CN203045074U - Novel feeding and baiting mechanical hand for numerically-controlled gear hobbing machine - Google Patents

Novel feeding and baiting mechanical hand for numerically-controlled gear hobbing machine Download PDF

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Publication number
CN203045074U
CN203045074U CN 201220445608 CN201220445608U CN203045074U CN 203045074 U CN203045074 U CN 203045074U CN 201220445608 CN201220445608 CN 201220445608 CN 201220445608 U CN201220445608 U CN 201220445608U CN 203045074 U CN203045074 U CN 203045074U
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CN
China
Prior art keywords
baiting
clamping jaws
feeding
mechanical
mechanical clamping
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Application number
CN 201220445608
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Chinese (zh)
Inventor
王建文
周国君
刘罡
于涛
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浙江陀曼精密机械有限公司
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Priority to CN 201220445608 priority Critical patent/CN203045074U/en
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Publication of CN203045074U publication Critical patent/CN203045074U/en

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Abstract

The utility model relates to a mechanical processing machine tool component, in particular to an automatic feeding and baiting mechanical hand of a gear hobbing machine tool. The mechanism comprises a set of rotary mechanism formed by gear ring bearings for completing the circulation rotary movement of two groups of left and right symmetrical feeding and baiting mechanical clamping jaws, inner rings of the gear ring bearings are fixedly arranged on a small upright post, outer rings of the gear ring bearings are connected with the two sets of left and right symmetrical mechanical clamping jaws through a guide post, rotary rails for supporting the rotation of the two sets of mechanical clamping jaws are also fixedly arranged on the small upright post, a set of upper and lower oil cylinders for realizing the vertical movement of the mechanical clamping jaws and a set of opening and closing oil cylinders for realizing the opening and closing action are respectively arranged in the initial position of two sets of symmetrical feeding and baiting mechanical clamping jaws, the two groups of oil cylinders are respectively and fixedly arranged above the feeding and baiting initial positions at the left and right sides of the small upright post, the upper and lower oil cylinders are connected with the feeding and baiting mechanical clamping jaws through slide rods, each feeding and baiting mechanical clamping jaw comprises a wedge block, a guide bearing, slide blocks in left and right symmetrical distribution, a clamping jaw, a mold spring and a spring guide rod, and the opening and the closing of the mechanical clamping jaws are realized by the opening and closing oil cylinders, the wedge blocks and the mold springs. The upper and lower oil cylinders and the opening and closing oil cylinders are only matched with the mechanical clamping jaws in the initial positions in left and right symmetry, the clamping of parts is realized in the feeding position, and meanwhile, the part placement is realized in the baiting position and cannot move along with the circulation rotation of the feeding and baiting mechanical clamping jaws. Through the structure, the weight of the feeding and baiting mechanical clamping jaws is reduced, and the failure rate is reduced. The automatic feeding and baiting mechanical hand has the advantages that the opening structure of the mechanical clamping jaws is simple and compact, the action is reliable, in addition, the manufacture is easy, and the cost is low.

Description

一种新型数控滚齿机上下料机械手 A novel vertical manipulator CNC hobbing

技术领域 FIELD

[0001] 本实用新型涉及一种机械加工机床部件,尤其是涉及一种滚齿机床的自动上下料机械手。 [0001] The present invention relates to a machining machine components, in particular to a gear hobbing automatic loading and unloading manipulator.

背景技术 Background technique

[0002] 传统滚齿机上的上下料机械手机构,一般采用气动夹爪抓取工件,上下移动驱动装置与气动夹爪固定在一起并随同气动夹爪一起转动,机构整体占用空间大、回转空间要求大、装配复杂、故障率高、制造成本高。 [0002] The vertical manipulator conventional hobbing mechanism, generally using pneumatic jaws gripping the workpiece, the vertical movement drive device with a pneumatic jaw secured together and rotate together along with the pneumatic jaws, the whole mechanism occupies a large space and requires a large volume of revolution , assembly complexity, failure rate, a high manufacturing cost.

发明内容 SUMMARY

[0003] 本实用新型的目的就是要解决上述上下料机械手机构之不足,提供一种结构简单、紧凑合理、安装方便,制造成本低的一种新型上下料机械手机构。 [0003] The object of the present invention is to solve the problem of the above-described mechanism of the loading and unloading robot, provide a simple, compact, easy to install, inexpensive to manufacture a new type of vertical manipulator mechanism. 为此,本实用新型采用以下技术方案: To this end, the present invention adopts the following technical scheme:

[0004] 一种新型上下料机械手,其特征在于:两套上下油缸及开合油缸分别固定在小立柱的左右两侧,滑杆连接在上下驱动油缸上,左右对称分布的两套机械夹爪通过导柱连接在齿轮轴承外圈上,齿轮轴承内圈固定在小立柱上,旋转轨道固定在小立柱上。 [0004] A novel vertical manipulator, characterized in that: two vertical cylinders and the cylinders are fixed opening and closing the left and right sides of a small column, the slider is connected to the vertical drive cylinder, symmetrical distribution of two sets of mechanical jaws connected through a guide post on the bearing outer ring gear, the gear bearing inner ring is fixed on a small column, fixed to the pinion rotation rail post. 所述机械夹爪包括:楔形块,导向轴承,左右对称分布的滑块、夹爪、模具弹簧及弹簧导向杆。 The mechanical jaw comprising: a wedge, guide bearings, slide symmetrically distributed around the jaws, die springs and spring guide rod.

[0005] 作为对上述方案的进一步完善和补充,本实用新型还包括以下附加技术特征: [0005] As a further improvement of the above scheme and complement, the present invention further includes the following additional features:

[0006] 所述的上下油缸及开合油缸与机械夹爪无固定连接。 Said upper and lower cylinder [0006] and the open-close cylinder without a mechanical jaw fixed connection.

[0007] 所述机械夹爪中模具弹簧预压后安装在滑块与弹簧导向杆中间。 After [0007] the mold jaws of the mechanical spring preload spring mounted on the slider and the guide rods intermediate.

[0008] 所述机械夹爪中导向轴承为一深沟球轴承。 [0008] clamping jaws guide the mechanical bearing is a deep groove ball bearings.

[0009] 所述机械夹爪中楔形块顶端与滑块接触面为三角形。 [0009] clamping jaws of the machine to the top of the slider wedge contact surface is triangular.

[0010] 使用本实用新型可以达到以下有益效果:上下油缸及开合油缸只是在左右对称的初始位置与机械手配合,在上料位置实现零件的夹持,同时在下料位置实现零件的安装,并不随同上下料机械夹爪作循环回转运动;这种结构减轻了上下料机械夹爪的重量,降低了故障率;本实用新型的机械夹爪的开合结构简单紧凑,动作可靠,且制造容易,成本低。 [0010] Using the present invention can achieve the following advantageous effects: upper and lower cylinders and the opening and closing cylinder only symmetrical initial position and the robot cooperate to achieve the clamping part in a loading position, while the lower feed position to achieve the installation part, and not accompanied by mechanical jaws for loading and unloading cycle of rotary motion; this structure reduces the weight of the mechanical jaw loading and unloading, reduce the failure rate; the present invention the mechanical opening and closing of the jaws simple structure, reliable operation, easy to manufacture and ,low cost.

附图说明: BRIEF DESCRIPTION OF:

[0011] 图1、图2是本实用新型的局部剖视图。 [0011] FIG 1, FIG 2 is a partial cross-sectional view of the present invention. 图3为机械夹爪主视图,图4为机械夹爪剖视图。 FIG 3 is a front view of mechanical jaws, FIG. 4 is a sectional view of a mechanical gripper.

具体实施方式 Detailed ways

[0012] 下面结合附图对本实用新型的具体实施方式进行详细描述。 DRAWINGS The invention is described in detail specific embodiments [0012] below in conjunction.

[0013] 如图1〜图4所示本实用新型包括:两套上下油缸2及开合油缸3分别固定在小立柱I的左右两侧,滑杆4连接在上下油缸2上,左右对称分布的两套机械夹爪6通过导柱10连接在齿轮轴承外圈7上,齿轮轴承内圈8固定在小立柱上,旋转轨道5固定在小立柱上。 [0013] FIG. 1 ~ FIG. 4 of the present invention comprises: two sets of upper and lower cylinder 2 and the cylinder 3 is fixed to the opening and closing small pillar left and right sides, respectively, of the I, the slider 4 is connected to the cylinder 2 in the vertical, bilaterally symmetric distribution two sets of mechanical jaws 6 is connected to the bearing outer ring gear 7 through a guide post 10, bearing inner ring gear fixed to the pinion 8 column, 5 is fixed in the rotation track on a small column. 所述机械夹爪6包括:楔形块12,导向轴承16,左右对称分布的滑块13、夹爪11、模具弹簧14及弹簧导向杆15。 The mechanical jaw 6 comprises: wedge block 12, the guide bearing 16, the slider 13 symmetrically distributed around the jaws 11, the mold spring 14 and the spring guide rod 15.

