CN208413249U - A kind of robot manipulator structure of numerically-controlled machine tool - Google Patents
A kind of robot manipulator structure of numerically-controlled machine tool Download PDFInfo
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- CN208413249U CN208413249U CN201820531595.7U CN201820531595U CN208413249U CN 208413249 U CN208413249 U CN 208413249U CN 201820531595 U CN201820531595 U CN 201820531595U CN 208413249 U CN208413249 U CN 208413249U
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- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
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- 238000010586 diagram Methods 0.000 description 2
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- 238000010168 coupling process Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Abstract
The utility model discloses a kind of robot manipulator structures of numerically-controlled machine tool, are related to Numeric Control Technology corollary equipment technical field；Including lathe, X-axis movement mould group, Z axis movement mould group, rotating machine arm, glass material frame to be processed and machined glass material frame；The X-axis movement mould group is fixed at the top position of lathe, and the glass material frame to be processed and machined glass material frame are separately positioned on the both ends of the X-axis movement mould group；The Z axis movement mould group is mounted in X-axis movement mould group, is moved back and forth by the drive that X-axis moves mould group in X-direction；The rotating machine arm is mounted in Z axis movement mould group, is moved back and forth by the driving that Z axis moves mould group in Z-direction；The beneficial effects of the utility model are: being able to achieve automatic loading/unloading, processing efficiency and product quality are substantially increased, while also saving manpower and cost for client；Its structure is simple, good reliability, and it is good to be used for a long time stability, analog manual operation.
Description
Technical field
The utility model relates to Numeric Control Technology corollary equipment technical fields, more specifically, the utility model relates to one kind
The robot manipulator structure of numerically-controlled machine tool.
Background technique
Robot device at present on the market in numerically-controlled machine tool equipment is many kinds of, for tablet computer, hand-set lid etc.
The handling equipment of processing is mostly mounted on the Z axis of lathe, and this traditional manipulator is generally mounted on the Z axis of lathe
On, main shaft inconvenience is not only dismounted, processing efficiency is also below manual operation, and structure is generally double end while picking and placing, and influences
Stability.In addition there are also manual operation is used, this mode, which needs to shut down, can take out workpiece, and workpiece chips are easy to people
Body damages, therefore the overall process of work pieces process actually belongs to semiautomation operation, be easy to cause industrial accident also significantly
Affect processing efficiency.
Utility model content
For overcome the deficiencies in the prior art, the utility model provides a kind of robot manipulator structure of numerically-controlled machine tool, the numerical control
The robot manipulator structure of lathe is convenient for disassembly and assembly, structure is simple, is used for a long time reliable and stable.
The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of robot manipulator structure of numerically-controlled machine tool,
It is theed improvement is that: including lathe, X-axis movement mould group, Z axis movement mould group, rotating machine arm, glass material frame to be processed and
Machined glass material frame；
The described X-axis movement mould group is fixed at the top position of lathe, the glass material frame to be processed and has added
Work glass material frame is separately positioned on the both ends of the X-axis movement mould group；The Z axis movement mould group is mounted on X axis movement mould group
On, it is moved back and forth by the drive that X-axis moves mould group in X-direction；The rotating machine arm is mounted on Z axis movement mould group
On, it is moved back and forth by the driving that Z axis moves mould group in Z-direction；
The rotating machine arm include rotating electric machine, electric rotating base, spill spin block, first mechanical arm, second mechanical arm,
First rotary cylinder, the second rotary cylinder and multiple suckers, the rotating electric machine are fixedly mounted on electric rotating base, should
Electric rotating base is fixedly connected with Z axis movement mould group；
The spill spin block is fixedly connected with the motor shaft of rotating electric machine, one end of the first mechanical arm and the second machinery
One end of arm is fixedly connected on spill spin block, and the angle between first mechanical arm and second mechanical arm is right angle；Described
One rotary cylinder is fixedly mounted on the other end of first mechanical arm, and second rotary cylinder is fixedly mounted on second mechanical arm
The other end；Sucker is fixedly installed on the cylinder rod of first rotary cylinder and the cylinder rod of the second rotary cylinder to fix
Plate is mounted on multiple suckers in each sucker fixed plate, and the sucker fixed plate is for driving sucker in vertical direction and water
Square to reciprocating motion.
