CN205096929U - Unloading industrial robot is used to digit control machine tool and flexible automated processing unit thereof - Google Patents
Unloading industrial robot is used to digit control machine tool and flexible automated processing unit thereof Download PDFInfo
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- CN205096929U CN205096929U CN201520807224.3U CN201520807224U CN205096929U CN 205096929 U CN205096929 U CN 205096929U CN 201520807224 U CN201520807224 U CN 201520807224U CN 205096929 U CN205096929 U CN 205096929U
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- industrial robot
- machine tool
- end effector
- control machine
- digit control
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- 239000012636 effector Substances 0.000 claims abstract description 54
- 238000003754 machining Methods 0.000 claims abstract description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 20
- 210000000245 forearm Anatomy 0.000 claims description 16
- 238000005096 rolling process Methods 0.000 claims description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 238000000034 method Methods 0.000 abstract description 11
- 239000000463 material Substances 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
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Abstract
The utility model discloses an unloading industrial robot is used to digit control machine tool and flexible automated processing unit thereof goes up unloading industrial robot and includes first rotation unit, second rotation unit, translation unit and end effector, and first rotation unit drives end effector rotation back and forth in vertical plane, and the second rotates the unit and drives end effector rotation back and forth in horizontal plane, and the translation unit drives end effector and reciprocates on vertical, flexible automated processing unit includes digit control machine tool, feed bin and goes up unloading industrial robot, and digit control machine tool one side is located to the feed bin, goes up unloading industrial robot and locates feed bin one side, and the end effector through last unloading industrial robot makes a round trip to transport between feed bin and digit control machine tool with the work piece. To go up unloading industrial robot and be applied to the digit control machine tool, can form the automated processing unit, realize that circulation feed and the material that will process take out, accomplish the processing of corresponding part voluntarily, reducible manual operation, machining efficiency is higher.
Description
Technical field
The utility model relates to the automation processing technique field of Digit Control Machine Tool, particularly a kind of Digit Control Machine Tool blanking industrial robot and flexible automation machining cell thereof.
Background technology
The support technology of industrial robot as advanced manufacturing industry and the new industry of informationized society, by to produce future and social development plays a part more and more important.Along with the labour cost in China market is more and more expensive, impel the automatization level of enterprise to improve constantly, automation increasing market is wide, and the application of industrial robot is also more and more wide naturally.Along with the range in market increases, to the segmentation all the more refinement in market, in the process of Digit Control Machine Tool, the use of manipulator also gets more and more, at present conventional six-shaft industrial robot, but its device structure is complicated, complex operation, equipment cost is also high, is unfavorable for the control of part processing cost.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, the Digit Control Machine Tool blanking industrial robot providing a kind of cost lower, simple to operation.
Another object of the present utility model is to provide a kind of automation machining cell with above-mentioned Digit Control Machine Tool blanking industrial robot.
The technical solution of the utility model is: a kind of Digit Control Machine Tool blanking industrial robot, comprise the first rotating unit, the second rotating unit, translation unit and end effector, first rotating unit drives end effector to carry out back rotation in fore-and-aft plane, second rotating unit drives end effector to carry out back rotation in transverse plane, and translation unit drives end effector to move up and down in the vertical.
Described loading and unloading industrial robot also comprises pedestal and casing, and the first rotating unit is located in pedestal, and the second rotating unit and translation unit are located in casing respectively, and end effector is located at above casing.
Described first rotating unit comprises the spindle motor, the first Timing Belt assembly and the axle decelerator that connect successively, and a spindle motor and the first Timing Belt assembly are located in pedestal, and the output of an axle decelerator is connected with cabinet exterior; First rotating unit drives casing, the second rotating unit, translation unit and end effector to carry out gyration.Wherein, a spindle motor drives corresponding rotating shaft to rotate by the first Timing Belt assembly and an axle decelerator, thus drives the first rotating unit to drive casing, the second rotating unit, translation unit and end effector to carry out gyration.One axle decelerator uses RV decelerator, and the upside-down mounting of RV decelerator, namely output panel connects base, pin wheel housing connect box, input gear uses hollow-core construction, and the second rotating unit and motor lines corresponding to translation unit can enter casing by an axle decelerator, are connected to corresponding motor.This structure makes overall structure simple, the second rotating unit and motor lines length corresponding to translation unit the shortest, and do not have the problem of tangling when robot motion.
Described translation unit comprises two spindle motors, the second Timing Belt assembly and ball-screw, two spindle motors are connected with ball-screw one end by the second Timing Belt assembly, the ball-screw other end is connected with end effector, ball-screw is located in casing, and two spindle motors and the second Timing Belt assembly are located at below casing; Translation unit drives end effector to carry out upper and lower translation.Wherein, two spindle motors drive leading screw to rotate by the second Timing Belt assembly, drive end effector to move up and down by the feed screw nut on leading screw.In conjunction with rolling spline, during rectilinear movement, the ball of rolling spline inside rolls, very little with the frictional force of fixed part in casing, thus motion can be made more smooth and easy, and lubrication is also simpler, longer service life.In translation unit, its transmission adopts ball-screw-transmission, and its moving-member has one to play guiding and the sliding bearing of supporting role, overall multi-point support in the position of casing, makes stabilized structure and reliable.
Described second rotating unit comprises three spindle motors, the 3rd Timing Belt assembly, three axis speed reducer and rolling spline, three spindle motors, the 3rd Timing Belt assembly are connected successively with three axis speed reducer, three spindle motors and the 3rd Timing Belt assembly are located at below casing, three axis speed reducer is located in casing, the output of three axis speed reducer connects the spline sections of rolling spline, and the female spline portion of rolling spline is located in end effector; Second rotating unit drives end effector to carry out gyration.Wherein, three spindle motors drive three axis speed reducer input gear to rotate by the 3rd Timing Belt, and input gear motion is imported planetary gear into and driven decelerator to rotate, and decelerator output drives the forearm of whole end effector to rotate.Three axis speed reducer also uses RV decelerator, and the upside-down mounting of RV decelerator, namely the output panel of three axis speed reducer is connected and fixed end (generally, output panel Chang Zuowei output in RV decelerator, upside-down mounting herein, output panel is as stiff end), pin wheel housing connects output, input gear hollow, thus make three axis speed reducer hollow, lead screw shaft can be passed through in centre.
Described end effector comprises the first rotary cylinder, the second rotary cylinder and 2 pneumatic cleft hands, and 2 pneumatic cleft hand tops are connected with the first rotary cylinder, and the first rotary cylinder top arranges the second rotary cylinder; Wherein, the first rotary cylinder can carry out 180 ° of fixing revolutions, thus drives 2 mutual reversing of position of pneumatic cleft hand, and the second rotary cylinder equally can carry out 180 ° of fixing revolutions, thus change 2 pneumatic cleft hands towards.
Described end effector also comprises forearm and transverse arm, L-shapedly between forearm with transverse arm is connected, and forearm gos deep in casing, and is connected with the second rotating unit and translation unit, and transverse arm end is connected with the first rotary cylinder and the second rotary cylinder.
Described forearm is connected by the column of lateral opening with the junction of transverse arm, and column lateral opening is also locked by lock screw.
The utility model is a kind of with the flexible automation machining cell of above-mentioned Digit Control Machine Tool with blanking industrial robot, comprise Digit Control Machine Tool, feed bin and loading and unloading industrial robot, Digit Control Machine Tool side is located at by feed bin, feed bin side is located at by loading and unloading industrial robot, transported back and forth between feed bin and Digit Control Machine Tool by workpiece by the end effector of loading and unloading industrial robot.Under the control of electric cabinet, by the operation of loading and unloading industrial robot, its end effector, back and forth between feed bin and Digit Control Machine Tool, realizes feeding cycle and is taken out by the material processed, automatically completing the processing of corresponding part (being typically axle class, disk-like accessory most).
As a kind of preferred version, the quantity of described Digit Control Machine Tool is 1 or 2.
The utility model, relative to prior art, has following beneficial effect:
This Digit Control Machine Tool with blanking industrial robot compared with traditional six-shaft industrial robot, three axis servomotors of robot are respectively by three independently Serve Motor Control, its structure is simplified, simple to operation, take up room little, cost of manufacture is also low, has higher practical value and good application prospect.
By this Digit Control Machine Tool with blanking industry robot application on Digit Control Machine Tool, in conjunction with feed bin, automation machining cell can be formed, realize feeding cycle and the material processed is taken out, automatically the processing of corresponding part (being typically axle class, disk-like accessory most) is completed, can reduce manual operation, working (machining) efficiency is higher.
