CN202943462U - Computerized numerical control machining center based on automatic manipulator arm - Google Patents
Computerized numerical control machining center based on automatic manipulator arm Download PDFInfo
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- CN202943462U CN202943462U CN 201220591809 CN201220591809U CN202943462U CN 202943462 U CN202943462 U CN 202943462U CN 201220591809 CN201220591809 CN 201220591809 CN 201220591809 U CN201220591809 U CN 201220591809U CN 202943462 U CN202943462 U CN 202943462U
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Abstract
The utility model discloses a computerized numerical control machining center based on an automatic manipulator arm. The computerized numerical control machining center based on the automatic manipulator arm comprises a machine tool body, an automatic tool changing system, a servo drive device, and a control system, wherein the automatic tool changing system comprises a tool magazine, a tool magazine rotating driving mechanism, a tool magazine control device, a mounting support which is arranged in the middle between the tool magazine and a machine tool main shaft, a rotating shaft which is arranged on the mounting support through a bearing, two manipulator arms which are symmetrically arranged on the rotating shaft, and a manipulator arm control device which controls the two manipulator arms, and the two tool changing arms are manipulator arm I and manipulator arm II. The front end part of the manipulator arm I is provided with a tool changing structure I which is used for changing tools, and front end part of the manipulator arm II is provided with a tool changing structure II which is used for changing the tools. The tool magazine control device and the manipulator arm control device are connected with the control system. The computerized numerical control machining center based on the automatic manipulator arm is reasonable in design, convenient to operate, high in intelligence degree, good in using effect, flexible in motion, quick in tool changing, simple and easy to control, and high in machining efficiency.
Description
Technical field
The utility model relates to a kind of Omnibearing numerical control machining center, especially relates to a kind of numerical control machining center based on the automatic operation arm.
Background technology
Numerical control machining center is the Digit Control Machine Tool with tool magazine and automatic tool changer.Typical lathe has boring-milling center and turning center.At numerical control machining center, after the part by one-step clamping is located, can carry out the processing continuously of concentrating of kinds of processes, multiple working procedure, this has just greatly reduced the number of units of lathe.Due to the non-cutting time that has reduced workpiece loading and unloading, replacing and adjustment cutter and greatly reduced frock, therefore further shortened production time.Simultaneously, owing to having reduced, the position error that causes is installed repeatedly, thereby has significantly improved the positional precision between each machined surface.Wherein, automatic tool changer is the important executing agency of Digit Control Machine Tool, and its form is varied, common are at present circular cutter holder tool changing, the tool changing of row's formula knife rest, changes the main tapping tool changing and with the automatic tool changer of tool magazine.In actual process, automatic tool changer can help Digit Control Machine Tool to save non-cutting time, and satisfies and complete multiple operation, Simulation Based On Multi-step processing request in once mounting.Above-mentioned automatic tool changer with tool magazine comprises with the automatic tool changer of manipulator and the automatic tool changer of machinery-free hand, wherein, adopts manipulator to carry out tool changing with the automatic tool changer of manipulator.The manipulator that nowadays adopts mainly comprises hook-type, armful hand, the hand etc. of cupping one hand in the other before the chest, stretch, in actual use procedure, because the existing machinery hand all exists number of drawbacks and the deficiencies such as action is dumb, tool-changing speed is slower, intelligent degree is low to some extent, thereby affected the working (machining) efficiency of Digit Control Machine Tool largely.
The utility model content
Technical problem to be solved in the utility model is for above-mentioned deficiency of the prior art, a kind of numerical control machining center based on the automatic operation arm is provided, it is reasonable in design, use is easy and simple to handle and intelligent degree is high, result of use good, flexible movements and tool-changing speed are fast, control simple and easyly, working (machining) efficiency is high.
