CN205820345U - A kind of reciprocating clamping transporter - Google Patents

Abstract

The utility model discloses a kind of reciprocating clamping transporter, the servo control mechanism including frame and being arranged in frame, slip connecting gear and upset clamping device, the ball screw framework of driven by servomotor is connected with slide plate；Slide plate is arranged on rail plate, and one end of the axis of guide is connected on slide plate, and the other end is located on support seat, and upset clamping device includes the swing arm being connected with axis of guide spline and is separately fixed at the rocking arm on two axis of guides, push rod and jaw；The wedge arranged below lathe slide block is positioned at above swing arm.It efficiently solves the problem of the Stability and veracity difference of the transporter existence of prior art, and it is simple that this utility model has control, and sequential is accurate, positional precision height, and the stable feature of motor process has the highest practical value.

Description

A kind of reciprocating clamping transporter

Technical field

This utility model relates to transporter technical field, particularly relates to a kind of reciprocating clamping transporter.

Background technology

It is presently used for the sequence transporter of changing a job between same equipment difference operation, main uses belt gyration, convex Take turns the structure realizations such as reciprocating: wherein belt transmits having certain limitation in conveying work pieces, when workpiece size is bigger than normal, high The poor stability transmitted when spending higher；Cam link mechanism is used to realize the reciprocating transporter of mechanism, mechanism Structure is complicated, and service life is short, and guiding accuracy is poor, during mechanism kinematic, owing to mechanism is the structure of cam link, back and forth Motion is dependent on eccentric cam drivening rod and moves in a circle and realize reciprocal, easily causes mechanism's vibrations, the standard that impact transmits Really property and stability.Publication date is on April 22nd, 2015, and the Chinese patent literature of Publication No. CN104528285A discloses one Planting the clamping transporter for workpiece, including frame, control device and transporter, transporter includes cam mechanism, pendulum Dynamic push rod, clamping device, the middle part of swing bar is connected on cam mechanism, and the two ends of swing bar are connected to frame With on clamping device, clamping device level is slidably connected in frame, and the sidewall of clamping device is rotatably connected to travelling gear, Being additionally provided with the first tooth bar in frame, one end of clamping device is provided with the clamping part that can accommodate workpiece, and this clamping part is hinged with Pressure strip, controls device and includes that sliding panel, described sliding panel are slidably connected in frame, sliding panel is installed with the second tooth Bar, this second tooth bar engages with travelling gear, and sliding panel is hinged with shackle rod, and the other end of shackle rod is hinged with linkage Arm, this transmission arm is hinged on pressure strip.But this structure uses Cam reciprocating formula structure to realize, and the structure of mechanism is complicated, uses Life-span is short, and guiding accuracy is poor, during mechanism kinematic, owing to mechanism is the structure of cam link, moves back and forth and is dependent on partially Heart cam driven connecting rod moves in a circle and realizes back and forth, easily causes mechanism's vibrations, the Stability and veracity that impact transmits.

Utility model content

The purpose of this utility model is for solving poor the asking of Stability and veracity that the transporter of prior art exists Topic, it is provided that the clamping transporter of a kind of reciprocating, it, by the required workpiece transmitted of one group of gripper mechanism grips, passes through Reciprocator move back and forth with clamping device rotate resultant motion, complete workpiece transmission between different operations, tool Having control simple, sequential is accurate, and positional precision is high, the stable feature of motor process, can accurately by workpiece in different operations Between transmit, meet high accuracy, the production requirement of high stability, improve the quality of production largely.

