CN204893951U - Crossbeam formula manipulator - Google Patents

Abstract

The utility model provides a beam type manipulator, which belongs to the technical field of machine tool components. The utility model solves the problem that the structure of the existing beam type manipulator is relatively complicated and it is inconvenient to realize the rotation of the workpiece before conveying. The beam-type manipulator includes a column and a beam. The beam is provided with a mounting plate and a driving mechanism capable of driving the mounting plate to reciprocate and translate. A mechanical arm is vertically provided on the mounting plate. The body is fixedly connected to the lower end of the mechanical arm, and the output shaft of the rotary cylinder is provided with a mechanical claw capable of clamping the workpiece. The beam type manipulator has the advantages of simple structure and the ability to rotate the workpiece and then transport it.

Description

Beam Manipulator

technical field

The utility model belongs to the technical field of machine tool components, and relates to a manipulator, in particular to a beam-type manipulator.

Background technique

With the rapid development of the manufacturing industry, the manufacturing industry is changing from the traditional labor-intensive production mode to continuously improving the ability to manufacture tools and improving the automation level of equipment. As a result, industrial robots used to replace humans to complete various boring, complicated, heavy, dangerous, simple or complex tasks will become an indispensable and important tool for the automation and modernization of the manufacturing industry.

The emergence of CNC machine tools has become an epoch-making event in the history of the world's machinery industry, which has promoted the development of automation and is a milestone in modern industry. CNC machine tools have the advantages of strong adaptability to the modification of the processing object, high processing accuracy, low production efficiency, high degree of automation, and the modernization of production management. They have been widely used in modern manufacturing industries, improving product quality, and enhancing Improve the competitiveness of enterprises and bring good economic benefits. At the same time, high-quality operators are required, so the labor cost of the enterprise also increases accordingly. How to improve the processing capacity of CNC machine tools more effectively and reduce the labor resources occupied by CNC machine tools has become a goal of the development of the manufacturing industry. In order to reduce the labor intensity of workers, a manipulator is installed on the CNC machine tool to transport and install the product.

For example, a manipulator for CNC machine tools disclosed in Chinese patent literature (application number: 201410237916.9) includes a bracket, a control cabinet is installed on the bracket, a control cabinet surface is arranged on the bracket, a Y-direction propulsion mechanism is installed on the control cabinet surface, and vibration feeds The mechanism is located on the top of the control cabinet, the feeding mechanism is connected with the fixed bracket of the feeding mechanism and installed on the control counter surface, the discharge mechanism is installed on the other side of the feeding mechanism on the control cabinet surface, and the x-direction propulsion mechanism is installed between the feeding mechanism and the discharge mechanism In between, a monitor support is also provided on the above support, an oil collecting pan is installed at the discharge mechanism, a vibrating table connecting plate is installed under the vibrating feeding mechanism, and a numerical control connecting plate is provided on the outside of the support. stand. However, the structure of the manipulator is relatively complicated and it is inconvenient to realize the rotation of the workpiece and then transport it.

Contents of the invention

The purpose of the utility model is to solve the above-mentioned problems in the existing technology, and propose a beam-type manipulator with a simple structure and the ability to rotate the workpiece and then transport it.

The purpose of the utility model can be achieved through the following technical solutions: beam-type manipulator, including a column and a beam, the beam is provided with a mounting plate and a driving mechanism that can drive the mounting plate to and fro translation, it is characterized in that, The mounting plate is vertically provided with a mechanical arm, and the lower end of the mechanical arm is provided with a rotary cylinder, and the cylinder body of the rotary cylinder is fixedly connected to the lower end of the mechanical arm, and the output of the rotary cylinder is The shaft is equipped with mechanical claws capable of clamping workpieces.

The beam-type manipulator is arranged on one side of the machine tool, the beam is arranged on the bed, and the lower side of the robot arm is provided with a feeding bin for placing workpieces. When working, the workpiece on the feeding bin is grabbed by the mechanical claw, and the rotating cylinder drives the mechanical claw to rotate the corresponding position. At this time, the driving mechanism drives the mechanical arm to translate, and the workpiece on the mechanical claw is transported to the fixture of the machine tool. After the workpiece is clamped by the fixture, the mechanical claw is released. At this time, the driving mechanism drives the mechanical arm to reset to realize the next feeding. It has the advantages of simple structure and the ability to rotate the workpiece before feeding.

