CN108357928A - A kind of robot manipulator structure of numerically-controlled machine tool - Google Patents
A kind of robot manipulator structure of numerically-controlled machine tool Download PDFInfo
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- CN108357928A CN108357928A CN201810330816.9A CN201810330816A CN108357928A CN 108357928 A CN108357928 A CN 108357928A CN 201810330816 A CN201810330816 A CN 201810330816A CN 108357928 A CN108357928 A CN 108357928A
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- axis
- movement module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
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Abstract
The invention discloses a kind of robot manipulator structures of numerically-controlled machine tool, are related to Numeric Control Technology corollary equipment technical field；Including lathe, X-axis movement module, Z axis movement module, rotating machine arm, glass material frame to be processed and machined glass material frame；The X-axis movement module is fixed at the top position of lathe, and the glass material frame to be processed and machined glass material frame are separately positioned on the both ends of the X-axis movement module；The Z axis movement module is mounted on X-axis movement module, and the drive that module is moved by X-axis is moved back and forth in X-direction；The rotating machine arm is mounted on Z axis movement module, and the driving that module is moved by Z axis is moved back and forth in Z-direction；The beneficial effects of the invention are as follows：It can realize automatic loading/unloading, substantially increase processing efficiency and product quality, while also be that client saves manpower and cost；Its simple in structure, good reliability, long-time service stability is good, analog manual operation.
Description
Technical field
The present invention relates to Numeric Control Technology corollary equipment technical fields, more particularly, it relates to a kind of numerically-controlled machine tool
Robot manipulator structure.
Background technology
Robot device type at present on the market in numerically-controlled machine tool equipment is various, for tablet computer, hand-set lid etc.
The handling equipment of processing is mostly mounted on the Z axis of lathe, and this traditional manipulator is generally mounted on the Z axis of lathe
On, main shaft inconvenience is not only dismounted, processing efficiency is also below manual operation, and structure is generally double end while picking and placeing, and influences
Stability.In addition also have and use manual operation, this mode, which needs to shut down, can take out workpiece, and workpiece chips are easy to people
Body damages, therefore the overall process of work pieces process actually belongs to semiautomation operation, be easy to cause industrial accident also significantly
Affect processing efficiency.
Invention content
For overcome the deficiencies in the prior art, the present invention provides a kind of robot manipulator structure of numerically-controlled machine tool, the numerically-controlled machine tool
Robot manipulator structure it is convenient for disassembly and assembly, simple in structure, be used for a long time it is reliable and stable.
The technical solution adopted by the present invention to solve the technical problems is：A kind of robot manipulator structure of numerically-controlled machine tool, changes
It is into place：Including lathe, X-axis movement module, Z axis movement module, rotating machine arm, glass material frame to be processed and add
Work glass material frame；
The described X-axis movement module is fixed in the top position of lathe, the glass material frame to be processed and
Processing glass material frame is separately positioned on the both ends of the X-axis movement module；The Z axis movement module is mounted on X-axis and moves mould
In group, the drive that module is moved by X-axis is moved back and forth in X-direction；The rotating machine arm is mounted on Z axis and moves module
On, the driving that module is moved by Z axis is moved back and forth in Z-direction；
The rotating machine arm include electric rotating machine, electric rotating engine base, spill spin block, first mechanical arm, second mechanical arm,
First rotary cylinder, the second rotary cylinder and multiple suckers, the electric rotating machine are fixedly mounted on electric rotating engine base, should
Electric rotating engine base is fixedly connected with Z axis movement module；
The spill spin block is fixedly connected with the motor shaft of electric rotating machine, one end of the first mechanical arm and the second machinery
One end of arm is fixedly connected on spill spin block, and the angle between first mechanical arm and second mechanical arm is right angle；Described
One rotary cylinder is fixedly mounted on the other end of first mechanical arm, and second rotary cylinder is fixedly mounted on second mechanical arm
The other end；Sucker is installed on the cylinder rod of first rotary cylinder and the cylinder rod of the second rotary cylinder to fix
Plate is mounted on multiple suckers in each sucker fixed plate, and the sucker fixed plate is for driving sucker in vertical direction and water
Square to reciprocating motion.
In such a configuration, the rotating machine arm further includes air cylinder fixed plate, and two air cylinder fixed plates are solid respectively
Dingan County is on the other end of first mechanical arm and on the other end of second mechanical arm, first rotary cylinder and the second rotation
Rotaring cylinder is respectively and fixedly installed in two air cylinder fixed plates.
In such a configuration, multiple manipulator backing plates are provided on the lathe, X-axis movement module is fixed
On the manipulator backing plate.
In such a configuration, X-axis movement module includes X-axis servo motor, X-axis lead screw, X-axis slide block, X-axis support
Plate and Z axis fixed seat；
The X-axis lead screw is fixedly connected with the motor shaft of X-axis servo motor, is turned by the drive of X-axis servo motor
It is dynamic；The X-axis slide block is sleeved on X-axis lead screw, and the Z axis fixed seat is fixedly connected by X-axis supporting plate with X-axis slide block, is led to
Crossing the driving of X-axis servo motor makes Z axis fixed seat be moved back and forth in X-direction, and Z axis movement module is fixedly mounted on Z
In axis fixed seat.
In such a configuration, X-axis movement module further includes X-axis motor cabinet, right rack supporting plate, left rack supporting plate
And multiple rack support plates；
The X-axis servo motor is fixedly mounted in X-axis motor cabinet, which is fixed on right rack supporting plate,
Two rack support plates are fixedly mounted on the both sides of right rack supporting plate, and the right material frame is fixed at two rack support plates
Top；Two rack support plates are fixedly mounted on the both sides of left rack supporting plate, and the left material frame is fixed at two material
The top of frame support plate.
In such a configuration, Z axis movement module includes Z axis servo motor, Z axis fixed plate, Z axis supporting plate, Z axis
Lead screw and Z axis sliding block；
A Z axis motor cabinet is provided at the top of the Z axis fixed plate, the Z axis servo motor is mounted on Z axis motor cabinet
On, the Z axis lead screw is fixedly connected with the motor shaft of Z axis servo motor, and the Z axis slide block set is described on Z axis lead screw
Electric rotating engine base is fixedly connected by Z axis supporting plate with Z axis sliding block, makes Z axis sliding block and electric rotating by the driving of Z axis servo motor
Engine base is moved back and forth in Z-direction.
In such a configuration, Z axis movement module further includes Z axis motor cover, and the Z axis motor cover is sleeved on Z
On axis servo motor.
In such a configuration, the sucker fixed plate is in the shape of an " I ", and is fixedly connected in the middle part of sucker fixed plate
A connecting plate, which is connected with the cylinder rod of the first rotary cylinder, the second rotary cylinder；The sucker fixed plate
On four suckers are fixedly mounted.
In such a configuration, the rotating machine arm further includes speed reducer, the motor of the speed reducer and electric rotating machine
Axis is fixedly connected, and the output end of speed reducer is fixedly connected with spill spin block.
The beneficial effects of the invention are as follows：The robot manipulator structure of such numerically-controlled machine tool of the present invention, can realize automatic loading/unloading,
Processing efficiency and product quality are substantially increased, while being also that client saves manpower and cost；Its simple in structure, reliability
Good, long-time service stability is good, and analog manual operation can solve problems of the prior art.
Description of the drawings
Fig. 1 is a kind of the first dimensional structure diagram of the robot manipulator structure of numerically-controlled machine tool of the present invention.
Fig. 2 is a kind of structural schematic diagram of the rotating machine arm of the robot manipulator structure of numerically-controlled machine tool of the present invention.
Fig. 3 is a kind of configuration schematic diagram of the robot manipulator structure of numerically-controlled machine tool of the present invention.
Fig. 4 is a kind of the second dimensional structure diagram of the robot manipulator structure of numerically-controlled machine tool of the present invention.
Fig. 5 is the partial enlarged view at A in Fig. 4.
Specific implementation mode
Present invention will be further explained below with reference to the attached drawings and examples.
The technique effect of the design of the present invention, concrete structure and generation is carried out below with reference to embodiment and attached drawing clear
Chu is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of the embodiment, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art are not being paid
The other embodiment obtained under the premise of creative work, belongs to the scope of protection of the invention.In addition, being arrived involved in patent
All connection/connection relations, not singly refer to component and directly connect, and refer to can according to specific implementation situation, by addition or
Couple auxiliary is reduced, to form more preferably coupling structure.Each technical characteristic in the invention, in not conflicting conflict
Under the premise of can be with combination of interactions.
