CN205904759U - Manipulator send feeding agencies with action around reaching from top to bottom - Google Patents

Abstract

The utility model relates to a manipulator feeding and retrieving mechanism with up and down and forward and backward movements, comprising a specific assembly of a machine tool drilling clamp, a frame, a lateral movement mechanism, a longitudinal movement mechanism and an air claw manipulator. The lateral movement mechanism includes a bottom plate, a first A linear guide rail and a translation cylinder, the longitudinal movement mechanism includes a second linear guide rail, a slide plate, a double cylinder, a lifting lug, a pin shaft, a bracket and a first connecting plate, and the air gripper manipulator is fixed on the on the mounting bracket described above. The mechanism has the advantages of simple structure, stable and reliable action, low cost and wide application value in the field of automation.

Description

A feeding and retrieving mechanism of a manipulator with up and down and forward and backward movements

technical field

The utility model belongs to the field of feeding and retrieving mechanical equipment, in particular to a feeding and retrieving mechanism of a manipulator with up and down and back and forth movements.

Background technique

At present, horizontal shaft drilling machines are widely used. In order to improve production efficiency, the technology of simultaneous processing of multiple spindles and multiple workpieces is often adopted. With the advancement of cutting tools and cooling technology, the drilling efficiency of machine tools is greatly improved. However, manual work is still generally used for loading and unloading workpieces on machine tools; this not only fails to meet the processing cycle requirements of machine tools, but also makes operators exhausted; it becomes the bottleneck of automatic processing; it is extremely incompatible with the current development direction of artificial intelligence.

Utility model content

The technical problem to be solved by the utility model is to provide a feeding and retrieving mechanism of a manipulator with up and down and forward and backward movements, which overcomes the above-mentioned defects and meets the requirements of automatic loading and unloading of horizontal multi-spindle drilling machine tools.

In order to solve the above-mentioned technical problems, the utility model provides a manipulator feeding and retrieving mechanism with up and down and forward and backward movements, including machine tool drilling clamp specific components, a frame, a lateral movement mechanism, a longitudinal movement mechanism and an air claw manipulator.

The lateral movement mechanism includes a base plate, a first linear guide rail and a translation cylinder, the base plate is arranged on the machine tool drilling clamp body assembly, the first linear guide rail is arranged above the base plate, and the first linear guide rail is arranged above the base plate. A linear guide rail includes a first slider and a first track, the first slider is fixedly connected to the base plate, the first track is fixedly connected to the frame, and the translation cylinder is fixedly connected to the base plate above, the translation cylinder drives the frame to move back and forth,

The longitudinal movement mechanism includes a second linear guide rail, a slide plate, a double cylinder, a lifting lug, a pin shaft, a bracket and a first connecting plate, the second linear guide rail is installed on one side of the frame, and the second The linear guide rail includes a second slider and a second track, the second slider is fixedly connected to the frame, the second track is fixedly connected to the slide plate, and the double cylinder has an upper piston rod and a lower piston rod, the upper piston rod is fixedly connected to the upper end of the frame through the lifting lug, the pin shaft and the bracket, and the lower piston rod is fixedly connected to the slide plate through the first connecting plate,

A mounting frame is installed on the slide plate, and the air gripper manipulator is fixed on the mounting frame through a second connecting plate.

As a preferred solution of the feeding and retrieving mechanism of the manipulator with up and down and forward and backward movements described in the utility model, the air gripper manipulator includes at least one air gripper and at least one pair of mechanical fingers.

As a preferred solution of the manipulator feeding and retrieving mechanism with up and down and forward and backward movements described in the utility model, the translation cylinder includes a cylinder body and a first piston rod, and the cylinder body is fixedly connected to the bottom plate. The first piston rod is fixedly connected to the lower end surface of the frame.

