CN206010576U - Loading and unloading manipulator for Digit Control Machine Tool - Google Patents
Loading and unloading manipulator for Digit Control Machine Tool Download PDFInfo
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- CN206010576U CN206010576U CN201620894622.8U CN201620894622U CN206010576U CN 206010576 U CN206010576 U CN 206010576U CN 201620894622 U CN201620894622 U CN 201620894622U CN 206010576 U CN206010576 U CN 206010576U
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- 238000007599 discharging Methods 0.000 claims abstract description 48
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 239000000463 material Substances 0.000 claims abstract description 31
- 230000006698 induction Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 10
- 210000004247 hand Anatomy 0.000 claims description 9
- 239000012530 fluid Substances 0.000 claims description 4
- 230000005520 electrodynamics Effects 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 9
- 230000001360 synchronised effect Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 4
- 238000003754 machining Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
- 238000007514 turning Methods 0.000 description 1
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Abstract
This utility model discloses a kind of loading and unloading manipulator for Digit Control Machine Tool, including pedestal, mechanical hand, the material taking mouth for mechanical hand grabbing workpiece is offered on pedestal, mechanical hand includes horizontal sliding table, rotating driving device and a pair telescopic clamping devices, horizontal sliding table is slidably fitted on pedestal by horizontal drive mechanism, rotating driving device is fixedly mounted on horizontal sliding table, the pair of telescopic clamping device is by installing rack on the output shaft of rotating driving device, a pair telescopic clamping devices are parallel to each other, and the retaining paw of two telescopic clamping devices is towards on the contrary, one of them is the telescopic clamping device for feeding, another is the telescopic clamping device for discharging.This utility model robot manipulator structure is compact, shortens the feeding time, more laborsaving.
Description
Technical field
This utility model is related to automatization's loading and unloading manufacture field, and in particular to a kind of charging ＆ discharging machine for Digit Control Machine Tool
Tool handss.
Background technology
By loading and unloading are accomplished manually, there is high labor intensive in this mode to traditional Digit Control Machine Tool, and efficiency is low, safety
The problems such as difference, labour cost height.With the development and the increase of labor cost of science and technology, using automation mechanized operation handss
Section, reduces labor intensity, improve production efficiency, reduces production cost, reduces the certainty that manpower has become field of machining
Trend.Realize that the processing of Digit Control Machine Tool automatization be unable to do without the mechanical hand of Digit Control Machine Tool, loading and unloading are carried out by mechanical hand.At present
On market, the ripe mechanical hand of application supporting with Digit Control Machine Tool has following several:
1）Truss-like mechanical hand workpiece pipeline, outside Digit Control Machine Tool, truss mechanical hand is in workpiece for workpiece pipeline
Workpiece to be processed is taken on pipeline, and truss mechanical hand rises in place, moves into place to major axes orientation, and truss mechanical hand drops to
Position, carries out the exchange of finished work and workpiece to be processed.Truss mechanical hand rises in place, moves into place to pipeline direction,
Complete a loading and unloading circulation.In order to reserve the working space of operative employee, the working line of truss mechanical hand is all in Digit Control Machine Tool
Top, on the side of Digit Control Machine Tool, this causes the automatic loading and unloading device of truss mechanical hand workpiece pipeline to workpiece pipeline
Volume is big, takes up room, and loading and unloading station is remote with spindle chuck processing stations distance, and feeding non-cutting time is long, safeguards inconvenient.
2）Multi-joint manipulator, is more closely similar to artificial operation, and multi-joint manipulator kinematic accuracy has high demands, processing and manufacturing into
This height, its control system are more complicated, and multi-joint manipulator is expensive.During multi-joint manipulator conveying workpieces, multi-joint machinery
The arm of handss is rotated with joint as fulcrum, forms cantilevered swing, during arm upper and lower, left and right freely swing, many
Each joint friction of joint Manipulator is big, easily makes each joint wear.For the ease of grabbing workpiece, usual multi-joint manipulator
Arm is all long, and when arm drives workpiece to swing together, swinging distance length is that stroke is long, the torque that multi-joint manipulator bears
Greatly, cause multi-joint manipulator fragile, maintenance cost is high.For processing precise machining tool, multi-joint manipulator is damaged
Multi-joint manipulator is caused after bad from processing workpiece is pin-pointed on the spindle chuck of Digit Control Machine Tool；And inertia is big,
Cause the abrasion between workpiece and the spindle chuck of Digit Control Machine Tool big, cause the damage of workpiece.
Content of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of loading and unloading for Digit Control Machine Tool
Mechanical hand, the simple structure of the mechanical hand, compact, it is hardly damaged, shortens the feeding time, more laborsaving.
