CN116652670A - A kind of manipulator used for conveying inside the machine - Google Patents

Abstract

The invention discloses a manipulator used for handling inside a heart-moving machine, comprising a body of the heart-moving machine and a support frame therein, a driving and moving assembly is arranged on the supporting frame, the driving and moving assembly includes a transmission screw, and a movement is sleeved on the transmission screw. The bottom of the mobile seat is provided with a fixed frame, the fixed frame is provided with a drive motor, the output end of the drive motor is provided with a support frame, a support assembly for easy installation is provided between the support frame and the fixed frame, and a cylinder is provided in the support frame ; The present invention drives the cooperation between the moving assembly and the cylinder through the rotation of the driving motor to form the movement of the manipulator limit assembly in six directions. Drive multiple movable blocks to adjust radially at the same time to realize the clamping of the shaft workpiece, so that it can be transported to the chuck of the centering machine by the manipulator, without the need for manual operation by the operator, which makes the centering machine more efficient in processing shaft workpieces .

Description

A kind of manipulator used for conveying inside the machine

technical field

The invention relates to the technical field of manipulators, in particular to a manipulator used for internal handling of a heart-moving machine.

Background technique

The full name of the heart-moving machine is a heart-moving CNC lathe, and it can also be called a headstock mobile CNC automatic lathe, an economical turning-milling compound machine tool or a slitting lathe. It belongs to precision processing equipment, which can complete compound processing such as turning, milling, drilling, boring, tapping and engraving at the same time. It is mainly used for batch processing of precision hardware and shaft special-shaped non-standard parts.

When the existing centering machine processes the shaft workpiece, it generally adopts the method of manual loading. The operator holds the shaft product and places it on the chuck of the centering machine, and the other end of the shaft workpiece needs to be processed. , Manually pull out the shaft workpiece and turn it to the other end to insert into the chuck of the centering machine, but this kind of working method is more dangerous and less efficient.

Contents of the invention

The object of the present invention is to provide a manipulator used for conveying in the centering machine, so as to solve the problems raised in the above-mentioned background technology.

In order to achieve the above object, the present invention provides the following technical solutions: a manipulator for handling in the heart machine, including a body of the heart machine and a support frame therein, the support frame is provided with a driving and moving assembly, and the driving and moving assembly includes The transmission screw, the transmission screw is sleeved with a moving seat, the bottom of the moving seat is provided with a fixed frame, the fixed frame is provided with a drive motor, the output end of the drive motor is provided with a support frame, and a support frame is provided between the support frame and the fixed frame to facilitate installation. The support assembly is provided with a cylinder in the support frame, the telescopic end of the cylinder is provided with an annular support seat, and the annular support seat is provided with a manipulator limit assembly for easy adjustment and handling.

Preferably, the support assembly includes a pulling seat, two groups of pulling seats are arranged, and the two groups of pulling seats are symmetrically distributed with respect to the output end of the drive motor, the pulling seats are welded on the support frame, and the top of the fixed frame is provided with a ring One side of the annular groove is provided with a limiting ring groove.

Preferably, a storage slot is provided on one side of the pulling seat, and a moving plug is slidably inserted into the storage slot. The moving plug has a "匚"-shaped structure, and a first spring is arranged between the moving plug and the storage slot. , the pulling seat is movably plugged into the annular groove, and the end of the moving plug and the limiting ring groove are arranged correspondingly.

Preferably, the manipulator limit assembly includes a large gear, the large gear is rotatably connected to the annular support seat, the outer side of the annular support seat is provided with a fixing seat, the inner side of the annular support seat is provided with a connecting block, and the ends of the plurality of connecting blocks A support seat is provided, and a movable block is slidably connected to the support seat.

Preferably, a transmission shaft is rotatably connected to the fixed seat through a bearing, a pinion gear is arranged on the transmission shaft, and the pinion gear and the large gear mesh with each other.

Preferably, an extruding block is arranged inside the large gear, and the end of the extruding block has an inclined surface structure. There are multiple extruding blocks, and the plurality of extruding blocks are circumferentially distributed around the large gear.

Preferably, the end of the movable block is provided with a clamping block, the other end of the movable block has an inclined surface structure and fits with the end of the extruding block, and corresponds to the extruding block one by one, and the side of the movable block is set As for the limiting block, a limiting chute is provided on one side of the movable block on the support seat, and a second spring is arranged between the limiting block and the limiting chute.

