CN209664948U - For the walking SCARA manipulator of lathe loading and unloading and end - Google Patents
For the walking SCARA manipulator of lathe loading and unloading and end Download PDFInfo
- Publication number
- CN209664948U CN209664948U CN201920070531.6U CN201920070531U CN209664948U CN 209664948 U CN209664948 U CN 209664948U CN 201920070531 U CN201920070531 U CN 201920070531U CN 209664948 U CN209664948 U CN 209664948U
- Authority
- CN
- China
- Prior art keywords
- connecting plate
- clamping jaw
- manipulator
- pneumatic clamping
- scara
- 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.)
- Active
Links
Abstract
The utility model relates to SCARA manipulator technical fields, more particularly to it is a kind of for the walking SCARA manipulator of lathe loading and unloading and end, including loading and unloading equipment, the loading and unloading equipment includes board, two charging trays, KK straight line mould group, SCARA manipulator, arm end and manipulator connecting plate；Described two charging trays are separately mounted to the side of the board, the KK straight line mould group is mounted on the other side of the board, KK straight line mould group upper end is connected with manipulator connecting plate, the SCARA manipulator is housed, the arm end is mounted on the SCARA manipulator on the manipulator connecting plate.This equipment makes end weight be limited in SCARA manipulator and effectively carries in range by increasing the coverage area of manipulator, and the smart design of end for the combination of SCARA manipulator and KK straight line mould group.
Description
Technical field
The utility model relates to SCARA manipulator technical field more particularly to a kind of walkings for lathe loading and unloading
SCARA manipulator and end.
Background technique
Traditional cutter and tool grinding machine carries out tool grinding, often manually carries out loading and unloading, right and wrong in the case that production capacity is not high
Often suitable, but with social progress and development, many deficiencies are just exposed using artificial progress lathe loading and unloading
And weakness, labor intensity is excessive, is easy to produce industrial accident, inefficiency, and use the product quality of artificial loading and unloading
Stability it is inadequate, be not able to satisfy high-volume, high quality production requirement.
Utility model content
Purpose of the utility model is to overcome the shortcomings of the above technology, and to provide a kind of walkings for lathe loading and unloading
SCARA manipulator and end.
In order to achieve the above object, the utility model adopts the following technical solutions:
A kind of walking SCARA arm end for lathe loading and unloading, it is characterised in that: including gripping finger, Pneumatic clamping jaw,
Pneumatic clamping jaw connecting plate, swing arm, oscillating cylinder, L-type connecting plate, buffer link block, hydraulic bjuffer, close switch installation
Plate and close switch；The upper end of the L-type connecting plate is connect with SCARA manipulator Z axis gripping sleeve, and upper end center is provided with circle
Hole is matched with Z axis outer diameter, and convenient for wiring, swinging axle of the L-type connecting plate side aperture for oscillating cylinder is pierced by, L-type connection
Connect respectively before and after plate there are two the buffer link block, buffer link block is equipped with the hydraulic bjuffer, for limiting pendulum
The angle of cylinder of taking offence overturning and swing buffering, L-type connecting plate side equipped with described close to switch installation board, thereon there are two dress
Described to swing signal in place close to switch for oscillating cylinder and export, there are two described for the swinging axle both ends dress of oscillating cylinder
Swing arm, two swing arms are connected with the Pneumatic clamping jaw connecting plate, and there are two institutes for the connection of Pneumatic clamping jaw connecting plate lower part
Pneumatic clamping jaw is stated, two Pneumatic clamping jaws respectively constitute feeding clamping jaw and blanking clamping jaw, and Pneumatic clamping jaw moving jaws are connected with and cutter
The matched gripping finger of outer diameter.