The purpose of this utility model can be achieved through the following technical solutions：
A kind of loading and unloading manipulator for Digit Control Machine Tool, it is characterised in that：Including pedestal, the pedestal upper end is provided with
Mechanical hand, offers the material taking mouth for mechanical hand grabbing workpiece on pedestal, the mechanical hand includes horizontal sliding table, rotation driving
Device, telescopic clamping device and the telescopic clamping device for discharging for feeding, the horizontal sliding table pass through level
Drive mechanism is slidably fitted on pedestal, and the rotating driving device is fixedly mounted on horizontal sliding table, described for feeding
Telescopic clamping device and the telescopic clamping device for discharging are arranged on the output shaft of rotating driving device by installing rack
On, telescopic clamping device for feeding and the telescopic clamping device for discharging are centrally formed center pair with installing rack
Claim arrangement.Pedestal is easy to mechanical hand on pay-off, and the material taking mouth opened up on pedestal is easy to for the flexible of feeding
Formula clamping device captures the workpiece to be processed on loading and unloading station through material taking mouth, also allows for the telescopic clamping device for discharging
Finished work is placed on loading and unloading station through material taking mouth.The axial line of the rotating driving device centre of gyration and level
The direction of motion of slide unit is parallel, drives telescopic clamping device to move horizontally by horizontal sliding table.Telescopic folder for feeding
Hold device and the telescopic clamping device for discharging constitutes a pair telescopic clamping devices, this pair of telescopic clamping device is located at
Above the material taking mouth of pedestal, and a pair telescopic clamping devices are arranged in the plane of installing rack one on the other, with installing rack
It is centrally formed the telescopic clamping device of centrosymmetry, i.e., two to be parallel to each other, the retaining paw court of two telescopic clamping devices
To conversely, the centrage of installing rack（Or the plane of a pair telescopic clamping devices is installed on installing rack）Return with rotating driving device
The axial line for turning center is vertical, drives a pair telescopic clamping devices to rotate by rotating driving device, completes loading and unloading.
The telescopic clamping device for feeding and the telescopic clamping device for discharging by retractor device and
Retaining paw is constituted, and retractor device is connected with retaining paw, and the retractor device is used for driving retaining paw to stretch out, retracting, institute
Stating retaining paw is used for clamping, unclamping workpiece；The retaining paw of the telescopic clamping device for feeding be used for discharging
Telescopic clamping device retaining paw towards contrary.
The retaining paw includes holding finger, the drive mechanism of retaining paw and opens or close for controlling holding finger
The hydraulic jack or cylinder of conjunction, the hydraulic jack or cylinder are fixed on retractor device, the piston rod of hydraulic jack or
The piston rod of person's cylinder is connected with the drive mechanism of retaining paw, and holding finger is fixed on the drive mechanism of retaining paw, is used
In drive holding finger along hydraulic jack or cylinder radial motion.Holding finger is achieved by hydraulic jack or cylinder
Motion.
Two spring pressure plates are additionally provided with the retaining paw, and described two spring pressure plates are overlapped in retaining paw
On the end cap of hydraulic jack or cylinder, between two spring pressure plates, multiple springs are provided with.Telescopic clamping device in feeding
Spring and spring pressure plate are respectively mounted with the retaining paw of the telescopic clamping device of discharging, when workpiece to be processed to be arranged on
When on Digit Control Machine Tool, the spring pressure plate of the telescopic clamping device of feeding gives workpiece to be processed one axial force, it is ensured that numerical control
The spindle chuck of lathe can be by workpiece to be processed clamping in place, it is ensured that the machining accuracy of workpiece；When by finished work from number
When removing on control lathe, after being prevented from the spindle chuck release of Digit Control Machine Tool, finished work comes off from processing stations.
It is equipped with the telescopic clamping device for feeding and the telescopic clamping device for discharging for fixed
The sensor of position.The sensor is easy to the action for instructing two telescopic clamping devices.
The horizontal drive mechanism adopts fluid pressure type horizontal drive mechanism, or pneumatic type horizontal drive mechanism, Huo Zhe electricity
Dynamic formula horizontal drive mechanism.
The rotating driving device is fixed using the second electric rotating machine and decelerator, second electric rotating machine and decelerator
On horizontal sliding table, the output shaft of the second electric rotating machine is connected with the input shaft of decelerator, the output shaft of the decelerator
It is connected with installing rack；Second electric rotating machine could alternatively be air motor, or hydraulic motor.The rotating driving device drives
The telescopic clamping device of the telescopic clamping device of feeding and discharging is rotated, and adjusts telescopic clamping device and the discharging of feeding
Telescopic clamping device position realizing the operation of feeding and discharging of workpiece.Rotating driving device reduces second using decelerator
The velocity of rotation of electric rotating machine, makes a pair telescopic clamping devices more steady when rotating, and decelerator is avoided in rotary course
Middle workpiece inertia is excessive to cause workpiece to throw away from telescopic clamping device in quick rotation.
The lower end of the pedestal is provided with for detecting the induction installation of workpiece.The pedestal is by gripper shoe and support platform structure
Into the support platform is installed on the supporting plate, and the support platform is provided with the slide rail being slidably matched with horizontal sliding table, described
Gripper shoe is fixed on bed piece, is provided for the induction installation for detecting workpiece in the gripper shoe of pedestal.
The beneficial effects of the utility model：This utility model mechanical hand includes horizontal sliding table, rotating driving device, is used for
The telescopic clamping device of material and for the telescopic clamping device for discharging, the horizontal sliding table of mechanical hand is by horizontal drive machine
Structure is slidably fitted on pedestal, for transverse shifting before and after driving mechanical handss, is extend at the machine tool chief axis of lathe, constitutes machinery
The arm of handss.The material taking mouth for mechanical hand grabbing workpiece is offered on pedestal, is easy to mechanical hand grabbing workpiece.The rotation of mechanical hand
Rotary driving device is fixedly mounted on horizontal sliding table, mechanical hand for the telescopic clamping device of feeding and for for discharging
By installing rack on the output shaft of rotating driving device, the rotating driving device drives a pair telescopic clamping device
Telescopic clamping device is rotated, and adjusts the position of the telescopic clamping device of the telescopic clamping device and discharging of feeding, is constituted
The wrist of mechanical hand.A pair telescopic clamping devices are used to clamp workpiece, constitute the paw of mechanical hand.
When the horizontal sliding table transverse movement of mechanical hand, drive for the telescopic clamping device of feeding and for for discharging
Telescopic clamping device move to the machine tool chief axis direction of Digit Control Machine Tool, until the machine tool chief axis dead ahead of Digit Control Machine Tool, main
Axle chuck unclamps, for clamping finished work on the telescopic clamping device of discharging, for the telescopic clamping device of discharging
Finished work is driven to retract in place.After the telescopic clamping device for discharging is retracted in place, rotating driving device ability band
Move the two telescopic clamping devices to rotate, make telescopic clamping device and the stretching for feeding for discharging on installing rack
Contracting formula clamping device has parallel force in opposite direction, forms couple, it is ensured that two telescopic clamping devices are freely revolved upper and lower
During turning, two telescopic clamping device torques are little, and more laborsaving relative to multi-joint manipulator, this utility model is telescopic
Clamping device is hardly damaged, long service life, it is to avoid telescopic clamping device swings, and can be accurately positioned workpiece to be processed
To on the machine tool chief axis of Digit Control Machine Tool.The overall machine tool chief axis mesh to Digit Control Machine Tool of mechanical hand is replaced using telescopic clamping device
Cursor position is close so that mechanical hand only needs to the position movement adjustment in transverse movement, and the position without lengthwise movement is adjusted
Whole i.e. achievable loading and unloading function, save space.This utility model in the case of the equal feed speed of existing manipulator, up and down
Time used by material is most short, improves production efficiency, reduces production cost.This utility model is applied to numerically controlled lathe, numerical control grinding
The lathes such as bed, and setting accuracy is high, disclosure satisfy that the requirement of precision finishing machine, especially suitable accurate digital control horizontal lathe.
This utility model mechanical hand is assemblied on precise NC lathe so that control the labor intensity of operating staff of the precise NC lathe
Substantially reduce, free during operator are simply worked from frequently loading and unloading etc..Because of the reduction of labor intensity so that
One operator can just control more precise NC lathes.The labor cost of enterprise is reduced, enterprise is improve
Production efficiency.And this utility model robot manipulator structure is simple, low cost of manufacture improves enterprise automation working ability.
Description of the drawings
Fig. 1 is the structural representation of this utility model mechanical hand（In figure, four-headed arrow X represents the horizontal sliding table edge of mechanical hand
X-axis horizontal movement）；
Fig. 2 is B direction views in Fig. 1（In figure, four-headed arrow D represents drive of the telescopic clamping device in rotating driving device
Under around rotating driving device output shaft axial line along rotating clockwise or counterclockwise）；
Fig. 3 is C direction views in Fig. 2；
Fig. 4 is A-A sectional views in Fig. 1（In figure, four-headed arrow D represents band of the telescopic clamping device in rotating driving device
Output shaft axial line edge under dynamic around rotating driving device rotates clockwise or counterclockwise）；
Fig. 5 is the structural representation of retaining paw；
Fig. 6 is structural representation of this utility model mechanical hand on bed piece.
In accompanying drawing：1 is pedestal, 1-1 is external support board, 1-2 is middle gripper shoe, 1-3 is inner support plate, 1-4 is feeding
Mouthful, 1-5 be slide rail, 2 be allow bit space, 3 be induction installation, 4 be mechanical hand, 41 be horizontal sliding table, 41-1 be that leading screw, 41-2 are
First synchronous pulley, 41-3 are the first Timing Belt, 41-4 is horizontal drive mechanism, 41-5 is the first electric rotating machine, 41-6 is cunning
Block, 41-7 be pad, 41-8 be nut seat, 41-9 be nut, 42 be rotating driving device, 42-1 be decelerator, 42-2 be the
Two synchronous pulleys, 42-3 be the second Timing Belt, 42-4 be the second electric rotating machine, 43 be telescopic clamping device, 43a be for
The telescopic clamping device of feeding, 43b be for the telescopic clamping device of discharging, 43-1 be retaining paw, 43-11 be clamping
Finger, 43-12 are the drive mechanism of retaining paw, 43-13 be cylinder, 43-2 be retractor device, 43-21 be piston rod, 44-1
For finished work, 44-2 be workpiece to be processed, 5 be installing rack, 6 be bed piece, 7 be spindle chuck, 8 be spring pressure plate, 9
It is material conveying platform for spring, 10.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is further described.
