CN205572022U - Cantilever type manipulator and digit control machine tool - Google Patents
Cantilever type manipulator and digit control machine tool Download PDFInfo
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- CN205572022U CN205572022U CN201620284010.7U CN201620284010U CN205572022U CN 205572022 U CN205572022 U CN 205572022U CN 201620284010 U CN201620284010 U CN 201620284010U CN 205572022 U CN205572022 U CN 205572022U
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Abstract
The utility model discloses a cantilever type manipulator and digit control machine tool, the cantilever type manipulator includes: first slide rail is installed in the lathe bed of digit control machine tool, the second slide rail, swing joint in first slide rail, the cantilever, two at least pickup apparatuss that horizontal pole length direction arranged are followed to swing joint in second slide rail including a horizontal pole and on locating the horizontal pole, actuating mechanism, drive second slide rail back and forth movement on first slide rail to and drive cantilever back and forth movement on the second slide rail. The utility model provides a cantilever type manipulator, direct mount in digit control machine tool, small in size, simple structure both had been applicable to large -scale digit control machine tool, was applicable to small -size digit control machine tool again, and the unloading can quick effectual realization be gone up voluntarily to flexible movements in addition, uses the sub - device that picks up of two orientations to pick up the work piece in turn through rotation cross bar simultaneously, can save material latency to can get at every turn and put a plurality of work pieces, consequently improve production efficiency, reduce manufacturing cost.
Description
Technical field
This utility model relates to numerical control machine tool technique field, especially relates to a kind of cantilevered machine being applied to Digit Control Machine Tool
Tool hands and there is the Digit Control Machine Tool of this cantilevered mechanical hand.
Background technology
Digit Control Machine Tool is a kind of automatically processing device, has the advantages that machining accuracy is high, production efficiency is high, at machinery row
Effect in industry is more and more important.Although the working (machining) efficiency of Digit Control Machine Tool is of a relatively high, but developing rapidly along with technology, tradition
The production efficiency of Digit Control Machine Tool can not meet the demand in market.
At present, one of method improving Digit Control Machine Tool production efficiency uses mechanical hand to carry out automatic loading/unloading, on the one hand exactly
Can promote and reload speed thus improve production efficiency, on the other hand also be able to reduce cost of labor.Existing mechanical hand is ground
Rail mechanical hand, multiple stage Digit Control Machine Tool shares a floor rail type mechanical hand, and this mechanical hand needs longer track, therefore volume
Relatively big, structure is complicated, and the installing space taken is relatively big, action underaction, and is only applicable to large-size numerical control machine, and uncomfortable
For miniature numerical control lathe.
Utility model content
Main purpose of the present utility model is to provide a kind of cantilevered mechanical hand and Digit Control Machine Tool, it is desirable to provide Yi Zhongti
Long-pending small and exquisite, simple in construction, the cantilevered mechanical hand of flexible movements, to improve the production efficiency of Digit Control Machine Tool, reduce production cost.
To achieve these objectives, the utility model proposes a kind of cantilevered mechanical hand, be applied to Digit Control Machine Tool, including:
First slide rail, is installed on the lathe bed of described Digit Control Machine Tool；
Second slide rail, is movably connected on described first slide rail；
Cantilever, is movably connected on described second slide rail, including a cross bar and be located on described cross bar and along described cross bar
At least two pick device of length direction arrangement；
Drive mechanism, drives described second slide rail back and forth movement on described first slide rail, and drives described cantilever to exist
Back and forth movement on described second slide rail.
Preferably, described pick device includes the first sub-device of pickup and the second pickup son dress being respectively facing different directions
Putting, described drive mechanism also drives described cross bar to rotate, so that described first picks up sub-device and the described second sub-device of pickup
Picking up work piece in turn.
Preferably, the described first sub-device of pickup and described second picks up sub-device and is respectively facing two contrary directions.
Preferably, described pick device includes the substrate being connected to described cross bar, and described first picks up sub-device and described
The second sub-device of pickup is the sucker being connected to the relative two sides of described substrate.
Preferably, the described first sub-device of pickup and the described second sub-device of pickup include at least two sucker respectively.
Preferably, described pick device includes sucker, draws workpiece by described sucker.
Preferably, described first slide rail horizontal expansion, described second slide rail longitudinal extension.
Preferably, described drive mechanism includes servomotor, by the second slide rail described in described driven by servomotor and institute
State cantilever motion.
