CN109648102A - A kind of Full-automatic numerical-control lathe manipulator - Google Patents

Abstract

The invention belongs to the technical field of manipulators, and discloses a fully automatic numerically controlled lathe manipulator, which comprises a bracket mounted with a servo motor assembly and a conveying mechanism, the conveying mechanism comprising a conveying belt, and the conveying belt is provided with a plurality of receptacles; A support rod is fixed on the bracket, a support base is fixed on the support rod, a horizontal mechanical arm is arranged on the support base, a first hydraulic cylinder is installed on the horizontal mechanical arm, and the telescopic end of the first hydraulic cylinder is fixed There is a first mounting plate, a second hydraulic cylinder is fixed on the first mounting plate, a second mounting plate is fixed on the telescopic end of the second hydraulic cylinder, a cylinder is fixed on the second mounting plate, the cylinder is A connecting block is fixed on the telescopic end of the connecting block, and the connecting block is provided with an air gripper unit. The invention solves the problem that the manipulator needs to move along the guide rail repeatedly during the loading and unloading operation by using the conveying mechanism to transport the workpiece above the lathe, and then grab the workpiece on the conveying mechanism and move it down into the lathe.

Description

A fully automatic CNC lathe manipulator

technical field

The invention belongs to the technical field of manipulators, and in particular relates to a fully automatic numerically controlled lathe manipulator.

Background technique

The manipulator has the function of imitating certain movements of the human hand and arm, and is an automatic operation device used to grab, carry objects or operate tools according to a fixed program. The manipulator can replace the heavy labor of humans to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety, because it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy. At present, when the manipulator in the automatic CNC lathe is performing loading and unloading operations, most of the manipulators move along the guide rail to the loading tray next to the CNC lathe, then grab the workpiece on the loading tray, and then return to the lathe along the guide rail. Place the workpiece in the lathe. The use of this multi-purpose servo motor for loading and unloading operation drives the manipulator to move back and forth along the guide rail, so that the loading and unloading efficiency is not high, and the manipulator and the guide rail are repeatedly rubbed, which increases the heat generated by the work of the manipulator, and the repeated movement of the manipulator also increases the vibration and noise of the manipulator. .

SUMMARY OF THE INVENTION

In view of the problems existing in the prior art, the present invention provides a fully automatic numerical control lathe manipulator, which uses the conveying mechanism to transport the workpiece above the lathe, and then grabs the workpiece on the conveying mechanism and moves it down into the lathe, thereby solving the problem of loading and unloading materials. The problem that the manipulator needs to move along the guide rail repeatedly during operation.

The basic solution of the present invention: a fully automatic numerically controlled lathe manipulator, comprising a support, the support is mounted with a servo motor assembly and a conveying mechanism driven by the servo motor assembly, the conveying mechanism includes a conveying belt, and the conveying belt is along the conveying direction. A plurality of evenly spaced receptacles are provided, and the receptacles can be used to accommodate workpieces of different sizes; a support rod is fixed on the bracket along the conveying direction of the conveyor belt, a support seat is fixed on the top of the support rod, and the support rod is fixed on the top of the support rod. A horizontal mechanical arm is arranged on the support base, a first hydraulic cylinder is installed on the horizontal mechanical arm, the first hydraulic cylinder is vertically arranged with the conveyor belt, and a first mounting plate is fixed on the telescopic end of the first hydraulic cylinder , a second hydraulic cylinder perpendicular to the first hydraulic cylinder is fixed on the first installation plate, a second installation plate is fixed on the telescopic end of the second hydraulic cylinder, and a second installation plate is fixed on the second installation plate The second hydraulic cylinder is a vertical cylinder, the telescopic end of the cylinder is fixed with a connecting block, and the connecting block is provided with an air gripper unit for grasping the workpiece.

The working principle of this basic scheme: the manipulator is installed on the back side of the CNC lathe, the workpiece is placed in the container, the servo motor assembly drives the transmission mechanism to operate, and the conveyor belt transports the workpiece. When the workpiece is located under the air gripper unit, the air gripper unit will grab the workpiece, the first hydraulic cylinder is extended forward, so that the air gripper unit is located directly above the lathe inlet, and the second hydraulic cylinder is extended downward, so that the air gripper When the unit arrives at the processing place of the lathe, the air cylinder moves the air gripper unit to the machining spindle of the lathe, the air gripper unit places the grasped workpiece into the machining spindle of the CNC lathe for processing, and the air cylinder drives the first air gripper to exit. After the workpiece is processed, the air gripper unit puts the processed workpiece back into the original container under the action of the first hydraulic cylinder, the second hydraulic cylinder and the air cylinder, and the servo motor assembly drives the conveyor belt to move to move the next workpiece to be processed. The workpiece is transferred to the air gripper unit, and the processed workpiece is transported away with the conveyor belt.

The beneficial effect of this basic solution is: by using the conveying mechanism to transport the workpiece above the lathe, and then grab the workpiece on the conveying mechanism and move it down into the lathe, so as to solve the problem that the manipulator needs to move along the guide rail repeatedly during the loading and unloading operation. And the workpiece is placed in the container for transportation, and the container can be used for accommodating workpieces of different sizes, so as to realize the grasping of different workpieces, thereby enhancing the practicability of the manipulator.

This solution can also be applied to workpieces that need to be processed by multiple CNC lathes. For example, when the workpiece needs to be processed by two CNC lathes, the transfer mechanism is extended to the top of the two CNC lathes, and a grabbing mechanism can be installed on the bracket corresponding to each CNC lathe. After the workpiece is processed by the previous CNC lathe, it will be It is automatically transported to the latter CNC lathe for processing, which can form automatic flow work and improve the efficiency of loading and unloading.

Further, a vibration damping unit is provided between the support base and the horizontal mechanical arm.

When the first hydraulic cylinder, the second hydraulic cylinder, the air cylinder and the air gripper unit are in operation, the vibration damping unit can slow down the vibration of the support base, so that the air gripper unit can grip the workpiece more stably.

Further, the vibration damping unit includes a pressing plate, a bolt and a vibration damping pad, the support base is provided with a groove for accommodating the horizontal mechanical arm, and the pressing plate is located on the inner side of the groove and the horizontal mechanical arm. The support base is provided with a threaded through hole, the pressure plate is provided with a first threaded hole, and the bolt is screwed into the threaded through hole and into the first threaded hole to tightly adhere the pressure plate to the horizontal On the mechanical arm, a spring is sleeved on the bolt; the upper and lower surfaces of the vibration damping pad are respectively connected with the bottom of the horizontal mechanical arm and the bottom surface of the groove.

The bolts are tightened in the threaded through holes and the first threaded holes, and the bolts cannot move, and the bolts press the pressure plate on the horizontal mechanical arm, which can slow down the horizontal vibration. The vibration damping pad is connected to the bottom of the horizontal mechanical arm, which can reduce the vibration in the vertical direction.

Further, an inclined reinforcing rib is fixed between the support base and the support rod.

Stiffeners increase the stability of the support seat and support rod

Further, the support rod is a hollow structure, a piston is provided in the support rod, a counterweight block is provided on the piston, the counterweight block is connected with a pull wire, and the upper and lower ends of the support rod are respectively provided with openings and an opening, the pulling wire is connected to the second mounting plate through the opening, the opening is connected with a vent pipe, and the nozzle of the vent pipe faces the air gripper unit.

During the process of loading and unloading, the second hydraulic cylinder reciprocates up and down, the second hydraulic cylinder drives the second mounting plate to move up and down, and the pull wire pulls the piston to move up and down in the support rod under the action of the second mounting plate. When the second hydraulic cylinder is retracted upward, the piston will move downward under the gravity of the counterweight, and the opening at the lower end of the support rod will release air, and the air will be blown to the air gripper unit through the ventilation pipe, so that the air gripper unit can be blown off due to the gripping process. The slag left by the good workpiece can avoid the slag remaining on the air gripper unit, which will cause the workpiece to be gripped unstable.

Further, the container includes a base, two threaded rods and two moving seats, the base is fixed on the conveyor belt, the two moving seats are symmetrically arranged along the center of the base, the base is The opposite sides of the seat are respectively provided with fixed walls corresponding to the two movable seats, the fixed walls are provided with second threaded holes, and the two threaded rods are respectively screwed into the second threaded holes on both sides to be fixed to the corresponding movable seats. connect.

The space formed between the two movable seats is a workpiece groove, and the distance between the two movable seats can be adjusted by screwing a threaded rod to change the size of the workpiece groove, so that the adjustment is convenient.

Further, the surfaces of the two movable seats that are close to each other are set as semicircular curved surfaces.

The workpiece groove formed by two moving seats can be used for disc workpieces or cylindrical workpieces with different diameters.

Further, the support is provided with a collection box at the discharge end of the conveying mechanism, and the upper end face of the collection box is an opening.

With the transportation of the conveyor belt, the processed workpieces will fall into the collection box from the discharge end of the conveyor mechanism, which is convenient for receiving the processed workpieces.

Further, the air gripper unit includes a rotary cylinder, an air gripper connector, a first air gripper and a second air gripper, the rotary air cylinder is mounted on the connection block, and the air gripper connector is arranged on the rotary cylinder Above, the first air gripper and the second air gripper are arranged on the air gripper connecting piece perpendicular to each other.

In the process of loading and unloading, the first air gripper and the second air gripper act on the rotating cylinder to cross grab the workpiece to be processed and the processed workpiece. When the air gripper unit is located at the machining place of the CNC lathe, the processed workpiece is taken away from the machining spindle of the CNC lathe, and then the workpiece to be machined is placed at the machining spindle of the CNC lathe.

Description of drawings

1 is a schematic structural diagram provided by an embodiment of a fully automatic numerically controlled lathe manipulator of the present invention;

Fig. 2 is the structural representation of the container in Fig. 1;

Fig. 3 is the top view of Fig. 2;

FIG. 4 is a schematic structural diagram of the horizontal manipulator in the vibration damping pad of this embodiment.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

The application principle of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

Reference numerals in the accompanying drawings include: bracket 1, servo motor assembly 2, conveyor belt 3, container 4, connecting block 5, air cylinder 6, second mounting plate 7, second hydraulic cylinder 8, first mounting plate 9, The first hydraulic cylinder 10, the horizontal mechanical arm 11, the support seat 12, the support rod 13, the reinforcing rib 14, the pull wire 15, the counterweight 16, the piston 17, the collecting box 18, the ventilation pipe 19, the rotating cylinder 20, the first air gripper 21. Air gripper connector 22, second gripper 23, pressure plate 24, bolt 25, threaded through hole 26, first threaded hole 27, damping pad 28, spring 29, base 30, threaded rod 31, fixed wall 32 , a movable seat 33 , and a second threaded hole 34 .

The embodiment is based on, as shown in Figure 1: a fully automatic numerically controlled lathe manipulator, comprising a bracket 1, the bracket 1 is mounted with a servo motor assembly 2 and a transmission mechanism, and the servo motor assembly 2 drives the transmission mechanism to transport, forming an existing conveyor, It will not be elaborated here. Among them, the servo motor assembly 2 is located at the left end of the conveying mechanism, the left end of the conveying mechanism is the feeding end, the right end of the conveying mechanism is the discharging end, and the bracket 1 is located at the discharging end of the conveying mechanism. The upper end face is an opening. The conveying mechanism includes a conveying belt 3, and the conveying belt 3 is provided with a plurality of evenly spaced containers 4 along the conveying direction, and the containers 4 can be used for accommodating workpieces of different sizes. As shown in FIG. 2 and FIG. 3 , the container 4 includes a base 30 , two threaded rods 31 and two moving seats 33 , the base 30 is fixed on the transmission belt, and the two moving seats 33 are symmetrically arranged along the center of the base 30 . , the surfaces of the two movable seats 33 close to each other are set as semicircular curved surfaces, the left and right sides of the base 30 are respectively provided with fixed walls 32 corresponding to the two movable seats 33, the fixed walls 32 are provided with second threaded holes 34, two threaded The rods 31 are respectively screwed into the second threaded holes 34 on both sides to be fixedly connected to the corresponding moving bases 33 . In the container 4, the space formed between the two movable seats 33 is a workpiece groove, and the distance between the two movable seats 33 can be adjusted by screwing the threaded rod 31 to change the size of the workpiece groove, so as to adapt to different diameters For large and small workpieces, for example, when the two threaded rods 31 are rotated outward, the distance between the left and right moving seats 33 increases, and the workpiece slot can accommodate larger workpieces.

The bracket 1 is fixed with a support rod 13 along the conveying direction of the conveyor belt 3 , and the support rod 13 is located at the rear side of the conveyor belt 3 . A support base 12 is fixed on the top left side of the support rod 13 , and an inclined reinforcing rib 14 is fixed between the support base 12 and the support rod 13 . The support base 12 is provided with a horizontal robotic arm 11 , and a vibration reduction unit is provided between the support base 12 and the horizontal robotic arm 11 . As shown in FIG. 4 , the vibration damping unit includes two pressing plates 24 , two bolts 25 and a vibration damping pad 28 , the support base 12 is provided with a groove for accommodating the horizontal mechanical arm 11 , and the height of the horizontal mechanical arm 11 is greater than that of the groove the height of. The pressing plate 24 is located between the inner side of the groove and the outer side of the horizontal robot arm 11 , wherein the two pressing plates 24 are respectively arranged on the left and right sides of the horizontal robot arm 11 . The left and right sides of the support base 12 are provided with threaded through holes 26, the two pressure plates 24 are provided with first threaded holes 27, and the two bolts 25 are screwed into the corresponding first threaded holes 26 from the threaded through holes 26 on both sides respectively. The threaded hole 27 tightly attaches the pressing plate 24 to the horizontal mechanical arm 11 , and the two bolts 25 are sleeved with springs 29 . The upper and lower surfaces of the vibration damping pad 28 are respectively fixedly connected to the bottom of the horizontal mechanical arm 11 and the bottom surface of the groove.

A first hydraulic cylinder 10 is installed on the horizontal manipulator 11 , a first installation plate 9 is fixed on the telescopic end of the first hydraulic cylinder 10 , and a second hydraulic cylinder 8 perpendicular to the first hydraulic cylinder 10 is fixed on the first installation plate 9 , the telescopic end of the second hydraulic cylinder 8 is fixed with a second mounting plate 7, the second mounting plate 7 is fixed with a cylinder 6 perpendicular to the second hydraulic cylinder 8, the telescopic end of the cylinder 6 is fixed with a connecting block 5, the connecting block 5 Equipped with a gripper unit for gripping workpieces. The air gripper unit includes a rotary cylinder 20, an air gripper connector 22, a first air gripper 21 and a second air gripper 23. The rotary cylinder 20 is installed on the connecting block 5, and the air gripper connector 22 is arranged on the rotary cylinder 20. The air gripper 21 and the second air gripper 23 are arranged on the air gripper connecting member 22 perpendicular to each other.

In this embodiment, the height of the support rod 13 is greater than the height of the telescopic stroke of the second hydraulic cylinder 8 , the support rod 13 is a hollow structure, the support rod 13 is provided with a piston 17 , and the piston 17 is provided with a counterweight 16 . The block 16 is connected with a pulling wire 15, the upper and lower ends of the support rod 13 are respectively provided with openings and openings, the pulling wire 15 is connected to the second mounting plate 7 through the openings, and the opening is connected with a ventilation pipe 19, and the nozzle of the ventilation pipe 19 faces the air. The claw unit, the ventilation pipe 19 is installed on the connecting block 5 through a snap.

The specific implementation process is as follows: the manipulator is installed on the rear side of the CNC lathe, the workpiece is placed in the container 4, the servo motor assembly 2 drives the conveying mechanism to operate, and the conveyor belt 3 transports the workpiece from left to right. When the workpiece is located below the air gripper unit, the first air gripper 21 is vertically downward, and the second air gripper 23 is horizontally leftward. The first air gripper 21 is used to remove the workpiece from the container 4 . After the workpiece is taken away, the first hydraulic cylinder 10 is extended forward so that the air gripper unit is located just above the entrance of the lathe, and the second hydraulic cylinder 8 is extended downwards so that the air gripper unit reaches the processing place of the lathe. Then the air cylinder 6 is extended to the left, the second air gripper 23 is moved to the machining spindle of the lathe to take away the processed workpiece, the air cylinder 6 is then retracted to the right to withdraw the second air gripper 23, the rotating air cylinder 20 is rotated 90 degrees, the first The air gripper 21 is horizontally to the left, the second air gripper 23 is vertically downward, the air cylinder 6 moves the first air gripper 21 to the machining spindle of the lathe, and the first air gripper 21 places the grasped workpiece into the machining spindle of the lathe for processing. The cylinder 6 then drives the first air gripper 21 to withdraw.

After the workpiece is placed in the lathe, the second hydraulic cylinder 8 is retracted upward, and the first hydraulic cylinder 10 is retracted backward again, so that the air gripper unit returns to the top of the original container 4, and the second air gripper 23 places the processed workpiece on the workpiece. inside the container 4. The servo motor assembly 2 drives the conveyor belt 3 to move, and transmits the next workpiece to be processed to the air gripper unit, and the second air gripper 23 takes off the next workpiece to be processed, and the above operations are performed in a reciprocating manner. With the transportation of the conveyor belt 3 , the processed workpieces will fall into the collection box 18 from the discharge end of the conveyor mechanism.

When the second hydraulic cylinder 8 stretches up and down, the second hydraulic cylinder 8 drives the second mounting plate 7 to move up and down. Since the second mounting plate 7 is connected with a pull wire, the pull wire makes the piston 17 move up and down in the support rod 13 . When the second hydraulic cylinder 8 is retracted upward, the piston 17 will move downward under the gravity of the counterweight 16, and the opening at the lower end of the support rod 13 will discharge air, and the air will be blown to the air gripper unit through the ventilation pipe 19, so that the first air can be blown off. The slag remaining on the air gripper 21 and the second air gripper 23 due to grasping the processed workpiece can prevent the slag residue from remaining on the first air gripper 21 and the second air gripper 23 , resulting in unstable gripping of the workpiece.

This solution uses the conveying mechanism to transport the workpiece above the lathe, grabs the workpiece on the conveying mechanism and moves it down into the lathe, not only in the problem that the manipulator needs to repeatedly move along the guide rail during the existing loading and unloading operation, but also applicable to the need for multiple Workpieces processed by CNC lathes. For example, when the workpiece needs to be processed by two CNC lathes, the transfer mechanism is extended to the top of the two CNC lathes, and a grabbing mechanism can be installed on the bracket corresponding to each CNC lathe. After the workpiece is processed by the previous CNC lathe, it will be It is automatically transported to the latter CNC lathe for processing, which can form automatic flow work and improve the efficiency of loading and unloading.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (9)

1. a kind of Full-automatic numerical-control lathe manipulator, which is characterized in that including bracket (1), the bracket (1) is equipped with servo electricity Thermomechanical components (2) and the transport mechanism driven by the servo motor component (2), the transport mechanism includes conveyer belt (3), described Conveyer belt (3) is provided with multiple evenly spaced containers (4) along transmission direction, and the container (4) can be used in accommodating not With the workpiece of size；The bracket (1) is fixed with support rod (13), the support rod along the conveyer belt (3) transporting direction (13) it is fixed at the top of support base (12), the support base (12) is equipped with horizontal mechanical arm (11), the horizontal mechanical arm (11) it being equipped on first hydraulic cylinder (10), the first hydraulic cylinder (10) is vertically arranged with the conveyer belt (3), and described first The telescopic end of hydraulic cylinder (10) is fixed with the first mounting plate (9), be fixed on first mounting plate (9) with it is described first hydraulic The vertical second hydraulic cylinder (8) of cylinder (10), the telescopic end of the second hydraulic cylinder (8) are fixed with the second mounting plate (7), and described It is fixed on two mounting plates (7) cylinder vertical with the second hydraulic cylinder (8) (6), the telescopic end of the cylinder (6) is fixed with Link block (5), the link block (5) are equipped with the pneumatic clamper unit for grabbing workpiece.

2. Full-automatic numerical-control lathe manipulator according to claim 1, which is characterized in that the support base (12) with it is described Damper unit is equipped between horizontal mechanical arm (11).

3. Full-automatic numerical-control lathe manipulator according to claim 2, which is characterized in that the damper unit includes pressing plate (24), bolt (25) and cushion blocking (28), the support base (12) are equipped with the groove for accommodating the horizontal mechanical arm (11), The pressing plate (24) is located between the medial surface of the groove and the lateral surface of the horizontal mechanical arm (11)；The support base (12) tapped through hole (26) are equipped with, the pressing plate (24) is equipped with the first threaded hole (27), and the bolt (25) is from tapped through hole (26) it screws in and the pressing plate (24) is tightly attached on horizontal mechanical arm (11) by the first threaded hole of precession (27), the bolt (25) On be arranged with spring (29)；The top and bottom of the cushion blocking (28) respectively with the bottom of the horizontal mechanical arm (11) and described recessed The bottom surface of slot connects.

4. Full-automatic numerical-control lathe manipulator according to claim 1, which is characterized in that the support base (12) with it is described Inclined reinforcing rib (14) are fixed between support rod (13).

5. Full-automatic numerical-control lathe manipulator according to claim 1, which is characterized in that the support rod (13) is hollow Structure, the support rod (13) is interior to be equipped with piston (17), and the piston (17) is equipped with clump weight (16), the clump weight (16) It is connected with bracing wire (15), the upper and lower side of the support rod (13) is respectively equipped with aperture and opening, and the bracing wire (15) passes through described Aperture is connect with the second mounting plate (7), and the opening is connected with snorkel (19), and the nozzle of the snorkel (19) is described in Pneumatic clamper unit.

6. Full-automatic numerical-control lathe manipulator according to claim 1, which is characterized in that the container (4) includes base Seat (30), two threaded rods (31) and two Mobile bases (33), the pedestal (30) are fixed on the conveyer belt (3), and two For the Mobile base (33) along the center symmetric setting of the pedestal (30), the opposite sides of the pedestal (30) is respectively equipped with correspondence The fixation wall (32) of two Mobile bases (33), the fixation wall (32) are equipped with the second threaded hole (34), two threaded rods (31) the second threaded hole (34) for screwing in two sides respectively is fixedly connected with corresponding Mobile base (33).

7. Full-automatic numerical-control lathe manipulator according to claim 6, which is characterized in that two Mobile base (33) phases It is mutually close to be set as half round surface on one side.

8. Full-automatic numerical-control lathe manipulator according to claim 1, which is characterized in that the bracket (1) is being located at institute The discharge end for stating transport mechanism is equipped with collecting box (18), and the upper surface of the collecting box (18) is opening.

9. Full-automatic numerical-control lathe manipulator according to claim 1, which is characterized in that the pneumatic clamper unit includes rotation Cylinder (20), pneumatic clamper connector (22), the first pneumatic clamper (21) and the second pneumatic clamper (23), the rotary cylinder (20) are mounted on described On link block (5), the pneumatic clamper connector (22) is arranged on the rotary cylinder (20), first pneumatic clamper (21) and second Pneumatic clamper (23) is arranged in mutual vertically on the pneumatic clamper connector (22).