CN207058163U - A kind of manipulator for tool changing device - Google Patents
A kind of manipulator for tool changing device Download PDFInfo
- Publication number
- CN207058163U CN207058163U CN201720941337.1U CN201720941337U CN207058163U CN 207058163 U CN207058163 U CN 207058163U CN 201720941337 U CN201720941337 U CN 201720941337U CN 207058163 U CN207058163 U CN 207058163U
- Authority
- CN
- China
- Prior art keywords
- arm
- manipulator
- paw
- rotating disk
- tool changing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of manipulator for tool changing device, belong to machining equipment technical field.Including arm, paw and drive device, manipulator is arranged on bearing, and bearing includes equal with disk diameter in the base and rounded rotating disk, the base length of side of square；Base interior edge is provided with chute, and rotating disk is arranged in chute；Manipulator is threadedly secured to center of turntable, and rotating disk is connected with servomotor I；Arm at least two, arm inside are provided with retractor device, and retractor device is connected through a screw thread with paw, and paw can be entered inside arm by retractor device；Connected between paw and retractor device by detachable connection mode；Drive device includes rotary shaft and cylinder, and rotary shaft one end in the middle part of arm with being connected, and the other end is connected with cylinder, and cylinder is connected with servomotor II.Realize that manipulator performance is good, and then promote tool changing device tool changing efficiency, improve the stability of processing technology.
Description
Technical field
A kind of manipulator is the utility model is related to, especially, is related to a kind of manipulator for tool changing device, belongs to machinery
Technical field of processing equipment.
Background technology
Nowadays, Computerized Numerical Control processing technology is popularized and developed rapidly.Wherein, machining center is as New Times Digit Control Machine Tool
Represent, in machine tool field extensive use, and automatic tool changer is as one of most important part of machining center, its development
Also the development of machining center is directly determined.Therefore, it is the further processing efficiency for improving Digit Control Machine Tool, realizes clamped one time
The growth requirement of multiple working procedure or whole process machine directions can be completed, it is necessary to have automatic tool changer, so as to from different
Cutter, complete the processing technology of different processes.Automatic tool changer can help Digit Control Machine Tool to save non-cutting time, and meet one
Complete multiple operation, work step processing request in secondary installation, automatic tool changer tool changing has that the time is short, cutter repetitive positioning accuracy
The features such as high, safe and reliable good.Tool changing device includes tool magazine, manipulator and main shaft, wherein, manipulator plays in tool changing device
Vital effect.During manipulator tool changing, manipulator one end extracts the cutter of completion of processing from main shaft, with
This simultaneously, the manipulator other end by stand-by cutter in tool magazine from tool magazine extract, then both exchange position complete tool changing
Journey.
Manipulator is had been widely used in Aeronautics and Astronautics and field of industrial production, and obtains preferable effect.Now
Industry mechanical arm can be divided into special manipulator and the class of Unimate two.The industry mechanical arm that China develops at present is mostly or special
Use manipulator.The structure type of the manipulator is fairly simple, and specificity is strong, is only attached to certain lathe.Although it has general
Incomparable of large quantities of manipulator, to some equipment（Or machine-made spares）Precision machining it is high the advantages of, but just at present
From the point of view of, special manipulator there is adaptability it is not strong the drawbacks of.This will carry out necessary transformation to it, adapt it to future
The needs of industrial development.Because Unimate change working procedure is more convenient, especially suitable for multi items, the life of small lot
Production.The history of Unimate application in the industrial production only 30 years, but these devices are quite paid attention to abroad.
So design production and application Digit Control Machine Tool, the more advanced machining equipment of numerical control machining center one kind are extremely urgent.Though
So the large scale equipment such as the numerical control machining center in China still relies on import at present, but believes that China will necessarily design in the near future
The equipment for developing oneself, this needs everyone unremitting effort.
And often there are the failures such as stuck, fixed cutting tool is poor, action is not in place in current manipulator so that tool changing acts nothing
Method is smoothed out, and has a strong impact on tool changing efficiency, or even shorten the working life of whole tool changing device.
Utility model content
The utility model aims to solve the problem that the problems such as stuck, fixed cutting tool is poor, action is not in place often occurs in manipulator, and carries
A kind of manipulator for tool changing device is gone out.By the improvement to existing manipulator structure, realize that manipulator performance is good, and then
Promote tool changing device tool changing efficiency, improve the stability of processing technology.
In order to realize above-mentioned technical purpose, following technical scheme is proposed：
A kind of manipulator for tool changing device, including arm, paw and drive device, paw are arranged on arm end,
Drive device is connected with arm；
The manipulator is arranged on bearing, and bearing includes the base and rounded rotating disk in square, the base length of side
It is equal with disk diameter；Base interior edge is provided with chute, and rotating disk is arranged in chute, and rotating disk can be in chute slidably；
Manipulator is threadedly secured to center of turntable, and rotating disk is connected with servomotor I；
The arm at least two, arm inside are provided with retractor device, and retractor device is connected through a screw thread with paw, paw
It can be entered by retractor device inside arm；
Connected between the paw and retractor device by detachable connection mode；
The drive device includes rotary shaft and cylinder, and with being connected in the middle part of arm, the other end connects with cylinder for rotary shaft one end
Connect, cylinder is connected with servomotor II.
Preferably, the paw interior edge is provided with cushion.
Preferably, the cushion includes rubber layer and frosted layer.
Preferably, the detachable connection mode includes threaded connection and snapped connection.
Preferably, it is provided with decelerator between cylinder and servomotor II.
Using the technical program, the advantageous effects brought are：
（1）By the improvement to existing manipulator structure, realize that manipulator performance is good, and then promote tool changing device tool changing to imitate
Rate, improve the stability of processing technology；
（2）In the utility model, in bearing：In the setting of square base, increase contact area, be easy to manipulator
It is firm；The setting of rounded rotating disk, it is easy to driven by rotary disc manipulator to slide.Base interior edge is provided with chute, and rotating disk is arranged on
In chute, and the base length of side is equal with disk diameter, forms a complete, stable drive system, improves manipulator station
Exchange in time, solve the problems, such as that robot work is not in place.Manipulator is threadedly secured to center of turntable, is easy to manipulator
Maintenance and replacing；Rotating disk is connected with servomotor I, and servomotor I provides kinetic energy, and rotating disk can be driven to do effective exercise；
（3）In the utility model, arm at least two, tool changing device efficiency can be effectively improved.When robot work,
Retractor device is upheld, and paw is sent out into arm, paw work；When manipulator does not work, retractor device shrinks, and paw is taken back
In arm, with this, it is easy to the arrangement to tool changing device so that working space shared by manipulator saving, indirectly reduce to it
The adverse effect of his production technology.Meanwhile paw passes in and out arm by retractor device, the opening and closing work of paw can be carried out in advance
Make, and whether detection paw occurs stuck or unclamp in advance, and preliminary fault pre-alarming is provided for staff；
（4）In the utility model, connected between paw and retractor device by detachable connection mode, be easy to opponent
Pawl and retractor device maintenance are changed；
（5）In the utility model, the setting of drive device, the effective driving manipulator tool changing of energy, promote tool changing technique
Stability；
（6）In the utility model, paw interior edge is provided with cushion, the good fixed cutting tool of cushion energy, rubber layer
Or the frictional force between frosted layer increase cutter and paw；
（7）In the utility model, decelerator is provided between cylinder and servomotor II, increases the steady of rotary shaft
Property.
Brief description of the drawings
Fig. 1 is the utility model structure diagram
In figure, 1, arm, 2, paw, 3, drive device, 301, rotary shaft, 302, cylinder, 303, servomotor II, 4, branch
Seat, 401, base, 402, rotating disk, 403, chute, 404, servomotor I, 5, retractor device, 6, decelerator.
Embodiment
It is clearly and completely described below by the technical scheme in the embodiment of the utility model, it is clear that described
Embodiment be only part of the embodiment of the present utility model, rather than whole embodiment.Based on the reality in the utility model
Example is applied, all other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, is all belonged to
In the scope of the utility model protection.
Embodiment 1
A kind of manipulator for tool changing device, including arm 1, paw 2 and drive device 3, paw 2 are arranged on arm 1
End, drive device 3 are connected with arm 1；The manipulator is set on the carrier 4, and bearing 4 includes the base 401 in square
It is equal with the diameter of rotating disk 402 with rounded rotating disk 402, the length of side of base 401；The interior edge of base 401 is provided with chute 403, rotating disk
402 are arranged in chute 403, and rotating disk 402 can be in chute 403 slidably；Manipulator is threadedly secured to rotating disk 402
Center, and rotating disk 402 is connected with servomotor I 404；The arm 1 is two, and the inside of arm 1 is provided with retractor device 5, stretches
Device 5 is connected through a screw thread with paw 2, and paw 2 can be entered inside arm 1 by retractor device 5；The paw 2 and flexible dress
Connected between putting 5 by detachable connection mode；The drive device 3 includes rotary shaft 301 and cylinder 302, rotary shaft 301
One end is connected with the middle part of arm 1, and the other end is connected with cylinder 302, and cylinder 302 is connected with servomotor II 303.
Embodiment 2
On the basis of embodiment 1, difference is：The arm 1 is four, increases robot work efficiency.
Embodiment 3
A kind of manipulator for tool changing device, including arm 1, paw 2 and drive device 3, paw 2 are arranged on arm 1
End, drive device 3 are connected with arm 1；The manipulator is set on the carrier 4, and bearing 4 includes the base 401 in square
It is equal with the diameter of rotating disk 402 with rounded rotating disk 402, the length of side of base 401；The interior edge of base 401 is provided with chute 403, rotating disk
402 are arranged in chute 403, and rotating disk 402 can be in chute 403 slidably；Manipulator is threadedly secured to rotating disk 402
Center, and rotating disk 402 is connected with servomotor I 404；The arm 1 two, the inside of arm 1 are provided with retractor device 5, and stretch dress
Put 5 to be connected through a screw thread with paw 2, paw 2 can be entered inside arm 1 by retractor device 5；The paw 2 and retractor device 5
Between connected by detachable connection mode；The drive device 3 includes rotary shaft 301 and cylinder 302, rotary shaft 301 1
End is connected with the middle part of arm 1, and the other end is connected with cylinder 302, and cylinder 302 is connected with servomotor II 303.
Preferably, the interior edge of paw 2 is provided with cushion, and cushion is rubber layer.
Embodiment 4
On the basis of embodiment 3, difference is：
Arm 1 is three, increases robot work efficiency；
Cushion is frosted layer, increases the frictional force between paw 2 and cutter, solves the problems, such as manipulator fixed cutting tool difference.
Embodiment 5
As shown in Figure 1：A kind of manipulator for tool changing device, including arm 1, paw 2 and drive device 3, paw 2 are set
Put and be connected in the end of arm 1, drive device 3 with arm 1；The manipulator is set on the carrier 4, and it is in square that bearing 4, which includes,
Base 401 and rounded rotating disk 402, the length of side of base 401 it is equal with the diameter of rotating disk 402；The interior edge of base 401 is provided with chute
403, rotating disk 402 is arranged in chute 403, and rotating disk 402 can be in chute 403 slidably；Manipulator is threadably secured
At the center of rotating disk 402, and rotating disk 402 is connected with servomotor I 404；The arm 1 two, the inside of arm 1 are provided with retractor device
5, retractor device 5 is connected through a screw thread with paw 2, and paw 2 can be entered inside arm 1 by retractor device 5；The paw 2 with
Connected between retractor device 5 by detachable connection mode；The drive device 3 includes rotary shaft 301 and cylinder 302, rotation
The one end of rotating shaft 301 is connected with the middle part of arm 1, and the other end is connected with cylinder 302, and cylinder 302 is connected with servomotor II 303.
Preferably, the interior edge of paw 2 is provided with cushion, and cushion is frosted layer.
Preferably, the detachable connection mode is threaded connection.
Preferably, decelerator 6 is provided between cylinder 302 and servomotor II 303.
Embodiment 6
A kind of manipulator for tool changing device, including arm 1, paw 2 and drive device 3, paw 2 are arranged on arm 1
End, drive device 3 are connected with arm 1；The manipulator is set on the carrier 4, and bearing 4 includes the base 401 in square
It is equal with the diameter of rotating disk 402 with rounded rotating disk 402, the length of side of base 401；The interior edge of base 401 is provided with chute 403, rotating disk
402 are arranged in chute 403, and rotating disk 402 can be in chute 403 slidably；Manipulator is threadedly secured to rotating disk 402
Center, and rotating disk 402 is connected with servomotor I 404；The arm 1 three, the inside of arm 1 are provided with retractor device 5, and stretch dress
Put 5 to be connected through a screw thread with paw 2, paw 2 can be entered inside arm 1 by retractor device 5；The paw 2 and retractor device 5
Between connected by detachable connection mode；The drive device 3 includes rotary shaft 301 and cylinder 302, rotary shaft 301 1
End is connected with the middle part of arm 1, and the other end is connected with cylinder 302, and cylinder 302 is connected with servomotor II 303.
Preferably, the interior edge of paw 2 is provided with cushion, and cushion bag is rubber layer.
Preferably, the detachable connection mode includes snapping connection.
Preferably, decelerator 6 is provided between cylinder 302 and servomotor II 303.
Embodiment 7
A kind of manipulator for tool changing device, including arm 1, paw 2 and drive device 3, paw 2 are arranged on arm 1
End, drive device 3 are connected with arm 1；The manipulator is set on the carrier 4, and bearing 4 includes the base 401 in square
It is equal with the diameter of rotating disk 402 with rounded rotating disk 402, the length of side of base 401；The interior edge of base 401 is provided with chute 403, rotating disk
402 are arranged in chute 403, and rotating disk 402 can be in chute 403 slidably；Manipulator is threadedly secured to rotating disk 402
Center, and rotating disk 402 is connected with servomotor I 404；The arm 1 is five, and the inside of arm 1 is provided with retractor device 5, stretches
Device 5 is connected through a screw thread with paw 2, and paw 2 can be entered inside arm 1 by retractor device 5；The paw 2 and flexible dress
Connected between putting 5 by detachable connection mode；The drive device 3 includes rotary shaft 301 and cylinder 302, rotary shaft 301
One end is connected with the middle part of arm 1, and the other end is connected with cylinder 302, and cylinder 302 is connected with servomotor II 303.
Preferably, the interior edge of paw 2 is provided with cushion, and cushion is frosted layer.
Preferably, the detachable connection mode is to snap connection.
Preferably, decelerator 6 is provided between cylinder 302 and servomotor II 303.
Claims (5)
1. a kind of manipulator for tool changing device, including arm（1）, paw（2）And drive device（3）, paw（2）It is arranged on
Arm（1）End, drive device（3）With arm（1）Connection, it is characterised in that：
The manipulator is arranged on bearing（4）On, bearing（4）Including the base in square（401）With rounded rotating disk
（402）, base（401）The length of side and rotating disk（402）Diameter is equal；Base（401）Interior edge is provided with chute（403）, rotating disk（402）
It is located at chute（403）It is interior；Manipulator is threadedly secured to rotating disk（402）Center, and rotating disk（402）It is connected with servomotor I
（404）；
The arm（1）At least two, arm（1）Inside is provided with retractor device（5）, retractor device（5）With paw（2）Pass through spiral shell
Line connects, paw（2）Pass through retractor device（5）Into arm（1）It is internal；
The paw（2）With retractor device（5）Between connected by detachable connection mode；
The drive device（3）Including rotary shaft（301）And cylinder（302）, rotary shaft（301）One end and arm（1）Middle part connects
Connect, the other end and cylinder（302）Connection, cylinder（302）It is connected with servomotor II（303）.
2. the manipulator according to claim 1 for tool changing device, it is characterised in that：The paw（2）Interior edge is set
There is cushion.
3. the manipulator according to claim 2 for tool changing device, it is characterised in that：The cushion includes rubber layer
And frosted layer.
4. the manipulator according to claim 1 for tool changing device, it is characterised in that：The detachable connection mode
Including being threadedly coupled and snapping connection.
5. the manipulator according to claim 1 for tool changing device, it is characterised in that：In cylinder（302）With servo electricity
Machine II（303）Between be provided with decelerator（6）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720941337.1U CN207058163U (en) | 2017-07-31 | 2017-07-31 | A kind of manipulator for tool changing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720941337.1U CN207058163U (en) | 2017-07-31 | 2017-07-31 | A kind of manipulator for tool changing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207058163U true CN207058163U (en) | 2018-03-02 |
Family
ID=61518492
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720941337.1U Expired - Fee Related CN207058163U (en) | 2017-07-31 | 2017-07-31 | A kind of manipulator for tool changing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207058163U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176104A (en) * | 2018-10-31 | 2019-01-11 | 德阳卡邦斯阳光科技有限公司 | A kind of automatic upper cutter device on CNC |
-
2017
- 2017-07-31 CN CN201720941337.1U patent/CN207058163U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176104A (en) * | 2018-10-31 | 2019-01-11 | 德阳卡邦斯阳光科技有限公司 | A kind of automatic upper cutter device on CNC |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201632679U (en) | Multi-station drilling and tapping machine | |
| CN102689236B (en) | Numerical control machine with a plurality of main shafts | |
| CN204234843U (en) | The continuous multiaspect milling device of a kind of CNC milling machine | |
| CN103128555A (en) | Automatic multi-procedure drilling and tapping integrated machine | |
| CN203437687U (en) | Circular mold inner-outer drilling numerically-controlled machine tool | |
| CN207058163U (en) | A kind of manipulator for tool changing device | |
| CN201609835U (en) | Universal multi-station and self-centering tool in machining equipment | |
| CN205734055U (en) | Machining center main shaft not stall has mechanical hand automatic tool changer | |
| CN204639736U (en) | Step machine automation positioning accurate pseudotype Swash plate tool magazine | |
| CN203125130U (en) | Automatic multi-process drilling and tapping all-in-one machine | |
| CN205342033U (en) | Two side milling keyway special planes | |
| CN205043244U (en) | Pipe cutting platform | |
| CN204450018U (en) | A kind of novel high speed servo tool magazine | |
| CN105537656A (en) | Double-sided special key slot milling machine | |
| CN203557222U (en) | Magnetorheological fluid rotating inner surface polishing system | |
| CN202684506U (en) | Combined machining all-in-one machine for spherical bolt | |
| CN207043831U (en) | A kind of automatic tool changer | |
| CN203124779U (en) | High-efficiency radial drilling machine | |
| CN205968379U (en) | From moving first mechanism suitable for mill boring integration lathe | |
| CN109590490A (en) | Right-angled intersection spindle processing system | |
| CN204524963U (en) | A kind of automatic tool changer of Digit Control Machine Tool | |
| CN208662536U (en) | A kind of novel numerical control knife rest | |
| CN209551104U (en) | A kind of simple nut process equipment | |
| CN113369956A (en) | Novel six-spindle shared intelligent tool changing system | |
| CN203917998U (en) | A kind of numerical control chuck with automatic key locking device |
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: 20180302 Termination date: 20180731 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |