CN205414425U - Full automatic production line of supplementary numerical control of robot - Google Patents
Full automatic production line of supplementary numerical control of robot Download PDFInfo
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- CN205414425U CN205414425U CN201620232924.9U CN201620232924U CN205414425U CN 205414425 U CN205414425 U CN 205414425U CN 201620232924 U CN201620232924 U CN 201620232924U CN 205414425 U CN205414425 U CN 205414425U
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Abstract
The utility model relates to an of the moving production line especially relates to an industrial production line that utilizes robot and numerical control device combination to use. Full automatic production line of supplementary numerical control of robot, including be used for realizing numerical control lathe work numerical control lathe, be used for right numerical control lathe realizes the automatic robot of going up the unloading, is used for storing the feed bin system that waits to process the work piece that work piece and processing finishes, the robot link firmly in numerical control lathe is last, the feed bin system link firmly in numerical control lathe is last and lie in in the centre gripping space of robot. A full automatic production line of supplementary numerical control of robot for realize full automatization digital control processing operation, the robot picks the work piece from the feed bin system and places numerical control lathe and carry out lathe work, the turning back that finishes, and the robot places the work piece in the feed bin system, realized no humanized course of working, production process safety, reliable has highly automated.
Description
Technical field
The present invention relates to a kind of automatic production line, particularly relate to a kind of industrial production line utilizing robot and numerical control device to be applied in combination.
Background technology
Mechanical hand refers to imitate staff and some holding function of arm, in order to capture, to carry object or the automatic pilot of operation instrument by fixed routine.It can replace the heavy labor of people to realize the mechanization and the automatization that produce, can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Mechanical hand is mainly made up of hand, motion and control system three parts.Hand is used to grasp the parts of workpiece (or instrument), has various structures form, such as clamp-type, holding type and absorbent-type etc. according to by the grasping shape of object, size, weight, material and job requirements.Motion, makes hand complete various rotation (swing), movement or compound motion and realizes the action of regulation, change and grasped position and the posture of object.The degree of freedom of the self-movement modes, referred to as mechanical hand such as the lifting of motion, flexible, rotation.Control system is the control of the motor by degree of freedom each to mechanical hand, completes specific action.
Existing digital control processing heavy dependence manual operation, there is the biggest noise and the action of height repetition in digital control processing so that the health of workman is caused very major injury, simultaneously serious waste human resources.
Summary of the invention
It is an object of the invention to provide a kind of robot assisted numerical-control full-automatic production line, for realizing full-automatic digital control processing operation, robot grabbing workpiece from bin system is placed on numerically controlled lathe and carries out turnery processing, and after turning, workpiece is placed in bin system by robot；Achieving the unmanned course of processing, production process is safe and reliable, has increasingly automated.
For achieving the above object, the invention discloses a kind of robot assisted numerical-control full-automatic production line, including the numerically controlled lathe for realizing numerical control workshop, for described numerically controlled lathe being realized the robot of automatization's loading and unloading, for storing the bin system of the workpiece of workpiece to be processed and completion of processing, described robot is fixed on described numerically controlled lathe, and described bin system is fixed on described numerically controlled lathe and is positioned at the grasping part of described robot；
Described robot includes: support, X-axis slide unit, Y-axis slide unit, Z axis slide unit, grasping mechanism, described support is fixed on described numerically controlled lathe, described X-axis slide unit is fixed on described support, and described Y-axis slide unit is fixed on described X-axis slide unit, and described Z axis slide unit is fixed on described Y-axis slide unit；End at described Z axis slide unit arranges described grasping mechanism；
Described X-axis slide unit and Y-axis slide unit are servo slide table；Described Z axis slide unit is Pneumatic slid platform, and the end at the piston rod of described Z axis slide unit arranges connecting plate, and be connected on described Z axis slide unit auxiliary slider, and the auxiliary that is connected on described connecting plate guide rail, described auxiliary guide rail is movably connected on described auxiliary slider；
Described grasping mechanism includes: rotary cylinder, mechanical hand, substrate, and the cylinder block of described rotary cylinder is fixed on described connecting plate, and the output shaft of described rotary cylinder is connected described substrate；Be connected described mechanical hand on the substrate, and described mechanical hand includes: mechanical hand, No. two mechanical hands, a described mechanical hand, No. two mechanical hands are in being arranged side by side；
Described bin system, including: support, servomotor, rotating disk, cylinder, guide rail, slide block, slide plate, feeding machanism, described rotating disk is movably connected on described support, and the output shaft of described servomotor is connected to described rotating disk；Described slide block is fixed on described support, and described guide rail is movably connected on described slide block, and described slide plate is fixed on described guide rail, and described cylinder is fixed on described support, and the end of the piston rod of described cylinder is fixed on described slide plate；Be connected on described rotating disk described feeding machanism, and described feeding machanism is distributed on described rotating disk；
Described feeding machanism includes: push pedal, bridging axle, guide rod, is perpendicular to described rotating disk for installing the described bridging axle of workpiece, and described guide rod is perpendicular to described rotating disk, and described push pedal is movably connected on described bridging axle, guide rod；Described bridging axle, guide rod, guide rail, the central axis of numerically controlled lathe upper chuck, four are parallel to each other and in horizontally disposed.
Preferably, be connected on described Z axis slide unit sensing chip, and be connected lift cylinder on the bracket, and the end at the piston rod of described lift cylinder is connected the sensor of the information for gathering sensing chip.
Preferably, the centerline axis parallel of the chuck of described X-axis slide unit and described numerically controlled lathe, described X-axis slide unit is perpendicular to described Y-axis slide unit, and described Y-axis slide unit is perpendicular to described Z axis slide unit.
Preferably, a described mechanical hand, the type of No. two mechanical hands are three-pawl type pneumatic-finger.
Preferably, the type of described rotary cylinder is 180 degree of rotary cylinders.
Preferably, described guide rail is line slideway.
Preferably, a part of structure of described push pedal protrudes from described rotating disk, and described slide plate can be contacted with described push pedal.
Preferably, the model of described cylinder is mini cylinder, and cylinder diameter is less than 20 millimeters.
Preferably, described feeding machanism is distributed on described rotating disk, and the quantity of described feeding machanism is three to six.
Preferably, the end connection reducer of described servomotor, the output shaft of described decelerator connects described rotating disk, and the speed ratio of described decelerator is 50, and described decelerator model is harmonic gear reducer.
Comparing with conventional art, robot assisted numerical-control full-automatic production line of the present invention has following positive role and a beneficial effect:
Rotate described rotary cylinder, make a described mechanical hand, No. two mechanical hands towards described bin system.A described robotically-driven described mechanical hand, makes a described mechanical hand arrive the end of described feeding machanism, and the described workpiece hung on described bridging axle is transferred on a described mechanical hand by described feeding system.Then, described rotary cylinder does 180 degree of rotations, makes a described mechanical hand towards described chuck.Described robotically-driven described No. two mechanical hands, close to described chuck, make the workpiece that turning is good enter in described No. two mechanical hands, and the workpiece that turning is good clamped by described No. two mechanical hands, and described chuck unclamps.Then, a described robotically-driven described mechanical hand, close to described chuck, makes described workpiece enter described chuck, and workpiece is stated in described gripper chuck residence, and a described mechanical hand leaves described chuck.Then, described robotically-driven described grasping mechanism leaves described chuck, moves towards described feeding system.Then, described rotary cylinder does 180 degree of rotations, described robotically-driven described No. two mechanical hands, makes described No. two mechanical hands arrive the end of described feeding machanism, is positioned on described bridging axle by the workpiece that turning is good.
The most described robotically-driven described sensing chip moves to described sensor position, the piston rod of described Z axis slide unit is in retracted mode, described grasping mechanism rises, described lift cylinder drives described sensor to decline, make described sensor acquisition to described sensing chip, then, described numerically controlled lathe starts described workpiece is implemented numerical control workshop.Meanwhile, a described robotically-driven described robot movement arrives the end of described feeding machanism, catches described workpiece, and described robot remains stationary as, until described numerically controlled lathe completes the turnery processing to described workpiece, starts the cycle period of a new round.