[0014] 本实用新型在使用时,因左右两侧的两组机械夹爪6动作方式完全相同,两组机械夹爪6同时抓取工件,亦同时放置工件,故只以位于小立柱I右侧的机械夹爪6动作为例进行说明;图1〜图4所示均为初始位置,滑杆4的[形开口下平面与旋转轨道5的上平面等高,导向轴承16卡在滑杆4的[形开口中,机械夹爪6处于夹紧状态。 [0014] When using the present invention, because the left and right sides of the two jaws 6 mechanical operation identical manner, two sets of mechanical jaws 6 while gripping the workpiece, a workpiece is placed is also simultaneously, so as to be located only a small column I the right 6 machine side jaw operation will be described as an example; FIG. 1 ~ 4 are shown in an initial position, [4 slider shaped opening on a plane contour and a plane of rotation of the lower rail 5, the guide bearing 16 in the slider card 4 [-shaped opening, the mechanical jaws 6 in the clamped state. 工作时,开合油缸3驱动其活塞杆向下移动至与楔形块12上圆柱面接触,并继续向下移动使楔形块12迫使滑块13克服模具弹簧14弹力向左右分开,使连接在滑块13上的夹爪11同时左右分开,即机械夹爪6处于张开状态;此时上下油缸2驱动滑杆4向下移动并通过导向轴承16带动机械手夹爪6向下移动至工件位置,开合油缸3活塞杆缩回,模具弹簧14驱使滑块13向中间移动并带动夹爪11闭合,上下油缸2驱动滑杆4带动机械夹爪6升至初始位置,从而完成抓取工件动作。 In operation, the opening and closing drive cylinder piston rod 3 is moved downward onto the cylindrical surface 12 in contact with the wedge, and the wedge continues to move downwardly forcing the slider 13 against the block 12 the elastic force of the die springs 14 to separate the left and right, so that the slide is connected block 13 on the right and left jaw 11 while being spaced apart, i.e., mechanical jaws 6 in the expanded state; in this case driving the slider 4 is moved downward by the vertical cylinder guide bearing 16 and driven by the robot gripper 6 is moved down to the work position, opening and closing cylinder piston rod 3 is retracted, the spring 14 drives the slide mold 13 is moved and driven by the intermediate jaw 11 is closed, the vertical driving cylinder 4 to drive the mechanical slider jaws 6 raised to the initial position, thereby completing the operation of gripping the workpiece. 驱动装置9驱动齿轮轴承外圈8旋转,并带动机械夹爪6围绕小立柱I转动,导向轴承16移出滑杆4的[形开口并在旋转轨道5的上平面滚动,待齿轮轴承外圈8旋转180度,左右两侧机械夹爪6完成换位操作。 Driving means 9 drives the bearing outer ring gear 8 is rotated and driven by the mechanical jaw 6 rotates around the small column I, guide bearing 16 out of the slider 4 [roll-shaped opening and the plane of rotation of the rail 5, until the bearing outer ring gear 8 rotated 180 degrees, the left and right sides of the mechanical jaw 6 complete transposition operation. 此时右侧机械夹爪6中有工件,上下油缸2带动机械夹爪6向下移动至指定位置,开合油缸3动作驱使夹爪11张开,上下油缸2带动机械夹爪6复位后开合油缸3复位,从而完成将零件放置在指定位置的动作。 On the right of the mechanical jaw workpiece 6, the upper and lower jaw cylinder 2 driven machinery 6 is moved down to the designated position, the opening and closing operation of the cylinder 3 driven jaws 11 open, mechanically driven down the cylinder 2 after opening the jaws 6 Reset reset cylinder 3 together, thereby completing the part is placed in the specified location operation.

[0015] 最后说明的是,以上实施例仅用来说明本实用新型的技术方案而非限制,尽管参照较佳实施例对本实用新型进行了详细说明,但本领域的技术人员应当理解,可以对本实用新型的技术方案进行修改或者等同替换,而不脱离本发明技术方案的宗旨和范围,其均应涵盖在本发明的权利要求范围内。 [0015] Finally is noted that, the above embodiments are merely illustrative of the technical solution of the present invention and not limitation, although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will appreciate, this may technical solution invention modifications or equivalent replacements without departing from the spirit and scope of the technical solutions of the present invention, which should fall within the claimed scope of the claimed invention.