This utility model proposes a kind of Digit Control Machine Tool simultaneously, the digital control system including lathe bed and being installed on described lathe bed,
Material frame, workbench and cantilevered mechanical hand, described digital control system controls described cantilevered mechanical hand in described material frame and work
Workpiece is picked and placeed between station.Described cantilevered mechanical hand includes: the first slide rail, is installed on the lathe bed of described Digit Control Machine Tool；Second
Slide rail, is movably connected on described first slide rail；Cantilever, is movably connected on described second slide rail, including a cross bar and be located at institute
State at least two pick device arranged on cross bar and along described cross bar length direction；Drive mechanism, drives described second slide rail
Back and forth movement on described first slide rail, and drive described cantilever back and forth movement on described second slide rail.
A kind of cantilevered mechanical hand provided by the utility model, can be directly mounted at numerical control machine with man-to-man form
Bed, compact, reduce installing space, simple in construction, flexible movements, it is possible to realize automatic loading/unloading fast and effectively,
During automatic loading/unloading, speed is fast, and the time of reloading after tested only needs 8 seconds.And pickup of both direction is used by rotary bar
Device picking up work piece in turn, can save the material waiting time, it is achieved Continuous maching, and can pick and place multiple workpiece every time, because of
This substantially increases production efficiency, reduces production cost.The cantilevered mechanical hand of this utility model embodiment is not only suitable for greatly
Type Digit Control Machine Tool, is applicable to again miniature numerical control lathe.
Accompanying drawing explanation
Fig. 1 is the structural representation that the cantilevered mechanical hand of this utility model one embodiment is installed on Digit Control Machine Tool；
Fig. 2 is the partial structurtes schematic diagram of the cantilevered mechanical hand in Fig. 1.
In accompanying drawing:
100-lathe bed；110-material frame
120-workbench；130-workpiece
200-the first slide rail；300-the second slide rail
400-cantilever；410-pedestal
420-cross bar；421-rotary shaft
422-bearing block；423-connects seat
430-pick device；431-first picks up sub-device
432-second picks up sub-device 433-substrate
510-reductor 520-motor
The realization of this utility model purpose, functional characteristics and advantage will in conjunction with the embodiments, are described further referring to the drawings.
Detailed description of the invention
Should be appreciated that specific embodiment described herein, only in order to explain this utility model, is not used to limit this
Utility model.
Seeing Fig. 1, propose cantilevered mechanical hand one embodiment of the present utility model, described cantilevered mechanical hand is applied to number
Control lathe.As it is shown in figure 1, Digit Control Machine Tool includes lathe bed 100 and is installed on the digital control system of lathe bed 100, material frame 110 and work
Station 120, cantilevered mechanical hand is then installed on lathe bed 100, and material frame 110 is used for placing workpiece to be processed 130 and machined
Workpiece 130, digital control system controls cantilevered mechanical hand and picks and places workpiece 130 between material frame 110 and workbench 120, it may be assumed that cantilever
Workpiece to be processed 130 on formula mechanical hand pickup material frame 110 is positioned on workbench 120, after completion of processing, then picks up work
Finished work 130 on platform 120 is positioned on material frame 110, so moves in circles.
As it is shown in figure 1, cantilevered mechanical hand includes first slide rail the 200, second slide rail 300, cantilever 400 and drive mechanism.
First slide rail 200 is installed on lathe bed 100, along Digit Control Machine Tool horizontal expansion, extends to workbench 120 from material frame 110 position
Position, be positioned at the side of material frame 110 and workbench 120 it can be understood as along Digit Control Machine Tool Y-axis extend；Second slide rail 300
It is movably connected on the first slide rail 200, can be along the first slide rail 200 back and forth movement, the second slide rail 200 longitudinally prolongs along Digit Control Machine Tool
Stretch it can be understood as the Z axis of Digit Control Machine Tool extends；Cantilever 400 is movably connected on the second slide rail 300, can be along the second slide rail 300
Back and forth movement, cantilever 400 include being movably connected on the second slide rail 300 pedestal 410, be connected to pedestal 410 cross bar 420 and
At least two pick device 430 being located on cross bar 420 and arrange along cross bar 420 length direction, is picked and placeed by pick device 430
Workpiece 130 on material frame 110 and workbench 120, each pick device 430 can pick up a workpiece 130, may be used the most every time
To pick up at least two workpiece 430；Drive mechanism drives the second slide rail 300 back and forth movement on the first slide rail 200 (to move before and after i.e.
Dynamic), thus drive cantilever 400 back and forth movement between material frame 110 and workbench 120 being connected on the second slide rail 300, with
And drive cantilever 400 back and forth movement (i.e. moving up and down) on the second slide rail 300, so that the pick device 430 of cantilever 400
The workpiece 130 on material frame 110 and workbench 120 can be picked and placeed.
Digital control system drives the second slide rail 300 and cantilever according to the machine process reed time controll drive mechanism of Digit Control Machine Tool
The motion of 400, and reed time controll pick device 430 picks and places workpiece 130, it is achieved the full-automatic processing of workpiece 130.
Drive mechanism includes motor, and this motor is preferably servomotor, by driven by servomotor the second slide rail 300 with outstanding
Arm 400 moves.As drive mechanism includes two servomotors, one of them driven by servomotor second slide rail 300 is transported along Y-axis
Dynamic, the end of the first slide rail 200 can be installed on, another driven by servomotor cantilever 400 moves along Z axis, can be installed on
The end of the second slide rail 300, drives the servomotor of cantilever 400 motion to be preferably the servomotor of band band-type brake.By servo electricity
Machine drives, it is possible to achieve mechanical hand being accurately positioned in Y-axis and Z axis.
Further, pick device 430 is preferably sucked type pick device, including sucker and vacuum equipment, passes through vacuum
Air in device extraction sucker so that form vacuum between sucker and workpiece 130, thus draw workpiece 130, otherwise work as vacuum
State then discharges workpiece 130 when disappearing.
Further, as in figure 2 it is shown, in this utility model embodiment, pick device 430 includes being respectively facing different directions
The first sub-device of pickup 431 and second pick up sub-device 432, i.e. the two towards in angle theta, and 0 ＜ θ≤180 degree, this
Time, each pick device 430 can pick up two workpiece 130.Preferably, the first sub-device of pickup 431 and the second pickup
Device 432 is respectively facing two contrary directions, i.e. θ=180 degree, to avoid two works picked up on sub-device (431,432)
Part 130 interferes.Meanwhile, drive mechanism also drives cross bar 420 to rotate, so that the first sub-device of pickup 431 and the second pickup
Sub-device 432 picking up work piece 130 in turn, such as: when above cantilever 400 is positioned at workbench 120, first picks up sub-device 431
After finished work 130 on pickup workbench 120, drive mechanism drives cross bar 420 to rotate, so that second picks up sub-device
432 Alignment stages 120, are positioned over workpiece to be processed 130 on workbench 120, so that Digit Control Machine Tool can the company of realization
Continuous processing, it is not necessary to wait that mechanical hand returns material frame 110 picking up work piece 130, save the waiting time, improve working (machining) efficiency.
Drive mechanism drives cross bar 420 to rotate by motor, and this motor is preferably servomotor, to improve cross bar 420 rotation location
Precision.
As in figure 2 it is shown, in the present embodiment, pick device 430 includes the substrate 433 being connected to cross bar 420, the first pickup
It is the sucker being connected to the relative two sides of substrate 433 that device 431 picks up sub-device 432 with second, the i.e. first pickup son dress
Put 431 and second pick up sub-device 432 be respectively facing two contrary directions.Preferably, first sub-device 431 and second is picked up
Pick up sub-device 432 and include at least two sucker respectively, in the present embodiment, the first sub-device of pickup 431 and the second pickup son dress
Put 432 and include that four suckers, the two sides that i.e. substrate 433 is relative have been symmetrical arranged four pairs of suckers respectively, and along long on cross bar 420
Arranged four pick devices 430 in degree direction, can pick and place four workpiece 130 the most every time simultaneously, and working (machining) efficiency is high.
As in figure 2 it is shown, in the present embodiment, cross bar 420 includes rotary shaft 421, the bearing block 422 that comprises bearing and comprise connection
The connection seat 423 of axial organ, pick device 430 is arranged in rotary shaft 421, the bearing in rotary shaft 421, bearing block 422 and company
Shaft coupling in joint chair 423 is sequentially connected with, and the shaft coupling connected in seat 423 connects driving by the reductor 510 of drive mechanism
The motor 520 of mechanism, this motor 520 is preferably servomotor.Bearing block 422, connection seat 423, reductor 510 and motor 520
It is mounted in cantilever 400 pedestal 410, to improve safety.
The specific works flow process of the cantilevered mechanical hand of this utility model embodiment is as follows:
When using first, first cantilevered mechanical hand is positioned and the setting of initial point, the most permissible after setting
Reuse.When needs converted products, first workpiece to be processed 130 being placed on material frame 110, material frame 110 includes treating
Processing district and machined district, workpiece to be processed 130, machined district placement finished work 130 are placed in work area to be added.Start numerical control
After lathe, digital control system controls the drive mechanism of cantilevered mechanical hand and drives the second slide rail 300 and cantilever 400 sliding first respectively
Running fix is carried out so that each pick device 430 in cantilever beam 420 is directed at material on rail 200 and the second slide rail 300
A workpiece to be processed 130 on frame 110.
First during pickup workpiece to be processed 130, digital control system controls the first sub-device 4,310 of pickup of pick device 430
After taking processing workpiece 130, controlling drive mechanism rotary bar 420, the recycling sub-device 431 of the second pickup picks up standby workpiece
130。
Then, digital control system control drive mechanism drives the second slide rail 300 to transport toward workbench 120 on the first slide rail 200
Dynamic, after moving into place, control the second pickup sub-device 432 and workpiece to be processed 130 is placed on workbench 120, then control
Cantilevered mechanical hand processed returns initial point.
Workpiece to be processed 130 is processed by Digit Control Machine Tool, and after machining, digital control system controls cantilevered machinery again
Hands moves to workbench 120, utilizes the second sub-device of pickup 432 to pick up finished work 130, and rotary bar 420, by first
The workpiece to be processed 130 picking up sub-device 431 is positioned on workbench 120.
Finally, digital control system controls cantilevered mechanical hand and returns material frame 110, picks up on sub-device 432 by second
Processing workpiece 130 is positioned on material frame 110, and utilizes the work to be processed that the second sub-device of pickup 432 picks up on material frame 110
Part 130, meanwhile, the workpiece to be processed 130 on workbench 120 is processed by Digit Control Machine Tool, after machining, numerical control
System controls cantilevered mechanical hand again and moves to workbench pickup finished work 130 and place workpiece to be processed 130, so follows
Ring is reciprocal.
The cantilevered mechanical hand of this utility model embodiment, can be directly mounted at Digit Control Machine Tool, body with man-to-man form
Long-pending small and exquisite, reduce installing space, simple in construction, flexible movements, it is possible to realize automatic loading/unloading fast and effectively, on automatically
During blanking, speed is fast, and the time of reloading after tested only needs 8 seconds.And use pickup of both direction to fill by rotary bar 420
Put (431,432) picking up work piece 130 in turn, the material waiting time can be saved, it is achieved Continuous maching, and can pick and place many every time
Individual workpiece 130, therefore substantially increases production efficiency, reduces production cost.The cantilevered machinery of this utility model embodiment
Hands is not only suitable for large-size numerical control machine, is applicable to again miniature numerical control lathe.
This utility model proposes a kind of Digit Control Machine Tool simultaneously, and this Digit Control Machine Tool includes lathe bed and is installed on the numerical control of lathe bed
System, material frame, workbench and cantilevered mechanical hand, digital control system controls cantilevered mechanical hand at described material frame and workbench
Between pick and place workpiece.Cantilevered mechanical hand includes: the first slide rail, is installed on lathe bed；Second slide rail, is movably connected on described first
Slide rail；Cantilever, is movably connected on described second slide rail, including a cross bar and be located on described cross bar and along described cross bar length
At least two pick device of direction arrangement；Drive mechanism, drives described second slide rail back and forth movement on described first slide rail,
And drive described cantilever back and forth movement on described second slide rail.Cantilevered mechanical hand described in the present embodiment is this reality
With the cantilevered mechanical hand involved by novel middle above-described embodiment, do not repeat them here.
The Digit Control Machine Tool of this utility model embodiment, by installing a compact, simple in construction, the cantilever of flexible movements
Formula mechanical hand, can realize automatic loading/unloading fast and effectively by cantilevered mechanical hand, and when automatic loading/unloading, speed is fast, warp
Test time of reloading only needs 8 seconds.And use the sub-device of pickup of both direction to take turns by the cross bar of hinged cantilever formula mechanical hand
Stream picking up work piece, can save the material waiting time, it is achieved Continuous maching, and can pick and place multiple workpiece, the most every time
Improve production efficiency, reduce production cost.
