CN109807670A - A kind of manipulator for double Z axis lathes and double Z axis lathes using it - Google Patents
A kind of manipulator for double Z axis lathes and double Z axis lathes using it Download PDFInfo
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- CN109807670A CN109807670A CN201910129360.4A CN201910129360A CN109807670A CN 109807670 A CN109807670 A CN 109807670A CN 201910129360 A CN201910129360 A CN 201910129360A CN 109807670 A CN109807670 A CN 109807670A
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- 230000002745 absorbent Effects 0.000 claims abstract description 58
- 239000002250 absorbent Substances 0.000 claims abstract description 58
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 238000006073 displacement reaction Methods 0.000 claims abstract description 38
- 238000013519 translation Methods 0.000 claims description 19
- 230000010355 oscillation Effects 0.000 claims description 14
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 239000010727 cylinder oil Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 229920001971 elastomer Polymers 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The invention discloses a kind of manipulators for double Z axis lathes, including three-shaft displacement mechanism, first fetching device and the second fetching device, the three-shaft displacement mechanism includes X-axis displacement platform, Z axis displacement platform and Y-axis displacement platform, first fetching device and the second fetching device are mounted on Y-axis displacement platform, first fetching device includes the first absorbent module for picking and placing workpiece from magazine, second fetching device includes the second absorbent module for picking and placing workpiece from fixture, first fetching device further includes having the angle regulation component that the rotation of the first absorbent module can be driven to pick and place workpiece from the second absorbent module, feeding and blanking to workpiece may be implemented in the manipulator, substantially increase production efficiency, and reduce labor intensity of workers, with relatively high practicability.
Description
Technical field
The present invention relates to machine tooling field more particularly to a kind of manipulators for double Z axis lathes and double Z using it
Axis lathe.
Background technique
Existing machine tooling industry, such as hand-set lid glass (laminar part) etc., with cost of labor and competing
That strives is continuously increased, and the requirement to efficiency and automation is higher and higher.For this purpose, occurring a kind of double Z axis lathes now, use
Dual bed is processed, and needs then to take material to be put into work again by manually removing finished product from workbench after processing is completed
Platform is processed, and needs shutdown operation in this course, and processing efficiency is relatively low.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides one kind can carry out feeding, discharge for double Z axis
The manipulator of lathe.
To achieve the goals above, one embodiment of the present of invention the technical solution adopted is that: one kind is for double Z axis lathes
Manipulator, including three-shaft displacement mechanism, the first fetching device and the second fetching device, the three-shaft displacement mechanism includes X
Axial displacement platform, Z axis displacement platform and Y-axis displacement platform, first fetching device and the second fetching device are mounted on Y-axis
On displacement platform, first fetching device includes the first absorbent module for picking and placing workpiece from magazine, and described second takes
Laying mechanism includes the second absorbent module for picking and placing workpiece from fixture, and first fetching device further includes having that can be driven
Angle regulation component of the one absorbent module rotation to pick and place workpiece from the second absorbent module.
As a further improvement of the foregoing solution, first fetching device includes the first mounting plate, lifter plate and lifting
Driving mechanism, first absorbent module are set on lifter plate, and first mounting plate is fixed on Y-axis displacement platform, institute
Stating lifter plate can be vertically movable on the first mounting plate under lift drive mechanism driving.
Further, the angle regulation component includes rotary drive mechanism and rotary oscillation part, the rotary driving machine
Structure is installed on lifter plate upper end, and the rotary oscillation part middle part is rotatably mounted to lifter plate lower end, rotation pendulum by drive-connecting shaft
The both ends of moving part are connect with rotary drive mechanism and the first absorbent module respectively.
Further, first absorbent module includes the first mounting rack and the first suction being installed on the first mounting rack
Disk, first mounting rack are connect with rotary oscillation part.
Further, first mounting rack is located at the first sucker periphery and is provided with resilient snubber.
