Utility model content
The purpose of this utility model is, provides a kind of robotic arm for automatic loading/unloading, to overcome above-mentioned technical deficiency, solves the inherent technology problem that it exists.Compare gantry structure, the robotic arm intensity of automatic loading/unloading of the present utility model is high, can capture more heavy weight workpiece, and it is shorter to capture distance, captures comparatively stable.Further, contrast other loading and unloading equipment, the robotic arm that the utility model provides is easy for installation, may be used on more lathe.
The purpose of this utility model and solve its technical problem be adopt following technical scheme realize.According to the robotic arm for automatic loading/unloading that the utility model proposes, comprise for fixing base, take-up housing, rotation assembly, material arm and the material pawl being positioned at material arm top, wherein,
Take-up housing is slidably connected to the slide rail of base, can along the slide rail linear translation being fixed on base, and the movement of take-up housing is driven by the drive unit be fixed on take-up housing;
Loading bearing is fixed on take-up housing, and rotating assembly can be secured to loading bearing by axial-rotation, and it has the swing offset of horizontal plane, and the rotation rotating assembly is driven by the drive unit be fixed thereon;
Rotate in assembly and be provided with worm and gear, worm and gear binder arm, material arm has the swing offset of vertical plane under worm and gear drives;
Material arm end has material arm top, and material arm top has the swing offset around material arm axle line, and the rotation on material arm top is driven by the drive unit being fixed on material arm roots;
Material arm top has the material pawl for loading and unloading, and material grippers has crawl and discharges two actions, and it captures and release is driven by drive unit.
Further preferred version comprises:
The above-mentioned robotic arm for automatic loading/unloading, wherein said drive unit is cylinder or motor.
The above-mentioned robotic arm for automatic loading/unloading, preferably can adopt the worm and gear that driven by servomotor is wherein said.
The above-mentioned robotic arm for automatic loading/unloading, wherein said material arm top preferably has two material pawls, and one completes feeding action, and another completes discharging action.
The above-mentioned robotic arm for automatic loading/unloading, crawl and the release movement of wherein said material pawl can be completed by mechanical mechanism, or are completed by electromagnetic mechanism.
The beneficial effects of the utility model are: when this utility model achieves the equipment such as Digit Control Machine Tool, machining center converted products, the automation of loading and unloading; The loading and unloading that can simultaneously complete, the production of multivariety product, production efficiency is high, reduces labor intensity.
Detailed description of the invention
With reference to accompanying drawing 1, robotic arm for automatic loading/unloading of the present utility model, comprise for fixing base 1, take-up housing 2, rotate assembly 4, material arm 6 and be positioned at the material pawl 9 on material arm top 8, wherein take-up housing is slidably connected to the slide rail 3 of base, can along the slide rail linear translation being fixed on base, the movement of take-up housing is driven by the cylinder be fixed on take-up housing; Loading bearing 5 is fixed on take-up housing, and rotating assembly can be secured to loading bearing by axial-rotation, and it has the swing offset of horizontal plane, and the rotation rotating assembly is driven by the cylinder be fixed thereon; Rotate in assembly and be provided with worm and gear 7, worm and gear binder arm, material arm has the swing offset of vertical plane under worm and gear drives, and turbine worm adopts driven by servomotor; Material arm end has material arm top, and material arm top has the swing offset around material arm axle line, and the rotation on material arm top is driven by the cylinder being fixed on material arm roots; Material arm top has the material pawl for loading and unloading, and material grippers has crawl and discharges two actions, and it captures and release is driven by cylinder.
Automatic loading/unloading machine arm of the present utility model has multi-direction motion, captures without dead angle, can capture direction according to production line adjustment material pawl.Be specially:
A moving displacement is the linear translation along slide rail between slide block base and base;
B moving displacement is support, at the swing offset of horizontal plane with loading bearing for rotating assembly;
C moving displacement be worm and gear drive material arm vertical plane swing offset;
D moving displacement is the swing offset of material arm top around material arm axle line
Further, ABCD moving displacement all can adjust according to actual conditions;
With reference to accompanying drawing 2, robotic arm of the present utility model is in material loading and blanking state, and material arm and material pawl are towards process line, and the material loading of production and processing line and discharge position are on the left of it.Feeding storehouse is in its front, and discharge bin in its rear.During feeding blowing, rotate assembly and screw out the outer position (B moving displacement) of lathe, after the material arm right side turn 90 degrees, 90 degree to feeding storehouse (C moving displacement) forward, and 90 degree to discharge bin (C moving displacement) backward.
