement etc., should be included in the scope of the protection.

Claims (10)

1. a kind of desktop type machine lathe people, it is characterised in that including chassis, electric and magnetic oscillation loader, support frame and machinery Hand body, support frame as described above are connected to the top of the chassis and have a slide rail, and the electric and magnetic oscillation loader includes accommodating Box, hopper, support base and electromagnetic propulsion mechanism, the container are removably attachable to the chassis and housed with one Groove, the storage tank are used to house workpiece, and one end of the hopper is connected with the container and connected with the storage tank, with The workpiece is skidded off the storage tank by the hopper, the support base be arranged on the bottom of the hopper and with the bottom Frame is detachably connected, and the electromagnetic propulsion mechanism is contained in the support base, for promoting the workpiece to be slided along the hopper It is dynamic;
The manipulator body includes the first sliding equipment, the second sliding equipment, bindiny mechanism and gripping head, and described first slides Motivation structure is slidably connected to the slide rail and has the first slide bar, the bearing of trend of first slide bar and the extension of the slide rail Direction is parallel, and second sliding equipment is slidably connected to first slide bar and has the second slide bar, second slide bar Bearing of trend and first slide bar bearing of trend it is perpendicular, one end of the bindiny mechanism is slidably connected to described second Slide bar, the gripping head is rotationally connected with the one end of the bindiny mechanism away from second slide bar and with gripping position, described Gripping position is oppositely arranged with the hopper, for gripping the workpiece.
2. desktop type machine lathe people according to claim 1, it is characterised in that the electromagnetic propulsion mechanism includes electromagnetism Iron, lubricating nozzle and grease pump, the electromagnet and the grease pump are contained in the support base, the profit One end of sliding nozzle is stretched into the support base and is connected with the grease pump, and the other end stretches into the hopper, for described Injection lubricating oil in hopper.
3. desktop type machine lathe people according to claim 1, it is characterised in that the chassis includes support body, electrically peace Loading board and multiple lifting handles, the support body are connected to support frame as described above and the container and with an electrically installations Chamber, the electric mounting board are housed in the son electric installation cavity, and multiple lifting handles relatively set up separately in frame two-by-two The both sides of body.
4. desktop type machine lathe people according to claim 1, it is characterised in that the gripping head includes multiple distances and passed Sensor, multiple gripping fingers, finger connecting plate and rotation connection block, described one end for being rotatablely connected block are rotationally connected with described Bindiny mechanism, the other end are connected to the finger connecting plate, and multiple gripping fingers are removably attachable to the finger Connecting plate, multiple range sensors be fixedly connected on it is described rotation connection block on and correspondingly with multiple grippings Finger electrically connects.
5. desktop type machine lathe people according to claim 4, it is characterised in that the bindiny mechanism includes first and slided Block, connection arm-tie and mounting bracket, first sliding block are slidably connected to second slide bar, and one end of the connection arm-tie is removable It is connected to first sliding block with unloading, the other end is connected to the mounting bracket, is provided with a mandrel on the mounting bracket, described turn Dynamic contiguous block is rotationally connected with the mandrel.
6. desktop type machine lathe people according to claim 5, it is characterised in that the bindiny mechanism also includes connection and added Strong plate, the connection reinforcement plate is in bending-like and reinforcement is provided with edge, and the side of the connection reinforcement plate is sticked It is detachably connected on the connection arm-tie and with the connection arm-tie, the opposite side of the connection reinforcement plate is sticked in the peace Shelve and be detachably connected with the mounting bracket.
7. desktop type machine lathe people according to claim 1, it is characterised in that first sliding equipment includes first Be slidably connected platform, the first actuator, drive belt and driving plate, and described first platform that is slidably connected is slidably connected at the slide rail On, described first, which is slidably connected at the top of platform, is provided with first slide bar, and first actuator is removably attachable to institute State first be slidably connected platform one end and be connected with first slide bar, the drive belt is arranged on described first and is slidably connected platform Side and be fixedly connected with the driving plate, the driving plate is removably attachable to second sliding equipment.
8. desktop type machine lathe people according to claim 7, it is characterised in that second sliding equipment includes second Sliding block, metal plate box, second are slidably connected platform and the second actuator, and second sliding block is fixedly connected on the bottom of the metal plate box Portion is simultaneously slidably connected to first slide bar, and the metal plate box is connected to the described second side for being slidably connected platform, and described second Side of the platform away from the metal plate box that be slidably connected is provided with second slide bar, and second actuator is connected to described second Be slidably connected platform one end and be connected with second slide bar.
9. desktop type machine lathe people according to claim 8, it is characterised in that first slide bar is slided with described second The outer peripheral face of bar is provided with external screw thread, and second sliding block is threadedly coupled with first slide bar, the bindiny mechanism and institute State the threaded connection of the second slide bar.
10. a kind of desktop type lathe control system, it is characterised in that including Switching Power Supply, control box and such as claim 1-9 Desktop type machine lathe people described in any one, the Switching Power Supply are removably attachable to the chassis, and the control box can Releasably be connected to support frame as described above and respectively with first sliding equipment, second sliding equipment and the gripping head Electrical connection.
CN201711135659.8A 2017-11-16 2017-11-16 Desktop type lathe robot and desktop type lathe control system Active CN107671873B (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204584287U (en) * 2015-01-27 2015-08-26 东莞市快手自动化机械有限公司 A kind of lathe manipulator
CN205271998U (en) * 2015-11-30 2016-06-01 太仓久信精密模具股份有限公司 Manipulator mechanism based on multistation lathe

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204584287U (en) * 2015-01-27 2015-08-26 东莞市快手自动化机械有限公司 A kind of lathe manipulator
CN205271998U (en) * 2015-11-30 2016-06-01 太仓久信精密模具股份有限公司 Manipulator mechanism based on multistation lathe

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