Claims (5)

1.一种新型数控滚齿机上下料机械手,其特征在于:两套上下油缸(2)及开合油缸(3)分别固定在小立柱(I)的左右两侧,滑杆(4)连接在上下油缸(2)上,左右对称分布的两套机械夹爪(6)通过导柱(10)连接在齿轮轴承外圈(7)上,齿轮轴承内圈(8)固定在小立柱上,旋转轨道固定(5)在小立柱上;所述机械夹爪(6)包括:楔形块(12),导向轴承(16),左右对称分布的滑块(13)、模具弹簧(14)及弹簧导向杆(15)。 A new CNC hobbing unloading manipulator, characterized in that: two sets of upper and lower cylinder (2) and the opening and closing cylinder (3) are fixed in a small column (I) of the right and left sides, the slider (4) is connected to the upper and lower cylinder (2), distributed symmetrically about the two sets of mechanical jaws (6) are connected through a guide post (10) in the outer gear bearing (7) on the bearing inner ring gear (8) is fixed on a small column, the rotation track fixing (5) over a small column; the mechanical jaw (6) comprising: a wedge (12), the guide bearing (16), the slider (13) symmetrically distributed around the mold spring (14) and a spring guide rod (15).
2.根据权利要求1所述一种新型数控滚齿机上下料机械手,其特征在于:上下油缸(2)及开合油缸(3)与机械夹爪(6)无固定连接。 1 according to a new NC hobbing machine of the vertical manipulator as claimed in claim, wherein: the vertical cylinder (2) and the opening and closing cylinder (3) with the mechanical jaw (6) with no fixed connection.
3.根据权利要求1所述一种新型数控滚齿机上下料机械手,其特征在于:模具弹簧(14)预压后安装在滑块(13)与弹簧导向杆(15)中间。 1 according to a new NC hobbing machine of the vertical manipulator as claimed in claim, wherein: the mold spring (14) is mounted in the middle of the preload of the slider (13) and the spring guide rod (15).
4.根据权利要求1所述一种新型数控滚齿机上下料机械手,其特征在于:导向轴承(16)为一深沟球轴承。 1 according to a new CNC hobbing vertical manipulator as claimed in claim, wherein: the guide bearing (16) is a deep groove ball bearings.
5.根据权利要求1所述一种新型数控滚齿机上下料机械手,其特征在于:楔形块(12)顶端与滑块(13)接触面为三角形。 1 according to a new CNC hobbing vertical manipulator as claimed in claim, wherein: the wedge block (12) to the top of the slider (13) the contact surface is triangular.
CN 201220445608 2012-08-26 2012-08-26 Novel feeding and baiting mechanical hand for numerically-controlled gear hobbing machine CN203045074U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102861955A (en) * 2012-08-26 2013-01-09 浙江陀曼精密机械有限公司 Feeding and discharging mechanical hand for novel numerically-controlled gear hobbing machine
CN103785978A (en) * 2014-02-20 2014-05-14 珠海格力电器股份有限公司 Base foot feeding device for base plate assembly welding production line
CN104607988A (en) * 2014-12-24 2015-05-13 宁波沃特美逊机器人科技有限公司 Mechanical arm of gear hobbing machine
CN105252331A (en) * 2015-09-30 2016-01-20 陕西法士特齿轮有限责任公司 Simple hinge type manual feeding and discharging device for shaft hobbing

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102861955A (en) * 2012-08-26 2013-01-09 浙江陀曼精密机械有限公司 Feeding and discharging mechanical hand for novel numerically-controlled gear hobbing machine
CN103785978A (en) * 2014-02-20 2014-05-14 珠海格力电器股份有限公司 Base foot feeding device for base plate assembly welding production line
CN103785978B (en) * 2014-02-20 2015-09-09 珠海格力电器股份有限公司 Chassis assembly welding line feed device footings
CN104607988A (en) * 2014-12-24 2015-05-13 宁波沃特美逊机器人科技有限公司 Mechanical arm of gear hobbing machine
CN105252331A (en) * 2015-09-30 2016-01-20 陕西法士特齿轮有限责任公司 Simple hinge type manual feeding and discharging device for shaft hobbing

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