A kind of walking SCARA manipulator for lathe loading and unloading, it is characterised in that: including loading and unloading equipment, it is described on
Blanking equipment includes board, two charging trays, KK straight line mould group, SCARA manipulator, arm end and manipulator connecting plate；
Described two charging trays are separately mounted to the side of the board, and the KK straight line mould group is mounted on the other side of the board, KK
Straight line mould group upper end is connected with manipulator connecting plate, and the SCARA manipulator, the manipulator are housed on the manipulator connecting plate
End is mounted on the SCARA manipulator, and the arm end includes gripping finger, Pneumatic clamping jaw, Pneumatic clamping jaw connecting plate, pendulum
Swing arm, oscillating cylinder, L-type connecting plate, buffer link block, hydraulic bjuffer, close to switch installation board and close to switch；Institute
The upper end for stating L-type connecting plate is connect with SCARA manipulator Z axis gripping sleeve, and upper end center is provided with circular hole and Z axis outer diameter matches
It closes, convenient for wiring, swinging axle of the L-type connecting plate side aperture for oscillating cylinder is pierced by, and is connected with two respectively before and after L-type connecting plate
A buffer link block, buffer link block are equipped with the hydraulic bjuffer, for limiting the angle of oscillating cylinder overturning
And swing buffering, L-type connecting plate side is equipped with described close to switch installation board, and dress is used there are two the close switch thereon
Signal output in place is swung in oscillating cylinder, there are two the swing arm, two swings for the swinging axle both ends dress of oscillating cylinder
Arm is connected with the Pneumatic clamping jaw connecting plate, and the connection of Pneumatic clamping jaw connecting plate lower part is there are two the Pneumatic clamping jaw, and two
Pneumatic clamping jaw respectively constitutes feeding clamping jaw and blanking clamping jaw, and Pneumatic clamping jaw moving jaws are connected with and the matched folder of cutter outer diameter
Refer to.
The beneficial effects of the utility model are: this equipment is by by organic knot of SCARA manipulator and KK straight line mould group
It closes, increases the coverage area of manipulator, and the smart design of end, so that end weight is limited in SCARA manipulator and effectively hold
It carries in range, compares 6 axis robots in conjunction with SCARA manipulator, at low cost, fireballing advantage makes the best use of the advantages and keeps away short, not only replaces
In generation, is artificial, and greatly improves efficiency, and effectively reduce cost, and the grinding for being widely used in the small-sized cutter of lighter in weight adds
Work.
Detailed description of the invention
Fig. 1 is the utility model perspective view；
Fig. 2 is the structural schematic diagram of loading and unloading equipment in the utility model；
Fig. 3 is the structural schematic diagram of manipulator connecting plate in the utility model；
Fig. 4 is the perspective view of arm end in the utility model.
Specific embodiment
With reference to the accompanying drawing and specific embodiment of the present utility model is described in detail in preferred embodiment.Such as Fig. 1-Fig. 3 institute
Show, a kind of walking SCARA manipulator for lathe loading and unloading, including loading and unloading equipment 2, the loading and unloading equipment includes board
8, two charging trays 3, KK straight line mould group 7, SCARA manipulator 5, arm end 4 and manipulator connecting plate 6；The present apparatus it is whole
Body running principle is that cutter blank is put into cutter and tool grinding machine 1 by the arm end in loading and unloading equipment 2 from loading plate taking-up
It indexes in disc clamp head, the cutter processed is put into charging tray again then, realizes the blanking of the feeding and finished product of blank.
Described two charging trays are separately mounted to the side of the board, and the KK straight line mould group is mounted on the another of the board
Side, KK straight line mould group upper end are connected with manipulator connecting plate, the SCARA manipulator, institute are housed on the manipulator connecting plate
Arm end is stated to be mounted on the SCARA manipulator.Since SCARA coverage area is insufficient, so giving lathe index dial
SCARA manipulator will be put in inside lathe when collet loading and unloading, so manipulator connecting plate will have sufficient length, enable SCARA
In the lathe enough entered.In view of deflection torque of the center of gravity relative to KK straight line mould group mobile platform of manipulator, manipulator connects
The design of fishplate bar lower end has reinforcing rib, while increasing the sliding block of one group of KK straight line mould group, to enhance the offset load resistance of running gear.
As shown in figure 4, the arm end includes gripping finger 40, Pneumatic clamping jaw 41, Pneumatic clamping jaw connecting plate 42, swing arm
43, oscillating cylinder 44, L-type connecting plate 45, buffer link block 46, hydraulic bjuffer 47, close to switch installation board 48 and connect
Nearly switch 49；The upper end of the L-type connecting plate is connect with SCARA manipulator Z axis gripping sleeve, and upper end center is provided with circular hole and Z
Axis outer diameter matches, and convenient for wiring, swinging axle of the L-type connecting plate side aperture for oscillating cylinder is pierced by, before and after L-type connecting plate
The buffer link block there are two connecting respectively, buffer link block is equipped with the hydraulic bjuffer, for limiting oscillating cylinder
The angle and swing buffering of overturning, L-type connecting plate side is equipped with described close to switch installation board, and dress connects there are two described in thereon
Nearly switch swings signal output in place for oscillating cylinder, and the swinging axle both ends of oscillating cylinder are filled there are two the swing arm,
Two swing arms are connected with the Pneumatic clamping jaw connecting plate, and there are two the pneumatic clamps for the connection of Pneumatic clamping jaw connecting plate lower part
Pawl, two Pneumatic clamping jaws respectively constitute feeding clamping jaw and blanking clamping jaw, and Pneumatic clamping jaw moving jaws are connected with to be matched with cutter outer diameter
The gripping finger.