As a preferred solution of the manipulator feeding and retrieving mechanism with up and down and forward and backward movements described in the utility model, the manipulator feeding and retrieving mechanism also includes an automatic feeding table, and the automatic feeding table is arranged on the drilling clamp On one side of the specific assembly, the automatic feeding platform includes a feeding platform, a parts station and a third linear guide rail, the parts station is installed on the feeding platform, and the third part station is arranged under the feeding platform. a linear guide rail, the feeding platform moves on the third linear guide rail.

As a preferred solution of the manipulator feeding and retrieving mechanism with up and down and forward and backward movements described in the utility model, the number of the parts stations is twice the number of the drilling clamp body components.

Compared with the prior art, the utility model proposes a manipulator feeding and retrieving mechanism with up and down and forward and backward movements. This mechanism has simple structure, stable and reliable movement, low cost, and has wide application value in the field of automation.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention , for those skilled in the art, other drawings can also be obtained according to these drawings on the premise of not paying creative labor. in,

Fig. 1 is a schematic diagram of the main structure of a manipulator feeding and retrieving mechanism with up and down and forward and backward movements described in the utility model;

Fig. 2 is a partial cross-sectional structure schematic diagram of a manipulator with up and down and forward and backward movements described in the utility model;

Fig. 3 is a left view structure schematic diagram of a manipulator feeding and retrieving mechanism with up and down and back and forth movements according to the utility model.

Among them: 1 is the bottom plate, 2 is the first linear guide rail, 3 is the frame, 4 is the translation cylinder, 5 is the bracket, 6 is the pin shaft, 7 is the lifting lug, 8 is the double cylinder, 9 is the first connecting plate , 10 is the installation frame, 11 is the slide plate, 12 is the second connecting plate, 13 is the air gripper, 14 is the mechanical finger, 15 is the workpiece, 16 is the second linear guide rail, 17 is the part station, 18 is the feeding platen, 19 is the third linear guide rail, and 20 is the machine tool drilling clamp body assembly.

detailed description

A manipulator feeding and retrieving mechanism with up and down and forward and backward movements described in the utility model includes a machine tool drilling clamp assembly 20, a frame 3, a lateral movement mechanism (not shown), a longitudinal movement mechanism (not shown) ) and air gripper manipulator (not shown).

In order to make the above purpose, features and advantages of the utility model more obvious and understandable, the utility model will be further described in detail below in conjunction with specific embodiments.

First of all, "one embodiment" or "embodiment" referred to herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. "In one embodiment" appearing in different places in this specification does not all refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

Secondly, the utility model is described in detail by means of structural schematic diagrams, etc. When describing the embodiments of the utility model in detail, for the convenience of explanation, the schematic diagram showing the structure of a manipulator feeding and retrieving mechanism with up and down and forward and backward movements will not be partial according to the general scale magnification, and the schematic diagram is only an example, which should not limit the protection scope of the present utility model. In addition, the three-dimensional space of length, width and depth should be included in actual production.

Please refer to Fig. 1 to Fig. 3, Fig. 1 is a front structural schematic diagram of a manipulator feeding and retrieving mechanism with up and down and forward and backward movements described in the utility model; Partial cross-sectional structural schematic diagram of the feeding and retrieving mechanism of the manipulator that moves forward and backward; FIG. As shown in Figures 1 to 3, a manipulator feeding and retrieving mechanism with up and down and forward and backward movements described in the utility model includes a machine tool drilling clamp assembly 20, a frame 3, and a lateral movement mechanism (not shown) , a longitudinal movement mechanism (not shown) and an air claw manipulator (not shown).

The lateral movement mechanism comprises a base plate 1, a first linear guide rail 2 and a translation cylinder 4, and a base plate 1 is arranged on the machine tool drilling clamp body assembly 20, and the first linear guide rail 2 is arranged on the base plate 1, so that The first slider of the first linear guide rail 2 is fixedly connected to the bottom plate 1 , and the first track of the first linear guide rail 2 is fixedly connected to the frame 3 . The cylinder body of the translation cylinder 4 is fixedly connected on the base plate 1; the first piston rod of the translation cylinder 4 is fixedly connected with the lower end surface of the frame 3, and the movement of the piston of the translation cylinder 4 can make the frame 3 And all the parts installed on the frame 3 move back and forth.