Accompanying drawing explanation
Fig. 1 is the principle schematic of this Digit Control Machine Tool blanking industrial robot.
Fig. 2 is the structural representation of this Digit Control Machine Tool blanking industrial robot.
Fig. 3 is the A direction view of Fig. 2.
Fig. 4 is the structural representation of automation machining cell.
Detailed description of the invention
Below in conjunction with embodiment, the utility model is described in further detail, but embodiment of the present utility model is not limited thereto.
Embodiment 1
A kind of flexible automation machining cell of the present embodiment, as shown in Figure 4, comprise Digit Control Machine Tool 16, feed bin 17 and loading and unloading industrial robot 18, Digit Control Machine Tool side is located at by feed bin, feed bin side is located at by loading and unloading industrial robot, transported back and forth between feed bin and Digit Control Machine Tool by workpiece by the end effector of loading and unloading industrial robot.Under the control of electric cabinet, by the operation of loading and unloading industrial robot, its end effector, back and forth between feed bin and Digit Control Machine Tool, realizes feeding cycle and is taken out by the material processed, automatically completing the processing of corresponding part (being typically axle class, disk-like accessory most).
Wherein, loading and unloading industrial robot as shown in Figures 1 to 3, comprise the first rotating unit, the second rotating unit, translation unit, end effector, pedestal and casing, first rotating unit drives end effector to carry out back rotation in fore-and-aft plane, second rotating unit drives end effector to carry out back rotation in transverse plane, translation unit drives end effector to move up and down in the vertical, first rotating unit is located in pedestal, second rotating unit and translation unit are located in casing respectively, and end effector is located at above casing.
Wherein, the first rotating unit comprises spindle motor 15, the first Timing Belt assembly 14 and axle decelerator 13, spindle motor that connect successively and the first Timing Belt assembly is located in pedestal 1, and the output of an axle decelerator is connected with the outer wall of casing 7; First rotating unit drives casing, the second rotating unit, translation unit and end effector to carry out gyration.Wherein, a spindle motor drives corresponding rotating shaft to rotate by the first Timing Belt assembly and an axle decelerator, thus drives the first rotating unit to drive casing, the second rotating unit, translation unit and end effector to carry out gyration.One axle decelerator uses RV decelerator, and the upside-down mounting of RV decelerator, namely output panel connects base, pin wheel housing connect box, input gear uses hollow-core construction, and the second rotating unit and motor lines corresponding to translation unit can enter casing by an axle decelerator, are connected to corresponding motor.This structure makes overall structure simple, the second rotating unit and motor lines length corresponding to translation unit the shortest, and do not have the problem of tangling when robot motion.
Translation unit comprises two spindle motor 5, second Timing Belt assembly 3 and ball-screws 8, two spindle motors are connected with ball-screw one end by the second Timing Belt assembly, the ball-screw other end is connected with end effector, ball-screw is located in casing, and two spindle motors and the second Timing Belt assembly are located at below casing; Translation unit drives end effector to carry out upper and lower translation.Wherein, two spindle motors drive leading screw to rotate by the second Timing Belt assembly, drive end effector to move up and down by the feed screw nut on leading screw.In conjunction with rolling spline, during rectilinear movement, the ball of rolling spline inside rolls, very little with the frictional force of fixed part in casing, thus motion can be made more smooth and easy, and lubrication is also simpler, longer service life.In translation unit, its transmission adopts ball-screw-transmission, and its moving-member has one to play guiding and the sliding bearing of supporting role, overall multi-point support in the position of casing, makes stabilized structure and reliable.
Second rotating unit comprises three spindle motors 4, the 3rd Timing Belt assembly 2, three axis speed reducer 6 and rolling spline 9, three spindle motors, the 3rd Timing Belt assembly are connected successively with three axis speed reducer, three spindle motors and the 3rd Timing Belt assembly are located at below casing, three axis speed reducer is located in casing, the output of three axis speed reducer connects the spline sections of rolling spline, drives the forearm containing internal spline to carry out gyration; Second rotating unit drives end effector to carry out gyration.Wherein, three spindle motors drive three axis speed reducer input gear to rotate by the 3rd Timing Belt, and input gear motion is imported planetary gear into and driven decelerator to rotate, and decelerator output drives the forearm of whole end effector to rotate.Three axis speed reducer also uses RV decelerator, and the upside-down mounting of RV decelerator, namely the output panel of three axis speed reducer is connected and fixed end, and pin wheel housing connects output, input gear hollow, thus makes three axis speed reducer hollow, can pass through lead screw shaft in centre.