It should be appreciated that these are only preferred embodiment of the present utility model, it is impossible to therefore limit of the present utility model
The scope of the claims, every equivalent structure utilizing this utility model description and accompanying drawing content to be made or equivalence flow process conversion, or directly
Connect or be indirectly used in other relevant technical fields, be the most in like manner included in scope of patent protection of the present utility model.
Claims (9)
1. a cantilevered mechanical hand, is applied to Digit Control Machine Tool, it is characterised in that including:
First slide rail (200), is installed on the lathe bed (100) of described Digit Control Machine Tool；
Second slide rail (300), is movably connected on described first slide rail (200)；
Cantilever (400), is movably connected on described second slide rail (300), including a cross bar (420) and be located at described cross bar
(420) at least two pick device (430) that is upper and that arrange along described cross bar (420) length direction；
Drive mechanism, drives described second slide rail (300) back and forth movement on described first slide rail (200), and drives described
Cantilever (400) is at the upper back and forth movement of described second slide rail (300).
Cantilevered mechanical hand the most according to claim 1, it is characterised in that described pick device includes being respectively facing difference
Sub-device (432) is picked up in the first sub-device of the pickup (431) in direction and second, and described drive mechanism also drives described cross bar
(420) rotate, so that described first picks up sub-device (431) and described second pickup sub-device (432) picking up work piece in turn
(130)。
Cantilevered mechanical hand the most according to claim 2, it is characterised in that described first picks up sub-device (431) and institute
State the sub-device of the second pickup (432) and be respectively facing two contrary directions.
Cantilevered mechanical hand the most according to claim 2, it is characterised in that described pick device includes being connected to described horizontal stroke
The substrate (433) of bar (420), described first picks up sub-device (431) and described second picks up sub-device (432) for connect respectively
Sucker in the relative two sides of described substrate (433).
Cantilevered mechanical hand the most according to claim 2, it is characterised in that described first picks up sub-device (431) and institute
State the sub-device of the second pickup (432) and include at least two sucker respectively.
Cantilevered mechanical hand the most according to claim 1, it is characterised in that described pick device (430) includes sucker is logical
Cross described sucker and draw workpiece (130).
7. according to the cantilevered mechanical hand described in any one of claim 1-6, it is characterised in that described first slide rail (200) is horizontal
To extension, described second slide rail (300) longitudinal extension.
8. according to the cantilevered mechanical hand described in any one of claim 1-6, it is characterised in that described drive mechanism includes servo
Motor, is moved by the second slide rail (300) described in described driven by servomotor and described cantilever (400).
9. a Digit Control Machine Tool, including lathe bed and be installed on the digital control system of described lathe bed, material frame and workbench, its feature
Being, also including the cantilevered mechanical hand as described in any one of claim 1-8, described digital control system controls described cantilevered machine
Tool hands picks and places workpiece between described material frame and workbench.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620284010.7U CN205572022U (en) | 2016-04-07 | 2016-04-07 | Cantilever type manipulator and digit control machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620284010.7U CN205572022U (en) | 2016-04-07 | 2016-04-07 | Cantilever type manipulator and digit control machine tool |
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| CN205572022U true CN205572022U (en) | 2016-09-14 |
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| CN201620284010.7U Active CN205572022U (en) | 2016-04-07 | 2016-04-07 | Cantilever type manipulator and digit control machine tool |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666232A (en) * | 2016-04-07 | 2016-06-15 | 深圳市创世纪机械有限公司 | Suspension type mechanical arm and numerical control machine tool |
| CN106271826A (en) * | 2016-09-21 | 2017-01-04 | 东莞市晋拓自动化科技有限公司 | The automatic loading/unloading method of a kind of CNC processing glass and industrial robot |
-
2016
- 2016-04-07 CN CN201620284010.7U patent/CN205572022U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666232A (en) * | 2016-04-07 | 2016-06-15 | 深圳市创世纪机械有限公司 | Suspension type mechanical arm and numerical control machine tool |
| CN106271826A (en) * | 2016-09-21 | 2017-01-04 | 东莞市晋拓自动化科技有限公司 | The automatic loading/unloading method of a kind of CNC processing glass and industrial robot |
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