Embodiment one:
Robotic arm for automatic loading/unloading of the present utility model, completes automatic loading/unloading and comprises following operation:
1, material step: material arm 6 rotates to 0 degree of feeding position, material arm top material pawl 9 captures workpiece to be processed;
2, to reload preparation: material arm is screwed into 90 degree and prepares positions, and slide block base 2 moves to along slide rail 3 and stretches out position;
3, loading and unloading step: lathe spindle stops, safety door is opened, rotate assembly 4 and horizontally rotate lathe position, material arm rotates to 180 degree and goes out material level, and slide block base is return, material arm top material pawl is by workpiece to be processed material loading, lathe spindle clamping work pieces, tighten up material pawl and unclamp workpiece to be processed, slide block base stretches out, closed safe door, lathe starts processing; Lathe process is complete, and main shaft stops, and safety door is opened, slide block base is return, unclamp material pawl, capture manufactured workpiece, lathe spindle unclamps manufactured workpiece, slide block base stretches out, unload the workpiece processed from lathe, slide block base stretches out, and material arm rotates to 90 degree and prepares position, rotate assembly and screw out the outer position of lathe
4, blowing step, slide block base is return, and material arm is screwed into 180 degree and goes out material level, unclamps material pawl and puts down the workpiece processed;
Repeat above operation 1 ~ 4.
Embodiment two:
Robotic arm for automatic loading/unloading of the present utility model, its material arm top has two material pawls, and be respectively No. 1 pawl and No. 2 pawls, No. 1 pawl completes the action of feeding material loading, and No. 2 pawls complete the action of blanking blowing.It completes automatic loading/unloading and comprises following operation:
1, material step: material arm 6 rotates to 0 degree of feeding position, material arm top is screwed into No. 1 pawl position, unclamps No. 1 pawl and captures workpiece to be processed;
2, reload preparation process: material arm is screwed into 90 degree and prepares position, and slide block base 2 moves to along slide rail 3 and stretches out position;
3, loading and unloading step: after lathe process completes, main shaft stops safety door opening, rotate assembly 4 and horizontally rotate lathe position, material arm top rotates to No. 2 pawls around material arm axle line, material arm rotates to 180 degree and goes out material level, slide block base is return, unclamp No. 2 pawls, capture manufactured workpiece, lathe spindle unclamps manufactured workpiece, slide block base stretches out, the workpiece processed is unloaded from lathe, slide block base is return, material arm top rotates to No. 1 pawl, by workpiece to be processed material loading, lathe spindle clamping work pieces, tighten up No. 1 pawl, slide block base stretches out, material arm rotates to 90 degree and prepares position, rotate assembly and screw out the outer position of lathe, closed safe door, lathe starts processing,
4, blowing step: slide block base is return, material arm is screwed into 180 degree and goes out material level, unclamps the workpiece that No. 2 pawls put down to process;
Repeat above operation 1 ~ 4.
The utility model possesses following characteristics:
1, expect that arm adopts worm and gear to drive, torque is large, and power is strong, and material arm bearing capacity is larger;
2, there is multi-direction motion, capture without dead angle, direction can be captured according to production line adjustment material pawl.
3. traditional device, put machine workpiece and capture workpiece to be processed time, production line is in rest position, and the one step feeding discharging of this patent energy, production line is made to be in coherent work, in the time of production line processing work, carry out placement completion workpiece and pickup workpiece to be processed, greatly improve production efficiency.
This utility model replaces artificial, achieves automatic charging and blanking work.By expecting the rotary loading blanking of pawl, achieving automation, alleviating labour intensity, greatly increasing production efficiency.Meanwhile, because robotic arm Stability Analysis of Structures is not yielding, intensity is high, can capture more heavy weight workpiece, and it is shorter to capture distance, captures comparatively stable.In addition, contrast other loading and unloading equipment, this machine is easy for installation, may be used on more lathe.The demand different according to client, can complete different functions on this basis, as direction adjustment, can meet the crawl of any direction and angle.Material pawl can capture for mechanical type, also can be automatically controlled magnetic absorption etc.
The above, it is only preferred embodiment of the present utility model, not any pro forma restriction is done to the utility model, although the utility model discloses as above with preferred embodiment, but and be not used to limit the utility model, any those skilled in the art, do not departing within the scope of technical solutions of the utility model, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be the content not departing from technical solutions of the utility model, according to any simple modification that technical spirit of the present utility model is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solutions of the utility model.