Shown in reference picture 1, Fig. 2, present invention is disclosed a kind of robot manipulator structures of numerically-controlled machine tool, pass through the robot manipulator structure
It realizes transfer to glass pieces, such as unprocessed glass pieces is transferred on processing stations, or by machined glass
Glass workpiece is removed from processing stations, and the specific course of work will be explained below.In the present embodiment, a kind of numerical control machine
The robot manipulator structure of bed includes lathe 10, X-axis movement module 20, Z axis movement module 30, rotating machine arm 40, glass to be processed
Material frame 50 and machined glass material frame 60, X-axis movement module 20 is fixedly mounted on 10 top of lathe, specifically, machine
Multiple manipulator backing plates 101 are provided on bed 10, X-axis movement module 20 is fixed on the manipulator backing plate 101
On；The glass material frame 50 to be processed and machined glass material frame 60 is separately positioned on the both ends of the X-axis movement module 20；
The Z axis movement module 30 is mounted on X-axis movement module 20, and the drive that module 20 is moved by X-axis is reciprocal in X-direction
Movement；The rotating machine arm 40 is mounted on Z axis movement module 30, and the driving of module 30 is moved in Z axis side by Z axis
To reciprocating motion, therefore rotating machine arm 40 be while can rise or fall, glass material frame 50 to be processed with it is machined
It is moved back and forth between glass material frame 60.
Further, for the rotating machine arm 40, as shown in Fig. 2, the rotating machine arm 40 includes rotation
Motor 401, electric rotating engine base 402, spill spin block 403, first mechanical arm 404, second mechanical arm 405, the first rotary cylinder 406,
Second rotary cylinder 407 and multiple suckers 408, the electric rotating machine 401 are fixedly mounted on electric rotating engine base 402, should
Electric rotating engine base 402 is fixedly connected with Z axis movement module 30, and the drive that module 30 is moved by Z axis is back and forth transported in vertical direction
It is dynamic, the concrete structure of module 30 is moved for Z axis, it will hereinafter further instruction.Specifically, the spill spin block 403
It being fixedly connected with the motor shaft of electric rotating machine 401, in the present embodiment, rotating machine arm further includes speed reducer (not marked in figure),
The speed reducer is fixedly connected with the motor shaft of electric rotating machine 401, and the output end of speed reducer is fixedly connected with spill spin block 403, is led to
It crosses speed reducer to be adjusted the speed of electric rotating machine 401, reduces the rotating speed of electric rotating machine 401, spill spin block 403 is avoided to rotate
It is too fast；One end of the first mechanical arm 404 and one end of second mechanical arm 405 are fixedly connected on spill spin block 403, and the
Angle between one mechanical arm 404 and second mechanical arm 405 is right angle；First rotary cylinder 406 is fixedly mounted on first
The other end of mechanical arm 404, second rotary cylinder 407 are fixedly mounted on the other end of second mechanical arm 405；Described first
It is installed with sucker fixed plate 409 on the cylinder rod of the cylinder rod of rotary cylinder 406 and the second rotary cylinder 407, each
Multiple suckers 408 are mounted in sucker fixed plate 409, the sucker fixed plate 409 is for driving sucker 408 in vertical direction
It is moved back and forth with horizontal direction.
In the present embodiment, as shown in Fig. 2, the sucker fixed plate 409 is in the shape of an " I ", and sucker fixed plate 409
Middle part be fixedly connected a connecting plate 410, two connecting plates 410 respectively with the first rotary cylinder 406 and the second rotary cylinder
407 cylinder rod is connected, and when the first rotary cylinder 406, the rotation of the second rotary cylinder 407, then drives sucker fixed plate
409 rotation, controlled by the angle to the first rotary cylinder 406 and the second rotary cylinder 407, in the first state when,
Sucker fixed plate 409 and horizontal plane flush, in the second condition when, sucker fixed plate 409 and horizontal plane are perpendicular；Described
Four suckers 408 are fixedly mounted in sucker fixed plate 409, glass pieces are adsorbed by sucker 408, realize the rotation of workpiece.
In the present embodiment, since sucker fixed plate 409 is in the shape of an " I ", on the one hand reduce the weight of sucker fixed plate 409, avoids
The load excessive of one rotary cylinder 406 and the second rotary cylinder 407, another invention, this symmetrical structure is in installation sucker 408
When, so that sucker 408 is in symmetrical state, when sucker 408 adsorbs glass pieces, the stress of glass pieces is more uniformly distributed, and is kept away
Exempt from the case where glass pieces are fallen.
By above-mentioned structure, the electric rotating machine 401 can drive spill spin block 403 to be rotated, by rotation
The control of motor 401, rotation angle is 90 °, in the course of work, when first mechanical arm 404 and second mechanical arm 405 are in
When state in Fig. 2, second mechanical arm 405 is then concordant with X-direction, and first mechanical arm 404 is then vertical with X-direction, works as rotation
After rotating motor 401 rotates 90 °, second mechanical arm 405 then moves to the initial position of first mechanical arm 404, hangs down with X-direction
Directly, first mechanical arm 404 then with X-direction flush；Module 20 is moved by X-axis again and Z axis moves module 30 and coordinates, it is real
Now glass pieces are picked and placeed.
The robot manipulator structure specific work process of the numerically-controlled machine tool of the present invention is as follows, as shown in Figure 1, X-axis moves module 20
It drives rotating machine arm 40 to be moved in X-direction, i.e., moves right in Fig. 1, first mechanical arm 404 and second mechanical arm 405
It is rotated by 90 ° simultaneously by the driving of electric rotating machine 401, the sucker 408 in second mechanical arm 405 reaches frit to be processed at that time
The top of frame 50, hereafter the second rotary cylinder 407 sucker 408 is rotated by 90 °, reach vertical state, while the first rotary cylinder
Sucker 408 in 406 driving first mechanical arms 404 is rotated by 90 °, and reaches horizontality；Hereafter, it is driven in Z axis movement module 30
Under, rotating machine arm 40 moves downward, and the sucker 408 in second mechanical arm 405 adsorbs glass pieces to be processed by vacuum source,
Rotating machine arm 40 moves upwards under the driving that Z axis moves module, while being transported to the left by the driving of X-axis movement module 20
Dynamic, the sucker 408 in second mechanical arm 405 is rotated by 90 ° by the driving of the second rotary cylinder 407, reaches horizontality；Then
Sucker 408 in first mechanical arm 404 is moved to above machined glass pieces, in the case where Z axis movement module 30 drives, the first machine
Sucker 408 on tool arm 404 moves downward, and after adsorbing machined glass pieces, rotating machine arm 40 moves up, then passes through
The transmission of electric rotating machine 401 makes first mechanical arm 404 and second mechanical arm 405 while being rotated by 90 °, will be in second mechanical arm 405
Sucker 408 rotate to the top of localization tool, rotating machine arm 40 moves down, and passes through the sucker in second mechanical arm 405
408 are put into glass pieces to be processed in localization tool, and then rotating machine arm 40 moves up, and X-axis moves module 20 and drives
Dynamic rotating machine arm 40 is moved to the left, while the sucker 408 on the first manipulator 404 is rotated by 90 ° by the first rotary cylinder 406,
To reach vertical state, the sucker 408 on the first manipulator 404 is moved to 60 top of machined glass material frame, is led at that time
It crosses rotating machinery and hands down dynamic, machined glass pieces are put into machined glass material frame 60, such repetitive operation is complete
At the automatic loading/unloading of glass pieces.The robot manipulator structure of such numerically-controlled machine tool 10 of the present invention, can realize automatic loading/unloading, and
And processing efficiency and product quality can be substantially increased with adjust automatically glass pieces state in which, while being also that client saves
Manpower and cost are saved；Its simple in structure, good reliability, long-time service stability is good, and analog manual operation can solve existing skill
The problem of art.
In addition, in the above-described embodiment, as shown in Fig. 2, the rotating machine arm 40 further includes air cylinder fixed plate
411, air cylinder fixed plate 411 is L-shaped, and two air cylinder fixed plates 411 are respectively and fixedly installed to the other end of first mechanical arm 404
On the upper and other end of second mechanical arm 405, first rotary cylinder 406 and the second rotary cylinder 407 fix peace respectively
In two air cylinder fixed plates 411.
