CN206169750U - Manipulator for feeding and discharging in machine tool truss system - Google Patents
Manipulator for feeding and discharging in machine tool truss system Download PDFInfo
- Publication number
- CN206169750U CN206169750U CN201621162169.8U CN201621162169U CN206169750U CN 206169750 U CN206169750 U CN 206169750U CN 201621162169 U CN201621162169 U CN 201621162169U CN 206169750 U CN206169750 U CN 206169750U
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- China
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- gas pawl
- mechanical hand
- loading
- trussing
- gear
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Abstract
The utility model provides a manipulator that is arranged in lathe truss system to go up unloading. Including the top mounting panel, both sides board, servo motor, the gear train, drive mechanism, coupling mechanism, gas claw and profile modeling clamping jaw, coupling mechanism sets up to constitute by first coupling mechanism and second coupling mechanism, first coupling mechanism and second coupling mechanism's axis mutually perpendicular, first coupling mechanism all sets up to including gyration swing table and gas claw support with second coupling mechanism, the gyration swing table is fixed to be set up on drive mechanism, the coaxial line sets up the gas claw support on the gyration swing table, the gas claw sets up to including first gas claw and second gas claw, set up first gas claw or second gas claw on the gas claw support. The utility model discloses a this manipulator can realize that same truss manipulator trades the lathe station and gets the piece, and snatchs claw self rotatable, and the functioning speed is very fast for the clamp that can accomplish the material after the manipulator motion targets in place gets, and can guarantee higher position precision.
Description
Technical field
This utility model is related to industrial production line intellectuality assembling and disassembling manipulator field, more particularly to a kind of for lathe truss
The mechanical hand of loading and unloading in system.
Background technology
With the continuous development of industrial technology automatization level, popular industrial machine people, special mechanical hand or truss machinery
Handss are applied to more and more widely industrial production line, and will gradually substitute in enterprise's production using manually-operated each work
Workpiece transhipment between sequence, handling, it is to avoid due to artificial operation high labor intensive, low production efficiency, unstable product quality etc.,
The caused impact market competitiveness, so as to limit the problem of enterprise development.Truss mechanical hand is a kind of foundation in right angle X, Y, Z tri-
On the basis of coordinate system, station adjustment is carried out to workpiece, or realize the full-automatic equipment of the functions such as the track motion of workpiece,
It passes through industrial control unit (ICU) control machinery hand and completes X, the associated movement between the axle of Y, Z tri-, to realize the entire roboticized work of the whole series
Flow process, is usually used on large-sized processing equipment.However, existing popular industrial machine people, special mechanical hand or truss mechanical hand exist
There are the following problems during actually used：
1st, popular industrial machine people load is big, high precision, action may be programmed, but its is expensive, in transport path more
Using uneconomical in the case of simple；And special mechanical hand is generally used for the relatively low occasion of required precision, it is impossible to be applied to lathe
Processing stations positioning accuracy request is higher, but the again relatively simple loading and unloading link of carrying action.
2nd, traditional truss mechanical hand weight weight, guiding accuracy is low, and significantly shaking easily occurs in running in mechanical hand
It is dynamic so that run location precision is low and speed is slow, in addition, mechanical hand mostly is one or two overturning to realize along 180 degree direction
Blocked operation, takes up room big, and blocked operation speed is low, and robot movement can not stop immediately after in place, but in original
Position swings and just stop after certain hour, causes machining accuracy and working (machining) efficiency low, very big so as to bring to actual production
Puzzlement.
The content of the invention
Main purpose of the present utility model is to solve problems of the prior art, there is provided a kind of simple structure, energy
Enough realize that same truss mechanical hand carries out exchanging part for lathe station, and grabbing claw itself is rotatable, the speed of service is very fast so that
Robot movement can complete the gripping of material after in place, and can ensure higher positional precision in lathe trussing
The mechanical hand of loading and unloading.
To solve above-mentioned technical problem, the technical solution adopted in the utility model is：One kind is in lathe trussing
The mechanical hand of loading and unloading, wherein in the trussing for lathe loading and unloading mechanical hand include top installing plate, biside plate,
Servomotor, gear train, drive mechanism, bindiny mechanism, gas pawl and profiling jaw, the biside plate is corresponding to be arranged straight down
In the both sides of the top installing plate, the drive mechanism, the drive mechanism are horizontally disposed between the lower end of the biside plate
Top the servomotor is set, and the servomotor is set to drive the drive mechanism, institute by the gear train
State bindiny mechanism to be set to be made up of the first bindiny mechanism and the second bindiny mechanism, first bindiny mechanism connects with described second
The axis of connection mechanism is mutually perpendicular to, and first bindiny mechanism is disposed as including gyroscopic pendulum with second bindiny mechanism
The gentle pawl support of platform, the revolution is set a table and is fixedly installed on the drive mechanism, and by the drive mechanism described first is driven
Bindiny mechanism and the rotation of 90 degree of second bindiny mechanism, so as to complete that workpiece is exchanged for, and the revolution is set a table upper coaxial line
The gas pawl support is set, and the gas pawl is set to include the first gas pawl and the second gas pawl, arranges described on the gas pawl support
First gas pawl or the second gas pawl, the revolution is set a table for driving the gas pawl to rotate, steady with the crawl for ensureing workpiece
It is fixed, and the first gas pawl is respectively provided with the profiling jaw with the lower end of the second gas pawl, also sets up on the gas pawl multiple
Contact switch, to detect the open and-shut mode or physical location of the gas pawl, improves the operating accuracy of the gas pawl.
Further, proximity switch and electronics pressure are also set up on the mechanical hand of loading and unloading in the trussing for lathe
Power table, the proximity switch is used to realize being accurately positioned T direction of principal axis zero points, and passing through the electronic pressure gage then can monitor
The working condition of the gas pawl, when monitor value is less than air pressure is arranged, equipment will be reported to the police and be shut down.
Further, the drive mechanism is set to include shell, inner shell, rotary shaft, bearing assembly and shaft end catch, institute
The inner chamber that inner shell coaxial line is arranged at the shell is stated, the rotary shaft is arranged on the axis of the inner shell, and the rotation
The forward and backward two ends of axle sequentially pass through the inner shell and the shell, and the forward and backward two ends of the rotary shaft are also respectively provided with the axle
Bearing assembly and the shaft end catch, it is ensured that the normal work of the drive mechanism.
Further, the front end of the drive mechanism is also vertically arranged a motor base, and the front end of the servomotor is consolidated
Surely the upper end of the motor base is arranged at, and the motor shaft of the servomotor passes perpendicularly through the motor base.
Further, the gear train is set to first gear and second gear, the first gear and second tooth
Wheel is set to engaged transmission, and the first gear coaxial line is sheathed on the motor shaft of the servomotor, the second gear
Coaxial line is sheathed in the rotary shaft, and the servomotor drives the rotation by the first gear and second gear
Axle.
Further, the revolution is set a table and is set to rotary cylinder, and by the rotary cylinder rotation of attachment means is realized
Action.
Further, the profiling jaw is set to include holder, clamping bar, chuck and jaw spring that the holder is arranged
On the gas pawl, and the two ends of the holder are respectively perpendicular the setting clamping bar, and the clamping bar sets away from one end of the holder
Put and go back on the chuck, and the clamping bar coaxial line and be arranged the jaw spring, inserted in workpiece, and by clamping bar by the chuck
Coordinate to ensure the reliable grip of workpiece with jaw spring.
This utility model has the advantages and positive effects that：
(1) by the design of the first gas pawl and the second gas pawl, changing for lathe station can be realized by same truss mechanical hand
The multiple contact switches being respectively provided with pickup, and the first gas pawl and the second gas pawl, the open and-shut mode or actual bit to gas pawl
Put and detected, the operating accuracy overall so as to improve gas pawl.
(2) by rotary cylinder band take offence pawl rotation, to adjust the position of centre of gravity of workpiece, it is ensured that the stability of grippers.
(3) by the structure of profiling jaw so that the mechanical hand can carry out loading or unloading operation to the workpiece of different size, its
Adaptability is higher, meanwhile, the cooperation of chuck, clamping bar and jaw spring on profiling jaw, the reliability for realizing workpiece is clamped.
(4) by the setting of proximity switch, realize mechanical hand and T direction of principal axis zero points are accurately positioned, and electron pressure
Table then can carry out warning shutdown when air pressure is less than arranges value, further ensure the works fine of gas pawl.
Description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the schematic front view of Fig. 1.
Fig. 3 is the cross-sectional schematic of Fig. 2.
In figure：10- tops installing plate, 20- side plates, 30- servomotors, 40- gear trains, 401- first gears, 402- the
Two gears, 50- drive mechanisms, 501- shells, 502- inner shells, 503- rotary shafts, 504- bearing assemblies, 505- shaft ends catch,
506- motor bases, 60- bindiny mechanisms, the bindiny mechanisms of 601- first, the bindiny mechanisms of 602- second, 603- revolutions are set a table, 604-
Gas pawl support, 70- gas pawls, 701- the first gas pawls, 702- the second gas pawls, 80- profiling jaws, 801- holders, 802- clamping bars, 803-
Chuck, 804- jaw springs.
Specific embodiment
In order to be better understood from this utility model, with reference to specific embodiments and the drawings traveling one is entered to this utility model
The description of step.
As shown in Figure 1-Figure 3, in a kind of trussing for lathe loading and unloading mechanical hand, including top installing plate 10,
Biside plate 20, servomotor 30, gear train 40, drive mechanism 50, bindiny mechanism 60, gas pawl 70 and profiling jaw 80, biside plate
The 20 corresponding both sides for being arranged at top installing plate 10 straight down, are horizontally disposed with drive mechanism between the lower end of biside plate 20
50, the top of drive mechanism 50 arranges servomotor 30, and servomotor 30 is set to by the drive transmission device of gear train 40
50, bindiny mechanism 60 is set to be made up of the first bindiny mechanism 601 and the second bindiny mechanism 602, the first bindiny mechanism 601 and
The axis of two bindiny mechanisms 602 is mutually perpendicular to, and the first bindiny mechanism 601 is disposed as including with the second bindiny mechanism 602
Revolution is set a table 603 gentle pawl supports 604, and revolution is set a table and 603 is fixedly installed on drive mechanism 50, and by drive mechanism 50 the is driven
One bindiny mechanism 601 is rotated by 90 ° with the second bindiny mechanism 602, and so as to complete that workpiece is exchanged for, and the revolution is set a table on 603
Coaxial line arranges gas pawl support 604, and gas pawl 70 is set to include the first gas pawl 701 and the second gas pawl 702, on gas pawl support 604
First gas pawl 701 or the second gas pawl 702 be set, and revolution is set a table and 603 rotated for drive gas pawl 70, to ensure the crawl of workpiece
It is stable, and the lower end of the first gas pawl 701 and the second gas pawl 702 is respectively provided with profiling jaw 80, and multiple contacts are also set up on gas pawl 70
Switch, contact switch is arranged at the side of gas pawl 70 or the embedded end for being arranged at gas pawl 70, to detect the opening and closing of gas pawl 70
State or physical location, improve the operating accuracy of gas pawl 70.
Proximity switch and electronic pressure gage, proximity switch are also set up on mechanical hand for loading and unloading in lathe trussing
For realizing being accurately positioned T direction of principal axis zero points, T axles are 90 degree of angles between the first gas pawl 701 and the second gas pawl 702
Position, and passing through electronic pressure gage can then monitor the working condition of gas pawl 70, when monitor value is less than air pressure is arranged, equipment will be reported
It is alert to shut down.
Drive mechanism 50 is set to include shell 501, inner shell 502, rotary shaft 503, bearing assembly 504 and shaft end catch
505, the coaxial line of inner shell 502 is arranged at the inner chamber of shell 501, and rotary shaft 503 is arranged on the axis of inner shell 502, and the rotation
The forward and backward two ends of rotating shaft 503 sequentially pass through inner shell 502 and shell 501, and the forward and backward two ends of rotary shaft 503 are also respectively provided with bearing
Component 504 and shaft end catch 505, it is ensured that the normal work of drive mechanism 50.
The front end of drive mechanism 50 is vertically arranged a motor base 506, and the front end of servomotor 30 is fixedly installed on motor
The upper end of pedestal 506, and the motor shaft of the servomotor 30 passes perpendicularly through motor base 506.
Gear train 40 is set to first gear 401 and second gear 402, and first gear 401 is set to second gear 402
Engaged transmission, the coaxial line of first gear 401 is sheathed on the motor shaft of servomotor 30, and the coaxial line of second gear 402 is sheathed on
In rotary shaft 503, servomotor 30 drives rotary shaft 503 by first gear 401 with second gear 402.