Motion flow: KK linear module drive mobile platform drives SCARA manipulator to be moved to discharge position, SCARA machine
Tool hand-driven mechanism hand end is moved to above feeding charging tray, and Pneumatic clamping jaw is horizontal positioned at this time, in place rear SCARA manipulator
Z axis decline, Z axis in place after, feeding clamping jaw grab cutter, crawl in place after, SCARA manipulator Z axis rises and swings, at this time KK
Straight line mould group make the Arm expanding board position SCARA and enter lathe in, in place after, clamping jaw end oscillating cylinder overturning 90
Degree, places Pneumatic clamping jaw vertically, and because index dial is axially horizontally oriented, thus cutter axially should be with its correspondence.Overturning is in place
The mobile end clamping jaw of SCARA manipulator makes cutter enter indexing disc clamp head afterwards, in place after, indexing disc clamp head steps up, Pneumatic clamping jaw
It unclamps, and swings to predeterminated position, KK linear module drive mobile platform is retracted into SCARA manipulator on board out of lathe
Material position, period SCARA manipulator are moved to home, the processing of lathe automatic door-closing.SCARA arm end swings 90 simultaneously
Degree makes Pneumatic clamping jaw is horizontal positioned to repeat feeding step, and moves to default holding fix, waits machine tooling to finish, lathe
After completion of processing, automatically-controlled door is opened, and KK straight line mould group continues to move to SCARA inside lathe, and oscillating cylinder overturning makes pneumatic
Clamping jaw is placed vertically, and the blanking clamping jaw in the mobile end clamping jaw of SCARA manipulator clamps, and cutter is made to exit grips, then
Blank in feeding clamping jaw is put into collet, grips, feeding pneumatic clamper clamping jaw unclamps, and swings to predeterminated position, and KK is straight
Line mould group driving mobile platform makes SCARA manipulator be retracted into material position under board from lathe, and during which lathe automatic door-closing is processed, machine
Tool hand end, which is swung, keeps Pneumatic clamping jaw horizontal positioned, and arm end moves horizontally after so that finished product is directed at discharge tray hole slot, under Z axis
Drop makes to unclamp clamping jaw in finished product insertion charging tray, completes blanking and wait back to upper material position, the loading and unloading before reciprocation cycle
Step.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the protection scope of the utility model.
Claims (2)
1. a kind of walking SCARA arm end for lathe loading and unloading, it is characterised in that: including gripping finger, Pneumatic clamping jaw, gas
Dynamic clamping jaw connecting plate, swing arm, oscillating cylinder, L-type connecting plate, buffer link block, hydraulic bjuffer, close to switch installation board
And close switch；The upper end of the L-type connecting plate is connect with SCARA manipulator Z axis gripping sleeve, and upper end center is provided with circular hole
It is matched with Z axis outer diameter, convenient for wiring, swinging axle of the L-type connecting plate side aperture for oscillating cylinder is pierced by, L-type connecting plate
Front and back connects respectively there are two the buffer link block, and buffer link block is equipped with the hydraulic bjuffer, for limiting swing
The angle and swing buffering of cylinder overturning, L-type connecting plate side is equipped with described close to switch installation board, and there are two institutes for dress thereon
It states close to switch, swings signal output in place for oscillating cylinder, there are two the pendulum for the swinging axle both ends dress of oscillating cylinder
Swing arm, two swing arms are connected with the Pneumatic clamping jaw connecting plate, and there are two described for the connection of Pneumatic clamping jaw connecting plate lower part
Pneumatic clamping jaw, two Pneumatic clamping jaws respectively constitute feeding clamping jaw and blanking clamping jaw, Pneumatic clamping jaw moving jaws be connected with outside cutter
The matched gripping finger of diameter.