It follows that describe work process and the operation principle of robot in detail:
Being provided with a described mechanical hand, No. two mechanical hands on described grasping mechanism, a described mechanical hand is used for capturing described workpiece, and described No. two mechanical hands are for capturing the workpiece that turning is good.Described No. two mechanical hands are for taking down the workpiece that turning is good from described chuck, and a described mechanical hand is for providing described workpiece on described chuck；Described No. two mechanical hands are for placing the workpiece that turning is good on described feeding machanism, and a described mechanical hand is for capturing described workpiece from described feeding machanism.A described mechanical hand, No. two mechanical hands with the use of, the process of loading and unloading can be made more efficiently.
Described rotary cylinder is used for driving described mechanical hand to carry out 180 degree of rotations.When described mechanical hand needs to described chuck loading and unloading, described mechanical hand is towards described chuck；When described mechanical hand needs to described feeding machanism loading and unloading, described mechanical hand is towards described feeding machanism.
When described mechanical hand carries out operation of feeding and discharging from described feeding machanism, described sensing chip and described sensor match, it is ensured that after described grasping mechanism is away from described chuck, then carry out numerical control workshop, it can be ensured that the safety of numerical control turning is carried out.After described sensor acquisition to described sensing chip, then carry out numerical control workshop, chuck and described grasping mechanism can be avoided to collide.
It follows that describe work process and the operation principle of bin system in detail:
Described slide block is fixed on described support, and described guide rail is movably connected on described slide block, and described slide plate is fixed on described guide rail, and described cylinder is fixed on described support, and the end of the piston rod of described cylinder is fixed on described slide plate.Slide plate described in described air cylinder driven carries out linear slide under the guiding of described guide rail.
Described rotating disk is movably connected on described support, and the output shaft of described servomotor is connected to described rotating disk；Be connected on described rotating disk described feeding machanism, and described feeding machanism is distributed on described rotating disk.Described workpiece suspension is on described bridging axle, and described push pedal is movably connected on described bridging axle, guide rod, and described push pedal is for promoting described workpiece to move towards the direction away from described rotating disk, and described bridging axle, guide rod, guide rail, three is parallel to each other and in horizontally disposed.When described push pedal does not promote described workpiece motion s, owing to described workpiece is positioned on horizontally disposed described bridging axle, the motion of described workpiece can be prevented effectively from.Rotating disk described in described driven by servomotor rotates, and makes the described push pedal on described feeding machanism mate described slide plate respectively.
When feeding machanism described in the most a certain group mates described slide plate, described slide plate contacts described push pedal, and described slide plate can make the described workpiece hung on the described feeding machanism of this group be transferred to one by one on described mechanical hand.During beginning, described cylinder is in unloaded state, described slide plate to described push pedal without thrust.
Described finger is in open configuration, and then, described mechanical hand is close to described workpiece, and described in described air cylinder driven, slide plate moves to the direction at described mechanical hand place.Described slide plate promotes described push pedal, and described push pedal promotes mechanical hand described in described absorption surface.Described workpiece is under the promotion of described cylinder, and contact is to finger bottom surface.Then, described finger Guan Bi, it is achieved the effective crawl to described workpiece.Then, described cylinder is in unloaded state, and described push pedal is to described workpiece without thrust, and described workpiece remains static.Then, described gripper of manipulator leaves described feeding machanism after getting described workpiece.Described cylinder serves dual function in this process: one is, promotes described workpiece away from described rotating disk, makes described mechanical hand can one by one grab described workpiece；Two are, the stage of described workpiece is captured at described mechanical hand, described cylinder to described workpiece to described mechanical hand direction implement thrust, make described workpiece can be close to described finger bottom surface, realize the mechanical hand firm crawl to described workpiece, described workpiece is positioned in described finger with highly consistent attitude, it is ensured that capture the high accuracy of process, high reliability every time.
After feeding machanism described in a group completes feed, piston rod described in described air cylinder driven is retracted, and rotating disk described in described driven by servomotor turns over certain angle, makes next organize described feeding machanism and mates described slide plate.