for solving the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of numerical control machining center based on the automatic operation arm, comprise machine body, be arranged on the automatic tool changer on described machine body, the servo drive that machine tool chief axis is driven and be laid in control system on described machine body, be in transmission connection by transmission mechanism between described machine tool chief axis and servo drive, described servo drive is controlled by control system and itself and control system are joined, it is characterized in that: described automatic tool changer comprises tool magazine, drive the tool magazine rotary drive mechanism that described tool magazine horizontally rotates, the tool magazine controller that the tool magazine rotary drive mechanism is controlled, the erection support at middle part between described tool magazine and described machine tool chief axis, be arranged on rotating shaft on described erection support by bearing, symmetry is arranged on two motion arms on rotating shaft and the manipulator control device that two described motion arms are controlled, described rotating shaft is driven by motor, and be in transmission connection by transmission mechanism between the power output shaft of rotating shaft and motor, two described tool change arms are respectively motion arm one and motion arm two, described motion arm one comprises postbrachium one and the forearm one that swings up and down on energy vertical plane under the drive of hydraulic cylinder one, be connected in hinged way between described postbrachium one and forearm one, the cylinder body rear portion of described hydraulic cylinder one is fixed on postbrachium one and its hydraulically extensible bar leading section is fixed on forearm one, described motion arm two comprises postbrachium two and the forearm two that swings up and down on energy vertical plane under the drive of hydraulic cylinder two, be connected in hinged way between described postbrachium two and forearm two, the cylinder body rear portion of described hydraulic cylinder two is fixed on postbrachium two and its hydraulically extensible bar leading section is fixed on forearm two, described hydraulic cylinder one and hydraulic cylinder two join with hydraulic oil container by fluid pressure line one and fluid pressure line two respectively, reversal valve one and electric proportional control valve one are installed on described fluid pressure line one, reversal valve two and electric proportional control valve two are installed on described fluid pressure line two, described manipulator control device comprises the manipulator control device, and described motor, reversal valve one, electric proportional control valve one, reversal valve two and electric proportional control valve two are controlled by the manipulator control device, the leading section of described forearm one is provided with for the cutter changing structure one of changing cutter, and the leading section of forearm two is provided with for the cutter changing structure two of changing cutter, described tool magazine controller and manipulator control device all join with control system, be provided with on described machine body and drive the electric lifting platform that described erection support carries out oscilaltion, described erection support is arranged on electric lifting platform, and described electric lifting platform is controlled by the manipulator control device and itself and manipulator control device join.
Above-mentioned a kind of numerical control machining center based on the automatic operation arm, it is characterized in that: described manipulator control device also comprises rotation angle detecting unit that the anglec of rotation of rotating shaft is carried out detecting in real time, to the height detection unit two that the height of described cutter changing structure one carries out the height detection unit one that detects in real time and the height of described cutter changing structure two carried out detect in real time, and described rotation angle detecting unit, height detection unit one and height detection unit two all join with the manipulator control device.
Above-mentioned a kind of numerical control machining center based on the automatic operation arm is characterized in that: described cutter changing structure one is tool changing hook or tool changing fork, and described cutter changing structure one should be tool changing hook or tool changing fork mutually.
Above-mentioned a kind of numerical control machining center based on the automatic operation arm is characterized in that: described manipulator control device also comprises the parameter set unit of joining with the manipulator control device.
Above-mentioned a kind of numerical control machining center based on the automatic operation arm, it is characterized in that: described manipulator control device also comprises rotary speed detecting unit that the rotary speed to rotating shaft detects and the direction of rotation detecting unit that the direction of rotation of rotating shaft is detected, and described rotary speed detecting unit and direction of rotation detecting unit all join with the manipulator control device.
The utility model compared with prior art has the following advantages:
1, reasonable in design, cost is low and install to lay convenient.
2, the simple and easy-to-connect of circuit.
3, use simple to operate and intelligent degree is high.
4, result of use is good, realization is convenient and practical value is high, the flexible movements of two motion arms, and tool-changing speed is fast, and the setting height(from bottom) of two motion arms is adjustable, and the working (machining) efficiency of Digit Control Machine Tool is high.
5, widely applicable, popularizing application prospect is extensive, can effectively promote applicable to all kinds of Digit Control Machine Tools.
In sum, the utility model is reasonable in design, use is easy and simple to handle and intelligent degree is high, result of use good, and flexible movements and tool-changing speed are fast, controls simple and easyly, and working (machining) efficiency is high.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Description of drawings
Fig. 1 is schematic block circuit diagram of the present utility model.
Description of reference numerals:
1-servo drive; 2-control system; 3-rotating shaft;
3-15-reversal valve one; 3-16-electric proportional control valve one;
3-25-reversal valve two; 3-26-electric proportional control valve two;
4-tool magazine rotary drive mechanism; 5-tool magazine controller; 6-manipulator control device;
6-1-manipulator control device; 6-2-rotation angle detecting unit;
6-3-height detection unit one; 6-4-height detection unit two; 6-5-parameter set unit;
6-6-rotary speed detecting unit;
6-7-direction of rotation detecting unit; 7-motor;
8-electric lifting platform.
The specific embodiment
As shown in Figure 1, the servo drive 1 that the utility model comprises machine body, be arranged on automatic tool changer on described machine body, machine tool chief axis is driven and be laid in control system 2 on described machine body, be in transmission connection by transmission mechanism between described machine tool chief axis and servo drive 1, described servo drive 1 is controlled by control system 2 and itself and control system 2 are joined.described automatic tool changer comprises tool magazine, drive the tool magazine rotary drive mechanism 4 that described tool magazine horizontally rotates, the tool magazine controller 5 that tool magazine rotary drive mechanism 4 is controlled, the erection support at middle part between described tool magazine and described machine tool chief axis, be arranged on rotating shaft 3 on described erection support by bearing, symmetry is arranged on two motion arms on rotating shaft 3 and the manipulator control device 6 that two described motion arms are controlled, described rotating shaft 3 is driven by motor 7, and be in transmission connection by transmission mechanism between the power output shaft of rotating shaft 3 and motor 7, two described tool change arms are respectively motion arm one and motion arm two, described motion arm one comprises postbrachium one and the forearm one that swings up and down on energy vertical plane under the drive of hydraulic cylinder one, be connected in hinged way between described postbrachium one and forearm one, the cylinder body rear portion of described hydraulic cylinder one is fixed on postbrachium one and its hydraulically extensible bar leading section is fixed on forearm one, described motion arm two comprises postbrachium two and the forearm two that swings up and down on energy vertical plane under the drive of hydraulic cylinder two, be connected in hinged way between described postbrachium two and forearm two, the cylinder body rear portion of described hydraulic cylinder two is fixed on postbrachium two and its hydraulically extensible bar leading section is fixed on forearm two.Described hydraulic cylinder one and hydraulic cylinder two join with hydraulic oil container by fluid pressure line one and fluid pressure line two respectively, reversal valve one 3-15 and electric proportional control valve one 3-16 are installed on described fluid pressure line one, reversal valve two 3-25 and electric proportional control valve two 3-26 are installed on described fluid pressure line two.Described manipulator control device 6 comprises manipulator control device 6-1, and described motor 7, reversal valve one 3-15, electric proportional control valve one 3-16, reversal valve two 3-25 and electric proportional control valve two 3-26 control by manipulator control device 6-1.The leading section of described forearm one is provided with for the cutter changing structure one of changing cutter, and the leading section of forearm two is provided with for the cutter changing structure two of changing cutter.Described tool magazine controller 5 and manipulator control device 6-1 all join with control system 2.Be provided with on described machine body and drive the electric lifting platform 8 that described erection support carries out oscilaltion, described erection support is arranged on electric lifting platform 8, and described electric lifting platform 8 is controlled by manipulator control device 6-1 and itself and manipulator control device 6-1 join.
In the present embodiment, described manipulator control device 6 also comprises rotation angle detecting unit 6-2 that the anglec of rotation of rotating shaft 3 is carried out detecting in real time, to height detection unit two 6-4 that the height of described cutter changing structure one carries out height detection unit one 6-3 that detects in real time and the height of described cutter changing structure two carried out detect in real time, described rotation angle detecting unit 6-2, height detection unit one 6-3 and height detection unit two 6-4 all join with manipulator control device 6-1.
In the present embodiment, described cutter changing structure one is tool changing hook or tool changing fork, and described cutter changing structure one should be tool changing hook or tool changing fork mutually.
Simultaneously, described manipulator control device 6 also comprises the parameter set unit 6-5 that joins with manipulator control device 6-1.
In the present embodiment, described manipulator control device 6 also comprises rotary speed detecting unit 6-6 that the rotary speed to rotating shaft 3 detects and the direction of rotation detecting unit 6-7 that the direction of rotation of rotating shaft 3 is detected, and described rotary speed detecting unit 6-6 and direction of rotation detecting unit 6-7 all join with manipulator control device 6-1.
The above; it is only preferred embodiment of the present utility model; be not that the utility model is imposed any restrictions; every any simple modification, change and equivalent structure of above embodiment being done according to the utility model technical spirit changes, and all still belongs in the protection domain of technical solutions of the utility model.
Claims (5)
1. numerical control machining center based on the automatic operation arm, comprise machine body, be arranged on the automatic tool changer on described machine body, the servo drive (1) that machine tool chief axis is driven and be laid in control system (2) on described machine body, described machine tool chief axis and servo drive are in transmission connection by transmission mechanism between (1), described servo drive (1) is controlled by control system (2) and itself and control system (2) are joined, it is characterized in that: described automatic tool changer comprises tool magazine, drive the tool magazine rotary drive mechanism (4) that described tool magazine horizontally rotates, the tool magazine controller (5) that tool magazine rotary drive mechanism (4) is controlled, the erection support at middle part between described tool magazine and described machine tool chief axis, be arranged on rotating shaft (3) on described erection support by bearing, symmetry is arranged on two motion arms on rotating shaft (3) and the manipulator control device (6) that two described motion arms are controlled, described rotating shaft (3) is driven by motor (7), and be in transmission connection by transmission mechanism between the power output shaft of rotating shaft (3) and motor (7), two described tool change arms are respectively motion arm one and motion arm two, described motion arm one comprises postbrachium one and the forearm one that swings up and down on energy vertical plane under the drive of hydraulic cylinder one, be connected in hinged way between described postbrachium one and forearm one, the cylinder body rear portion of described hydraulic cylinder one is fixed on postbrachium one and its hydraulically extensible bar leading section is fixed on forearm one, described motion arm two comprises postbrachium two and the forearm two that swings up and down on energy vertical plane under the drive of hydraulic cylinder two, be connected in hinged way between described postbrachium two and forearm two, the cylinder body rear portion of described hydraulic cylinder two is fixed on postbrachium two and its hydraulically extensible bar leading section is fixed on forearm two, described hydraulic cylinder one and hydraulic cylinder two join with hydraulic oil container by fluid pressure line one and fluid pressure line two respectively, reversal valve one (3-15) and electric proportional control valve one (3-16) are installed on described fluid pressure line one, reversal valve two (3-25) and electric proportional control valve two (3-26) are installed on described fluid pressure line two, described manipulator control device (6) comprises manipulator control device (6-1), and described motor (7), reversal valve one (3-15), electric proportional control valve one (3-16), reversal valve two (3-25) and electric proportional control valve two (3-26) are controlled by manipulator control device (6-1), the leading section of described forearm one is provided with for the cutter changing structure one of changing cutter, and the leading section of forearm two is provided with for the cutter changing structure two of changing cutter, described tool magazine controller (5) and manipulator control device (6-1) all join with control system (2), be provided with on described machine body and drive the electric lifting platform (8) that described erection support carries out oscilaltion, described erection support is arranged on electric lifting platform (8), and described electric lifting platform (8) is controlled by manipulator control device (6-1) and itself and manipulator control device (6-1) join.
2. according to a kind of numerical control machining center based on the automatic operation arm claimed in claim 1, it is characterized in that: described manipulator control device (6) also comprises the rotation angle detecting unit (6-2) that the anglec of rotation of rotating shaft (3) is carried out real-time detection, height to described cutter changing structure one carries out the height detection unit one (6-3) that detects in real time and the height detection unit two (6-4) that the height of described cutter changing structure two is carried out real-time detection, described rotation angle detecting unit (6-2), height detection unit one (6-3) and height detection unit two (6-4) all join with manipulator control device (6-1).
3. according to the described a kind of numerical control machining center based on the automatic operation arm of claim 1 or 2, it is characterized in that: described cutter changing structure one is tool changing hook or tool changing fork, and described cutter changing structure one should be tool changing hook or tool changing fork mutually.
4. according to the described a kind of numerical control machining center based on the automatic operation arm of claim 1 or 2, it is characterized in that: described manipulator control device (6) also comprises the parameter set unit (6-5) of joining with manipulator control device (6-1).
5. according to the described a kind of numerical control machining center based on the automatic operation arm of claim 1 or 2, it is characterized in that: described manipulator control device (6) also comprises rotary speed detecting unit (6-6) that the rotary speed to rotating shaft (3) detects and the direction of rotation detecting unit (6-7) that the direction of rotation of rotating shaft (3) is detected, and described rotary speed detects single (6-6) and direction of rotation detecting unit (6-7) all joins with manipulator control device (6-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220591809 CN202943462U (en) | 2012-11-09 | 2012-11-09 | Computerized numerical control machining center based on automatic manipulator arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220591809 CN202943462U (en) | 2012-11-09 | 2012-11-09 | Computerized numerical control machining center based on automatic manipulator arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202943462U true CN202943462U (en) | 2013-05-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220591809 Expired - Fee Related CN202943462U (en) | 2012-11-09 | 2012-11-09 | Computerized numerical control machining center based on automatic manipulator arm |
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| Country | Link |
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| CN (1) | CN202943462U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563195A (en) * | 2016-02-29 | 2016-05-11 | 浙江大学 | Tool changing device of five-axle linkage numerical control drilling and riveting equipment |
| CN106573321A (en) * | 2014-08-27 | 2017-04-19 | 三菱重工工作机械株式会社 | Gear cutting machine |
-
2012
- 2012-11-09 CN CN 201220591809 patent/CN202943462U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106573321A (en) * | 2014-08-27 | 2017-04-19 | 三菱重工工作机械株式会社 | Gear cutting machine |
| US10239172B2 (en) | 2014-08-27 | 2019-03-26 | Mitsubishi Heavy Industries Machine Tool Co., Ltd. | Gear manufacturing machine |
| CN106573321B (en) * | 2014-08-27 | 2019-07-26 | 三菱重工工作机械株式会社 | Gear machining apparatus |
| CN105563195A (en) * | 2016-02-29 | 2016-05-11 | 浙江大学 | Tool changing device of five-axle linkage numerical control drilling and riveting equipment |
| CN105563195B (en) * | 2016-02-29 | 2018-01-09 | 浙江大学 | A kind of 5-shaft linkage numerical control bores riveting equipment tool changing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130522 Termination date: 20131109 |