In such a configuration, the rotating machine arm further includes air cylinder fixed plate, and two air cylinder fixed plates are solid respectively
Dingan County is on the other end of first mechanical arm and on the other end of second mechanical arm, first rotary cylinder and the second rotation
Rotaring cylinder is respectively and fixedly installed in two air cylinder fixed plates.
In such a configuration, multiple manipulator backing plates are provided on the lathe, the X-axis movement mould group is fixed
On the manipulator backing plate.
In such a configuration, X-axis movement mould group includes X-axis servo motor, X-axis screw rod, X-axis slide block, X-axis support
Plate and Z axis fixing seat；
The X-axis screw rod is fixedly connected with the motor shaft of X-axis servo motor, is turned by the drive of X-axis servo motor
It is dynamic；The X-axis slide block covers on X-axis screw rod, and the Z axis fixing seat is fixedly connected by X-axis supporting plate with X-axis slide block, leads to
The driving for crossing X-axis servo motor moves back and forth Z axis fixing seat in X-direction, and the Z axis movement mould group is fixedly mounted on Z
In axis fixing seat.
In such a configuration, X-axis movement mould group further includes X-axis motor cabinet, right material frame torr plate, left material frame torr plate
And multiple material frame support plates；
The X-axis servo motor is fixedly mounted in X-axis motor cabinet, which is fixed on right material frame torr plate,
Two material frame support plates are fixedly mounted on the two sides of right material frame torr plate, and the glass material frame to be processed is fixed at two material
The top of frame support plate；Two material frame support plates are fixedly mounted on the two sides of left material frame torr plate, the machined glass material frame
It is fixed at the top of two material frame support plates.
In such a configuration, Z axis movement mould group includes Z axis servo motor, Z axis fixed plate, Z axis supporting plate, Z axis
Screw rod and Z axis sliding block；
A Z axis motor cabinet is provided at the top of the Z axis fixed plate, the Z axis servo motor is mounted on Z axis motor cabinet
On, the Z axis screw rod is fixedly connected with the motor shaft of Z axis servo motor, and the Z axis slide block set is described on Z axial filament bar
Electric rotating base be fixedly connected by Z axis supporting plate with Z axis sliding block, Z axis sliding block and rotation are made by the driving of Z axis servo motor
Motor cabinet is moved back and forth in Z-direction.
In such a configuration, Z axis movement mould group further includes Z axis motor cover, and the Z axis motor enclosure is in Z
On axis servo motor.
In such a configuration, the sucker fixed plate is in the shape of an " I ", and is fixedly connected in the middle part of sucker fixed plate
A connecting plate, the connecting plate be connected with the cylinder rod of the first rotary cylinder, the second rotary cylinder；The sucker fixed plate
On four suckers are fixedly mounted.
In such a configuration, the rotating machine arm further includes speed reducer, the motor of the speed reducer and rotating electric machine
Axis is fixedly connected, and the output end of speed reducer is fixedly connected with spill spin block.
The beneficial effects of the utility model are: the robot manipulator structure of such numerically-controlled machine tool of the utility model, is able to achieve certainly
Dynamic loading and unloading, substantially increase processing efficiency and product quality, while also saving manpower and cost for client；The letter of its structure
Single, good reliability, long-time service stability is good, and analog manual operation can solve problems of the prior art.
Detailed description of the invention
Fig. 1 is a kind of the first schematic perspective view of the robot manipulator structure of numerically-controlled machine tool of the utility model.
Fig. 2 is a kind of structural schematic diagram of the rotating machine arm of the robot manipulator structure of numerically-controlled machine tool of the utility model.
Fig. 3 is a kind of configuration schematic diagram of the robot manipulator structure of numerically-controlled machine tool of the utility model.
Fig. 4 is a kind of the second schematic perspective view of the robot manipulator structure of numerically-controlled machine tool of the utility model.
Fig. 5 is the partial enlarged view in Fig. 4 at A.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
It is carried out below with reference to technical effect of the embodiment and attached drawing to the design of the utility model, specific structure and generation
It clearly and completely describes, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is a part of the embodiment of the utility model, rather than whole embodiments, it is based on the embodiments of the present invention, the skill of this field
Art personnel other embodiments obtained without creative efforts belong to the model of the utility model protection
It encloses.In addition, all connection/connection relationships being related in patent, not singly refer to that component directly connects, and referring to can be according to specific
Performance, by adding or reducing couple auxiliary, to form more preferably coupling structure.Each skill in the utility model creation
Art feature, can be with combination of interactions under the premise of not conflicting conflict.
Shown in reference picture 1, Fig. 2, the utility model discloses a kind of robot manipulator structure of numerically-controlled machine tool, passes through the manipulator
Structure realizes the transfer to glass pieces, such as unprocessed glass pieces is transferred on processing stations, or will be machined
Glass pieces removed from processing stations, the specific course of work will be explained below.In the present embodiment, a kind of number
The robot manipulator structure of control lathe includes lathe 10, X-axis movement mould group 20, Z axis movement mould group 30, rotating machine arm 40, to be processed
Glass material frame 50 and machined glass material frame 60, the X-axis movement mould group 20 are fixedly mounted on 10 top of lathe, specifically
, multiple manipulator backing plates 101 are provided on lathe 10, the X-axis movement mould group 20 is fixed on the manipulator backing plate
On 101；The glass material frame 50 to be processed and machined glass material frame 60 are separately positioned on the two of the X-axis movement mould group 20
End；The Z axis movement mould group 30 is mounted in X-axis movement mould group 20, moves the drive of mould group 20 in X-direction by X-axis
It moves back and forth；The rotating machine arm 40 is mounted in Z axis movement mould group 30, moves the driving of mould group 30 in Z by Z axis
Axis direction moves back and forth, therefore rotating machine arm 40 be while can rise or fall, glass material frame 50 to be processed with
It is moved back and forth between processing glass material frame 60.
Further, for the rotating machine arm 40, as shown in Fig. 2, the rotating machine arm 40 includes rotation
Motor 401, electric rotating base 402, spill spin block 403, first mechanical arm 404, second mechanical arm 405, the first rotary cylinder 406,
Second rotary cylinder 407 and multiple suckers 408, the rotating electric machine 401 are fixedly mounted on electric rotating base 402, should
Electric rotating base 402 is fixedly connected with Z axis movement mould group 30, is back and forth transported by the drive that Z axis moves mould group 30 in vertical direction
It is dynamic, it, will hereinafter further instruction for the specific structure of Z axis movement mould group 30.Specifically, the spill spin block 403
It being fixedly connected with the motor shaft of rotating electric machine 401, in the present embodiment, rotating machine arm further includes speed reducer (not marking in figure),
The speed reducer is fixedly connected with the motor shaft of rotating electric machine 401, and the output end of speed reducer is fixedly connected with spill spin block 403, is led to
It crosses speed reducer to be adjusted the speed of rotating electric machine 401, reduces the revolving speed of rotating electric machine 401, spill spin block 403 is avoided to rotate
Fastly；One end of the first mechanical arm 404 and one end of second mechanical arm 405 are fixedly connected on spill spin block 403, and the
Angle between one mechanical arm 404 and second mechanical arm 405 is right angle；First rotary cylinder 406 is fixedly mounted on first
The other end of mechanical arm 404, second rotary cylinder 407 are fixedly mounted on the other end of second mechanical arm 405；Described first
It is fixedly installed with sucker fixed plate 409 on the cylinder rod of the cylinder rod of rotary cylinder 406 and the second rotary cylinder 407, each
Multiple suckers 408 are mounted in sucker fixed plate 409, the sucker fixed plate 409 is for driving sucker 408 in vertical side
It is moved back and forth to horizontal direction.
In the present embodiment, as shown in Fig. 2, the sucker fixed plate 409 is in the shape of an " I ", and sucker fixed plate 409
Middle part be fixedly connected a connecting plate 410, two connecting plates 410 respectively with the first rotary cylinder 406 and the second rotary cylinder
407 cylinder rod is connected, and when the first rotary cylinder 406, the rotation of the second rotary cylinder 407, then drives sucker fixed plate 409
Rotation, controlled by the angle to the first rotary cylinder 406 and the second rotary cylinder 407, in the first state when, inhale
Disk fixed plate 409 and horizontal plane flush, in the second condition when, sucker fixed plate 409 and horizontal plane are perpendicular；The suction
Four suckers 408 are fixedly mounted in disk fixed plate 409, glass pieces are adsorbed by sucker 408, realize the rotation of workpiece.This
In embodiment, since sucker fixed plate 409 is in the shape of an " I ", on the one hand reduces the weight of sucker fixed plate 409, avoid first
The load excessive of rotary cylinder 406 and the second rotary cylinder 407, another utility model, this symmetrical structure is in installation sucker
When 408, sucker 408 is made to be in symmetrical state, when sucker 408 adsorbs glass pieces, the stress of glass pieces is more uniform,
The case where avoiding glass pieces from falling.
By above-mentioned structure, the rotating electric machine 401 can drive spill spin block 403 to be rotated, by rotation
The control of motor 401, rotation angle are 90 °, in the course of work, when first mechanical arm 404 and second mechanical arm 405 are in figure
When state in 2, second mechanical arm 405 is then concordant with X-direction, and first mechanical arm 404 is then vertical with X-direction, works as rotation
After motor 401 rotates 90 °, second mechanical arm 405 then moves to the initial position of first mechanical arm 404, vertical with X-direction,
First mechanical arm 404 then with X-direction flush；Mould group 20 is moved by X-axis again and Z axis moves mould group 30 and cooperates, realization pair
The pick-and-place of glass pieces.
The robot manipulator structure specific work process of the numerically-controlled machine tool of the utility model is as follows, as shown in Figure 1, X-axis moves mould
20 driving rotating machine arm 40 of group is mobile in X-direction, i.e., moves right in Fig. 1, first mechanical arm 404 and the second machinery
Arm 405 is rotated by 90 ° simultaneously by the driving of rotating electric machine 401, and the sucker 408 in second mechanical arm 405 reaches to be processed at that time
The top of glass material frame 50, hereafter sucker 408 is rotated by 90 ° by the second rotary cylinder 407, reaches vertical state, while the first rotation
Rotaring cylinder 406 drives the sucker 408 in first mechanical arm 404 to be rotated by 90 °, and reaches horizontality；Hereafter, mould group is moved in Z axis
Under 30 drivings, rotating machine arm 40 is moved downward, and the sucker 408 in second mechanical arm 405 adsorbs glass to be processed by vacuum source
Glass workpiece, rotating machine arm 40 moves upwards under the driving of Z axis movement mould group, while the driving of mould group 20 is moved by X-axis
It moves downward, the sucker 408 in second mechanical arm 405 is rotated by 90 ° by the driving of the second rotary cylinder 407, reaches horizontal
State；Then the sucker 408 in first mechanical arm 404 is moved to above machined glass pieces, is driven in Z axis movement mould group 30
Under, the sucker 408 in first mechanical arm 404 moves downward, and after adsorbing machined glass pieces, rotating machine arm 40 is to moving up
It is dynamic, then first mechanical arm 404 and second mechanical arm 405 are made by the transmission of rotating electric machine 401 while being rotated by 90 °, by the second machine
Sucker 408 on tool arm 405 rotates to the top of localization tool, and rotating machine arm 40 moves down, and passes through second mechanical arm 405
On sucker 408 glass pieces to be processed are put into localization tool, then rotating machine arm 40 moves up, X-axis movement
Mould group 20 drives rotating machine arm 40 to be moved to the left, while the first rotary cylinder 406 is by the sucker 408 on the first manipulator 404
It is rotated by 90 °, to reach vertical state, the sucker 408 on the first manipulator 404 is moved in machined glass material frame 60
Side, is moved down by rotating machine arm at that time, machined glass pieces is put into machined glass material frame 60, so weight
Double action is made, and the automatic loading/unloading of glass pieces is completed.The robot manipulator structure of such numerically-controlled machine tool 10 of the utility model, is able to achieve
Automatic loading/unloading, and processing efficiency and product quality can be substantially increased, together with adjust automatically glass pieces state in which
When be also that client saves manpower and cost；Its structure is simple, good reliability, and it is good to be used for a long time stability, analog manual operation,
It can solve problems of the prior art.
In addition, in the above-described embodiment, as shown in Fig. 2, the rotating machine arm 40 further includes air cylinder fixed plate
411, air cylinder fixed plate 411 is L-shaped, and two air cylinder fixed plates 411 are respectively and fixedly installed to the other end of first mechanical arm 404
On the upper and other end of second mechanical arm 405, first rotary cylinder 406 and the second rotary cylinder 407 fix peace respectively
In two air cylinder fixed plates 411.
Mould group 20 is moved for the X-axis, as shown in figure 3, X-axis movement mould group 20 includes X-axis servo motor 201, X-axis
Screw rod 202, X-axis slide block 203, Z axis fixing seat 204 and X-axis supporting plate 209；The X axial filament bar 202 and X-axis servo motor
201 motor shaft is fixedly connected, and is rotated by the drive of X-axis servo motor 201；Described 203 sets of X-axis slide block are in X-axis silk
On bar 202, the Z axis fixing seat 204 is fixedly connected by X axis supporting plate 209 with X-axis slide block 203, passes through X-axis servo motor
201 driving moves back and forth Z axis fixing seat 204 in Z-direction, and it is solid that the Z axis movement mould group 30 is fixedly mounted on Z axis
In reservation 204.In addition, X-axis movement mould group 20 further include X-axis motor cabinet 205, right material frame torr plate 206, left material frame torr plate 207 with
And multiple material frame support plates 208；The X-axis servo motor 201 is fixedly mounted in X-axis motor cabinet 205, the X-axis motor cabinet
205 are fixed on right material frame torr plate, and two material frame support plates 208 are fixedly mounted on the two sides of right material frame torr plate 206, it is described to
Processing glass material frame is fixed at the top of two material frame support plates 208；Two material frame support plates 208 are fixedly mounted on left material
The two sides of frame torr plate 207, the machined glass material frame are fixed at the top of two material frame support plates 208.This implementation
In example, it is provided with the protective cover wrapped up in right material frame torr plate and material frame support plate 208, is designed by this structure, makes X-axis
Servo motor 201 is in a closed space, is avoided impurity from entering inside, is caused to damage to X-axis servo motor 201.
Mould group 30 is moved for the Z axis, as shown in Fig. 3, Fig. 4 and Fig. 5, it is specific real that the utility model provides one
Example is applied, the Z axis movement mould group 30 includes Z axis servo motor 301, Z axis screw rod 303, Z axis sliding block 304, Z axis supporting plate 307
And Z axis fixed plate 305, the top of the Z axis fixed plate 305 are provided with a Z axis motor cabinet 302, the Z axis servo motor
301 are mounted on Z axis motor cabinet 302, and the Z axis screw rod 303 is fixedly connected with the motor shaft of Z axis servo motor 301, described
304 sets of Z axis sliding block on Z axis screw rod 303, the electric rotating base 402 connects by the way that Z axis supporting plate and Z axis sliding block 304 are fixed
It connects, moves back and forth Z axis sliding block 304 and electric rotating base 402 in Z-direction by the driving of Z axis servo motor 301；It is described
Z axis movement mould group 30 further include Z axis motor cover 306, described 306 sets of Z axis motor cover on Z axis servo motor 301；It is described
The bottom end of Z axis motor cabinet 302 be fixedly mounted on Z axis fixing seat 204.
It is to be illustrated to the preferable implementation of the utility model, but the utility model creation is not limited to institute above
Embodiment is stated, those skilled in the art can also make various be equal without departing from the spirit of the present invention
Deformation or replacement, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (9)
1. a kind of robot manipulator structure of numerically-controlled machine tool, it is characterised in that: including lathe, X-axis movement mould group, Z axis movement mould group, rotation
Turn manipulator, glass material frame to be processed and machined glass material frame；
The X-axis movement mould group is fixed at the top position of lathe, the glass material frame to be processed and machined glass
Glass material frame is separately positioned on the both ends of the X-axis movement mould group；The Z axis movement mould group is mounted in X-axis movement mould group, is led to
The drive for crossing X-axis movement mould group is moved back and forth in X-direction；The rotating machine arm is mounted in Z axis movement mould group, is passed through
The driving that Z axis moves mould group is moved back and forth in Z-direction；
The rotating machine arm includes rotating electric machine, electric rotating base, spill spin block, first mechanical arm, second mechanical arm, first
Rotary cylinder, the second rotary cylinder and multiple suckers, the rotating electric machine are fixedly mounted on electric rotating base, the rotation
Motor cabinet is fixedly connected with Z axis movement mould group；
The spill spin block is fixedly connected with the motor shaft of rotating electric machine, one end of the first mechanical arm and second mechanical arm
One end is fixedly connected on spill spin block, and the angle between first mechanical arm and second mechanical arm is right angle；First rotation
Rotaring cylinder is fixedly mounted on the other end of first mechanical arm, and second rotary cylinder is fixedly mounted on the another of second mechanical arm
End；It is fixedly installed with sucker fixed plate on the cylinder rod of first rotary cylinder and the cylinder rod of the second rotary cylinder, often
Multiple suckers are mounted in a sucker fixed plate, the sucker fixed plate is for driving sucker vertically and horizontally
It moves back and forth.
2. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 1, it is characterised in that: the rotating machine arm
It further include air cylinder fixed plate, two air cylinder fixed plates are respectively and fixedly installed on the other end of first mechanical arm and second mechanical arm
The other end on, first rotary cylinder and the second rotary cylinder are respectively and fixedly installed in two air cylinder fixed plates.
3. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 1, it is characterised in that: be arranged on the lathe
There are multiple manipulator backing plates, the X-axis movement mould group is fixed on the manipulator backing plate.
4. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 1 or 3, it is characterised in that: the X-axis movement
Mould group includes X-axis servo motor, X-axis screw rod, X-axis slide block, X-axis supporting plate and Z axis fixing seat；
The X-axis screw rod is fixedly connected with the motor shaft of X-axis servo motor, is rotated by the drive of X-axis servo motor；Institute
The X-axis slide block stated covers on X-axis screw rod, and the Z axis fixing seat is fixedly connected by X-axis supporting plate with X-axis slide block, passes through X-axis
The driving of servo motor moves back and forth Z axis fixing seat in X-direction, and the Z axis movement mould group is fixedly mounted on Z axis and fixes
On seat.
5. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 4, it is characterised in that: the X axis moves mould
Group further includes X-axis motor cabinet, right material frame torr plate, left material frame torr plate and multiple material frame support plates；
The X-axis servo motor is fixedly mounted in X-axis motor cabinet, which is fixed on right material frame torr plate, and two
Material frame support plate is fixedly mounted on the two sides of right material frame torr plate, and the glass material frame to be processed is fixed at two material frame branch
The top of fagging；Two material frame support plates are fixedly mounted on the two sides of left material frame torr plate, and the machined glass material frame is fixed
The top of two material frame support plates is set.
6. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 1, it is characterised in that: the Z axis moves mould
Group includes Z axis servo motor, Z axis fixed plate, Z axis supporting plate, Z axis screw rod and Z axis sliding block；
A Z axis motor cabinet is provided at the top of the Z axis fixed plate, the Z axis servo motor is mounted on Z axis motor cabinet, institute
It states Z axis screw rod to be fixedly connected with the motor shaft of Z axis servo motor, the Z axis slide block set is on Z axis screw rod, the rotation
Motor cabinet is fixedly connected by Z axis supporting plate with Z axis sliding block, makes Z axis sliding block and electric rotating base by the driving of Z axis servo motor
It is moved back and forth in Z-direction.
7. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 6, it is characterised in that: the Z axis moves mould
Group further includes Z axis motor cover, and the Z axis motor enclosure is on Z axis servo motor.
8. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 1, it is characterised in that: the sucker fixed plate
It is in the shape of an " I ", and a connecting plate is fixedly connected in the middle part of sucker fixed plate, the connecting plate and the first rotary cylinder, the second rotation
The cylinder rod of rotaring cylinder is connected；Four suckers are fixedly mounted in the sucker fixed plate.
9. a kind of robot manipulator structure of numerically-controlled machine tool according to claim 1, it is characterised in that: the rotating machine arm
It further include speed reducer, which is fixedly connected with the motor shaft of rotating electric machine, and the output end of speed reducer is fixed with spill spin block
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820531595.7U CN208413249U (en) | 2018-04-13 | 2018-04-13 | A kind of robot manipulator structure of numerically-controlled machine tool |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820531595.7U CN208413249U (en) | 2018-04-13 | 2018-04-13 | A kind of robot manipulator structure of numerically-controlled machine tool |
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| Publication Number | Publication Date |
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| CN208413249U true CN208413249U (en) | 2019-01-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108357928A (en) * | 2018-04-13 | 2018-08-03 | 惠州沃尔夫自动化设备有限公司 | A kind of robot manipulator structure of numerically-controlled machine tool |
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2018
- 2018-04-13 CN CN201820531595.7U patent/CN208413249U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108357928A (en) * | 2018-04-13 | 2018-08-03 | 惠州沃尔夫自动化设备有限公司 | A kind of robot manipulator structure of numerically-controlled machine tool |
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