Preferably, a moving slot is provided on the block and the movable block, a top block is slidably inserted into the moving slot, a third spring is arranged between the top block and the moving slot, and a pulling bar is arranged on one side of the top block, The end of the pulling bar is provided with a support arc block, and the top of the support arc block is flush with the top of the top block.

Compared with prior art, the beneficial effect of the present invention is:

1. Through the rotation of the drive motor, the present invention drives the cooperation between the moving assembly and the cylinder to form the movement of the manipulator limit assembly in six directions. The rotation drives multiple movable blocks to adjust radially at the same time to realize the clamping of the shaft workpiece, so that it can be transported to the chuck of the centering machine by the manipulator, without the need for manual operation by the operator, which makes the centering machine more efficient in processing shaft workpieces high.

2. In the present invention, an elastic support structure is formed between the third spring and the top block, and the cooperation between the support arc block and the top block supports the workpiece to ensure the support and placement of the manipulator before it is fixed. When clamping the processed workpiece, it only needs to drive the output end of the motor to rotate to realize that the other end of the shaft workpiece faces the chuck of the centering machine. In addition, a supporting overlapping structure is formed between the pulling seat and the moving insert to improve the fixed frame. support at the bottom.

Description of drawings

Fig. 1 is a schematic structural view of the outside of the machine body of the present invention.

Fig. 2 is a schematic diagram of the structure of the manipulator inside the body of the walking machine of the present invention.

Fig. 3 is a structural schematic diagram of the driving and moving assembly of the present invention.

Fig. 4 is a structural schematic diagram of the manipulator moving up and down according to the present invention.

Fig. 5 is a schematic diagram of the exploded structure between the fixing frame and the supporting frame of the present invention.

FIG. 6 is an enlarged structural schematic diagram of A in FIG. 5 of the present invention.

Fig. 7 is a sectional view between the annular support seat and the support seat of the present invention.

FIG. 8 is an enlarged structural schematic diagram at B in FIG. 7 of the present invention.

In the figure: 1. The body of the centering machine; 2. The support frame; 3. The driving and moving assembly; 31. The transmission screw; 4. The moving seat; 5. The fixed frame; 51. The driving motor; 52. The annular groove; 53. The limit ring Groove; 6. Support frame; 61. Pulling seat; 62. Moving insert; 63. First spring; 7. Cylinder; 8. Ring support seat; 81. Big gear; 82. Fixed seat; 84, pinion; 85, connection block; 86, support seat; 87, extrusion block; 9, movable block; 91, clip block; 92, limit block; 93, second spring; 94, top block; 95, The third spring; 96, the pulling bar; 97, the supporting arc block.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Fig. 1 to Fig. 8, the present invention provides a technical solution: a kind of manipulator used for handling in the center machine, including the body 1 of the heart machine and the supporting frame 2 inside, and the supporting frame 2 is provided with a driving and moving assembly 3. This embodiment discloses a specific structure of the driving and moving assembly 3. The driving and moving assembly 3 includes a driving screw. The driving and moving assembly 3 also includes a transmission screw 31. A moving frame is sleeved on the driving screw. Between the two driving screws Connected by a belt roller, the drive screw is connected to the mobile frame with internal and external threads, the drive screw is driven by a motor, and the drive screw 31 is connected to the mobile frame through bearing rotation.

A moving seat 4 is sleeved on the transmission screw 31, and the internal and external threads are connected between the moving seat 4 and the transmission screw 31. The bottom of the moving seat 4 is welded with a fixed frame 5, and a drive motor 51 is installed in the fixed frame 5. The model of the drive motor 51 is It can be selected according to the actual working conditions. The output end of the driving motor 51 is fixed with a support frame 6, and a support assembly for easy installation is provided between the support frame 6 and the fixed frame 5. The support assembly includes a pulling seat 61, and the pulling seat 61 is set There are two groups, two groups of pulling seats 61 are distributed symmetrically with respect to the output end of the drive motor 51 , and the pulling seats 61 are welded on the support frame 6 .