2. a kind of walking SCARA manipulator for lathe loading and unloading, it is characterised in that: described upper and lower including loading and unloading equipment
Expect that equipment includes board, two charging trays, KK straight line mould group, SCARA manipulator, arm end and manipulator connecting plate；Institute
The side that two charging trays are separately mounted to the board is stated, the KK straight line mould group is mounted on the other side of the board, and KK is straight
Line mould group upper end is connected with manipulator connecting plate, and the SCARA manipulator, the manipulator end are housed on the manipulator connecting plate
End is mounted on the SCARA manipulator, and the arm end includes gripping finger, Pneumatic clamping jaw, Pneumatic clamping jaw connecting plate, swings
Arm, oscillating cylinder, L-type connecting plate, buffer link block, hydraulic bjuffer, close to switch installation board and close to switch；It is described
The upper end of L-type connecting plate is connect with SCARA manipulator Z axis gripping sleeve, and upper end center is provided with circular hole and matches with Z axis outer diameter,
Convenient for wiring, the side aperture of L-type connecting plate is pierced by for the swinging axle of oscillating cylinder, connect respectively before and after L-type connecting plate there are two
The buffer link block, buffer link block be equipped with the hydraulic bjuffer, for limit oscillating cylinder overturning angle with
And swing buffering, L-type connecting plate side is equipped with described close to switch installation board, and dress is used for there are two the close switch thereon
Oscillating cylinder swings signal output in place, and there are two the swing arm, two swing arms for the swinging axle both ends dress of oscillating cylinder
It is connected with the Pneumatic clamping jaw connecting plate, there are two the Pneumatic clamping jaw, two gas for the connection of Pneumatic clamping jaw connecting plate lower part
Dynamic clamping jaw respectively constitutes feeding clamping jaw and blanking clamping jaw, and Pneumatic clamping jaw moving jaws are connected with and the matched folder of cutter outer diameter
Refer to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920070531.6U CN209664948U (en) | 2019-01-16 | 2019-01-16 | For the walking SCARA manipulator of lathe loading and unloading and end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920070531.6U CN209664948U (en) | 2019-01-16 | 2019-01-16 | For the walking SCARA manipulator of lathe loading and unloading and end |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209664948U true CN209664948U (en) | 2019-11-22 |
Family
ID=68565800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920070531.6U Active CN209664948U (en) | 2019-01-16 | 2019-01-16 | For the walking SCARA manipulator of lathe loading and unloading and end |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209664948U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111469152A (en) * | 2020-04-30 | 2020-07-31 | 上海工程技术大学 | Automatic change and go up unloading machinery and grab |
| CN115139240A (en) * | 2022-06-29 | 2022-10-04 | 和信精密科技（吴江）有限公司 | Quick positioning system |
-
2019
- 2019-01-16 CN CN201920070531.6U patent/CN209664948U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111469152A (en) * | 2020-04-30 | 2020-07-31 | 上海工程技术大学 | Automatic change and go up unloading machinery and grab |
| CN115139240A (en) * | 2022-06-29 | 2022-10-04 | 和信精密科技（吴江）有限公司 | Quick positioning system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206550357U (en) | Full-automatic processing novel lathe | |
| CN209664948U (en) | For the walking SCARA manipulator of lathe loading and unloading and end | |
| CN202411278U (en) | Automatic stamping production mechanical arm | |
| CN109454660A (en) | One kind having turn over function fixture | |
| CN207522034U (en) | A kind of quartz infrared cooker pipe automatic assembling apparatus | |
| CN112355540A (en) | Production line for producing automobile floors of different models | |
| CN215698564U (en) | Multi-gear shaping quick positioning device | |
| CN214868847U (en) | Be used for connecting locking lever adds clamping apparatus | |
| CN114160990B (en) | Bar cutting robot | |
| CN206763929U (en) | A kind of improved automotive hub turning attachment | |
| CN215145885U (en) | Spare part laser welding pretightning force frock is used in exhaust valve production | |
| CN210732482U (en) | Device is got to round platform form work piece clamp | |
| CN213622284U (en) | Automatic pile up neatly device of soft bag | |
| CN212608073U (en) | Stereo set transport mechanism | |
| CN213080154U (en) | Flute mouthpiece processing equipment | |
| CN209379975U (en) | Numerical control pliers machining center | |
| CN208374096U (en) | Forging dress reclaimer | |
| CN114505880A (en) | Gripper mechanism of truss robot | |
| CN209717083U (en) | A kind of machine components cutting auxiliary device | |
| CN208196788U (en) | A kind of four axis fully automatic manipulators | |
| CN205928070U (en) | Full automatic processing machine of cooking utensils gas valve case | |
| CN213795480U (en) | 180 rotatory quick material clamping jaw of getting | |
| CN218050682U (en) | A mounting fixture for gear shaft processing | |
| CN205888159U (en) | Bench drill | |
| CN207171215U (en) | A kind of online thickening fixture for friction-welding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |