CN209664921U - A kind of manipulator for numerical control machine - Google Patents

Abstract

The utility model discloses a kind of manipulator for numerical control machine, belong to the assembly ware field of numerical control device, a kind of manipulator for numerical control machine, including mechanical arm, mechanical arm outer end is rotatably connected to link block, there are two symmetrical grooves for the cutting of link block outer end, rotating bar is rotatably connected in groove, rotating bar outer end is fixedly connected with paw, rotating bar upper and lower ends, which are dug, positive convex slot, positive convex block is slidably connected in positive convex slot, two positive convex block one end close to each other, which are dug, anti-convex slot, anti- convex block is rotatably connected in anti-convex slot, compressed spring is fixedly connected between bottom end in anti-convex block and positive convex slot, two positive convex block one end close to each other are fixedly connected to two fixed links, fixed link is symmetrical about anti-convex slot, more convenient paw to manipulator may be implemented to dismantle , enable and save the time when maintenance personal's repair and replacement paw, improve the effect of working efficiency.

Description

A kind of manipulator for numerical control machine

Technical field

The utility model relates to the assembly ware fields of numerical control device, more specifically to a kind of numerically-controlled machine tool machine Tool hand.

Background technique

Numerically-controlled machine tool is the abbreviation of numerically-controlled machine tool, is a kind of automated machine tool equipped with program control system.The control System processed, which can be handled logically, has control coding or other symbolic instruction regulated procedures, and is decoded, with code Digital representation, numerical control device is inputted by information carrier.Various control signals are issued by numerical control device through calculation process, are controlled The movement of lathe, shape and size by drawing, automatically processes part, and numerically-controlled machine tool preferably solves multiple Miscellaneous, accurate, small mount, multi items part processing problems are a kind of flexible, dynamical automated machine tools, represent existing It is a kind of typical electromechanical integrated product for the developing direction of Machine-Tool Control technology.

Manipulator refers to the certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carry object or The automatic pilot of operational instrument.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, It can replace the heavy labor of people to realize the mechanization and automation of production, can operate under hostile environment to protect personal peace Entirely, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.

The shape of manipulator is varied in the prior art, and function is also all not quite similar, so that the application of manipulator is very wide General, the paw and arm of most of manipulators are rotatablely connected, and by installing rivet in both ends of the shaft paw will not fall off, but It is that the process of maintenance replacement paw can be made very difficult when damaging at paw and wall portion rotation connection.

Utility model content

1. technical problems to be solved

Aiming at the problems existing in the prior art, it is mechanical that the purpose of this utility model is to provide a kind of numerically-controlled machine tools Hand, it may be implemented more convenient paw to manipulator and dismantles, enable maintenance personal's repair and replacement paw when The time is saved, the effect of working efficiency is improved.

2. technical solution

To solve the above problems, the utility model adopts the following technical scheme.

A kind of manipulator for numerical control machine, including mechanical arm, the mechanical arm outer end are rotatably connected to link block, the company It connects block outer end to dig there are two symmetrical groove, rotating bar is rotatably connected in the groove, the rotating bar outer end is solid Surely it is connected with paw, the rotating bar upper and lower ends, which are dug, positive convex slot, slidably connects in the positive convex slot just convex Shape block, two positive convex blocks one end close to each other, which is dug, anti-convex slot, is rotatably connected in the anti-convex slot Anti- convex block is fixedly connected with compressed spring, two positive convex blocks between bottom end in the anti-convex block and positive convex slot One end close to each other is fixedly connected to two fixed links, and the fixed link is symmetrical about anti-convex slot, the positive convex slot Inner wall is dug there are two the fixing groove to match with fixed link, and the positive convex block outer end is threaded with connection sleeve, described Inner wall, which is dug, above and below groove turn trough, and bottom end, which is dug, in the turn trough through-hole, may be implemented more convenient to manipulator Paw dismantled, enable and save the time when maintenance personal's repair and replacement paw, improve the effect of working efficiency.

Further, the rotating bar and paw outer end are coated with antirust coat, by rotating bar and the painting of paw surface It sets up defences rusty scale, rotating bar and paw can be reduced due to a possibility that being rusted after being used for a long time, further improve rotating bar With the service life of paw.

Further, the positive convex slot inner wall and positive convex block outer surface are equipped with polishing layer, by positive convex slot A possibility that polishing layer is set, the Caton in disassembly process can be reduced with positive convex block surface, so that operator is tearing open More times are saved when unloading, and improve the working efficiency of operator.

Further, the positive convex block upper end is fixedly connected with resilient cushion, can be increased by setting resilient cushion just convex Resiliency between shape block and connection sleeve can cut down vibration when entire manipulator is shaken, so that being transmitted to Vibration on paw reduces, and reduces a possibility that crawl object is fallen.

Further, the through-hole wall is fixedly connected with metal collar, can be reduced for a long time by the way that metal collar is arranged Using it is cracked at rear through-hole aperture a possibility that, further improve the service life of entire manipulator.

Further, the connection sleeve passes through turn trough and the threaded one end of through-hole is connected with stop nut, the limit Nut upper end, which is dug, spanner slot, on the one hand by setting stop nut, can rotate stop nut to connection when in use The surface of block simultaneously offsets, connection sleeve a possibility that moving up and down by compressed spring is enabled to substantially reduce, and ties up whereby Stability when rotating bar clamping article is held, on the other hand, when being dismantled, stop nut can be rotated to far from connection Block surface can be convenient by the way that spanner slot is arranged by connection sleeve and positive convex block spiral shell so that connection sleeve can move up and down Line connection.

3. beneficial effect

Compared with the prior art, utility model has the advantages that

(1) this programme may be implemented more convenient paw to manipulator and dismantle, so that maintenance personal replaces dimension The time can be saved when repairing paw, improves the effect of working efficiency.

(2) rotating bar and paw outer end are coated with antirust coat, by being coated with antirust coat, energy in rotating bar and paw surface Rotating bar and paw are enough reduced due to a possibility that being rusted after being used for a long time, the further use for improving rotating bar and paw Service life.

(3) positive convex slot inner wall and positive convex block outer surface are equipped with polishing layer, by positive convex slot and positive convex block A possibility that polishing layer is arranged in surface, can reduce the Caton in disassembly process, so that operator saves more when dismantling More time improves the working efficiency of operator.

(4) positive convex block upper end is fixedly connected with resilient cushion, can increase positive convex block and connection by the way that resilient cushion is arranged Resiliency between sleeve can cut down vibration when entire manipulator is shaken, so that being transmitted to the shake on paw It is dynamic to reduce, reduce a possibility that crawl object is fallen.

(5) through-hole wall is fixedly connected with metal collar, and through-hole after being used for a long time can be reduced by setting metal collar A possibility that cracked at aperture, further improves the service life of entire manipulator.

(6) connection sleeve passes through turn trough and the threaded one end of through-hole is connected with stop nut, and stop nut upper end, which is dug, to be had Stop nut on the one hand by setting stop nut can be rotated to the surface of link block when in use and be offseted by spanner slot, It enables to connection sleeve a possibility that moving up and down by compressed spring to substantially reduce, maintains rotating bar to clamp article whereby When stability on the other hand when being dismantled, stop nut can be rotated to far from link block surface, so that connection Sleeve can move up and down, and can be convenient by setting spanner slot will connect sleeve is threadedly coupled with positive convex block.

Detailed description of the invention

Fig. 1 is the whole perspective view of the utility model；

Fig. 2 is the partial cutaway view of the rotating bar of the utility model；

Fig. 3 is the structural schematic diagram in Fig. 2 at A；

Fig. 4 is the structural schematic diagram in Fig. 2 at B.

Figure label explanation:

It is 1 mechanical arm, 2 link blocks, 3 grooves, 4 rotating bars, 5 paws, 6 connection sleeves, 7 stop nuts, 8 spanner slots, 9 just convex Shape slot, 10 positive convex blocks, 11 anti-convex slots, 12 anti-convex blocks, 13 compressed springs, 14 fixed links, 15 fixing grooves, 16 resilient cushions, 17 turn troughs, 18 through-holes, 19 metal collars.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe；Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment, based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

In the description of the present invention, it should be noted that term " on ", "lower", "inner", "outside", " top/bottom end " etc. The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model It is described with simplifying, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation structure It makes and operates, therefore should not be understood as limiting the present invention.In addition, term " first ", " second " are only used for description mesh , it is not understood to indicate or imply relative importance.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " being provided with ", " be arranged/connect ", " connection " etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, can also be with It is to be detachably connected, or be integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be with Indirectly connected through an intermediary, it can be the connection inside two elements.For the ordinary skill in the art, may be used The concrete meaning of above-mentioned term in the present invention is understood with concrete condition.

Embodiment 1:

Referring to Fig. 1, including mechanical arm 1,1 outer end of mechanical arm is rotatably connected to link block 2, and 2 outer end of link block, which is dug, to be had Two symmetrical grooves 3 are rotatably connected to rotating bar 4 in groove 3, and 4 outer end of rotating bar is fixedly connected with paw 5, rotation Bar 4 and 5 outer end of paw are coated with antirust coat, by being coated with antirust coat in rotating bar 4 and 5 surface of paw, can reduce rotation Bar 4 and paw 5 are due to a possibility that being rusted after being used for a long time, the further service life for improving rotating bar 4 and paw 5.

Referring to Fig. 3,4 upper and lower ends of rotating bar, which are dug, positive convex slot 9, slidably connected in positive convex slot 9 just convex Shape block 10, positive 9 inner wall of convex slot and 10 outer surface of positive convex block are equipped with polishing layer, by positive convex slot 9 and positive convex block A possibility that polishing layer is arranged in 10 surfaces, can reduce the Caton in disassembly process, so that operator's saving when dismantling More times improve the working efficiency of operator.

Fig. 2-3 is please referred to, two positive convex block 10 one end close to each other, which are dug, anti-convex slot 11, anti-convex slot 11 It is inside rotatably connected to anti-convex block 12, is fixedly connected with compressed spring 13 in anti-convex block 12 and positive convex slot 9 between bottom end, two A positive convex block 10 one end close to each other is fixedly connected to two fixed links 14, and fixed link 14 is right about anti-convex slot 11 Claim, positive 9 inner wall of convex slot is dug there are two the fixing groove 15 to match with fixed link 14, and positive 10 upper end of convex block is fixedly connected with Resilient cushion 16 can increase positive convex block 10 by setting resilient cushion 16 and connect the resiliency between sleeve 6, when entire mechanical When hand is shaken, vibration can be cut down, so that the vibration being transmitted on paw 5 reduces, what reduction crawl object was fallen can It can property.

Fig. 3-4 is please referred to, positive 10 outer end of convex block is threaded with connection sleeve 6, and about 3 inner wall of groove, which is dug to have, to be turned Slot 17, bottom end, which is dug, in turn trough 17 through-hole 18, and 18 inner wall of through-hole is fixedly connected with metal collar 19, passes through setting metal collar 19 can reduce a possibility that cracked at 18 aperture of through-hole after long-time service, further improve making for entire manipulator Use the service life.

Referring to Fig. 1, connection sleeve 6 passes through turn trough 17 and the threaded one end of through-hole 18 is connected with stop nut 7, spiral shell is limited Female 7 upper ends, which are dug, spanner slot 8, on the one hand by setting stop nut 7, can rotate stop nut 7 to even when in use A possibility that connecing the surface of block 2 and offset, connection sleeve 6 is enabled to move up and down by compressed spring 13 substantially reduces, and borrows This is come stability when rotating bar 4 being maintained to clamp article, on the other hand, when being dismantled, stop nut 7 can be rotated extremely Far from 2 surface of link block, so that connection sleeve 6 can move up and down, can be convenient by setting spanner slot 8 will connect sleeve 6 It is threadedly coupled with positive convex block 10.

When operator removes rotating bar 4, the first step, referring to Fig. 1, rotary stopper nut 7 makes stop nut 7 separate Spanner is placed in spanner slot 8 by 2 surface of link block, second step, and presses down on connection sleeve 6, by the work of compressed spring 13 With moving down fixed link 14 and be inserted into fixing groove 15 so that positive convex block 10 also moves down In, so that 10 positive convex blocks are limited, and third step, in the state of keeping connection sleeve 6 to maintain pressing, rotation connection sleeve 6 separate connection sleeve 6 with positive convex block 10, until will connect sleeve 6 screws off positive convex block 10, third step, according to above-mentioned Step can remove multiple connection sleeves 6 on entire manipulator, and tearing open for rotating bar 4 and paw 5 can be completed Remove, more convenient paw to manipulator may be implemented and dismantle, enable maintenance personal's repair and replacement paw when It saves time, improves the effect of working efficiency.

The preferable specific embodiment of the above, only the utility model；But the protection scope of the utility model is not It is confined to this.Anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this Novel technical solution and its improvement design is subject to equivalent substitution or change, should all cover in the protection scope of the utility model It is interior.

Claims (6)

1. a kind of manipulator for numerical control machine, including mechanical arm (1), it is characterised in that: mechanical arm (1) the outer end rotation connection Have link block (2), link block (2) outer end is dug there are two symmetrical groove (3), and the interior rotation of the groove (3) connects It is connected to rotating bar (4), rotating bar (4) outer end is fixedly connected with paw (5), and rotating bar (4) upper and lower ends are dug Have positive convex slot (9), is slidably connected positive convex block (10) in the positive convex slot (9), two positive convex block (10) phases Mutually close one end is dug and is had anti-convex slot (11), is rotatably connected to anti-convex block (12), institute in the anti-convex slot (11) It states and is fixedly connected with compressed spring (13) between anti-convex block (12) and positive convex slot (9) interior bottom end, two positive convex blocks (10) one end close to each other is fixedly connected to two fixed links (14), and the fixed link (14) is right about anti-convex slot (11) Claim, there are two the fixing groove (15) to match with fixed link (14), the positive convex blocks for positive convex slot (9) the inner wall cutting (10) outer end is threaded with connection sleeve (6), and the groove (3) up and down dig and have turn trough (17), the turn trough by inner wall (17) interior bottom end, which is dug, through-hole (18).

2. a kind of manipulator for numerical control machine according to claim 1, it is characterised in that: the rotating bar (4) and paw (5) outer end is coated with antirust coat.

3. a kind of manipulator for numerical control machine according to claim 1, it is characterised in that: positive convex slot (9) inner wall Polishing layer is equipped with positive convex block (10) outer surface.

4. a kind of manipulator for numerical control machine according to claim 1, it is characterised in that: positive convex block (10) upper end It is fixedly connected with resilient cushion (16).

5. a kind of manipulator for numerical control machine according to claim 1, it is characterised in that: through-hole (18) inner wall is fixed It is connected with metal collar (19).

6. a kind of manipulator for numerical control machine according to claim 1, it is characterised in that: the connection sleeve (6) passes through The threaded one end of turn trough (17) and through-hole (18) is connected with stop nut (7), and stop nut (7) upper end, which is dug, spanner slot (8)。