The longitudinal movement mechanism includes a second linear guide rail 16, a slide plate 11, a double cylinder 8, a lifting lug 7, a pin shaft 6, a bracket 5 and a first connecting plate 9, and the second linear guide rail is installed on the left side of the frame 3 16 , the second slider of the second linear guide rail 16 is fixedly connected to the frame 3 , and the second track is fixedly connected to the sliding plate 11 . The upper piston rod of the double-connected cylinder 8 is fixedly connected to the upper end of the frame 3 through the lifting lug 7, the bearing pin 6 and the bracket 5; the lower piston rod of the double-connected cylinder 8 passes through the first connecting plate 9 It is fixedly connected with the slide plate 11.

A mounting frame 10 is installed on the slide plate 11, and the air claw manipulator composed of the air gripper 13 and the mechanical finger 14 is fixed on the mounting frame 10 through the second connecting plate 12, and can be installed on the mounting frame 10 as required. An air claw manipulator composed of multiple groups of air claws 13 and mechanical fingers 14.

The left side of described machine tool drilling clamp body assembly 20 is provided with automatic feeding platform (not shown), and described automatic feeding platform comprises feeding platform 18, parts station 17 and the 3rd linear guide rail 19, and described feeding platform 18 The part station 17 is equipped with, and the quantity of the part station 17 is 2 times of the quantity of the drilling clamp body assembly 20 of the machine tool. Half of the stations are used to place the parts to be processed, and the other half of the stations are used as processed parts. placement position. There is a third linear guide rail 19 under the feeding platform 18 , and the feeding platform 18 is controlled by numerical control and can move linearly along the length direction of the third linear guide rail 19 .

The principle of the above structure is: through the respective actions of the upper and lower cylinder bodies of the double-connected cylinder 8, the slide plate 11 and the air claw manipulator installed on the slide plate 11 can stay at the uppermost standby position, the middle processing fixture position or The bottom part placement position. Through the piston movement of the translation cylinder 4, the air claw manipulator installed on the slide plate 11 can move back and forth with the frame 3, and can grab the workpiece 15 from the hole of the machine tool drilling clamp body assembly 20 and move it to the Directly above the parts station 17 of the automatic feeding platform.

The specific action sequence of grabbing material is as follows:

The upper cylinder body of the double-connected cylinder 8 moves down, and the air claw manipulator for grabbing materials moves down, the air claw 13 opens and opens the mechanical finger 14 and reaches the position of the processed workpiece 15, and the air claw 13 retracts The workpiece 15 is clamped with the mechanical fingers 14, the machine tool drilling clamp assembly 20 releases the workpiece 15, the piston of the translation cylinder 4 moves forward, and the air claw manipulator composed of the frame 3, the air claws 13 and the mechanical fingers 14 is driven to move forward. , move the workpiece 15 to the top of the part station 17; the lower piston rod of the double cylinder 8 moves down, the slide plate 11 and the air claw manipulator installed on the slide plate 11 put the workpiece 15 on the parts for placing the workpiece On the station 17, the air claw 13 releases the mechanical finger 15; the workpiece 15 is put down, and at this time, the lower piston rod of the double cylinder 8 moves up, and the air claw manipulator rises to the middle position.

Subsequently, the automatic feeding table moves to make the center of the mechanical finger 14 align with the part to be processed on the part station 17, and the lower piston rod of the double cylinder 8 moves down so that the air claw manipulator composed of the air claw 13 and the mechanical finger 14 grasps After the parts to be processed, the lower piston rod of the duplex cylinder 8 moves up, the part grasped by the mechanical finger 14 is coaxial with the hole 20 of the machine tool drilling clamp subassembly, the piston of the translation cylinder 4 moves backward, and the part grasped by the mechanical finger 15 is coaxial The processed parts enter the hole of the machine tool drilling clamp assembly 20, the machine tool drilling clamp assembly 20 clamps the parts to be processed, the upper cylinder body of the double cylinder 8 moves up to the uppermost standby position, and the workpiece is automatically fetched and grasped once. Take the loop.