Revolution is set a table and 603 is set to rotary cylinder, and by rotary cylinder the spinning movement of attachment means is realized.
Profiling jaw 80 is set to include holder 801, clamping bar 802, chuck 803 and jaw spring 804 that holder 801 is arranged
On gas pawl 70, and the two ends of the holder 801 are respectively perpendicular setting clamping bar 802, and clamping bar 802 is arranged away from one end of holder 801
Coaxial line is gone back on chuck 803, and the clamping bar 802 and be arranged jaw spring 804, inserted in workpiece, and by clamping bar by chuck 803
802 and jaw spring 804 coordinate to ensure the reliable grip of workpiece.
The mechanical hand for loading and unloading in lathe trussing provided using this utility model, can realize same truss
Mechanical hand carries out exchanging part for lathe station, and grabbing claw itself is rotatable, and the speed of service is very fast so that robot movement is in place
The gripping of material can be completed afterwards, and higher positional precision can be ensured.When the robot work, Z axis servomotor and T axles
The action simultaneously of servomotor 30, the second gas pawl 702 rotates to upright position, the second gas pawl while Z axis drop to tool position
Chuck 803 on 702 profiling jaw 80 is put in the location hole of the workpiece that second operation work is completed, and the second gas pawl 702 is clamped
Workpiece then goes up, and rises to T axles servomotor 30 after rotation height, the revolution of the first gas pawl 701 and sets a table the 603, second gas pawl
702 revolution is set a table 603 simultaneously actions, is rotated by 90 ° respectively, 180 degree, 180 degree, and then Z axis drop to tool position, the first gas
First working procedure processing is completed and adjusted the workpiece of position to be placed on workpiece tool by pawl 701 after unclamping, secondly first gas
Pawl 701 rises to again rotation height, Z servomotors and the action simultaneously of T axles servomotor 30, by gas pawl while Z axis rise
70 return to default location, and so as to complete quickly reloading for workpiece between different operations, automaticity is higher, and cause production effect
Rate is improved.
Embodiment of the present utility model has been described in detail above, but the content is only of the present utility model preferable
Embodiment, it is impossible to be considered as limiting practical range of the present utility model.All impartial changes made according to this utility model scope
Change and improve etc., all should still belong within this patent covering scope.
Claims (7)
1. in a kind of trussing for lathe loading and unloading mechanical hand, it is characterised in that：In the trussing for lathe
The mechanical hand of loading and unloading include top installing plate, biside plate, servomotor, gear train, drive mechanism, bindiny mechanism, gas pawl and
Profiling jaw, the corresponding both sides for being arranged at the top installing plate straight down of the biside plate, the lower end of the biside plate
Between be horizontally disposed with the drive mechanism, the top of the drive mechanism arranges the servomotor, and the servomotor sets
It is set to and drives the drive mechanism, the bindiny mechanism to be set to by the first bindiny mechanism and the second connection by the gear train
Mechanism constitutes, and first bindiny mechanism is mutually perpendicular to the axis of second bindiny mechanism, and the first connection machine
Structure and second bindiny mechanism are disposed as including that revolution is set a table gentle pawl support, the revolution set a table be fixedly installed on it is described
On drive mechanism, and set a table upper coaxial line of the revolution arranges the gas pawl support, the gas pawl be set to include the first gas pawl and
Second gas pawl, arranges the first gas pawl or the second gas pawl on the gas pawl support, and the first gas pawl with it is described
The lower end of the second gas pawl is respectively provided with the profiling jaw, and on the gas pawl multiple contact switches are also set up.
2. in the trussing for lathe according to claim 1 loading and unloading mechanical hand, it is characterised in that：It is described to be used for
Proximity switch and electronic pressure gage are also set up in lathe trussing on the mechanical hand of loading and unloading.
3. in the trussing for lathe according to claim 1 loading and unloading mechanical hand, it is characterised in that：The transmission
Mechanism is set to include shell, inner shell, rotary shaft, bearing assembly and shaft end catch that the inner shell coaxial line is arranged at described outer
The inner chamber of shell, the rotary shaft is arranged on the axis of the inner shell, and the forward and backward two ends of the rotary shaft sequentially pass through institute
Inner shell and the shell are stated, the forward and backward two ends of the rotary shaft are also respectively provided with the bearing assembly with the shaft end catch.
4. in the trussing for lathe according to claim 3 loading and unloading mechanical hand, it is characterised in that：The transmission
The front end of mechanism is also vertically arranged a motor base, and the front end of the servomotor is fixedly installed on the upper of the motor base
End, and the motor shaft of the servomotor passes perpendicularly through the motor base.
5. in the trussing for lathe according to claim 3 loading and unloading mechanical hand, it is characterised in that：The gear
Group is set to first gear and second gear, and the first gear and the second gear are set to engaged transmission, and described first
Gear coaxial line is sheathed on the motor shaft of the servomotor, and the second gear coaxial line is sheathed in the rotary shaft.
6. in the trussing for lathe according to claim 1 loading and unloading mechanical hand, it is characterised in that：The revolution
Set a table and be set to rotary cylinder.
7. in the trussing for lathe according to claim 1 loading and unloading mechanical hand, it is characterised in that：The profiling
Jaw is set to include holder, clamping bar, chuck and jaw spring that the holder is arranged on the gas pawl, and the two of the holder
End is respectively perpendicular the setting clamping bar, and the clamping bar arranges the chuck away from one end of the holder, and also common on the clamping bar
Axis is arranged the jaw spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621162169.8U CN206169750U (en) | 2016-10-25 | 2016-10-25 | Manipulator for feeding and discharging in machine tool truss system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621162169.8U CN206169750U (en) | 2016-10-25 | 2016-10-25 | Manipulator for feeding and discharging in machine tool truss system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206169750U true CN206169750U (en) | 2017-05-17 |
Family
ID=58680511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621162169.8U Expired - Fee Related CN206169750U (en) | 2016-10-25 | 2016-10-25 | Manipulator for feeding and discharging in machine tool truss system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206169750U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160418A (en) * | 2017-06-01 | 2017-09-15 | 江苏汉峰数控科技有限公司 | A kind of double pawl catching robot arms of dual rotary |
| CN108372514A (en) * | 2018-04-26 | 2018-08-07 | 广州高盛智造科技有限公司 | A kind of mechanical arm assembly and manipulator |
| CN109676396A (en) * | 2019-02-13 | 2019-04-26 | 蚌埠市鑫泰工程塑料制品有限公司 | A kind of storage battery cabinet automatically grinding device and its assembly, welding, polishing production line |
| CN112894813A (en) * | 2021-01-22 | 2021-06-04 | 长沙智能制造研究总院有限公司 | Visual servo mechanical equipment |
| CN114701701A (en) * | 2022-05-04 | 2022-07-05 | 展一智能科技(东台)有限公司 | Wrapping bag support and wrapping bag filling system |
-
2016
- 2016-10-25 CN CN201621162169.8U patent/CN206169750U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160418A (en) * | 2017-06-01 | 2017-09-15 | 江苏汉峰数控科技有限公司 | A kind of double pawl catching robot arms of dual rotary |
| CN108372514A (en) * | 2018-04-26 | 2018-08-07 | 广州高盛智造科技有限公司 | A kind of mechanical arm assembly and manipulator |
| CN108372514B (en) * | 2018-04-26 | 2024-01-30 | 广州高盛智造科技有限公司 | Manipulator assembly and manipulator |
| CN109676396A (en) * | 2019-02-13 | 2019-04-26 | 蚌埠市鑫泰工程塑料制品有限公司 | A kind of storage battery cabinet automatically grinding device and its assembly, welding, polishing production line |
| CN109676396B (en) * | 2019-02-13 | 2023-07-21 | 蚌埠市鑫泰工程塑料制品有限公司 | Automatic grinding device of storage battery box and assembling, welding and grinding production line thereof |
| CN112894813A (en) * | 2021-01-22 | 2021-06-04 | 长沙智能制造研究总院有限公司 | Visual servo mechanical equipment |
| CN114701701A (en) * | 2022-05-04 | 2022-07-05 | 展一智能科技(东台)有限公司 | Wrapping bag support and wrapping bag filling system |
| CN114701701B (en) * | 2022-05-04 | 2024-01-30 | 展一智能科技(东台)有限公司 | Packaging bag support and packaging bag filling system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170517 Termination date: 20191025 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |