CN109623469A - A kind of loading and unloading manipulator for numerically-controlled machine tool - Google Patents

A kind of loading and unloading manipulator for numerically-controlled machine tool Download PDF

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Publication number
CN109623469A
CN109623469A CN201910049705.5A CN201910049705A CN109623469A CN 109623469 A CN109623469 A CN 109623469A CN 201910049705 A CN201910049705 A CN 201910049705A CN 109623469 A CN109623469 A CN 109623469A
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CN
China
Prior art keywords
gear
manipulator
loading
machine tool
worm
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.)
Pending
Application number
CN201910049705.5A
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Chinese (zh)
Inventor
李宇
罗建
韦晓航
金星
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.)
Liuzhou Railway Vocational Technical College
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Liuzhou Railway Vocational Technical College
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 Liuzhou Railway Vocational Technical College filed Critical Liuzhou Railway Vocational Technical College
Priority to CN201910049705.5A priority Critical patent/CN109623469A/en
Publication of CN109623469A publication Critical patent/CN109623469A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q7/00Arrangements 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
    • B23Q7/04Arrangements 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
    • B23Q7/046Handling workpieces or tools

Abstract

A kind of loading and unloading manipulator for numerically-controlled machine tool of the present invention, including body, numerical control box, fan door, stabilizer blade, manipulator and hand adjustment controller, and it is equipped with liftable bearing block, it is fixedly connected first by fixed connecting plate with manipulator, it is connect by the bearing rod that bottom connects with support gap, the two cooperation rotation, then prolong the rack gear that gear that side two sides are equipped with and supporting walls inner wall are equipped with by the driver plate that rest base connects to intermesh transmission, exterior power, which is received, using the worm and gear elevating mechanism of bottom drives lifting, to make support ramp up, facilitate the loading and unloading height of adjustment equipment, improve the service performance of equipment.

Description

A kind of loading and unloading manipulator for numerically-controlled machine tool
Technical field
The present invention relates to robotic device fields, and in particular to a kind of loading and unloading manipulator for numerically-controlled machine tool.
Background technique
Robotic device imitates certain holding functions of manpower and arm, to by fixed routine crawl, carrying object or behaviour Make the automatic pilot of tool.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it The heavy labor of people can be replaced to realize the mechanization and automation of production, can operated under hostile environment to protect personal peace Entirely, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Prior art discloses application No. is a kind of loading and unloading manipulators for numerically-controlled machine tool of CN206500922U, including Pedestal, the top surface of the pedestal are connected with the first posting, are provided with motor one in first posting, the motor one The first swing arm is connected on axis, first swing arm is connected with the first attachment base;First attachment base is connected with motor two, institute It states the first attachment base and is connected with the second attachment base, second attachment base is equipped with motor three, and motor three is turned by belt driving It takes turns, positioning seat is connected in the rotation axis being connected with runner, positioning seat is equipped with supporting rod, and each supporting rod is connected with Rotary cylinder;By above technical scheme, it is able to ascend working efficiency, and loading and unloading operation safety is stablized, flexible operation, energy Enough meet real work demand, but disadvantage is that equipment can not lift adjustment, it is more difficult to cause to accumulate higher material Push.
Summary of the invention
The object of the present invention is to provide a kind of loading and unloading manipulators for numerically-controlled machine tool, can not rising-falling tone to solve equipment Section, the problem of leading to accumulate the more difficult push of higher material;To solve the above problem of the existing technology.
The technical solution to solve the above problems is: a kind of loading and unloading manipulator for numerically-controlled machine tool, including body, numerical control Case, fan door, stabilizer blade, manipulator and hand adjustment controller, further include having liftable bearing block;
Fan door is installed on the body, stabilizer blade is installed below, the numerical control box is mounted on body side, the hand adjustment control On a robotic arm, the manipulator is mounted on the top of body by liftable bearing block for device installation processed.
Its further technical solution is: the liftable bearing block include fixed connecting plate, support, driver plate, gear, Rack gear, screw rod, worm gear, supporting walls, worm screw, bearing rod, worm gear mounting rack and motor;The bottom of the fixed connecting plate and bearing It is gap-matched mode at the top of bar to be flexibly connected, the top of the fixed connecting plate is fixedly connected with manipulator;The axis The top of the bottom and support of holding bar connects;The bottom of the support passes through supporting walls by guide sleeve and connect with driver plate;Institute The two sides for stating driver plate are equipped with gear, and the supporting walls inner wall of the corresponding two sides of the gear is equipped with rack gear, the gear and tooth Item intermeshing transmission;The center of the worm gear is provided with nut;The worm gear is structure as a whole with nut, is mounted on snail It takes turns on mounting rack;The worm and wheel engaged transmission, the worm screw are fixedly connected with the rotation axis of motor;The screw rod and spiral shell Box thread connection, the top of the screw rod is fixedly connected with driver plate.
Its further technical solution is: dust cover is provided on the support, the dust cover is located at manipulator and machine Between body.
Due to the adoption of the above technical scheme, a kind of loading and unloading manipulator for numerically-controlled machine tool of the present invention has following spy Point and the utility model has the advantages that a kind of loading and unloading manipulator for numerically-controlled machine tool of the present invention, is equipped with liftable bearing block, first by solid Determine connecting plate to be fixedly connected with manipulator, be connect by the bearing rod that bottom connects with support gap, the two cooperation rotation, then Prolong the rack gear that gear that side two sides are equipped with and supporting walls inner wall are equipped with by the driver plate that rest base connects to intermesh transmission, Exterior power (motor) is received using the worm and gear elevating mechanism of bottom and drives lifting, so that support be made to ramp up, facilitates tune The loading and unloading height for saving equipment, improves the service performance of equipment.
In the following, special to a kind of technology of loading and unloading manipulator for numerically-controlled machine tool of the present invention in conjunction with the accompanying drawings and embodiments Sign is further described.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the loading and unloading manipulator for numerically-controlled machine tool of the present invention;
Fig. 2 is liftable bearing block the schematic diagram of the section structure of the invention.
In figure:
1- body, 2- numerical control box, 3- fan door, 4- stabilizer blade, 5- manipulator, 6- hand adjustment controller, 8- dust cover;
7- liftable bearing block, 701- fixed connecting plate, 702- support, 703- driver plate, 704- gear, 705- rack gear, 706- Screw rod, 707- worm gear, 708- supporting walls, 709- worm screw, 710- bearing rod, 711- nut, 712- mounting bracket, 713- guiding Set.
Specific embodiment
Referring to Figure 1 and shown in Fig. 2, a kind of loading and unloading manipulator for numerically-controlled machine tool, including body 1, numerical control box 2, Fan door 3, stabilizer blade 4, manipulator 5, hand adjustment controller 6 and liftable bearing block 7;
Fan door 3 is installed, 3 side of fan door is fixedly connected by shaft with body surface on the body 1.The body 1 Lower section stabilizer blade 4 is installed, the numerical control box 2 is mounted on 1 side of body, and 2 side of numerical control box and left side of machine body surface are pasted The effects of conjunction, prolongs lateral dominance and screw connecting with screw hole with screw rod, and the numerical control box plays Data control pass.The hand adjustment control It is fitting to connection in the middle part of 6 bottom of device processed and manipulator 5;The hand adjustment controller model are as follows: FP-XC14T.The manipulator 5 passes through Liftable bearing block 7 is mounted on the top of body 1.The panel of the body 1 is rectangular hardened structure, wooden partition thickness 6cm.The branch There are four foot 4 is set altogether, and two-by-two respectively at a distance of in the two sides of organism bottom.The fan door 3 prolongs side make-up machine body surface Middle face.Institute State the half that fan door occupies body surface area.
The liftable bearing block 7 includes fixed connecting plate 701, support 702, driver plate 703, gear 704, rack gear 705, screw rod 706, worm gear 707, supporting walls 708, worm screw 709, bearing rod 710, worm gear mounting rack 712 and motor;The fixation The bottom of connecting plate 701 is gap-matched mode with the top of bearing rod 710 and is flexibly connected, the fixed connecting plate 701 Top is fixedly connected with manipulator 5;The bottom of the bearing rod 710 is connect with the top of support 702;The bearing rod 710 is logical It is mechanical rotary body for custom, reduces the coefficient of friction in its motion process, and guarantees the strut of its rotating accuracy.The support 702 bottom passes through supporting walls 708 by guide sleeve 713 and connect with driver plate 703;The two sides of the driver plate 703 are equipped with tooth Wheel 704,708 inner wall of supporting walls of the corresponding two sides of the gear 704 are equipped with rack gear 705, the gear 704 and rack gear 705 Intermeshing transmission plays the role of a similar sliding slot to support 702 mainly in lifting process, and can support branch Seat 702 does not drop.The center of the worm gear 707 is provided with nut 711, and the worm gear 707 is integrated knot with nut 711 Structure, nut 711 are mounted on worm gear mounting rack 712 by bearing;The worm screw 709 and 707 engaged transmission of worm gear, the worm screw 709 are fixedly connected with the rotation axis of motor by axle sleeve;The screw rod 706 is matched with nut 711, and the two is threadedly coupled, The top of the screw rod 706 is fixedly connected with driver plate 703.The screw rod 706, nut 711, worm gear 707 and worm screw 709 are constituted Worm and gear elevating mechanism, worm screw 709 drive worm gear 707 to rotate, so that nut 711 be driven to rotate, screw rod 706 passes through nut 711 rotation carries out upper and lower displacement.
The liftable bearing block 7 is predominantly located in inside body 1, and one end of the support 702 is pierced by body 1 and fixes Connecting plate 701 connects.Dust cover 8(is provided on the support 702 referring to Fig. 1), the dust cover 8 is located at manipulator 5 and machine Between body 1, prevent dust from entering inside liftable bearing block 7.
It is carrying out in use, being supported first by body 1 and stabilizer blade 4 to equipment, the work of 2 adjustment equipment of numerical control box Performance carries out feeding up and down using manipulator 5 and extraneous material, rotates in manipulator 5 and connect liftable bearing block at port 7, facilitate equipment lift adjustment, there is the interior fixed connecting plate 701 set to be fixedly connected with mechanical arm, passes through the bearing that bottom connects Bar 710 is connect with 702 gap of support, and the two cooperation rotation then prolongs side two by the driver plate 703 that 702 bottom of support connects The rack gear that gear 704 that side is equipped with and 708 inner wall of supporting walls are equipped with intermeshes transmission, is received outside using the screw rod 706 of bottom Boundary's power drives lifting, so that support 702 be made to ramp up, facilitates the loading and unloading height of adjustment equipment, improves the use of equipment Performance.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all utilizations Equivalent structure transformation made by present specification, directly or indirectly with the technology neck for being attached to other Related products Domain is included within the scope of the present invention.