The above-mentioned mechanism realizes the automatic sending and taking of workpieces.

It can be seen from this that a manipulator feeding and retrieving mechanism with up and down and forward and backward movements described in the utility model has the following advantages: the combined application of the standard cylinder, air claw and linear guide rail in the prior art is used, and it is equipped with a bottom plate , frame, slide plate, mounting frame and clamping fingers and other parts, realize the action of the manipulator in multiple positions up and down and front and rear positions. It can complete the automatic take-out of the shaft workpiece and the loading of the workpiece to be processed. With the automatic feeding table, it can complete the automatic processing of the machine tool.

It should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model without limitation. Although the utility model has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the utility model can be Modifications or equivalent replacements of the technical solutions without departing from the spirit and scope of the technical solutions of the utility model shall be covered by the claims of the utility model.

Claims (5)

1. A manipulator feeding and taking mechanism with up-down and back-and-forth actions is characterized by comprising a machine tool drilling fixture body assembly (20), a rack (3), a transverse moving mechanism, a longitudinal moving mechanism and a pneumatic claw manipulator,

the transverse moving mechanism comprises a bottom plate (1), a first linear guide rail (2) and a translation cylinder (4), the bottom plate (1) is arranged on the machine tool drilling clamp body assembly (20), the first linear guide rail (2) is arranged above the bottom plate (1), the first linear guide rail (2) comprises a first sliding block and a first track, the first sliding block is fixedly connected with the bottom plate (1), the first track is fixedly connected with the rack (3), the translation cylinder (4) is fixedly connected onto the bottom plate (1), and the translation cylinder (4) drives the rack (3) to move back and forth,

the longitudinal moving mechanism comprises a second linear guide rail (16), a sliding plate (11), a duplex cylinder (8), a lifting lug (7), a pin shaft (6), a support (5) and a first connecting plate (9), the second linear guide rail (16) is installed on one side of the rack (3), the second linear guide rail (16) comprises a second sliding block and a second track, the second sliding block is fixedly connected with the rack (3), the second track is fixedly connected with the sliding plate (11), the duplex cylinder (8) is provided with an upper piston rod and a lower piston rod, the upper piston rod is fixedly connected with the upper end of the rack (3) through the lifting lug (7), the pin shaft (6) and the support (5), and the lower piston rod is fixedly connected with the sliding plate (11) through the first connecting plate (9),

the pneumatic claw mechanical arm is characterized in that an installation frame (10) is installed on the sliding plate (11), and the pneumatic claw mechanical arm is fixed to the installation frame (10) through a second connecting plate (12).

2. A robot material feeding and taking mechanism having up-and-down and back-and-forth actions as claimed in claim 1, wherein: the gripper robot comprises at least one gripper (13) and at least one pair of robot fingers (14).

3. A robot material feeding and taking mechanism having up-and-down and back-and-forth actions as claimed in claim 1, wherein: the translation cylinder (4) comprises a cylinder body and a first piston rod, the cylinder body is fixedly connected to the bottom plate (1), and the first piston rod is fixedly connected with the lower end face of the rack (3).

4. A robot material feeding and taking mechanism having up-and-down and back-and-forth actions as claimed in claim 1, wherein: the manipulator feeding and taking mechanism further comprises an automatic feeding table, the automatic feeding table is arranged on one side of the drilling fixture body assembly (20) and comprises a feeding table plate (18), a part station (17) and a third linear guide rail (19), the part station (17) is arranged on the feeding table plate (18), the third linear guide rail (19) is arranged below the feeding table plate (18), and the feeding table plate (18) moves on the third linear guide rail (19).

5. A robot material feeding and taking mechanism having up-and-down and back-and-forth actions as claimed in claim 4, wherein: the number of the part stations (17) is 2 times of the number of the drilling clamp body assemblies (20).