The end connection reducer of described servomotor, the output shaft of described decelerator connects described rotating disk, and the speed ratio of described decelerator is 50, and described decelerator model is harmonic gear reducer.After adding described decelerator, described rotating disk can obtain the most powerful driving force, and rotating effect is more preferable, and rigidity is more preferable.
The model of described cylinder is mini cylinder, and cylinder diameter is less than 20 millimeters.Choose the described cylinder of minor diameter, the thrust to described mechanical hand can be reduced.
By description below and combine accompanying drawing, bin system of the present invention will become more fully apparent, and these accompanying drawings are used for explaining embodiments of the invention.
Accompanying drawing explanation
Fig. 1 is the structural representation of robot assisted numerical-control full-automatic production line of the present invention；
Fig. 2,3,4 are the structural representation of the robot of robot assisted numerical-control full-automatic production line of the present invention；
Fig. 5,6 it is the structural representation of bin system of robot assisted numerical-control full-automatic production line of the present invention；
Fig. 7,8 be robot assisted numerical-control full-automatic production line of the present invention mechanical hand capture workpiece fabrication schematic diagram.
1 support, 2 servomotors, 3 rotating disks, 4 cylinders, 5 guide rails, 6 push pedals, 7 bridging axles, 8 guide rods, 9 workpiece, 10 slide blocks, 11 slide plates, 12 piston rods, 13 mechanical hands, 14 finger bottom surfaces, 15 handss refer to, 16 numerically controlled lathes, 17 chucks, 18 robots, 19 bin systems, 20X axle slide unit, 21Y axle slide unit, 22Z axle slide unit, 23 grasping mechanisms, 24 connecting plates, 25 rotary cylinders, No. 26 mechanical hands, 27 No. two mechanical hands, 28 sensing chips, 29 sensors, 30 lift cylinders, 31 auxiliary sliders, 32 auxiliary guide rails, 33 substrates.
Detailed description of the invention
With reference now to accompanying drawing, describing embodiments of the invention, element numbers similar in accompanying drawing represents similar element.As mentioned above, the invention provides a kind of robot assisted numerical-control full-automatic production line, for realizing full-automatic unmannedization numerical control turning operation, robot captures the workpiece of non-turning from bin system and realizes numerical control turning on numerically controlled lathe, is then put in bin system by workpiece complete for turning.
Fig. 1 is the structural representation of robot assisted numerical-control full-automatic production line of the present invention, Fig. 2,3,4 are the structural representation of the robot of robot assisted numerical-control full-automatic production line of the present invention, Fig. 5,6 it is the structural representation of bin system of robot assisted numerical-control full-automatic production line of the present invention, Fig. 7,8 is the schematic diagram that the mechanical hand of robot assisted numerical-control full-automatic production line of the present invention captures workpiece fabrication.
The invention provides a kind of robot assisted numerical-control full-automatic production line, including the numerically controlled lathe 16 for realizing numerical control workshop, for described numerically controlled lathe 16 being realized the robot of automatization's loading and unloading, for storing the bin system of the workpiece of workpiece to be processed and completion of processing, described robot is fixed on described numerically controlled lathe 16, and described bin system is fixed on described numerically controlled lathe 16 and is positioned at the grasping part of described robot；
Described robot includes: support 1, X-axis slide unit 20, Y-axis slide unit 21, Z axis slide unit 22, grasping mechanism 23, described support 1 is fixed on described numerically controlled lathe 16, described X-axis slide unit 20 is fixed on described support 1, described Y-axis slide unit 21 is fixed on described X-axis slide unit 20, and described Z axis slide unit 22 is fixed on described Y-axis slide unit 21；End at described Z axis slide unit 22 arranges described grasping mechanism 23；
Described X-axis slide unit 20 and Y-axis slide unit 21 are servo slide table；Described Z axis slide unit 22 is Pneumatic slid platform, end at the piston rod of described Z axis slide unit 22 arranges connecting plate 24, be connected on described Z axis slide unit 22 auxiliary slider 31, and the auxiliary that is connected on described connecting plate 24 guide rail 32, described auxiliary guide rail 32 is movably connected on described auxiliary slider 31；
Described grasping mechanism 23 includes: rotary cylinder 25, mechanical hand, substrate 33, and the cylinder block of described rotary cylinder 25 is fixed on described connecting plate 24, and the output shaft of described rotary cylinder 25 is connected described substrate 33；Be connected on described substrate 33 described mechanical hand, and described mechanical hand includes: 26, No. two mechanical hands 27 of a mechanical hand, 26, No. two mechanical hands 27 of a described mechanical hand are in being arranged side by side；
Described bin system, including: support 1, servomotor 2, rotating disk 3, cylinder 4, guide rail 5, slide block 10, slide plate 11, feeding machanism, described rotating disk 3 is movably connected on described support 1, and the output shaft of described servomotor 2 is connected to described rotating disk 3；Described slide block 10 is fixed on described support 1, and described guide rail 5 is movably connected on described slide block 10, and described slide plate 11 is fixed on described guide rail 5, and described cylinder 4 is fixed on described support 1, and the end of the piston rod 12 of described cylinder 4 is fixed on described slide plate 11；Be connected on described rotating disk 3 described feeding machanism, and described feeding machanism is distributed on described rotating disk 3；
Described feeding machanism includes: push pedal 6, bridging axle 7, guide rod 8, is perpendicular to described rotating disk 3 for installing the described bridging axle 7 of workpiece 9, and described guide rod 8 is perpendicular to described rotating disk 3, and described push pedal 6 is movably connected on described bridging axle 7, guide rod 8；Described bridging axle 7, guide rod 8, guide rail 5, the central axis of numerically controlled lathe 16 upper chuck 17, four are parallel to each other and in horizontally disposed.
The sensing chip 28 more specifically, be connected on described Z axis slide unit 22, be connected on described support 1 lift cylinder 30, and the end at the piston rod of described lift cylinder 30 is connected the sensor 29 of the information for gathering sensing chip 28.
More specifically, the centerline axis parallel of the chuck 17 of described X-axis slide unit 20 and described numerically controlled lathe 16, described X-axis slide unit 20 is perpendicular to described Y-axis slide unit 21, and described Y-axis slide unit 21 is perpendicular to described Z axis slide unit 22.
More specifically, the type of described 26, No. two mechanical hands 27 of a mechanical hand is three-pawl type pneumatic-finger.
More specifically, the type of described rotary cylinder 25 is 180 degree of rotary cylinders.
More specifically, described guide rail 5 is line slideway.
More specifically, a part of structure of described push pedal 6 protrudes from described rotating disk 3, described slide plate 11 can be contacted with described push pedal 6.
More specifically, the model of described cylinder 4 is mini cylinder, cylinder diameter is less than 20 millimeters.
More specifically, described feeding machanism is distributed on described rotating disk 3, the quantity of described feeding machanism is three to six.
More specifically, the end connection reducer of described servomotor 2, the output shaft of described decelerator connects described rotating disk 3, and the speed ratio of described decelerator is 50, and described decelerator model is harmonic gear reducer.
See Fig. 1 to Fig. 8, the following work process describing robot assisted numerical-control full-automatic production line of the present invention in detail and operation principle:
Rotate described rotary cylinder 25, make 26, No. two mechanical hands 27 of a described mechanical hand towards described bin system.A described robotically-driven described mechanical hand 26, makes a described mechanical hand 26 arrive the end of described feeding machanism, and the described workpiece 9 hung on described bridging axle 7 is transferred on a described mechanical hand 26 by described feeding system.Then, described rotary cylinder 25 does 180 degree of rotations, makes a described mechanical hand 26 towards described chuck 17.Described robotically-driven described No. two mechanical hands 27, close to described chuck 17, make the workpiece that turning is good enter in described No. two mechanical hands 27, and the workpiece that turning is good clamped by described No. two mechanical hands 27, and described chuck 17 unclamps.Then, a described robotically-driven described mechanical hand 26, close to described chuck 17, makes described workpiece 9 enter described chuck 17, and described workpiece 9 clamped by described chuck 17, and a described mechanical hand 26 leaves described chuck 17.Then, described robotically-driven described grasping mechanism 23 leaves described chuck 17, moves towards described feeding system.Then, described rotary cylinder 25 does 180 degree of rotations, described robotically-driven described No. two mechanical hands 27, makes described No. two mechanical hands 27 arrive the end of described feeding machanism, is positioned on described bridging axle 7 by the workpiece that turning is good.
The most described robotically-driven described sensing chip 28 moves to described sensor 29 position, the piston rod of described Z axis slide unit 22 is in retracted mode, described grasping mechanism 23 rises, described lift cylinder 30 drives described sensor 29 to decline, described sensor 29 is made to collect described sensing chip 28, then, described numerically controlled lathe 16 starts described workpiece 9 is implemented numerical control workshop.Meanwhile, a described robotically-driven described mechanical hand 26 motion arrives the end of described feeding machanism, catches described workpiece 9, and described robot remains stationary as, until described numerically controlled lathe 16 completes the turnery processing to described workpiece 9, starts the cycle period of a new round.
It follows that describe work process and the operation principle of robot in detail:
Being provided with 26, No. two mechanical hands 27 of a described mechanical hand on described grasping mechanism 23, a described mechanical hand 26 is used for capturing described workpiece 9, and described No. two mechanical hands 27 are for capturing the workpiece that turning is good.Described No. two mechanical hands 27 are for taking down the workpiece that turning is good from described chuck 17, and a described mechanical hand 26 is for providing described workpiece 9 on described chuck 17；Described No. two mechanical hands 27 are for placing the workpiece that turning is good on described feeding machanism, and a described mechanical hand 26 is for capturing described workpiece 9 from described feeding machanism.26, No. two mechanical hands 27 of a described mechanical hand with the use of, the process of loading and unloading can be made more efficiently.
Described rotary cylinder 25 is used for driving described mechanical hand to carry out 180 degree of rotations.When described mechanical hand needs to described chuck 17 loading and unloading, described mechanical hand is towards described chuck；When described mechanical hand needs to described feeding machanism loading and unloading, described mechanical hand is towards described feeding machanism.
When described mechanical hand carries out operation of feeding and discharging from described feeding machanism, described sensing chip 28 and described sensor 29 match, it is ensured that after described grasping mechanism 23 is away from described chuck 17, then carry out numerical control workshop, it can be ensured that the safety of numerical control turning is carried out.After described sensor 29 collects described sensing chip 28, then carry out numerical control workshop, chuck 17 and described grasping mechanism 23 can be avoided to collide.
It follows that describe work process and the operation principle of bin system in detail:
Described slide block 10 is fixed on described support 1, and described guide rail 5 is movably connected on described slide block 10, and described slide plate 11 is fixed on described guide rail 5, and described cylinder 4 is fixed on described support 1, and the end of the piston rod 12 of described cylinder 4 is fixed on described slide plate 11.Described cylinder 4 drives described slide plate 11 to carry out linear slide under the guiding of described guide rail 5.
Described rotating disk 3 is movably connected on described support 1, and the output shaft of described servomotor 2 is connected to described rotating disk 3；Be connected on described rotating disk 3 described feeding machanism, and described feeding machanism is distributed on described rotating disk 3.Described workpiece 9 hangs on described bridging axle 7, described push pedal 6 is movably connected on described bridging axle 7, guide rod 8, described push pedal 6 is for promoting described workpiece to move towards the direction away from described rotating disk 3, and described bridging axle 7, guide rod 8, guide rail 5, three is parallel to each other and in horizontally disposed.When described push pedal 6 does not promote described workpiece 9 to move, owing to described workpiece 9 is positioned on horizontally disposed described bridging axle 7, the motion of described workpiece 9 can be prevented effectively from.Described servomotor 2 drives described rotating disk 3 to rotate, and makes the described push pedal 6 on described feeding machanism mate described slide plate 11 respectively.
When feeding machanism described in the most a certain group mates described slide plate 11, described slide plate 11 contacts described push pedal 6, and described slide plate 11 can make to hang on the described workpiece 9 on the described feeding machanism of this group and be transferred to one by one on described mechanical hand 13.During beginning, described cylinder 4 is in unloaded state, described slide plate 11 to described push pedal 6 without thrust.
Described finger 15 is in open configuration, and then, described mechanical hand 13 is close to described workpiece 9, and described cylinder 4 drives described slide plate 11 to move to the direction at described mechanical hand 13 place.Described slide plate 11 promotes described push pedal 6, described push pedal 6 to promote described workpiece 9 to contact described mechanical hand 13.Described workpiece 9 is under the promotion of described cylinder 4, and contact is to finger bottom surface 14.Then, described finger 15 closes, it is achieved the effective crawl to described workpiece 9.Then, described cylinder 4 is in unloaded state, and described push pedal 6 is to described workpiece 9 without thrust, and described workpiece 9 remains static.Then, described mechanical hand 13 leaves described feeding machanism after grabbing described workpiece 9.Described cylinder 4 serves dual function in this process: one is, promotes described workpiece 9 away from described rotating disk 3, makes described mechanical hand 13 can one by one grab described workpiece 9；Two are, the stage of described workpiece 9 is captured at described mechanical hand 13, described cylinder 4 to described workpiece 9 to described mechanical hand 13 direction implement thrust, make described workpiece 9 can be close to described finger bottom surface 14, realize the mechanical hand 13 firm crawl to described workpiece 9, described workpiece 9 is positioned in described finger 15 with highly consistent attitude, it is ensured that capture the high accuracy of process, high reliability every time.
After feeding machanism described in a group completes feed, described cylinder 4 drives described piston rod 12 to retract, and described servomotor 2 drives described rotating disk 3 to turn over certain angle, makes next organize described feeding machanism and mates described slide plate 11.
The end connection reducer of described servomotor 2, the output shaft of described decelerator connects described rotating disk 3, and the speed ratio of described decelerator is 50, and described decelerator model is harmonic gear reducer.After adding described decelerator, described rotating disk 3 can obtain the most powerful driving force, and rotating effect is more preferable, and rigidity is more preferable.
The model of described cylinder 4 is mini cylinder, and cylinder diameter is less than 20 millimeters.Choose the described cylinder 4 of minor diameter, the thrust to described mechanical hand 13 can be reduced.
Finally it is pointed out that above example is only the more representational example of the present invention.It is clear that the invention is not restricted to above-described embodiment, it is also possible to there are many deformation.Every any simple modification, equivalent variations and modification made above example according to the technical spirit of the present invention, is all considered as belonging to protection scope of the present invention.
Claims (10)
1. a bin system, it is characterized in that composition is as follows: include the numerically controlled lathe for realizing numerical control workshop, for described numerically controlled lathe being realized the robot of automatization's loading and unloading, for storing the bin system of the workpiece of workpiece to be processed and completion of processing, described robot is fixed on described numerically controlled lathe, and described bin system is fixed on described numerically controlled lathe and is positioned at the grasping part of described robot；
Described robot includes: support, X-axis slide unit, Y-axis slide unit, Z axis slide unit, grasping mechanism, described support is fixed on described numerically controlled lathe, described X-axis slide unit is fixed on described support, and described Y-axis slide unit is fixed on described X-axis slide unit, and described Z axis slide unit is fixed on described Y-axis slide unit；End at described Z axis slide unit arranges described grasping mechanism；
Described X-axis slide unit and Y-axis slide unit are servo slide table；Described Z axis slide unit is Pneumatic slid platform, and the end at the piston rod of described Z axis slide unit arranges connecting plate, and be connected on described Z axis slide unit auxiliary slider, and the auxiliary that is connected on described connecting plate guide rail, described auxiliary guide rail is movably connected on described auxiliary slider；
Described grasping mechanism includes: rotary cylinder, mechanical hand, substrate, and the cylinder block of described rotary cylinder is fixed on described connecting plate, and the output shaft of described rotary cylinder is connected described substrate；Be connected described mechanical hand on the substrate, and described mechanical hand includes: mechanical hand, No. two mechanical hands, a described mechanical hand, No. two mechanical hands are in being arranged side by side；
Described bin system, including: support, servomotor, rotating disk, cylinder, guide rail, slide block, slide plate, feeding machanism, described rotating disk is movably connected on described support, and the output shaft of described servomotor is connected to described rotating disk；Described slide block is fixed on described support, and described guide rail is movably connected on described slide block, and described slide plate is fixed on described guide rail, and described cylinder is fixed on described support, and the end of the piston rod of described cylinder is fixed on described slide plate；Be connected on described rotating disk described feeding machanism, and described feeding machanism is distributed on described rotating disk；
Described feeding machanism includes: push pedal, bridging axle, guide rod, is perpendicular to described rotating disk for installing the described bridging axle of workpiece, and described guide rod is perpendicular to described rotating disk, and described push pedal is movably connected on described bridging axle, guide rod；Described bridging axle, guide rod, guide rail, the central axis of numerically controlled lathe upper chuck, four are parallel to each other and in horizontally disposed.
Bin system the most according to claim 1, it is characterised in that: be connected on described Z axis slide unit sensing chip, and be connected lift cylinder on the bracket, and the end at the piston rod of described lift cylinder is connected the sensor of the information for gathering sensing chip.
Bin system the most according to claim 1, it is characterised in that: the centerline axis parallel of the chuck of described X-axis slide unit and described numerically controlled lathe, described X-axis slide unit is perpendicular to described Y-axis slide unit, and described Y-axis slide unit is perpendicular to described Z axis slide unit.
Bin system the most according to claim 1, it is characterised in that: a described mechanical hand, the type of No. two mechanical hands are three-pawl type pneumatic-finger.
Bin system the most according to claim 1, it is characterised in that: the type of described rotary cylinder is 180 degree of rotary cylinders.
Bin system the most according to claim 1, it is characterised in that: described guide rail is line slideway.
Bin system the most according to claim 1, it is characterised in that: a part of structure of described push pedal protrudes from described rotating disk, and described slide plate can be contacted with described push pedal.
Bin system the most according to claim 1, it is characterised in that: the model of described cylinder is mini cylinder, and cylinder diameter is less than 20 millimeters.
Bin system the most according to claim 1, it is characterised in that: described feeding machanism is distributed on described rotating disk, and the quantity of described feeding machanism is three to six.
Bin system the most according to claim 1, it is characterised in that: the end connection reducer of described servomotor, the output shaft of described decelerator connects described rotating disk, and the speed ratio of described decelerator is 50, and described decelerator model is harmonic gear reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620232924.9U CN205414425U (en) | 2016-03-16 | 2016-03-16 | Full automatic production line of supplementary numerical control of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620232924.9U CN205414425U (en) | 2016-03-16 | 2016-03-16 | Full automatic production line of supplementary numerical control of robot |
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| Publication Number | Publication Date |
|---|---|
| CN205414425U true CN205414425U (en) | 2016-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620232924.9U Expired - Fee Related CN205414425U (en) | 2016-03-16 | 2016-03-16 | Full automatic production line of supplementary numerical control of robot |
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| CN (1) | CN205414425U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598476A (en) * | 2016-03-16 | 2016-05-25 | 温州职业技术学院 | Robot-assisted numerical control full-automatic production line |
| CN109590795A (en) * | 2018-12-10 | 2019-04-09 | 赵华勇 | A kind of combined machine hand equipment of submersible pump impeller lathe and milling machine |
-
2016
- 2016-03-16 CN CN201620232924.9U patent/CN205414425U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598476A (en) * | 2016-03-16 | 2016-05-25 | 温州职业技术学院 | Robot-assisted numerical control full-automatic production line |
| CN109590795A (en) * | 2018-12-10 | 2019-04-09 | 赵华勇 | A kind of combined machine hand equipment of submersible pump impeller lathe and milling machine |
| CN109590795B (en) * | 2018-12-10 | 2020-06-09 | 台州市莱恩克警报器有限公司 | Combined mechanical arm equipment of submersible pump impeller lathe and milling machine |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 Termination date: 20180316 |