Claims (3)

1. a kind of loading and unloading manipulator for numerically-controlled machine tool, including body (1), numerical control box (2), fan door (3), stabilizer blade (4), machine Tool hand (5) and hand adjustment controller (6), it is characterised in that: further include having liftable bearing block (7);
Fan door (3) is installed on the body (1), is equipped with below stabilizer blade (4), the numerical control box (2) is mounted on body (1) Side, the hand adjustment controller (6) are mounted on manipulator (5), and the manipulator (5) is installed by liftable bearing block (7) In the top of body (1).
2. a kind of loading and unloading manipulator for numerically-controlled machine tool according to claim 1, it is characterised in that: the liftable Bearing block (7) includes fixed connecting plate (701), support (702), driver plate (703), gear (704), rack gear (705), screw rod (706), worm gear (707), supporting walls (708), worm screw (709), bearing rod (710), worm gear mounting rack (712) and motor;It is described Mode is gap-matched at the top of the bottom of fixed connecting plate (701) and bearing rod (710) to be flexibly connected, it is described to be fixedly connected The top of plate (701) is fixedly connected with manipulator (5);The bottom of the bearing rod (710) is connect with the top of support (702); The bottom of the support (702) passes through supporting walls (708) by guide sleeve (713) and connect with driver plate (703);The driver plate (703) two sides are equipped with gear (704), and supporting walls (708) inner wall of the corresponding two sides of the gear (704) is equipped with rack gear (705), the gear (704) and rack gear (705) are intermeshed;The center of the worm gear (707) is provided with nut (711);The worm gear (707) is structure as a whole with nut (711), is mounted on worm gear mounting rack (712);The worm screw (709) it is engaged with worm gear (707), the worm screw (709) is fixedly connected with the rotation axis of motor;The screw rod (706) and nut (711) it is threadedly coupled, the top of the screw rod (706) is fixedly connected with driver plate (703).
3. a kind of loading and unloading manipulator for numerically-controlled machine tool according to claim 2, it is characterised in that: the support (702) it is provided on dust cover (8), the dust cover (8) is located between manipulator (5) and body (1).
CN201910049705.5A 2019-01-18 2019-01-18 A kind of loading and unloading manipulator for numerically-controlled machine tool Pending CN109623469A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910049705.5A CN109623469A (en) 2019-01-18 2019-01-18 A kind of loading and unloading manipulator for numerically-controlled machine tool

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Application Number Priority Date Filing Date Title
CN201910049705.5A CN109623469A (en) 2019-01-18 2019-01-18 A kind of loading and unloading manipulator for numerically-controlled machine tool

Publications (1)

Publication Number Publication Date
CN109623469A true CN109623469A (en) 2019-04-16

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Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4024959A (en) * 1973-11-09 1977-05-24 Hans Gruner Mechanical handling apparatus
EP0128487A1 (en) * 1983-06-09 1984-12-19 Trumpf GmbH & Co Machine-tool having a stationary magazine
CN103252770A (en) * 2013-04-15 2013-08-21 佛山市鼎峰机器人有限公司 Workpiece stamping intelligent control process and intelligent control manipulator
CN103737587A (en) * 2014-01-23 2014-04-23 昆山威创精密机械有限公司 Intelligent five-shaft manipulator
CN203853994U (en) * 2014-05-14 2014-10-01 河北科技大学 Carrying manipulator with multiple degrees of freedom
CN104858862A (en) * 2015-05-14 2015-08-26 无锡艾度科技有限公司 Punching transfer mechanical arm
CN107627140A (en) * 2017-11-13 2018-01-26 曹向虎 The loading and unloading method and loading and unloading manipulator of a kind of Digit Control Machine Tool
CN107755568A (en) * 2016-08-23 2018-03-06 天津星原汽车零部件有限公司 A kind of loading and unloading manipulator for punching press
CN108747169A (en) * 2018-08-10 2018-11-06 南京皓焜自动化科技有限公司 A kind of welding robot workbench
CN108858140A (en) * 2018-06-27 2018-11-23 东北大学 A kind of underloading material transfer robot
CN210255339U (en) * 2019-01-18 2020-04-07 柳州铁道职业技术学院 Feeding and discharging mechanical arm for numerical control machine tool

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4024959A (en) * 1973-11-09 1977-05-24 Hans Gruner Mechanical handling apparatus
EP0128487A1 (en) * 1983-06-09 1984-12-19 Trumpf GmbH & Co Machine-tool having a stationary magazine
CN103252770A (en) * 2013-04-15 2013-08-21 佛山市鼎峰机器人有限公司 Workpiece stamping intelligent control process and intelligent control manipulator
CN103737587A (en) * 2014-01-23 2014-04-23 昆山威创精密机械有限公司 Intelligent five-shaft manipulator
CN203853994U (en) * 2014-05-14 2014-10-01 河北科技大学 Carrying manipulator with multiple degrees of freedom
CN104858862A (en) * 2015-05-14 2015-08-26 无锡艾度科技有限公司 Punching transfer mechanical arm
CN107755568A (en) * 2016-08-23 2018-03-06 天津星原汽车零部件有限公司 A kind of loading and unloading manipulator for punching press
CN107627140A (en) * 2017-11-13 2018-01-26 曹向虎 The loading and unloading method and loading and unloading manipulator of a kind of Digit Control Machine Tool
CN108858140A (en) * 2018-06-27 2018-11-23 东北大学 A kind of underloading material transfer robot
CN108747169A (en) * 2018-08-10 2018-11-06 南京皓焜自动化科技有限公司 A kind of welding robot workbench
CN210255339U (en) * 2019-01-18 2020-04-07 柳州铁道职业技术学院 Feeding and discharging mechanical arm for numerical control machine tool

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* Cited by examiner, † Cited by third party
Title
陈怀忠: "平网印花单元网络化及其电气控制系统设计", 纺织学报, vol. 35, no. 2, pages 78 - 82 *

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