Module 20 is moved for the X-axis, as shown in figure 3, X-axis movement module 20 includes X-axis servo motor 201, X
Axial filament bar 202, X-axis slide block 203, Z axis fixed seat 204 and X-axis supporting plate 209；The X-axis lead screw 202 and X-axis servo motor
201 motor shaft is fixedly connected, and is rotated by the drive of X-axis servo motor 201；The X-axis slide block 203 is sleeved on X-axis silk
On bar 202, the Z axis fixed seat 204 is fixedly connected by X-axis supporting plate 209 with X-axis slide block 203, and X-axis servo motor is passed through
201 driving makes Z axis fixed seat 204 be moved back and forth in Z-direction, and it is solid that Z axis movement module 30 is fixedly mounted on Z axis
In reservation 204.In addition, X-axis movement module 20 further include X-axis motor cabinet 205, right rack supporting plate 206, left rack supporting plate 207 with
And multiple rack support plates 208；The X-axis servo motor 201 is fixedly mounted in X spindle motors seat 205, the X-axis motor cabinet
205 are fixed on right rack supporting plate, and two rack support plates 208 are fixedly mounted on the both sides of right rack supporting plate 206, the right side
Material frame is fixed at the top of two rack support plates 208；Two rack support plates 208 are fixedly mounted on left rack supporting plate
207 both sides, the left material frame are fixed at the top of two rack support plates 208.In the present embodiment, right rack support
It is provided with the protective cover wrapped up in plate and rack support plate 208, by this structure design, is made at X-axis servo motor 201
In in a closed space, avoids impurity from entering inside, X-axis servo motor 201 is caused to damage.
Module 30 is moved for the Z axis, as shown in Fig. 3, Fig. 4 and Fig. 5, the present invention provides a specific implementations
Example, the Z axis move module 30 include Z axis servo motor 301, Z axis lead screw 303, Z axis sliding block 304, Z axis supporting plate 307 with
And Z axis fixed plate 305, the top of the Z axis fixed plate 305 are provided with a Z axis motor cabinet 302, the Z axis servo motor 301
On Z axis motor cabinet 302, the Z axis lead screw 303 is fixedly connected with the motor shaft of Z axis servo motor 301, the Z axis
Sliding block 304 is sleeved on Z axis lead screw 303, and the electric rotating engine base 402 is fixedly connected by Z axis supporting plate with Z axis sliding block 304,
Z axis sliding block 304 and electric rotating engine base 402 is set to be moved back and forth in Z-direction by the driving of Z axis servo motor 301；The Z
It further includes Z axis motor cover 306 that axis, which moves module 30, and the Z axis motor cover 306 is sleeved on Z axis servo motor 301；The Z
The bottom end of spindle motor seat 302 is fixedly mounted on Z axis fixed seat 204.
It is to be illustrated to the preferable implementation of the present invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations or be replaced under the premise of without prejudice to spirit of that invention
It changes, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (9)
1. a kind of robot manipulator structure of numerically-controlled machine tool, it is characterised in that：Including lathe, X-axis movement module, Z axis movement module, rotation
Turn manipulator, glass material frame to be processed and machined glass material frame；
The described X-axis movement module is fixed in the top position of lathe, the glass material frame to be processed and machined
Glass material frame is separately positioned on the both ends of the X-axis movement module；The Z axis movement module is mounted on X-axis movement module,
The drive that module is moved by X-axis is moved back and forth in X-direction；The rotating machine arm is mounted on Z axis movement module, is led to
The driving for crossing Z axis movement module is moved back and forth in Z-direction；
The rotating machine arm includes electric rotating machine, electric rotating engine base, spill spin block, first mechanical arm, second mechanical arm, first
Rotary cylinder, the second rotary cylinder and multiple suckers, the electric rotating machine are fixedly mounted on electric rotating engine base, the rotation
Motor cabinet is fixedly connected with Z axis movement module；
The spill spin block is fixedly connected with the motor shaft of electric rotating machine, one end of the first mechanical arm and second mechanical arm
One end is fixedly connected on spill spin block, and the angle between first mechanical arm and second mechanical arm is right angle；First rotation
Rotaring cylinder is fixedly mounted on the other end of first mechanical arm, and second rotary cylinder is fixedly mounted on the another of second mechanical arm
End；It is installed with sucker fixed plate on the cylinder rod of first rotary cylinder and the cylinder rod of the second rotary cylinder, often
Multiple suckers are mounted in a sucker fixed plate, the sucker fixed plate is for driving sucker vertically and horizontally
It moves back and forth.
2. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 1, it is characterised in that：The rotating machine arm
Further include air cylinder fixed plate, two air cylinder fixed plates are respectively and fixedly installed on the other end of first mechanical arm and second mechanical arm
The other end on, first rotary cylinder and the second rotary cylinder are respectively and fixedly installed in two air cylinder fixed plates.
3. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 1, it is characterised in that：It is arranged on the lathe
There are multiple manipulator backing plates, X-axis movement module to be fixed on the manipulator backing plate.
4. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 1 or 3, it is characterised in that：The X-axis movement
Module includes X-axis servo motor, X-axis lead screw, X-axis slide block, X-axis supporting plate and Z axis fixed seat；
The X-axis lead screw is fixedly connected with the motor shaft of X-axis servo motor, is rotated by the drive of X-axis servo motor；Institute
The X-axis slide block stated is sleeved on X-axis lead screw, and the Z axis fixed seat is fixedly connected by X-axis supporting plate with X-axis slide block, and X-axis is passed through
The driving of servo motor makes Z axis fixed seat be moved back and forth in X-direction, and Z axis movement module is fixedly mounted on Z axis and fixes
On seat.
5. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 4, it is characterised in that：The X-axis moves mould
Group further includes X-axis motor cabinet, right rack supporting plate, left rack supporting plate and multiple rack support plates；
The X-axis servo motor is fixedly mounted in X-axis motor cabinet, which is fixed on right rack supporting plate, two
Rack support plate is fixedly mounted on the both sides of right rack supporting plate, and the right material frame is fixed at the upper of two rack support plates
Side；Two rack support plates are fixedly mounted on the both sides of left rack supporting plate, and the left material frame is fixed at two rack branch
The top of fagging.
6. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 1, it is characterised in that：The Z axis moves mould
Group includes Z axis servo motor, Z axis fixed plate, Z axis supporting plate, Z axis lead screw and Z axis sliding block；
A Z axis motor cabinet is provided at the top of the Z axis fixed plate, the Z axis servo motor is mounted on Z axis motor cabinet, institute
It states Z axis lead screw to be fixedly connected with the motor shaft of Z axis servo motor, the Z axis slide block set is on Z axis lead screw, the rotation
Motor cabinet is fixedly connected by Z axis supporting plate with Z axis sliding block, makes Z axis sliding block and electric rotating engine base by the driving of Z axis servo motor
It is moved back and forth in Z-direction.
7. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 6, it is characterised in that：The Z axis moves mould
Group further includes Z axis motor cover, and the Z axis motor cover is sleeved on Z axis servo motor.
8. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 1, it is characterised in that：The sucker fixed plate
It is in the shape of an " I ", and a connecting plate is fixedly connected in the middle part of sucker fixed plate, the connecting plate and the first rotary cylinder, the second rotation
The cylinder rod of rotaring cylinder is connected；Four suckers are fixedly mounted in the sucker fixed plate.
9. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 1, it is characterised in that：The rotating machine arm
Further include speed reducer, which is fixedly connected with the motor shaft of electric rotating machine, and the output end of speed reducer is fixed with spill spin block
Connection.
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| CN201810330816.9A CN108357928A (en) | 2018-04-13 | 2018-04-13 | A kind of robot manipulator structure of numerically-controlled machine tool |
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| CN201810330816.9A CN108357928A (en) | 2018-04-13 | 2018-04-13 | A kind of robot manipulator structure of numerically-controlled machine tool |
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| CN109807670A (en) * | 2019-02-21 | 2019-05-28 | 广东科杰机械自动化有限公司 | A kind of manipulator for double Z axis lathes and double Z axis lathes using it |
| CN110039390A (en) * | 2019-05-16 | 2019-07-23 | 江西宇瀚智慧装备科技有限公司 | A kind of multistation clears off machine automatically |
| CN110039391A (en) * | 2019-05-16 | 2019-07-23 | 江西宇瀚智慧装备科技有限公司 | A kind of multistation clears off equipment automatically |
| CN110181693A (en) * | 2018-09-25 | 2019-08-30 | 深圳市世顺精密工业有限公司 | A kind of display screen glass machining auxiliary table |
| CN110549431A (en) * | 2019-09-30 | 2019-12-10 | 济南中科数控设备有限公司 | Blanking device of five-surface processing center |
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| CN110181693A (en) * | 2018-09-25 | 2019-08-30 | 深圳市世顺精密工业有限公司 | A kind of display screen glass machining auxiliary table |
| CN109807670A (en) * | 2019-02-21 | 2019-05-28 | 广东科杰机械自动化有限公司 | A kind of manipulator for double Z axis lathes and double Z axis lathes using it |
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