In the beam-type manipulator described above, the drive mechanism one is a servo motor whose casing is fixedly connected to the beam, and the screw rod one is fixed axially on the beam, and the screw rod one A screw nut is provided on it, and the said screw nut is fixedly connected with the said installation board. The servo motor 1 drives the installation plate to reciprocate and translate through the transmission of the screw rod 1 and the screw nut 1, which has the advantages of simple structure and high transmission precision.

In the beam-type manipulator described above, a guide rail 1 arranged horizontally is provided on the beam, and a slider matching the guide rail 1 is fixedly connected to the rear side of the mounting plate, and the guide rail 1 Embedded on the chute of the slider one. Through the first guide rail and the first slider, the translation of the mounting plate has a better guiding effect.

In the beam-type manipulator described above, the first driving mechanism is a hydraulic cylinder whose cylinder body is fixedly connected to the beam, and the piston rod of the hydraulic cylinder is fixedly connected to the mounting plate. The first driving mechanism is a hydraulic cylinder, which has the advantages of simple structure and convenient installation.

In the beam-type manipulator described above, a drive mechanism 2 capable of driving the manipulator to reciprocate and lift is provided between the manipulator and the mounting plate. By setting the driving mechanism 2 to drive the mechanical arm to do the reciprocating lifting motion, the advantage of the manipulator is that it is convenient to grab the workpiece.

In the above beam type manipulator, the second driving mechanism is the second servo motor whose casing is fixedly connected to the mounting plate, and the screw rod 2 is fixed axially on the mounting plate, and the screw rod 2 is fixed on the mounting plate axially. A screw nut 2 is arranged on the rod 2 and the screw nut 2 is fixedly connected with the mechanical arm.

In the above-mentioned beam type manipulator, the output shaft of the rotary cylinder is fixedly connected with a mounting block, and the mounting block is provided with two mechanical claws, and the two mechanical claws are arranged vertically.

Compared with the prior art, this beam type manipulator has the following advantages:

1. Grab the workpiece on the feeding bin through the mechanical claw frame, and the rotating cylinder drives the mechanical claw to rotate the corresponding position. At this time, the driving mechanism drives the mechanical arm to translate and transport the workpiece on the mechanical claw to the fixture of the machine tool. It has a simple structure And the advantage of being able to rotate the workpiece before feeding it;

2. The servo motor 1 drives the mounting plate to reciprocate and translate through the transmission of the screw rod 1 and the screw nut 1, which has the advantages of simple structure and high transmission accuracy;

3. Through the first guide rail and the first slider, the translation of the mounting plate has a better guiding effect.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of the beam type manipulator.

Fig. 2 is a schematic front view of the beam type manipulator.

In the figure, 1. Column; 2. Beam; 3. Mounting plate; 4. Drive mechanism 1; 4a, servo motor 1; 4b, screw rod 1; 5. Mechanical arm; 6. Rotary cylinder; 7. Mechanical claw; 8 1. Guide rail 1; 9. Driving mechanism 2; 10. Installation block; 11. Feeding bin; 12. Bed.

Detailed ways

The following are specific embodiments of the utility model and in conjunction with the accompanying drawings, the technical solution of the utility model is further described, but the utility model is not limited to these embodiments.

As shown in Figures 1 and 2, the beam-type manipulator includes a column 1 and a beam 2. The beam 2 is provided with a mounting plate 3 and a driving mechanism 4 that can drive the mounting plate 3 to reciprocate and translate. The driving mechanism 4 is fixed to the shell. The servo motor one 4a on the beam 2 is axially fixedly connected with a screw mandrel 1 4b on the beam 2 , the screw mandrel 1 4b is provided with a screw nut 1 , and the screw nut 1 is fixedly connected with the mounting plate 3 . The servo motor 4a drives the mounting plate 3 to reciprocate and translate through the transmission of the screw rod 4b and the screw nut 1, which has the advantages of simple structure and high transmission accuracy.

As another way, the driving mechanism one 4 is a hydraulic cylinder whose cylinder body is fixedly connected to the beam 2, and the piston rod of the hydraulic cylinder is fixedly connected to the mounting plate 3, which has the advantages of simple structure and convenient installation. .

The crossbeam 2 is provided with a guide rail one 8 arranged horizontally, and the rear side of the mounting plate 3 is fixedly connected with a slide block one matched with the guide rail one 8, and the guide rail one 8 is embedded in the chute of the slide block one. Through the guide rail one 8 and the slider one, the translation of the mounting plate 3 has a better guiding effect.

The mounting plate 3 is vertically provided with a mechanical arm 5, and between the mechanical arm 5 and the mounting plate 3 is provided with a drive mechanism 2 that can drive the mechanical arm 5 for reciprocating lifting. The drive mechanism 2 9 is the servo motor 2 whose housing is fixedly connected to the mounting plate 3. The screw rod 2 is fixedly connected to the mounting plate 3 in the axial direction. Fixed connection.

The lower end of the mechanical arm 5 is provided with a rotary cylinder 6, the cylinder body of the rotary cylinder 6 is fixedly connected to the lower end of the mechanical arm 5, and the output shaft of the rotary cylinder 6 is fixedly connected with a mounting block 10, and the mounting block 10 is provided with two mechanical claws 7 and two mechanical claws 7 are vertically arranged.

The beam type manipulator is arranged on one side of the machine tool, the beam 2 is arranged on the bed 12, and the lower side of the robot arm 5 is provided with a feeding bin 11 for placing workpieces. When working, the workpiece on the feeding bin 11 is grasped by the mechanical claw 7, the servo motor 2 drives the mechanical arm 5 to move upward through the transmission of the screw rod 2 and the screw nut 2, and the rotating cylinder 6 drives the mechanical claw 7 to rotate correspondingly At this time, the servo motor 4a drives the installation plate 3 to translate through the transmission of the screw rod 4b and the screw nut 1, and transports the workpiece on the mechanical claw 7 to the fixture of the machine tool. After the workpiece is clamped by the fixture, the mechanical claw 7 loosens. Open, now drive mechanism 1 4 and drive mechanism 2 9 drive mechanical arm 5 to reset, realize feeding next time, have the advantage that structure is simple and can realize feeding again after workpiece is rotated.

The specific embodiments described herein are only examples to illustrate the spirit of the present invention. Those skilled in the technical field to which the utility model belongs can make various modifications or supplements to the described specific embodiments or adopt similar methods to replace them, but they will not deviate from the spirit of the utility model or go beyond the appended claims defined range.

Although this article uses a lot of column 1, beam 2, mounting plate 3, driving mechanism-4, servo motor-4a, screw rod-4b, mechanical arm 5, rotating cylinder 6, mechanical claw 7, guide rail-8, driving mechanism 9. Terms such as installation block 10, feeding bin 11, bed 12, etc., but the possibility of using other terms is not excluded. These terms are only used to describe and explain the essence of the utility model more conveniently; interpreting them as any kind of additional limitation is contrary to the spirit of the utility model.

Claims (7)

1. cross beam type manipulator, comprise column (1) and crossbeam (2), described crossbeam (2) is provided with installing plate (3) and can drives the driving mechanism one (4) of described installing plate (3) alternating translational, it is characterized in that, described installing plate (3) is vertically provided with mechanical arm (5), the lower end of described mechanical arm (5) is provided with rotary cylinder (6), the cylinder body of described rotary cylinder (6) is connected in the lower end of described mechanical arm (5), the output shaft of described rotary cylinder (6) is provided with can the gripper (7) of holding workpiece.

2. cross beam type manipulator according to claim 1, it is characterized in that, described driving mechanism one (4) is the servomotor one (4a) on housing is connected in described crossbeam (2), described crossbeam (2) is upper is axially fixed with screw mandrel one (4b), and described screw mandrel one (4b) is provided with screw one and described screw one is connected mutually with described installing plate (3).

3. cross beam type manipulator according to claim 1 and 2, it is characterized in that, described crossbeam (2) is provided with horizontally disposed guide rail one (8), and the rear side of described installing plate (3) is fixed with the slide block one that matches with described guide rail one (8) and described guide rail one (8) is embedded on the chute of described slide block one.

4. cross beam type manipulator according to claim 1, it is characterized in that, described driving mechanism one (4) is the hydraulic cylinder on cylinder body is connected in described crossbeam (2), and the piston rod of described hydraulic cylinder is connected mutually with described installing plate (3).

5. the cross beam type manipulator according to claim 1 or 2 or 4, it is characterized in that, be provided with between described mechanical arm (5) and described installing plate (3) and described mechanical arm (5) can be driven to make the driving mechanism two (9) be back and forth elevated.

6. cross beam type manipulator according to claim 5, it is characterized in that, described driving mechanism two (9) is the servomotor two on housing is connected in described installing plate (3), described installing plate (3) is upper is axially fixed with screw mandrel two, and described screw mandrel two is provided with screw two and described screw two is connected mutually with described mechanical arm (5).

7. the cross beam type manipulator according to claim 1 or 2 or 4, it is characterized in that, the output shaft of described rotary cylinder (6) is fixed with mounting blocks (10), and described mounting blocks (10) is provided with two grippers (7) and two grippers (7) are vertical setting.