The concrete technical scheme that this utility model is used for achieving the above object is, a kind of reciprocating clamping transmits dress Put, for the workpiece transmission of machine tooling, the servo control mechanism including frame and being arranged in frame, slip connecting gear and upset Clamping device, servo control mechanism includes servomotor and by the ball screw framework of driven by servomotor, ball screw framework and cunning Plate connects；Slip connecting gear includes rail plate and a pair axis of guide, and described slide plate is arranged on rail plate, the axis of guide One end is connected on slide plate, and the other end is located on support seat；Described upset clamping device is symmetrical structure, including with guide Swing arm that axle spline connects and be separately fixed at the rocking arm on two axis of guides and push rod, for fixing the jaw openings phase of workpiece It is fixed on over the ground on two push rods；Being provided with wedge below the slide block of lathe, described wedge is arranged on above swing arm；Described reciprocating Clamping transporter also includes control system, and described control system connects servo control mechanism, slip connecting gear and upset clamping machine Structure.During reciprocating clamping transporter of the present utility model work, the slide block of lathe moves up and down, and wedge moves up and down and promotes pendulum Arm swings up and down, and swing arm swings and drives the axis of guide, rocking arm and push rod to rotate, and push rod rotation drives jaw to complete open and close movement and realizes To the clamping of workpiece with unclamp.

Reciprocating its operation principle of clamping transporter of the present utility model is, when wedge follows the power source of lathe upwards Move downward after moving to set extreme higher position, after coming into contact with swing arm to setting position wedge, according to the sequential of wedge design Angle promotes switching mechanism to do flip-flop movement, and jaw is opened, after jaw is opened to certain angle, and switching mechanism stop motion, tiltedly After wedge is moved downwardly to the extreme lower position set, the power source starting to follow lathe moves upward, when wedge moves upward to one When location is put, jaw recovers level, completes the holding action to workpiece, and now, the control system of servo control mechanism sends finger Order, servomotor turns clockwise the switching mechanism promoting slide plate to drive by ball screw framework and to be attached thereto along slip Forward travel is done in guide rail direction, and propelling movement workpiece is to specifying position, when, behind the position moving to default, completing whole advance and push away Pass through journey；Subsequently, wedge continues to follow the power source of lathe and does cycle movement, when after jaw release workpiece Reversion Level, watches The control system taking mechanism sends instruction again, and servomotor is rotated through ball screw framework counterclockwise and drives slide plate and therewith The switching mechanism connected does setback along rail plate direction, when behind the position moving to default, complete whole after Move back reseting procedure, then start the motion in next cycle；And control system be mainly used in coordinating whole device motor process time Sequence is distributed, and controls each several part motion and runs according to the parameter of design.Here servomotor refers to control machine in servosystem The motor of tool element operating, servomotor can make control speed, and positional precision is very accurate, can be converted into by voltage signal Square and rotating speed are to drive control object.Servo motor rotor rotating speed is by input signal control, and energy fast reaction, is automatically controlling In system, as executive component, the angular displacement signal of telecommunication received can being converted on motor reel or angular velocity output.This Sample, this utility model has that control is simple, sequential is accurate, positional precision is high and the stable feature of motor process, solves existing The problem of the Stability and veracity difference that the transporter of technology exists, this utility model can accurately by workpiece in different works Transmit between sequence, meet high accuracy, the production requirement of high stability, improve the quality of production largely.

As preferably, ball screw framework includes a ball-screw, and one end of ball-screw is by shaft coupling and servo electricity Machine connects, and the other end of ball-screw supports seat with leading screw and is connected, and slide plate is screwed onto on ball-screw by nut.Servomotor Rotate through shaft coupling drive ball screw turns, by the convert rotational motion of motor for linear motion, drive whole transmission Device, and rely on ball screw framework to ensure the accuracy of movement position, rely on the rotating of servomotor to realize clamping device Reciprocating motion.

As preferably, being provided with the axis of guide and fix seat between the axis of guide and slide plate, the axis of guide is fixed seat and is fixed on slide plate, leads It is rotatably connected to the axis of guide to axle fix on seat.Owing to using spline to be connected between the axis of guide with swing arm, the therefore axis of guide Both can drive jaw folding with the rotation of swing arm, and complete the clamping of workpiece and unclamp；Can also with the movement of slide plate axle Drive jaw to advance to mobile or retreat, completing the transmission of workpiece.

As preferably, rail plate is two, sets up separately in frame both sides, and described slide plate is vertically arranged with rail plate, The both sides, base of slide plate are slidably disposed on the rail plate of frame both sides by slide.Rail plate is used for transporter Slide-and-guide, it is ensured that guiding accuracy, reduce the frictional resistance in motor process, the motion of ball-screw is led to by this part body The connection crossing slide plate and the axis of guide passes to overturn clamping device, drives the jaw on upset clamping device and the workpiece of clamping Do oscillating rectilinear motion together, and a motion is divided into left and right two parts, provide base for the motion of clamping about realizing Plinth；Symmetrically arranged two rail plates it is advantageously ensured that the steady of slide plate slides, improves the precision that workpiece transmits.

As preferably, rocking arm is arranged on the two ends of the axis of guide, and the two ends of push rod are fixed on rocking arm；Jaw is fixed on push rod On, its opening of jaw on two push rods is oppositely arranged.Although jaw can also be set directly on the axis of guide, but at the axis of guide On set up rocking arm and push rod, push rod arranges jaw, can avoid between jaw and/or workpiece and axis of guide supporting mechanism Conflicting in position, makes the position of jaw can need arbitrarily to adjust according to producing.Switching mechanism is led to by rocking arm with slip connecting gear Cross the axis of guide to be connected as one so that switching mechanism can also move along a straight line while flip-flop movement, it is achieved back and forth clamps Motion.

As preferably, jaw is 3 to 5 right, spaced set on push rod.Use multipair jaw that workpiece can be made multiple Transmit on station, conveniently realize the processing of multiple working procedure.Structure of the present utility model be also applied for 1-2 to jaw or 6 to more than The situation of jaw.

As preferably, being provided with bounce cylinder between swing arm and frame, the cylinder axis of bounce cylinder is hinged with swing arm, cushion gas The cylinder body of cylinder is hinged in frame.The Main Function of bounce cylinder is: during wedge contact swing arm moves downward, wedge When promoting upset clamping device to do flip-flop movement according to the sequential angle of design, for buffering generation when wedge contacts with swing arm Impulsive force, reduces the jaw on push rod and the vibrations in motor process of the clamped workpiece.

The beneficial effects of the utility model are: it efficiently solve prior art transporter exist accuracy and The problem of poor stability, this utility model by reciprocator move back and forth with clamping device rotate resultant motion, complete To workpiece transmission between different operations, having control simple, sequential is accurate, and positional precision is high, and motor process is the most special Point, can transmit workpiece between different operations accurately, meet in high precision, the production requirement of high stability, more greatly The raising quality of production of degree, has the highest practical value.

Accompanying drawing explanation

Fig. 1 is a kind of perspective view of the present utility model；

Fig. 2 is a kind of plan structure schematic diagram of the present utility model.

In figure: 1. frame, 2. servo control mechanism, 3. slip connecting gear, 4. upset clamping device, 5. control system, 6. watches Taking motor, 7. ball screw framework, 8. motor mount, 9. shaft coupling, 10. leading screw supports seat, 11. ball-screws, 12. spiral shells Mother, 13. slide plates, 14. rail plates, 15. axis of guides, 16. axis of guides fix seat, 17. jaws, 18. workpiece, 19. swing arms, and 20. Wedge, 21. rocking arms, 22. bounce cylinders, 23. push rods, 24. support seat, 25. slide blocks.

Detailed description of the invention

Below by embodiment, and combine accompanying drawing detailed description of the invention of the present utility model is made further details of theory Bright.

Embodiment 1

In the embodiment 1 shown in Fig. 1 Fig. 2, a kind of reciprocating clamping transporter, the workpiece for machine tooling passes Send, servo control mechanism 2, slip connecting gear 3 and upset clamping device 4, the servo control mechanism bag including frame 1 and being arranged in frame Including servomotor 6 and by the ball screw framework 7 of driven by servomotor, ball screw framework is connected with slide plate 13；Ball-screw Mechanism includes a ball-screw 11, and one end of ball-screw is connected with servomotor by shaft coupling 9, the other end of ball-screw Supporting seat 10 with leading screw to be connected, the middle part of slide plate is provided with nut 12, and slide plate is screwed onto on ball-screw by nut.Slide and transmit Mechanism includes rail plate 14 and a pair axis of guide 15, and rail plate is two, sets up separately in frame both sides, described slide plate and cunning Dynamic guide rail is vertically arranged, and the both sides, base of slide plate are slidably disposed on the rail plate of frame both sides by slide.Guide One end of axle is connected with slide plate, is provided with the axis of guide and fixes seat 16 between the axis of guide and slide plate, and the axis of guide is fixed seat and is fixed on slide plate On, one end of the axis of guide is rotatably connected to the axis of guide and fixes on seat, and the other end of the axis of guide is located on support seat 24 also Can slide axially on seat supporting, support seat and be arranged in frame.Described upset clamping device is relative in workpiece transmission The symmetrical structure of heart line, including the swing arm 19 being connected with axis of guide spline and be connected on the axis of guide folder for fixing workpiece 18 Pawl 17, the two ends of two axis of guides are equipped with rocking arm 21, and the rocking arm of the same axis of guide is fixed with push rod 23, and described jaw is solid Being scheduled on push rod, its opening of jaw on two push rods is oppositely arranged, and described jaw is 3 right, spaced set on push rod. Being provided with wedge 20 below the slide block 25 of lathe, described wedge is arranged on above swing arm；Described reciprocating clamping transporter also wraps Including control system 5, described control system connects servo control mechanism, slip connecting gear and upset clamping device；Reciprocating clamping passes When sending device to work, the slide block of lathe moves up and down, and wedge moves up and down and promotes swing arm to swing up and down, and swing arm swings band action-oriented Axle rotates, and axis of guide rotation drives jaw to complete open and close movement and realizes the clamping to workpiece and unclamp.

Embodiment 2

Being provided with bounce cylinder 22 between swing arm and the frame of embodiment 2, the cylinder axis of bounce cylinder is hinged with swing arm, buffering The cylinder body of cylinder is hinged in frame, and remaining is identical with embodiment 1.

This utility model shuttle clamping transporter includes frame, servo control mechanism, slip connecting gear, upset clamping Mechanism, control system.Frame is the matrix of whole device, is used for installing fixing servomotor, ball screw framework, slip transmission Mechanism；Servo control mechanism includes that servomotor, motor mount, shaft coupling, ball screw framework, leading screw support seat, servomotor The shaft coupling that rotates through drive ball screw turns, the nut of ball screw framework connects slide plate and slides along rail plate Dynamic, it is linear motion by the convert rotational motion of servomotor, drives whole transporter for linear motion, and rely on ball wire Thick stick mechanism ensures the accuracy of movement position, relies on the rotating of servomotor to realize the reciprocating motion of upset clamping device；Sliding Dynamic connecting gear includes that rail plate, slide plate, the axis of guide, the axis of guide fix seat, and rail plate is led for the slip of transporter To, it is ensured that guiding accuracy, reduce the frictional resistance in motor process, this part body by ball-screw move through slide plate and The connection of the axis of guide passes to overturn clamping device, drives the workpiece of the jaw on upset clamping device and clamping to do past together Compound linear motion, and a motion is divided into left and right two parts, provide basis for the motion of clamping about realizing；Upset folder Hold mechanism mainly by swing arm, wedge, rocking arm, bounce cylinder, push rod, jaw and support seat；Wedge is connected with the slide block of lathe, with Slide block and do upper and lower cycle movement, by the circle swing promoting swing arm to do periodic regularity that moves up and down of wedge, swing arm The drive axis of guide rotates, thus drives the rocking arm being attached thereto to do flip-flop movement together with push rod and jaw, it is achieved upset folder Holding the punctuated turning over motion of mechanism, the jaw on the upset related push rod of clamping device does periodically open and close movement, opening of jaw Share in realizing the clamping to workpiece and unclamping；Bounce cylinder Main Function is: move downward process in wedge contact swing arm In, when wedge promotes upset clamping device to do flip-flop movement according to the sequential angle of design, it is used for buffering wedge and contacts with swing arm Time the impulsive force that produces, reduce the jaw on push rod and the vibrations in motor process of the clamped workpiece；When wedge upwards Move to certain position when leaving swing arm, promote upset clamping device part to recover level, it is achieved push rod upper gripper jaw closed action, Rocking arm is for being connected as one upset clamping device by the axis of guide with slip connecting gear so that upset clamping device is turning over Can also move along a straight line while transhipment is dynamic, it is achieved reciprocal clamping movement；Control system mainly by button, CPU, chopper, Encoder, relay, proximity switch, touch screen etc. form, and are mainly used in coordinating the sequential distribution of whole motor process, control each Componental movement runs according to the parameter of design.Reciprocating clamping transporter of the present utility model controls simple, and sequential is accurate, position Putting precision high, motor process is steady, can be transmitted by workpiece accurately, meet high accuracy, Gao Wen between different operations Production requirement qualitatively, improves the quality of production largely.

Claims (8)

1. a reciprocating clamping transporter, for the workpiece transmission of machine tooling, is characterized in that, including frame (1) and set Putting the servo control mechanism (2) in frame, slip connecting gear (3) and upset clamping device (4), servo control mechanism includes servomotor (6) and by the ball screw framework (7) of driven by servomotor, ball screw framework is connected with slide plate (13)；Slip connecting gear Including rail plate (14) and a pair axis of guide (15), described slide plate is arranged on rail plate, and one end of the axis of guide is connected to On slide plate, the other end is located in support seat (24)；Described upset clamping device is symmetrical structure, including with axis of guide spline The swing arm (19) connected and the rocking arm (21) being separately fixed on two axis of guides and push rod (23), be used for fixing workpiece (18) Jaw (17) opening is relatively fixed on two push rods；Slide block (25) lower section of lathe is provided with wedge (20), and described wedge sets Put above swing arm；Described reciprocating clamping transporter also includes control system (5), and described control system connects servo Structure, slip connecting gear and upset clamping device.

Reciprocating clamping transporter the most according to claim 1, is characterized in that, ball screw framework includes a ball wire Thick stick (11), one end of ball-screw is connected with servomotor by shaft coupling (9), and the other end of ball-screw supports seat with leading screw (10) connecting, slide plate is screwed onto on ball-screw by nut (12).

Reciprocating clamping transporter the most according to claim 1, is characterized in that, be provided with guiding between the axis of guide and slide plate Axle fixes seat (16), and the axis of guide is fixed seat and is fixed on slide plate, and the axis of guide is rotatably connected to the axis of guide and fixes on seat.

Reciprocating clamping transporter the most according to claim 1, is characterized in that, rail plate is two, sets up separately at machine Frame both sides, described slide plate is vertically arranged with rail plate, and the both sides, base of slide plate are slidably disposed on frame by slide On the rail plate of both sides.

Reciprocating clamping transporter the most according to claim 1, is characterized in that, described rocking arm is arranged on the two of the axis of guide End, the two ends of push rod are fixed on rocking arm.

Reciprocating clamping transporter the most according to claim 5, is characterized in that, jaw is fixed on push rod, and two push away Its opening of jaw on bar is oppositely arranged.

Reciprocating clamping transporter the most according to claim 6, is characterized in that, described jaw is 3 to 5 right, is pushing away Spaced set on bar.

8., according to the reciprocating clamping transporter described in any one of claim 1-7, it is characterized in that, set between swing arm and frame Having bounce cylinder (22), the cylinder axis of bounce cylinder is hinged with swing arm, and the cylinder body of bounce cylinder is hinged in frame.