Further, second fetching device includes the second mounting plate, translation plates and translational drive mechanism, and described second inhales
Attached component is set in translation plates, and second mounting plate is fixed on Y-axis displacement platform, and the translation plates are in driven in translation machine
It can be moved horizontally on the second mounting plate under structure driving.
Further, second fetching device further includes having workpiece to adjust positioning component, and the workpiece adjusts positioning component
It include adjustment plate and adjustment driving mechanism, the adjustment plate is installed in translation plates, and adjustment plate lower end is provided with the first limit
Plate and the second limit plate, adjustment plate, which is located between angle folded by the first limit plate and the second limit plate, is provided with oblique strip
Hole, second absorbent module can diagonally strip hole movements under adjustment driving mechanism driving.
Further, second absorbent module includes the second mounting rack and the second suction being installed on the second mounting rack
Disk, second mounting rack are connect with adjustment driving mechanism, and second sucker passes through oblique strip hole and stretches out under adjustment plate
End.
Further, the oblique strip hole is provided with two or more, is arranged in parallel between oblique strip hole.
The present invention still further provides a kind of technical solution of the embodiment of double Z axis lathes comprising workbench, multiple folders
Tool and above-mentioned manipulator, the manipulator are installed on workbench, and manipulator can pick and place workpiece from fixture.
One or more embodiments of the invention at least have the advantages that
The manipulator includes three-shaft displacement mechanism, the first fetching device and the second fetching device, when feeding, the first pick-and-place machine
Structure removes workpiece under the drive of three-shaft displacement mechanism, through the first absorbent module from magazine, then in angle regulation component
Under the action of, the first absorbent module is rotated in workpiece transfer to the second absorbent module to the second absorbent module lower section, and second inhales
Workpiece is placed on fixture under the drive of three-shaft displacement mechanism and processes by attached component；When blanking, the second absorbent module exists
Workpiece is removed from fixture under the drive of three-shaft displacement mechanism, then angle regulation component drive the first absorbent module rotate to
Workpiece is removed from the second absorbent module below second absorbent module, then drive of first absorbent module in three-shaft displacement mechanism
Lower that workpiece is put back to magazine, which may be implemented feeding and blanking to workpiece, substantially increase production efficiency, and drop
Low labor intensity of workers has relatively high practicability.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of the present of invention；
Fig. 2 is the structural schematic diagram of the first fetching device；
Fig. 3 is the structural schematic diagram of the first absorbent module；
Fig. 4 is the structural schematic diagram of the second fetching device；
Fig. 5 is another angle schematic diagram of Fig. 4.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation 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
Other embodiments obtained, belong to the scope of protection of the invention under the premise of creative work.
Referring to figs. 1 to Fig. 5, one embodiment of the present of invention, a kind of manipulator for double Z axis lathes comprising three axis
Displacement mechanism 1, the first fetching device 2 and the second fetching device 3, three-shaft displacement mechanism 1 include X-axis displacement platform 11, Z axis position
It moves platform 12 and Y-axis displacement platform 13, the first fetching device 2 and the second fetching device 3 is mounted on Y-axis displacement platform 12,
First fetching device 2 includes the first absorbent module 20 for picking and placing workpiece 4 from magazine, the second fetching device 3 include by
The second absorbent module 30 that workpiece 4 is picked and placed from fixture 5, the first fetching device 2 further include having that the first absorbent module 20 can be driven
Angle regulation component of the rotation to pick and place workpiece 4 from the second absorbent module 30.When feeding, the first fetching device 2 is three
Under the drive of axial displacement mechanism 1, workpiece 4 is removed from magazine by the first absorbent module 20, then in angle regulation component
Under effect, workpiece 4 is transferred in the second absorbent module 30 by the first absorbent module 20 rotation to 30 lower section of the second absorbent module, the
Workpiece 4 is placed on fixture 5 under the drive of three-shaft displacement mechanism 1 and processes by two absorbent modules 30；When blanking, second inhales
Attached component 30 removes workpiece 4 under the drive of three-shaft displacement mechanism 1 from fixture 5, and then angle regulation component drives first
The rotation of absorbent module 20 removes workpiece 4 from the second absorbent module 30 to 30 lower section of the second absorbent module, then the first absorption group
Workpiece 4 is put back to magazine under the drive of three-shaft displacement mechanism 1 by part 20, and feeding magazine 6 and blanking has can be set in certain magazine
Unprocessed workpiece is placed in feeding magazine 6 by magazine 7, and finished work is placed in blanking magazine 7, to avoid mixing.
Referring to Fig. 2, it is preferable that the first fetching device 2 includes the first mounting plate 21, lifter plate 23 and lift drive mechanism
22, lift drive mechanism 22 can be cylinder oil cylinder or motor-driven mechanism, and the first absorbent module 20 is set to lifting
On plate 23, the first mounting plate 21 can be fixed on Y-axis displacement platform 12 by bolt etc., and lifter plate 23 is in lift drive mechanism
22 driving under can be vertically movable on the first mounting plate 21, can be set on the first mounting plate 21 riser guide 231 or its
His similar structures, lifter plate 23 is slidably mounted on riser guide 231 under the effect of lift drive mechanism 22, so that lifter plate
23 is more steady when vertically movable on the first mounting plate 21, lifter plate 23 by vertically movable on the first mounting plate 21, from
And the vertical position for the first absorbent module 20 that the adjustment that can be convenient is disposed thereon, workpiece 4 is picked and placed to facilitate.
Preferably, angle regulation component includes rotary drive mechanism 24 and rotary oscillation part 25, rotary drive mechanism 24
It can be cylinder oil cylinder or motor-driven mechanism, rotary drive mechanism 24 is installed on 23 upper end of lifter plate, rotary oscillation
23 lower end of lifter plate is rotatably mounted to by drive-connecting shaft 251 in the middle part of part 25, the both ends of rotary oscillation part 25 are driven with rotation respectively
Motivation structure 24 and the connection of the first absorbent module 20, when needing to rotate the first absorbent module 20, rotary drive mechanism 24 pushes rotation
One end of switch moving part 25 is connected to rotary oscillation part 25 separately to drive so that rotary oscillation part 25 is rotated around drive-connecting shaft 251
First absorbent module 20 of one end rotates corresponding angle, so that close to the second absorbent module 30 after the rotation of the first absorbent module 20
To carry out the transfer of workpiece 4.
Referring to Fig. 3, it is preferable that the first absorbent module 20 includes the first mounting rack 201 and is installed on the first mounting rack 201
On the first sucker 202, the first mounting rack 201 connect with rotary oscillation part 25, and the concrete shape of the first mounting rack 201 can root
It is arranged according to needs, can be connected and fixed by bolt assembly or other connectors with rotary oscillation part 25, the first sucker
202 quantity can be arranged according to actual needs.
Preferably, the first mounting rack 201 is located at 202 periphery of the first sucker and is provided with resilient snubber 203, resilient snubber
203, which can be rubber block or other elastomer blocks, quantity, can according to need and be specifically arranged, can be in the first sucker
Play the role of buffer protection workpiece 4 when 202 absorption workpiece 4.
Referring to Fig. 4 and Fig. 5, it is preferable that the second fetching device 3 includes the second mounting plate 31, translation plates 33 and driven in translation
Mechanism 32, translational drive mechanism 32 can be cylinder oil cylinder or motor-driven mechanism, and the second absorbent module 30 is set to
In translation plates 33, the second mounting plate 31 can be fixed on Y-axis displacement platform 12 by connectors such as bolts, and translation plates 33 are flat
Moving under driving mechanism 32 drives can move horizontally on the second mounting plate 31, specifically, can be equipped on the second mounting plate 31
The similar means such as translating rails 331, translation plates 33 can move on translating rails 331 under the driving of translational drive mechanism 32,
So that the movement of translation plates 33 is more steady, translation plates 33 on the second mounting plate 31 by moving horizontally, so as to side
Just the horizontal position for the second absorbent module 30 that adjustment is set in translation plates 33, facilitates and picks and places workpiece 4.
Preferably, the second fetching device 3 further includes having workpiece to adjust positioning component, and workpiece adjustment positioning component includes to adjust
Whole plate 34 and adjustment driving mechanism 35, adjustment driving mechanism 35 can be cylinder oil cylinder or motor-driven mechanism, adjust
Plate 34 is installed in translation plates 33, and 34 lower end of adjustment plate is provided with the first limit plate 36 and the second limit plate 37, the first limit plate
36 and second angle formed by limit plate 37 setting is then matched according to the concrete shape of workpiece 4, adjustment plate 34 is located at the first limit
Oblique strip hole 340 is provided between angle folded by position plate 36 and the second limit plate 37, the second absorbent module 30 is driven in adjustment
Motivation structure 35 can be moved diagonally strip hole 340 under driving, and the workpiece 4 of absorption can be carried out by adjusting positioning component by workpiece
Adjustment positioning, adjustment position fixing process are as follows: after the second absorbent module 30 draws workpiece 4, adjustment driving mechanism 35 drives second
Diagonally strip hole 340 is mobile for absorbent module 30, so that workpiece 4 is also mobile with oblique strip hole 340, at this time due to adjustment plate 34
Lower end is provided with the first limit plate 36 and the second limit plate 37, its edge meeting in diagonally 340 moving process of strip hole of workpiece 4
It is contacted with the first limit plate 36 and the second limit plate 37 and constantly adjusts its position, final 4 both sides of workpiece are by the first limit plate 36
It is fixed to preset position with the limit of the second limit plate 37, realizes the adjustment positioning of workpiece 4, adjustment position fixing process is fast
Speed, and it is relatively simple for structure.
Preferably, the second absorbent module 30 includes the second mounting rack and the second sucker for being installed on the second mounting rack
301, the quantity of the second sucker 301 can be arranged according to actual needs and specifically, and the second mounting rack and adjustment driving mechanism 35 connect
It connecing, the second sucker 301 passes through oblique strip hole 340 and stretches out in 34 lower end of adjustment plate, when the second sucker 301 is provided with multiple,
Diagonally strip hole 340 is distributed multiple second suckers 301.
Preferably, the oblique strip hole 340 is provided with two or more, is arranged in parallel between oblique strip hole 340, from
And when workpiece 4 being made to be adjusted positioning, adjustment process is more steady.
The present invention also provides a kind of technical solutions of the embodiment of double Z axis lathes comprising workbench, multiple fixtures 5,
And above-mentioned manipulator, manipulator are installed on workbench with movable workbench, fixture 5 can be set to four or other numbers
Mesh, be below fixture 5 be four when embodiment: when feeding, then manipulator is individually positioned in it from 6 feeding of feeding magazine
In on two fixtures 5, then lathe starts workpieces processing 4, at this point, manipulator can carry out feeding to remaining two fixtures 5
Or blanking, thus may be implemented lathe on one side process, while the high-efficient homework loadinged and unloading, greatly improve the efficiency of production,
Worker only needs timing to replace feeding magazine 6 and blanking magazine 7, reduces the labor intensity of worker.
It is to be illustrated to presently preferred embodiments 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 modifications on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent variation or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of manipulator for double Z axis lathes, it is characterised in that: including three-shaft displacement mechanism, the first fetching device and
Two fetching devices, the three-shaft displacement mechanism include X-axis displacement platform, Z axis displacement platform and Y-axis displacement platform, and described
One fetching device and the second fetching device are mounted on Y-axis displacement platform, first fetching device include by workpiece from
The first absorbent module picked and placed on magazine, second fetching device include the second absorption group for picking and placing workpiece from fixture
Part, first fetching device further include having that the rotation of the first absorbent module can be driven to take workpiece from the second absorbent module
The angle regulation component put.
2. the manipulator according to claim 1 for double Z axis lathes, it is characterised in that: the first fetching device packet
The first mounting plate, lifter plate and lift drive mechanism are included, first absorbent module is set on lifter plate, first installation
Plate is fixed on Y-axis displacement platform, and the lifter plate can be vertically movable on the first mounting plate under lift drive mechanism driving.
3. the manipulator according to claim 2 for double Z axis lathes, it is characterised in that: the angle regulation component packet
Rotary drive mechanism and rotary oscillation part are included, the rotary drive mechanism is installed on lifter plate upper end, the rotary oscillation part
Middle part is rotatably mounted to lifter plate lower end by drive-connecting shaft, the both ends of rotary oscillation part respectively with rotary drive mechanism and first
Absorbent module connection.
4. the manipulator according to claim 3 for double Z axis lathes, it is characterised in that: the first absorbent module packet
The first sucker for including the first mounting rack and being installed on the first mounting rack, first mounting rack are connect with rotary oscillation part.
5. the manipulator according to claim 4 for double Z axis lathes, it is characterised in that: first mounting rack is located at
First sucker periphery is provided with resilient snubber.
6. the manipulator according to any one of claims 1 to 5 for double Z axis lathes, it is characterised in that: described second picks and places
Mechanism includes the second mounting plate, translation plates and translational drive mechanism, and second absorbent module is set in translation plates, and described the
Two mounting plates are fixed on Y-axis displacement platform, the translation plates translational drive mechanism driving under can on the second mounting plate water
Translation is dynamic.
7. the manipulator according to claim 6 for double Z axis lathes, it is characterised in that: second fetching device is also
It include workpiece adjustment positioning component, the workpiece adjustment positioning component includes adjustment plate and adjustment driving mechanism, the tune
Whole plate is installed in translation plates, and adjustment plate lower end is provided with the first limit plate and the second limit plate, and adjustment plate is located at the first limit
Oblique strip hole is provided between angle folded by plate and the second limit plate, second absorbent module is driven in adjustment driving mechanism
It can diagonally strip hole movement under dynamic.
8. the manipulator according to claim 7 for double Z axis lathes, it is characterised in that: the second absorbent module packet
The second sucker for including the second mounting rack and being installed on the second mounting rack, second mounting rack and adjustment driving mechanism connect
It connects, second sucker passes through oblique strip hole and stretches out in adjustment plate lower end.
9. the manipulator according to claim 7 for double Z axis lathes, it is characterised in that: the oblique strip hole setting
There are two or more, it is arranged in parallel between oblique strip hole.
10. a kind of double Z axis lathes, it is characterised in that: any described including workbench, multiple fixtures and claim 1 to 9
Manipulator, the manipulator is installed on workbench, and manipulator picks and places workpiece from fixture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910129360.4A CN109807670A (en) | 2019-02-21 | 2019-02-21 | A kind of manipulator for double Z axis lathes and double Z axis lathes using it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910129360.4A CN109807670A (en) | 2019-02-21 | 2019-02-21 | A kind of manipulator for double Z axis lathes and double Z axis lathes using it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109807670A true CN109807670A (en) | 2019-05-28 |
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ID=66607133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910129360.4A Pending CN109807670A (en) | 2019-02-21 | 2019-02-21 | A kind of manipulator for double Z axis lathes and double Z axis lathes using it |
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| Country | Link |
|---|---|
| CN (1) | CN109807670A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112008596A (en) * | 2019-05-31 | 2020-12-01 | 深圳市创世纪机械有限公司 | Feeding and discharging mechanical arm and horizontal grinding machining center |
| CN112959118A (en) * | 2021-02-09 | 2021-06-15 | 深圳市金洲精工科技股份有限公司 | Drill bit subpackaging method and drill bit subpackaging device |
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| CN112959118A (en) * | 2021-02-09 | 2021-06-15 | 深圳市金洲精工科技股份有限公司 | Drill bit subpackaging method and drill bit subpackaging device |
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