One side of the pulling seat 61 is provided with a storage slot, and a moving insert 62 is slidably inserted into the storage slot. The moving insert 62 has a "匚"-shaped structure, and a first spring is fixedly connected between the moving insert 62 and the storage slot. 63, the top of the fixed frame 5 is provided with an annular groove 52, and one side of the annular groove 52 is provided with a limiting ring groove 53, and the pulling seat 61 is movably inserted on the annular groove 52, and the end of the moving plug 62 and the limiting ring The grooves 53 are arranged correspondingly, and a supporting overlapping structure is formed between the pulling seat 61 and the moving insert 62, which improves the supporting effect of the bottom of the fixed frame 5 and provides positioning rotation when the manipulator rotates.

A cylinder 7 is fixedly installed in the support frame 6, and the model of the cylinder 7 can be selected according to the actual working conditions.

The telescoping end of the cylinder 7 is fixed with an annular support seat 8, and the annular support seat 8 is provided with a manipulator limit assembly that is convenient for adjustment and handling. The outer side of the support seat 8 is welded with a fixed seat 82, the fixed seat 82 is connected with a transmission shaft 83 through bearing rotation, the transmission shaft 83 is fixedly sleeved with a pinion 84, and the pinion 84 and the bull gear 81 mesh with each other, and the transmission shaft 83 is driven by a motor, and the rotation of transmission shaft 83 and pinion 84 drives bull gear 81 to rotate, so that the rotation of bull gear 81 is fine-tuned.

The inner side of the annular support seat 8 is welded with a connection block 85, the ends of a plurality of connection blocks 85 are welded with a support seat 86, the inner side of the large gear 81 is provided with an extrusion block 87, and the end of the extrusion block 87 has an inclined surface structure. There are multiple groups of connecting blocks 85, and the multiple groups of connecting blocks 85 are circumferentially distributed around the annular support seat 8. Each group of connecting blocks 85 is provided with two, and there are multiple extruding blocks 87, and the plurality of extruding blocks 87 surround The large gear 81 is distributed in a circle, and the movable block 9 is slidably inserted on the support seat 86. The two connecting blocks 85 are respectively distributed on both sides of the extrusion block 87 to limit the rotation distance of the extrusion block 87 to ensure that the extrusion block 87 fits between movable block 9 all the time.

The end portion of movable block 9 is welded with clamping block 91, and the other end of movable block 9 is the inclined surface structure and fits between the end of extruding block 87, and is one-to-one corresponding with extruding block 87, and the side of movable block 9 The limit block 92 is welded, and a limit chute is provided on one side of the movable block 9 on the support seat 86, and a second spring 93 is fixedly connected between the limit block 92 and the limit chute, and the elastic force of the second spring 93 is applied. On the limit block 92, the action of resetting the movable block 9 is provided without other external forces.

A moving groove is provided on the clamping block 91 and the movable block 9, and a top block 94 is slidably inserted into the moving groove. A third spring 95 is fixedly connected between the top block 94 and the moving groove. One side of the top block 94 is welded with a pull Bar 96, the end of pulling bar 96 is welded with support arc block 97, and the top of support arc block 97 is flush with the top of top block 94, and elastic spring 95 is formed between the third spring 95 and top block 94. The support structure, the cooperation between the support arc block 97 and the top block 94 supports the workpiece to be processed, ensuring the support placement before the manipulator is fixed.

During actual use, the shaft workpiece is lapped on the support formed between the support arc block 97 and the top block 94, the transmission shaft 83 is driven by a motor, and the rotation of the transmission shaft 83 and the pinion 84 drives the large gear 81 to rotate, squeeze The pressing block 87 also rotates thereupon, and the end of the extruding block 87 squeezes the inclined surface of the movable block 9, so that a plurality of movable blocks 9 move radially along the annular support seat 8 at the same time. In the process, the top block 94 is subjected to The shaft workpiece is extruded to move into the moving groove, and the multiple clamping blocks 91 are all attached to the surface of the shaft workpiece, and then the multiple clamping blocks 91 clamp the shaft workpiece. By driving the moving assembly 3 and the cylinder 7 Mobile adjustment, so that it can be transported to the chuck of the centering machine by the manipulator, without manual operation by the operator, so that the centering machine can process shaft workpieces more efficiently; when the other end of the shaft workpiece needs to be processed and adjusted, start the drive motor 51 to make its output end rotate, impel the entire manipulator limit assembly and shaft workpiece to rotate, during this process, the pulling seat 61 rotates around the annular groove 52, and the end of the moving insert 62 rotates around the limit ring groove 53 , a supporting overlapping structure is formed between the pulling seat 61 and the moving insert 62, which improves the supporting effect of the bottom of the fixed frame 5, and realizes that the other end of the shaft-type workpiece is facing the chuck of the centering machine, so that it is easy to transport to the chuck of the centering machine on the head.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (8)

1. A manipulator for handling inside a heart-moving machine, comprising a body (1) of a heart-moving machine and a support frame (2) inside, characterized in that: the support frame (2) is provided with a driving and moving assembly (3 ), the driving moving assembly (3) includes a transmission screw (31), the transmission screw (31) is sleeved with a moving seat (4), the bottom of the moving seat (4) is provided with a fixed frame (5), and the fixed frame (5) A drive motor (51) is arranged inside, a support frame (6) is provided at the output end of the drive motor (51), and a support assembly for easy installation is provided between the support frame (6) and the fixed frame (5). The support frame (6 ) is provided with a cylinder (7), the telescoping end of the cylinder (7) is provided with an annular support seat (8), and the annular support seat (8) is provided with a manipulator limit assembly for easy adjustment and handling. 2. A manipulator for internal handling of a heart-moving machine according to claim 1, characterized in that: the support assembly includes a pulling seat (61), and the pulling seat (61) is provided with two groups, two groups The pulling seat (61) is distributed symmetrically with respect to the output end of the drive motor (51), the pulling seat (61) is welded on the support frame (6), and the top of the fixed frame (5) is provided with an annular groove (52), the annular groove One side of (52) is provided with limiting ring groove (53). 3. A manipulator for transporting a heart-moving machine according to claim 2, characterized in that: a storage slot is opened on one side of the pulling seat (61), and a moving plug is slidably inserted into the storage slot. block (62), the moving insert (62) is in a "匚" type structure, a first spring (63) is set between the moving insert (62) and the receiving groove, and the pulling seat (61) is movably inserted in the annular groove (52), the end of the moving insert (62) and the limit ring groove (53) are arranged correspondingly. 4. A manipulator for internal handling of a heart-moving machine according to claim 1, characterized in that: the manipulator limit assembly includes a large gear (81), and the large gear (81) is rotatably connected to the ring support seat ( 8), the outer side of the annular support seat (8) is provided with a fixed seat (82), the inner side of the annular support seat (8) is provided with a connecting block (85), and the ends of a plurality of connecting blocks (85) are provided with a supporting seat (86), the support seat (86) is slidably plugged with movable block (9). 5. A manipulator for handling inside a centering machine according to claim 4, characterized in that: the fixed base (82) is connected to the transmission shaft (83) through bearing rotation, and the transmission shaft (83) is A pinion (84) is provided, and the pinion (84) and the bull gear (81) mesh with each other. 6. A manipulator for internal handling of a centering machine according to claim 4, characterized in that: an extrusion block (87) is arranged on the inner side of the large gear (81), and the extrusion block (87) The end portion has an inclined surface structure, and multiple extrusion blocks (87) are arranged, and the plurality of extrusion blocks (87) are circumferentially distributed around the large gear (81). 7. A manipulator for internal handling of a heart-moving machine according to claim 4, characterized in that: the end of the movable block (9) is provided with a clamping block (91), and the other end of the movable block (9) One end has an inclined surface structure and fits the end of the extruding block (87), and corresponds to the extruding block (87) one by one. The side of the movable block (9) is provided with a limit block (92), and the support seat ( A limiting chute is provided on one side of the movable block (9) on 86), and a second spring (93) is arranged between the limiting block (92) and the limiting chute. 8. A manipulator for handling inside the centering machine according to claim 7, characterized in that: the block (91) and the movable block (9) are provided with moving slots, and sliding slots are inserted into the moving slots. The top block (94), the third spring (95) is arranged between the top block (94) and the moving groove, and one side of the top block (94) is provided with a pulling bar (96), and the pulling bar (96) The end of the top is provided with a support arc block (97), and the top of the support arc block (97) is flush with the top of the top block (94).