Referring to a kind of loading and unloading manipulator for Digit Control Machine Tool shown in Fig. 1 to Fig. 6, including mechanical hand 4 and pedestal 1,
The mechanical hand 4 is installed on the pedestal 1, and mechanical hand 4 is arranged on material conveying platform 10, on the material conveying platform 10 by pedestal 1
Workpiece is placed with, the material conveying platform 10 can be arranged on bed piece 6, or the pedestal 1 is directly installed on machine tool
On body 6.The pedestal 1 is made up of polylith gripper shoe and support platform, and the polylith gripper shoe is fixed on material conveying platform 10, institute
Support platform is stated in the polylith gripper shoe, and that workpiece is left between support platform and material conveying platform 10 allows bit space 2, supports
The material taking mouth 1-4 for mechanical hand grabbing workpiece is offered on platform, and the material taking mouth 1-4 is located at just going up for loading and unloading station
Side, the upper surface of the support platform is provided with front-end bearing pedestal and rear bearing block and two slide rail 1-5, two slide rail 1-5
Between be provided with reinforcement.Three pieces of gripper shoes, respectively external support board 1-1, middle gripper shoe 1-2 and inner support is provided with the present embodiment
Support platform is supported on the top of material conveying platform 10 for plate 1-3, three pieces of gripper shoes.In the present embodiment：Mechanical hand 4 passes through pedestal 1
On material conveying platform 10, material conveying platform 10 is on bed piece 6.
The mechanical hand 4 includes horizontal sliding table 41, rotating driving device 42, the telescopic clamping device 43a for feeding
With the telescopic clamping device 43b for discharging.The lower surface of the horizontal sliding table 41 is provided with for the slide rail 1-5 with pedestal 1
The slide block 41-6 being engaged and connecting seat, horizontal sliding table 41 are slidably matched on the pedestal 1 by horizontal drive mechanism 41-4, level
Drive mechanism 41-4 drives 41 transverse movement of horizontal sliding table, the horizontal sliding table 41 to constitute the arm of mechanical hand.The pedestal 1
Slide rail 1-5 is longer than horizontal sliding table 41, it is ensured that horizontal sliding table 41 has part reach the outside of pedestal 1, reaches Digit Control Machine Tool
Machine tool chief axis dead ahead.The horizontal drive mechanism 41-4 adopts fluid pressure type horizontal drive mechanism, or pneumatic type level is driven
Motivation structure, or electrodynamic type horizontal drive mechanism.Fluid pressure type horizontal drive mechanism adopts hydraulic jack, the horizontal driving machine of pneumatic type
Structure adopts cylinder, electrodynamic type horizontal drive mechanism to adopt linear electric motors, and the hydraulic jack or cylinder or linear electric motors are admittedly
Fixed on the pedestal 1, the piston rod of piston rod or cylinder or the axostylus axostyle of linear electric motors of hydraulic jack be arranged on horizontal sliding table 41
On connecting seat be fixedly connected, drive 41 transverse movement of horizontal sliding table.
The horizontal drive mechanism 41-4 can also adopt the first electric rotating machine 41-5 and the level biography for horizontal drive
Motivation structure, first electric rotating machine for horizontal drive adopt servomotor, and the horizontal drive mechanism adopts ball wire
Thick stick pair of nut, the leading screw 41-1 two ends of the ball guide screw nat are rotatably supported at the fore bearing on pedestal by bearing
In seat and rear bearing block, the first electric rotating machine 41-5 for horizontal drive is arranged on 1 side of pedestal, for the of horizontal drive
It is equipped with the first synchronous pulley 41-2 on the leading screw 41-1 of the output shaft and ball guide screw nat of one electric rotating machine 41-5, two
First Timing Belt 41-3 is set between the first synchronous pulley 41-2, for the first electric rotating machine 41-5 and ball wire of horizontal drive
It is connected by the first Timing Belt 41-3 between the leading screw 41-1 of thick stick pair of nut, the nut 41-9 of ball guide screw nat is arranged on spiral shell
In female seat 41-8, nut seat 41-8 is fixed on by screw and pin on the connecting seat of horizontal sliding table 41.Work as horizontal drive mechanism
When the first electric rotating machine 41-5 for horizontal drive of 41-4 works, by the electric rotating machine 41-5 for horizontal drive
First synchronous pulley 41-2 is acted on the first Timing Belt 41-3, and the first Timing Belt 41-3 drives the leading screw of ball guide screw nat
41-1 is rotated, and the leading screw 41-1 of ball guide screw nat drives the nut 41-9 axially-movables of ball guide screw nat, by rolling
The secondary nut 41-9 of screw nut drives horizontal sliding table 41 to do transverse movement, so as to driving mechanical handss are close to Digit Control Machine Tool.
The first electric rotating machine 41-5 for horizontal drive can also pass through shaft joint with the leading screw 41-1 of ball guide screw nat
It is directly connected to.Pad 41-7 is additionally provided between the connecting seat of the nut 41-9 and horizontal sliding table 41 of the ball guide screw nat.