End effector comprises the first rotary cylinder 11, second rotary cylinder 10 and 2 pneumatic cleft hands 12,2 pneumatic cleft hand tops are connected with the first rotary cylinder, first rotary cylinder top arranges the second rotary cylinder, first rotary cylinder can carry out 180 ° of fixing revolutions, drive 2 mutual reversing of position of pneumatic cleft hand, second rotary cylinder equally can carry out 180 ° of fixing revolutions, change 2 pneumatic cleft hands towards.
End effector also comprises forearm 13 and transverse arm 14, L-shapedly between forearm with transverse arm is connected, and forearm gos deep in casing, and is connected with the second rotating unit and translation unit, and transverse arm end is connected with the first rotary cylinder and the second rotary cylinder.
As shown in Figure 2 or Figure 3, forearm is connected by the column 15 of lateral opening with the junction of transverse arm, and column lateral opening is also locked by lock screw.
When above-mentioned loading and unloading industrial robot uses, its principle is: the power of a spindle motor is directly sent to the power shaft of an axle decelerator by the first Timing Belt assembly, one axle decelerator output connect box, when a spindle motor rotates, drives casing and back part thereof to do gyration; Two spindle motors are contained in casing, and its power is transferred to ball-screw by the second Timing Belt assembly, when two spindle motors rotate, drive screw turns, drive feed screw nut and back part thereof to do rectilinear motion immediately; The power of three spindle motors is by the power shaft of the 3rd toothed belt transmission to decelerator, and the output of decelerator is connected with the external splines of rolling spline, and drive contains the forearm of internal spline and back part does gyration.Second rotary cylinder is that robot uses when joining two lathes, and allow cleft hand turn around to carry out operation at another a machine tool, the first rotary cylinder is the position of switching two cleft hands, makes cleft hand complete corresponding loading and unloading operation.
Embodiment 2
The present embodiment is compared with embodiment 1, its difference is: be applied to by loading and unloading industrial robot described in embodiment 1 on 2 number of units controlled machines, its loading and unloading process is: after First Digit Control Machine Tool processes part, a cleft hand of loading and unloading industrial robot is empty, another cleft hand is grabbed before a undressed part rests in lathe, machine tool door is opened, end effector stretches into inside, the part that lathe processes takes out by empty cleft hand, slightly move back a segment distance, first rotary cylinder rotates 180 °, forward the undressed part on cleft hand to installation site, load lathe, robot exits lathe, machine tool door is closed, start processing parts, the industrial robot of loading and unloading simultaneously forwards feed bin position to, put down the part that processes and take out a undressed part, then the first rotating unit half-twist of loading and unloading industrial robot, second rotary cylinder rotates 180 °, before second rotating unit of loading and unloading industrial robot turns to the second number of units controlled machine, after second number of units controlled machine processes, machine tool door is opened, end effector stretches into inside, the part that lathe processes takes out by empty cleft hand, slightly move back a segment distance, first rotary cylinder rotates 180 °, forward the undressed part on cleft hand to installation site, load lathe, end effector exits lathe, machine tool door is closed, start processing parts, the industrial robot of loading and unloading simultaneously forwards feed bin position to, put down the part that processes and take out a undressed part, loading and unloading industrial robot moves holding fix, wait for that First Digit Control Machine Tool processes part to start next work cycle.
As mentioned above, just can realize the utility model preferably, above-described embodiment is only preferred embodiment of the present utility model, is not used for limiting practical range of the present utility model; Namely all equalizations done according to the utility model content change and modify, all by the utility model claim scope required for protection is contained.
Claims (10)
1. a Digit Control Machine Tool blanking industrial robot, it is characterized in that, comprise the first rotating unit, the second rotating unit, translation unit and end effector, first rotating unit drives end effector to carry out back rotation in fore-and-aft plane, second rotating unit drives end effector to carry out back rotation in transverse plane, and translation unit drives end effector to move up and down in the vertical.
2. a kind of Digit Control Machine Tool blanking industrial robot according to claim 1, it is characterized in that, described loading and unloading industrial robot also comprises pedestal and casing, first rotating unit is located in pedestal, second rotating unit and translation unit are located in casing respectively, and end effector is located at above casing.
3. a kind of Digit Control Machine Tool blanking industrial robot according to claim 2, it is characterized in that, described first rotating unit comprises the spindle motor, the first Timing Belt assembly and the axle decelerator that connect successively, one spindle motor and the first Timing Belt assembly are located in pedestal, and the output of an axle decelerator is connected with cabinet exterior; First rotating unit drives casing, the second rotating unit, translation unit and end effector to carry out gyration.
4. a kind of Digit Control Machine Tool blanking industrial robot according to claim 2, it is characterized in that, described translation unit comprises two spindle motors, the second Timing Belt assembly and ball-screw, two spindle motors are connected with ball-screw one end by the second Timing Belt assembly, the ball-screw other end is connected with end effector, ball-screw is located in casing, and two spindle motors and the second Timing Belt assembly are located at below casing; Translation unit drives end effector to carry out upper and lower translation.
5. a kind of Digit Control Machine Tool blanking industrial robot according to claim 2, it is characterized in that, described second rotating unit comprises three spindle motors, the 3rd Timing Belt assembly, three axis speed reducer and rolling spline, three spindle motors, the 3rd Timing Belt assembly are connected successively with three axis speed reducer, three spindle motors and the 3rd Timing Belt assembly are located at below casing, three axis speed reducer is located in casing, the output of three axis speed reducer connects the spline sections of rolling spline, and the female spline portion of rolling spline is located in end effector; Second rotating unit drives end effector to carry out gyration.
6. a kind of Digit Control Machine Tool blanking industrial robot according to claim 2, it is characterized in that, described end effector comprises the first rotary cylinder, the second rotary cylinder and 2 pneumatic cleft hands, 2 pneumatic cleft hand tops are connected with the first rotary cylinder, and the first rotary cylinder top arranges the second rotary cylinder; Wherein, the first rotary cylinder carries out 180 ° of fixing revolutions, drives 2 mutual reversing of position of pneumatic cleft hand, and the second rotary cylinder carries out 180 ° of fixing revolutions, change 2 pneumatic cleft hands towards.
7. a kind of Digit Control Machine Tool blanking industrial robot according to claim 6, it is characterized in that, described end effector also comprises forearm and transverse arm; L-shapedly between forearm with transverse arm be connected; forearm gos deep in casing; and be connected with the second rotating unit and translation unit, transverse arm end is connected with the first rotary cylinder and the second rotary cylinder.
8. a kind of Digit Control Machine Tool blanking industrial robot according to claim 7, it is characterized in that, described forearm is connected by the column of lateral opening with the junction of transverse arm, and column lateral opening is also locked by lock screw.
9. with the flexible automation machining cell of Digit Control Machine Tool described in any one of claim 1 ~ 8 with blanking industrial robot, it is characterized in that, comprise Digit Control Machine Tool, feed bin and loading and unloading industrial robot, Digit Control Machine Tool side is located at by feed bin, feed bin side is located at by loading and unloading industrial robot, transported back and forth between feed bin and Digit Control Machine Tool by workpiece by the end effector of loading and unloading industrial robot.
10. flexible automation machining cell according to claim 9, is characterized in that, the quantity of described Digit Control Machine Tool is 1 or 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520807224.3U CN205096929U (en) | 2015-10-16 | 2015-10-16 | Unloading industrial robot is used to digit control machine tool and flexible automated processing unit thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520807224.3U CN205096929U (en) | 2015-10-16 | 2015-10-16 | Unloading industrial robot is used to digit control machine tool and flexible automated processing unit thereof |
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| CN205096929U true CN205096929U (en) | 2016-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520807224.3U Expired - Fee Related CN205096929U (en) | 2015-10-16 | 2015-10-16 | Unloading industrial robot is used to digit control machine tool and flexible automated processing unit thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105196104A (en) * | 2015-10-16 | 2015-12-30 | 广州数控设备有限公司 | Material loading and unloading industrial robot for numerical control machine tool and flexible automatic processing unit thereof |
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2015
- 2015-10-16 CN CN201520807224.3U patent/CN205096929U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105196104A (en) * | 2015-10-16 | 2015-12-30 | 广州数控设备有限公司 | Material loading and unloading industrial robot for numerical control machine tool and flexible automatic processing unit thereof |
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Granted publication date: 20160323 |
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| CF01 | Termination of patent right due to non-payment of annual fee |