The horizontal drive mechanism of the horizontal drive mechanism 41-4 can also adopt pinion and rack, the rack-and-pinion
The tooth bar of mechanism is fixed on the side of horizontal sliding table 41, installs gear and tooth on the axle for the electric rotating machine of horizontal drive
The tooth bar engagement of wheel rackwork, for horizontal drive electric rotating machine through pinion and rack and horizontal sliding table 41 connecting seat
It is fixedly connected.
The rotating driving device 42 is fixedly mounted on horizontal sliding table 41, and the rotating driving device 42 constitutes mechanical hand
Wrist.Rotating driving device 42 adopts the second electric rotating machine 42-4 and decelerator 42-1, the second electric rotating machine 42-4 and deceleration
Device 42-1 is fixed on horizontal sliding table 41, and the second electric rotating machine 42-4 is fixedly mounted on horizontal sliding table 41 by motor cabinet, the
The second synchronous pulley 42-2, the second electric rotating are equipped with the input shaft of the output shaft and decelerator 42-1 of two electric rotating machine 42-4
Machine 42-4 is connected with decelerator 42-1 by the second synchronous pulley 42-2 and the second Timing Belt 42-3, and the decelerator 42-1's is defeated
Shaft is connected with installing rack 5, and the second electric rotating machine 42-4 is connected with installing rack 5 through decelerator 42-1.Second electric rotating machine 42-4
Decelerator 42-1 input shafts are driven to rotate by the second synchronous pulley 42-2 and the second Timing Belt 42-3, decelerator 42-1 output shafts
Rotate and drive installing rack 5 to do gyration.Decelerator 42-1 reduces the velocity of rotation of the second electric rotating machine 42-4, makes to stretch
Formula clamping device is more steady when rotating, it is to avoid workpiece is thrown away in quick rotation from telescopic clamping device.Described
Two electric rotating machine 42-4 adopt servomotor.Connecting shaft can also be passed through between the second electric rotating machine 42-4 and decelerator 42-1
Device is directly connected to.The second electric rotating machine 42-4 could alternatively be air motor, or hydraulic motor.
The telescopic clamping device 43a for feeding and the telescopic clamping device 43b for discharging include stretching
Compression apparatus 43-2 and retaining paw 43-1, retractor device 43-2 are connected with retaining paw 43-1, for the telescopic clamping of feeding
Device 43a and the telescopic clamping device 43b for discharging are centrosymmetrically arranged with being centrally formed for installing rack 5, that is, be used for
The telescopic clamping device 43a of material is parallel with the telescopic clamping device 43b for discharging to be fixed on installing rack 5, and is used for
The telescopic clamping device 43a of feeding and for discharging telescopic clamping device 43b retaining paw towards contrary.For
The telescopic clamping device 43a of material and the telescopic clamping device 43b for discharging constitute a pair telescopic clamping devices 43.One
Telescopic clamping device 43 is respectively positioned on directly over the material taking mouth 1-4 of pedestal 1.The telescopic clamping device for feeding
43a is used for for workpiece to be processed on the tray for work pieces 55 of loading and unloading station clamping workpiece, Ran Houan through the material taking mouth 1-4 of pedestal 1
It is mounted on the spindle chuck 7 of Digit Control Machine Tool.The telescopic clamping device 43b for discharging is used for finished work from number
Remove on the spindle chuck 7 of control lathe, then be placed on the tray for work pieces 55 of loading and unloading station through the material taking mouth 1-4 of pedestal 1.Institute
The telescopic clamping device 43a for the feeding and telescopic clamping device 43b for discharging is stated by installing rack 5 installed in rotation
On the output shaft of rotary driving device, installing rack 5 is connected on rotating driving device 42 by ring flange.The rotating driving device
42 a pair telescopic clamping devices 43 of drive rotate, and adjust telescopic clamping device 43a and the stretching for discharging for feeding
The position of contracting formula clamping device 43b.Two telescopic clamping devices be arranged in parallel, have clamped in two telescopic clamping devices
During workpiece, when two telescopic clamping devices have clamped workpiece, rotating driving device 42 is acted on
It is couple to equal in magnitude, in opposite direction but not conllinear parallel force.Couple makes object not assume any translational motion completely,
Only assume pure rotational motion.The load of rotating driving device and a pair telescopic clamping device coupling parts is alleviated, is extended
The life-span of relevant apparatus.
The output shaft of the rotating driving device 42 adopts the center of hollow axle, the installing rack 5 to be provided with through wires hole, and this is worn
The holding wire of the sensor that string holes is supplied on telescopic clamping device 43, the trachea of cylinder, the hydraulic tube of hydraulic cylinder and linear electric motors
Electric wire pass through, be easy to wiring to install, so as to prevent flexible clamping device from during rotation, causing pipeline to wind.
The flexible dress of the telescopic clamping device 43a for the feeding and telescopic clamping device 43b for discharging
43-2 is put using hydraulic jack or cylinder or linear electric motors, hydraulic jack or cylinder or linear electric motors are fixed on peace
Shelve on 5, the piston rod 43-21 of the piston rod 43-21 or cylinder of hydraulic jack or output shaft and the clamping of linear electric motors
Paw 43-1 is connected, for driving retaining paw 43-1 forward and backward flexible.In the present embodiment, retractor device 43-2 adopts cylinder, institute
Cylinder is stated using decussation guide rail slide unit cylinder.The retaining paw 43-1 of the telescopic clamping device 43a of the feeding and discharging
Telescopic clamping device 43b retaining paw 43-1 towards contrary.
The clamping handss of the telescopic clamping device 43a for the feeding and telescopic clamping device 43b for discharging
Pawl 43-1 includes holding finger 43-11, the drive mechanism 43-12 of retaining paw, opens or close for controlling holding finger
Hydraulic jack or cylinder 43-13, holding finger 43-11 L-shaped, the hydraulic jack or cylinder are fixed on retractor device
On 43-2, holding finger 43-11 is bolted to connection on the drive mechanism 43-12 of retaining paw, the work of hydraulic jack
The piston rod of stopper rod or cylinder 43-13 is connected with the drive mechanism 43-12 of retaining paw, the piston rod or gas of hydraulic jack
The piston rod of cylinder is acted on the drive mechanism of retaining paw, for driving holding finger 43-11 along hydraulic jack or cylinder 43-
13 radial motion.The drive mechanism 43-12 of the retaining paw includes fairlead and multiple guide runners, and the fairlead is solid
It is scheduled on the piston rod of cylinder, the lateral surface of fairlead is provided with the wedge-shaped protrusion to evagination, offers and guiding on guide runner
The chute that the wedge-shaped protrusion of set is slidably matched, opens or the hydraulic jack that closes or cylinder 43-13 for controlling holding finger
Drive each guide runner along the radial motion of hydraulic jack or cylinder by fairlead, the holding finger 43-11 passes through bolt
It is fixed on each guide runner.The retaining paw 43-1 constitutes the paw of mechanical hand to be used for clamping, unclamping workpiece.The present embodiment
In be provided with three holding fingers, the upper cover of piston rod for controlling the cylinder 43-13 that holding finger opens or closes is provided with
The fairlead of cylinder, the fairlead are provided with three wedge-shaped protrusions for equidistantly dividing equally 360 °, the wedge-shaped protrusion of the fairlead
Three guide runners along cylinder radial motion are sliding combined with, three guide runners are equidistantly divided equally 360 °, i.e., three and are oriented to
Slide block is circumferentially uniformly distributed, and three holding finger 43-11 are separately fixed on three guide runners.
Two spring pressure plates 8 are additionally provided with the retaining paw 43-1, and described two spring pressure plates 8 are overlapped in clamping
On the end cap of the hydraulic jack of paw 43-1 or cylinder 43-13, the end cap is the front end of hydraulic jack or cylinder 43-13
Lid, is provided with multiple springs 9 between two spring pressure plates 8.In the present embodiment：Retaining paw 43-1 is provided with three springs 9 and two
Individual spring pressure plate 8, described two spring pressure plates 8 are provided with three wings for stretching out, and three wings for stretching out are equidistant
Respectively 360 °, three wings of two spring pressure plates 8 are overlapped, and three springs 9 are located at the outside of upper and lower spring pressure plate 8 respectively
Between the wing of extension.Three wings for stretching out of two spring pressure plates 8 and three holding fingers of retaining paw 43-1
43-11 is crisscross arranged.Retaining paw 43- in the telescopic clamping device 43b of the telescopic clamping device 43a and discharging of feeding
Spring and spring pressure plate is respectively mounted on 1, when by workpiece to be processed on Digit Control Machine Tool, the telescopic clamping dress of feeding
The spring pressure plate that puts gives workpiece to be processed one axial force, it is ensured that the machine tool chief axis chuck of Digit Control Machine Tool can be by workpiece to be processed
Clamping is in place, it is ensured that the machining accuracy of workpiece；When finished work is removed from lathe, be prevented from the lathe of lathe
After spindle chuck unclamps, finished work comes off from processing stations.
It is equipped with the telescopic clamping device 43a for feeding and the telescopic clamping device 43b for discharging
For the sensor for positioning, the sensor adopts magnetic sensor.Arrange sensor to use on a pair telescopic clamping devices 43
In monitoring retractor device and clamping device action whether in place, whether the telescopic clamping device 43 carries out the root of next step action
According to.When ensureing that in assembling a pair telescopic clamping devices 43 are in vertical state, the axial line of retaining paw wherein directed downwardly with
Loading and unloading station is centrally located at same straight line.
Further, the lower end of the pedestal 1 is provided with for detecting the induction installation 3 of workpiece, described for detecting workpiece
Induction installation 3 is arranged in the gripper shoe of pedestal 1, the output shaft axial line of the 3 offset rotation driving means 42 of induction installation, institute
State induction installation 3 and can adopt the inductive switch such as infrared inductor or proximity switch.Can also arrange on material conveying platform 10 and send
Material device, the pedestal 1 are located at the surface of pay-off.After induction installation 3 detects workpiece, pay-off stops fortune
Dynamic, so as to control the action of pay-off.The induction installation 3 controls workpiece support by sensing the workpiece on tray for work pieces
Disk is parked on the loading and unloading station of pay-off.
Operation principle of the present utility model：The mechanical hand 4 is arranged on bed piece 6 by pedestal 1, the water of mechanical hand
Flat drive mechanism drives the telescopic clamping device 43a for feeding and the telescopic clamping device 43b levels for discharging to move
Dynamic, rotating driving device drives the telescopic clamping device 43a for the feeding and telescopic clamping device 43b for discharging to turn
Dynamic.After rotating driving device rotates 180 °, it is used for the telescopic clamping device position of feeding after rotation and is used for unloading before rotating
The telescopic clamping device position of material overlaps, and telescopic clamping device position and the rotation for discharging is front for the flexible of feeding
Formula clamping device position overlaps.When a pair rotations of telescopic clamping device 43 are in upright state, a pair telescopic clamping devices
43 with loading and unloading working-position vertical, for the telescopic clamping device of feeding central axis and loading and unloading station central axis with
Workpiece to be processed on loading and unloading station is clamped by axle, the telescopic clamping device for feeding by the material taking mouth of pedestal.When
When a pair rotations of telescopic clamping device 43 are the level of state, the machine tool chief axis of a pair telescopic clamping devices 43 and Digit Control Machine Tool
Parallel, the machine tool chief axis central axis for the central axis and Digit Control Machine Tool of the telescopic clamping device of discharging is located at same water
Finished work on Digit Control Machine Tool is removed by plane, the telescopic clamping device for discharging, is rotated by rotating driving device,
The central axis of telescopic clamping device and the machine tool chief axis central axis of Digit Control Machine Tool for being used in feeding is located at same level
Face, machine tool chief axis of the workpiece to be processed that the telescopic clamping device for feeding is clamped installed in Digit Control Machine Tool.This reality
It is arranged on bed piece 6 by pedestal 1 with new mechanical arm 4, mechanical hand 4 is just can achieve by a simple transverse movement
Workpiece to be processed is sent on the processing stations of spindle chuck 7, the loading and unloading time is significantly shortened, is improve production efficiency,
Logistics space is saved, human resourcess have been saved, can be applied to and be required higher accurate digital control horizontal lathe, effectively be lifted
Whole competitiveness in processing industry.
Claims (8)
1. a kind of loading and unloading manipulator for Digit Control Machine Tool, it is characterised in that：Including pedestal (1), pedestal (1) upper end is pacified
Mechanical hand is housed（4）, on pedestal (1), offer the material taking mouth for mechanical hand grabbing workpiece（1-4）, the mechanical hand（4）Bag
Include horizontal sliding table（41）, rotating driving device（42）, for feeding telescopic clamping device（43a）With stretching for discharging
Formula clamping device（43b）, the horizontal sliding table（41）By horizontal drive mechanism（41-4）It is slidably fitted on pedestal (1), institute
State rotating driving device（42）It is fixedly mounted on horizontal sliding table（41）On, the telescopic clamping device for feeding（43a）
With the telescopic clamping device for discharging（43b）By installing rack（5）It is arranged on rotating driving device（42）Output shaft on,
Telescopic clamping device for feeding（43a）With the telescopic clamping device for discharging（43b）With installing rack（5）Center
Formation is centrosymmetrically arranged.
2. the loading and unloading manipulator for Digit Control Machine Tool according to claim 1, it is characterised in that：Described for feeding
Telescopic clamping device（43a）With the telescopic clamping device for discharging（43b）By retractor device（43-2）With clamping handss
Pawl（43-1）Constitute, retractor device（43-2）With retaining paw（43-1）It is connected, the retractor device（43-2）For driving folder
Hold paw（43-1）Stretch out, retract, the retaining paw（43-1）For clamping, unclamping workpiece；The stretching for feeding
Formula clamping device（43a）Retaining paw（43-1）With the telescopic clamping device for discharging（43b）Retaining paw（43-
1）Towards on the contrary.
3. the loading and unloading manipulator for Digit Control Machine Tool according to claim 2, it is characterised in that：The retaining paw
（43-1）Including holding finger（43-11）, retaining paw drive mechanism（43-12）With open or close for controlling holding finger
The hydraulic jack or cylinder of conjunction（43-13）, the hydraulic jack or cylinder（43-13）It is fixed on retractor device（43-2）
On, the piston rod or cylinder of hydraulic jack（43-13）Piston rod and retaining paw drive mechanism（43-12）It is connected, folder
Hold finger（43-11）It is fixed on the drive mechanism of retaining paw（43-12）On, for driving holding finger（43-11）Along hydraulic pressure
Oil cylinder or cylinder（43-13）Radial motion.
4. the loading and unloading manipulator for Digit Control Machine Tool according to Claims 2 or 3, it is characterised in that：The clamping handss
Pawl（43-1）On be additionally provided with two spring pressure plates（8）, described two spring pressure plates（8）Overlap in retaining paw（43-1）'s
Hydraulic jack or cylinder（43-13）End cap on, two spring pressure plates（8）Between be provided with multiple springs (9).
5. the loading and unloading manipulator for Digit Control Machine Tool according to claim 1 and 2, it is characterised in that：Described for
The telescopic clamping device of material（43a）With the telescopic clamping device for discharging（43b）On be equipped with for operating position fixing
Sensor.
6. the loading and unloading manipulator for Digit Control Machine Tool according to claim 1 and 2, it is characterised in that：The level is driven
Motivation structure（41-4）Using fluid pressure type horizontal drive mechanism, or pneumatic type horizontal drive mechanism, or electrodynamic type horizontal drive
Mechanism.
7. the loading and unloading manipulator for Digit Control Machine Tool according to claim 1 and 2, it is characterised in that：The rotation is driven
Dynamic device（42）Using the second electric rotating machine（42-4）And decelerator（42-1）, second electric rotating machine（42-4）And decelerator
（42-1）It is fixedly mounted on horizontal sliding table（41）On, the second electric rotating machine（42-4）Output shaft and decelerator（42-1）Input
Axle is connected, the decelerator（42-1）Output shaft and installing rack（5）It is connected；Second electric rotating machine（42-4）Can replace
For air motor, or hydraulic motor.
8. the loading and unloading manipulator for Digit Control Machine Tool according to claim 1 and 2, it is characterised in that：Pedestal (1)
Lower end be provided with for detecting the induction installation of workpiece（3）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620894622.8U CN206010576U (en) | 2016-08-18 | 2016-08-18 | Loading and unloading manipulator for Digit Control Machine Tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620894622.8U CN206010576U (en) | 2016-08-18 | 2016-08-18 | Loading and unloading manipulator for Digit Control Machine Tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206010576U true CN206010576U (en) | 2017-03-15 |
Family
ID=58249126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620894622.8U Active CN206010576U (en) | 2016-08-18 | 2016-08-18 | Loading and unloading manipulator for Digit Control Machine Tool |
Country Status (1)
| Country | Link |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106271822A (en) * | 2016-08-18 | 2017-01-04 | 重庆科菲精密机械有限公司 | The loading and unloading manipulator of Digit Control Machine Tool |
| CN108555882A (en) * | 2018-05-07 | 2018-09-21 | 杭州宇控机电工程有限公司 | A kind of deep hydraulic machinery wrist joint in full sea |
| CN109048459A (en) * | 2018-10-28 | 2018-12-21 | 赵华勇 | A kind of robotic device of electric motor end cap numerically controlled lathe |
| CN114808093A (en) * | 2022-05-10 | 2022-07-29 | 昆山科比精工设备有限公司 | Metal part electroplating equipment capable of realizing turnover feeding |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106271822A (en) * | 2016-08-18 | 2017-01-04 | 重庆科菲精密机械有限公司 | The loading and unloading manipulator of Digit Control Machine Tool |
| CN106271822B (en) * | 2016-08-18 | 2024-06-25 | 沧州卓金管道科技有限公司 | Feeding and discharging manipulator of numerical control machine tool |
| CN108555882A (en) * | 2018-05-07 | 2018-09-21 | 杭州宇控机电工程有限公司 | A kind of deep hydraulic machinery wrist joint in full sea |
| CN108555882B (en) * | 2018-05-07 | 2024-03-15 | 杭州宇控机电工程有限公司 | Full sea depth hydraulic mechanical wrist joint |
| CN109048459A (en) * | 2018-10-28 | 2018-12-21 | 赵华勇 | A kind of robotic device of electric motor end cap numerically controlled lathe |
| CN109048459B (en) * | 2018-10-28 | 2020-05-01 | 台州鼎创智能科技有限公司 | Mechanical arm equipment of numerical control lathe with motor end cover |
| CN114808093A (en) * | 2022-05-10 | 2022-07-29 | 昆山科比精工设备有限公司 | Metal part electroplating equipment capable of realizing turnover feeding |
| CN114808093B (en) * | 2022-05-10 | 2022-10-28 | 昆山科比精工设备有限公司 | Metal part electroplating equipment capable of realizing turnover feeding |
| CN115091438A (en) * | 2022-07-25 | 2022-09-23 | 成都兰腾科技有限公司 | Food online inspection sampling manipulator and inspection system |
| CN115091438B (en) * | 2022-07-25 | 2022-11-04 | 成都兰腾科技有限公司 | Food online inspection sampling manipulator and inspection system |
| CN116040224A (en) * | 2023-01-21 | 2023-05-02 | 宁波市亚赛帕科技发展有限公司 | Fixed transport vehicle for workpiece to be processed of machine tool and transport method thereof |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231218 Address after: 061300 Zhenggang Economic Development Zone, Yanshan County, Cangzhou City, Hebei Province Patentee after: Cangzhou Zhuojin Pipeline Technology Co.,Ltd. Address before: 402247 No. 38 Jinma Avenue, Shuangfu New District, Jiangjin District, Chongqing Patentee before: CHONGQING KEFEI PROCISIVE MOCHINARY Co.,Ltd. |