CN209850664U - Manipulator for position changing machine - Google Patents
Manipulator for position changing machine Download PDFInfo
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- CN209850664U CN209850664U CN201920583143.8U CN201920583143U CN209850664U CN 209850664 U CN209850664 U CN 209850664U CN 201920583143 U CN201920583143 U CN 201920583143U CN 209850664 U CN209850664 U CN 209850664U
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- 230000005540 biological transmission Effects 0.000 claims abstract description 73
- 238000003754 machining Methods 0.000 claims abstract description 18
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 229910052742 iron Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 229910010271 silicon carbide Inorganic materials 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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Abstract
The utility model relates to a processing equipment field, concretely relates to machine manipulator shifts. It includes: the mechanical arm further comprises an integral platform, a tool mounting seat, a third servo motor and a machining tool, wherein the tool mounting seat is rotatably connected onto the integral platform, the integral platform is mounted at the free end of the mechanical arm, the machining tool is mounted on the tool mounting seat, the tool mounting seat on the integral platform is at least one row, each row comprises at least two tool mounting seats, and the third servo motor drives the tool mounting seat to rotate relative to the integral platform through a second transmission mechanism. The tool mounting seats of the tool mounting device are added with a rotatable dimension, the tool mounting seats can rotate relative to the integral platform under the driving of a third servo motor, the synchronous rotation of the tool mounting seats can be realized through a second transmission mechanism, the structure of the second transmission mechanism is stable, and the transmission precision is high; the manipulator for the position changing machine is provided with a plurality of tool mounting seats, can simultaneously carry out a plurality of machining operations, and greatly improves the efficiency.
Description
Technical Field
The utility model relates to a processing equipment field, concretely relates to machine manipulator shifts.
Background
The manipulator for the current machine that shifts only has an instrument mount pad, can only process a work piece once, and efficiency is lower, in addition because the rotatable dimension often of the machining-position station of the processing platform of current machine that shifts is few, so at some regional mechanical arm driven welder of the work piece or drill bit or bistrique be difficult to process it, be unfavorable for the processing of work piece, moreover current bistrique is great owing to have the actual size injury of shock attenuation buffering function to the work piece.
Disclosure of Invention
The utility model aims to solve the problems and provides a manipulator for a position changing machine, a rotatable dimension is added on a tool mounting seat of the manipulator, the manipulator can rotate relative to a whole platform under the driving of a third servo motor, a plurality of tool mounting seats can rotate synchronously through a second transmission mechanism, the structure of the second transmission mechanism is stable, and the transmission precision is high; this machine manipulator shifts possesses a plurality of instrument mount pads, can carry out a plurality of processing operations simultaneously, and efficiency improves greatly, and elastic rubber in the bistrique can play the damping, unsteady effect, when polishing the work piece, and is little to the injury of work piece, and the technical scheme of its adoption is as follows:
a manipulator for a positioner, comprising: arm, its characterized in that: the tool mounting seat is rotatably connected to the integral platform, the integral platform is mounted at the free end of the mechanical arm, the machining tools are mounted on the tool mounting seat, the number of the tool mounting seats on the integral platform is at least two, and the third servo motor drives the tool mounting seat to rotate relative to the integral platform through the second transmission mechanism.
Optionally, the number of the tool mounting seats on the integral platform is at least one, each row comprises at least two tool mounting seats, the second transmission mechanism comprises a second transmission shaft, a second worm part and a second worm gear, the second worm gear is fixedly mounted at the bottom of the tool mounting seats and is located in the integral platform, the second worm part is formed on the second transmission shaft and is meshed with the second worm gear, the second transmission shaft and the integral platform are rotatably connected through a bearing and a bearing seat, the second transmission shaft is driven by a third servo motor, the number and the positions of the second worm gears and the second worm part are in one-to-one correspondence with the number and the positions of the tool mounting seats, and the number of the second transmission shaft is the same as the number of the rows of the tool mounting seats.
Optionally, instrument mount pad on the whole platform is one row at least, and every row contains two at least instrument mount pads, second drive mechanism includes second drive gear and second drive gear, the quantity and the position of second drive gear and the quantity and the position one-to-one of instrument mount pad, second drive gear fixed mounting is in instrument mount pad bottom and lie in whole platform, all sets up one between two adjacent second drive gears of same row and their second drive gear that meshes mutually, second drive gear rotates with whole platform to be connected, and a second drive gear in the row is driven by third servo motor directly or through the reduction gear.
Optionally, instrument mount pad on the whole platform is one row at least, and every row contains two at least instrument mount pads, second drive mechanism includes second drive gear and second rack, the quantity and the position of second drive gear and the quantity and the position one-to-one of instrument mount pad, second drive gear fixed mounting is in instrument mount pad bottom and is arranged in whole platform, the number of strips of second rack is the same with the row number of instrument mount pad, and the second drive gear and the mesh of a second rack of same row, and a second drive gear in a row is by the drive of third servo motor directly or through the reduction gear.
Optionally, the tool mounting seats on the integral platform are in an even number of rows, each row comprises at least one tool mounting seat, the second transmission mechanism comprises a second transmission shaft, second worm parts and second worm wheels, the second worm wheels are fixedly mounted at the bottoms of the tool mounting seats and are positioned in the integral platform, each two rows of tool mounting seats correspond to one second transmission shaft, the second worm parts are formed on the second transmission shafts, each second worm part is meshed with two second worm wheels, the second transmission shafts are rotatably connected with the integral platform through bearings and bearing seats, the second transmission shafts are driven by a third servo motor, the number and the positions of the second worm wheels correspond to the number and the positions of the tool mounting seats one by one, the number of the second transmission shafts is one half of the number of the rows of the tool mounting seats, and further the second transmission mechanism further comprises a driving bevel gear and a driven bevel gear, the driving bevel gear is driven by a third servo motor directly or through a speed reducer, the driven bevel gear is meshed with the driving bevel gear, and the driven bevel gear is connected with the second transmission shaft key.
Optionally, tool mounting seats on the integral platform are arranged in an even number, each row comprises at least one tool mounting seat, the second transmission mechanism comprises a second driving gear and a second rack, the number and the position of the second driving gear correspond to those of the tool mounting seats one by one, the second driving gear is fixedly mounted at the bottom of the tool mounting seats and is positioned in the integral platform, each two rows of tool mounting seats correspond to one second rack, the number of the second racks is one half of the number of the rows of the tool mounting seats, teeth meshed with the second driving gears are arranged on two sides of each second rack, and one second driving gear in each two rows is driven by a third servo motor directly or through a speed reducer.
On the basis of the technical scheme, the machining tool comprises a grinding head, wherein the grinding head mainly comprises a driving motor, a central steel column, elastic rubber and an iron outer layer, the driving motor is detachably mounted on a tool mounting seat, the central steel column is driven by the driving motor, and the elastic rubber is cylindrical and wraps the head end of the central steel column; the iron outer layer wraps the outer side of the elastic rubber, and carborundum is bonded on the iron outer layer.
The utility model has the advantages that: the tool mounting seats of the tool mounting device are added with a rotatable dimension, the tool mounting seats can rotate relative to the integral platform under the driving of a third servo motor, the synchronous rotation of the tool mounting seats can be realized through a second transmission mechanism, the structure of the second transmission mechanism is stable, and the transmission precision is high; the manipulator for the position changing machine is provided with a plurality of tool mounting seats, can simultaneously carry out a plurality of processing operations, and greatly improves the efficiency; the elastic rubber in the grinding head can play a role in vibration reduction and floating, and when the grinding head is used for grinding a workpiece, the damage to the workpiece is small.
Drawings
Fig. 1 is a schematic front view of the present invention;
FIG. 2 is a front view schematically showing the construction of a second transmission mechanism according to embodiment 1;
FIG. 3 is a schematic top view of the second transmission mechanism according to embodiment 1;
FIG. 4 is a front view schematically showing the construction of a second transmission mechanism according to embodiment 2;
FIG. 5 is a schematic top view of the second transmission mechanism according to embodiment 2;
FIG. 6 is a front view schematically showing the construction of a second transmission mechanism according to embodiment 3;
FIG. 7 is a schematic top view of the second transmission mechanism according to embodiment 3;
fig. 8 is a schematic structural diagram of the grinding head of the present invention;
fig. 9 is a schematic sectional structure view of the grinding head of the present invention;
FIG. 10 is a schematic top view of the second transmission mechanism according to embodiment 4;
FIG. 11 is a schematic top view of the second transmission mechanism according to embodiment 5;
fig. 12 is a schematic perspective view of a multi-station processing platform used in cooperation with the present invention;
Detailed Description
The invention will be further explained with reference to the following figures and examples:
in the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present disclosure, unless otherwise expressly stated or limited, the second feature "on" or "under" the second feature may comprise the second and second feature being in direct contact, or the second and second feature being in contact, not directly, but via another feature therebetween. Also, a second feature "on," "above," and "above" a second feature includes the second feature being directly above and obliquely above the second feature, or simply indicating that the second feature is at a higher level than the second feature. A second feature being "under," "below," and "beneath" the second feature includes the second feature being directly under and obliquely below the second feature, or simply means that the second feature is at a lesser level than the second feature.
In the description of the present invention, it is to be understood that the terms "left", "right", "front", "back", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, and are used merely for convenience of description and simplification of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Example 1
As shown in fig. 1 to 3, a manipulator for a positioner includes: the robot arm 100 is characterized in that: still include whole platform 90, instrument mount pad 91, third servo motor 92 and machining tool, instrument mount pad 91 rotates to be connected on whole platform 90, whole platform 90 is installed in the free end department of arm 100, machining tool installs on instrument mount pad 91, instrument mount pad 91 on whole platform 90 is two at least, third servo motor 92 rotates through the relative whole platform 90 of second drive mechanism driving tool mount pad 91.
It should be noted that the robot arm 100 is not a part of the present application that contributes to the prior art, that is, the robot arm 100 of the present application adopts the prior art, and therefore, the detailed structure of the robot arm 100 is not described in detail. Such as, but not limited to, a robotic arm as disclosed in WO2013133197a 1.
Preferably, the number of the tool mounting seats 91 on the integral platform 90 is at least one, each row includes at least two tool mounting seats 91, the second transmission mechanism includes a second transmission shaft 50, a second worm part 51 and a second worm gear 52, the second worm gear 52 is fixedly mounted at the bottom of the tool mounting seats 91 and is located in the integral platform 90, the second worm part 51 is formed on the second transmission shaft 50 and is meshed with the second worm gear 52, the second transmission shaft 50 is rotatably connected with the integral platform 90 through a bearing and a bearing seat, the second transmission shaft 50 is driven by a third servo motor 92, the number and the position of the second worm gear 52 and the second worm part 51 are both in one-to-one correspondence with the number and the position of the tool mounting seats 91, and the number of the second transmission shaft 50 is the same as the number of the rows of the tool mounting seats 91.
Example 2
As shown in fig. 1, 4 and 5, a manipulator for a positioner includes: the robot arm 100 is characterized in that: still include whole platform 90, instrument mount pad 91, third servo motor 92 and machining tool, instrument mount pad 91 rotates to be connected on whole platform 90, whole platform 90 is installed in the free end department of arm 100, machining tool installs on instrument mount pad 91, instrument mount pad 91 on whole platform 90 is two at least, third servo motor 92 rotates through the relative whole platform 90 of second drive mechanism driving tool mount pad 91. It should be noted that the robot arm 100 is not a part of the present application that contributes to the prior art, that is, the robot arm 100 of the present application adopts the prior art, and therefore, the detailed structure of the robot arm 100 is not described in detail.
Preferably, the tool mounting seats 91 on the integral platform 90 are at least one row, each row comprises at least two tool mounting seats 91, the second transmission mechanism comprises a second driving gear 40 and a second transmission gear 41, the number and the position of the second driving gears 40 correspond to those of the tool mounting seats 91 one by one, the second driving gears 40 are fixedly mounted at the bottom of the tool mounting seats 91 and are located in the integral platform 90, a second transmission gear 41 meshed with the two adjacent second driving gears 40 in the same row is arranged between the two adjacent second driving gears 40 in the same row, the second transmission gear 41 is rotatably connected with the integral platform 90, and one second driving gear 40 in one row is driven by a third servo motor 92 directly or through a speed reducer.
Example 3
As shown in fig. 1, 6 and 7, a manipulator for a positioner includes: the robot arm 100 is characterized in that: still include whole platform 90, instrument mount pad 91, third servo motor 92 and machining tool, instrument mount pad 91 rotates to be connected on whole platform 90, whole platform 90 is installed in the free end department of arm 100, machining tool installs on instrument mount pad 91, instrument mount pad 91 on whole platform 90 is two at least, third servo motor 92 rotates through the relative whole platform 90 of second drive mechanism driving tool mount pad 91. It should be noted that the robot arm 100 is not a part of the present application that contributes to the prior art, that is, the robot arm 100 of the present application adopts the prior art, and therefore, the detailed structure of the robot arm 100 is not described in detail.
Preferably, the tool mounting seats 91 on the integral platform 90 are at least one row, each row includes at least two tool mounting seats 91, the second transmission mechanism includes second driving gears 40 and second racks 42, the number and the position of the second driving gears 40 correspond to the number and the position of the tool mounting seats 91 one by one, the second driving gears 40 are fixedly mounted at the bottom of the tool mounting seats 91 and are located in the integral platform 90, the number of the second racks 42 is the same as that of the tool mounting seats 91, the second driving gears 40 in the same row are meshed with one second rack 42, and one second driving gear 40 in one row is driven by a third servo motor 92 directly or through a speed reducer.
As shown in fig. 8 and 9, preferably, the processing tool includes a grinding head, the grinding head mainly includes a driving motor, a central steel column 150, an elastic rubber 151 and an iron outer layer 152, the driving motor is detachably mounted on the tool mounting base 91, the central steel column 150 is driven by the driving motor, and the elastic rubber 151 is cylindrical and wraps the head end of the central steel column 150; the outer iron layer 152 is wrapped on the outer side of the elastic rubber 151, carborundum is bonded on the outer iron layer 152, the elastic rubber in the grinding head can play a role in vibration reduction and floating, and when a workpiece is ground, the workpiece is slightly damaged.
As shown in fig. 12, the manipulator for the position changing machine can be used in cooperation with a multi-station processing platform when in use, the multi-station processing platform comprises a base 1, a rotary beam 2, a rotary driving motor, a driving end support assembly 4, a servo end support assembly 5, a left rotary table assembly 6 and a right rotary table assembly 7, the rotary beam 2 is rotatably connected above the base 1, the rotary driving motor is arranged in the base 1 and drives the rotary beam 2 to horizontally and transversely rotate through a speed reducer, one end of the rotary beam 2 is fixedly connected with the driving end support assembly 4, and the other end of the rotary beam 2 is fixedly connected with the servo end support assembly 5; left revolving stage assembly 6 and right revolving stage assembly 7 divide and locate the left and right sides of gyration crossbeam 2, left revolving stage assembly 6 includes first servo motor 60, revolving stage 61 and frock 63, first servo motor 60 is installed and is driven revolving stage 61 and make vertical rotation on drive end support assembly 4, right revolving stage assembly 7's structure is the same with left revolving stage assembly 6's structure, and frock 63 on every revolving stage 61 is one row at least, and every row contains two at least frock 63.
The number of the tool mounting seats 91 is equal to the number of the tools 63 on one of the rotary tables 61, and the arrangement of the tool mounting seats 91 on the integrated platform 90 is equal to the arrangement (position and interval) of the tools 63 on the rotary table 61.
Optionally, the left rotary table assembly 6 may further include a second servo motor 62, the second servo motor 62 is mounted on the rotary table 61 and drives the tool 63 to synchronously rotate relative to the rotary table 61 through a transmission mechanism, and the tool 63 is rotationally connected to the rotary table 61.
That is, the tool mounting seat 91 of the manipulator for the positioner can be driven by the third servo motor 92 to rotate relative to the integral platform 90, so that the multi-station processing platform can be provided with or without the second servo motor 62, and further, the tool 63 of the multi-station processing platform can be fixedly connected or rotatably connected with the rotating platform 61.
Example 4
As shown in fig. 1 and 10, a manipulator for a positioner includes: the robot arm 100 is characterized in that: still include whole platform 90, instrument mount pad 91, third servo motor 92 and machining tool, instrument mount pad 91 rotates to be connected on whole platform 90, whole platform 90 is installed in the free end department of arm 100, machining tool installs on instrument mount pad 91, instrument mount pad 91 on whole platform 90 is two at least, third servo motor 92 rotates through the relative whole platform 90 of second drive mechanism driving tool mount pad 91. It should be noted that the robot arm 100 is not a part of the present application that contributes to the prior art, that is, the robot arm 100 of the present application adopts the prior art, and therefore, the detailed structure of the robot arm 100 is not described in detail.
Preferably, the tool mounts 91 on the integral platform 90 are in an even number of rows, each row including at least one tool mount 91, the second transmission mechanism includes a second transmission shaft 50, a second worm part 51 and a second worm wheel 52, the second worm gears 52 are fixedly mounted at the bottom of the tool mounting seats 91 and are positioned in the integral platform 90, each two rows of tool mounting seats 91 correspond to one second transmission shaft 50, the second worm parts 51 are formed on the second transmission shaft 50, each of the second worm parts 51 is engaged with two second worm gears 52, the second transmission shaft 50 is rotatably connected with the integral platform 90 through a bearing and a bearing seat, the second transmission shaft 50 is driven by a third servo motor 92, the number and the positions of the second worm gears 52 are in one-to-one correspondence with the number and the positions of the tool mounting seats 91, and the number of the second transmission shafts 50 is one half of the number of rows of the tool mounting seats 91.
Further, the second transmission mechanism further comprises a driving bevel gear 80 and a driven bevel gear 81, the driving bevel gear 80 is driven by a third servo motor 92 directly or through a speed reducer, the driven bevel gear 81 is meshed with the driving bevel gear 80, and the driven bevel gear 81 is in key connection with the second transmission shaft 50.
Example 5
As shown in fig. 1 and 11, a manipulator for a positioner includes: the robot arm 100 is characterized in that: still include whole platform 90, instrument mount pad 91, third servo motor 92 and machining tool, instrument mount pad 91 rotates to be connected on whole platform 90, whole platform 90 is installed in the free end department of arm 100, machining tool installs on instrument mount pad 91, instrument mount pad 91 on whole platform 90 is two at least, third servo motor 92 rotates through the relative whole platform 90 of second drive mechanism driving tool mount pad 91. It should be noted that the robot arm 100 is not a part of the present application that contributes to the prior art, that is, the robot arm 100 of the present application adopts the prior art, and therefore, the detailed structure of the robot arm 100 is not described in detail.
Preferably, the tool mounting seats 91 on the integral platform 90 are arranged in an even number of rows, each row includes at least one tool mounting seat 91, the second transmission mechanism includes second driving gears 40 and second racks 42, the number and the positions of the second driving gears 40 correspond to the number and the positions of the tool mounting seats 91 one by one, the second driving gears 40 are fixedly mounted at the bottoms of the tool mounting seats 91 and are located in the integral platform 90, each two rows of the tool mounting seats 91 correspond to one second rack 42, the number of the second racks 42 is one half of the number of the rows of the tool mounting seats 91, both sides of the second racks 42 are provided with teeth meshed with the second driving gears 40, and one second driving gear 40 in each two rows is driven by a third servo motor 92 directly or through a speed reducer.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above, it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. A manipulator for a positioner, comprising: a robotic arm (100), characterized by: still include whole platform (90), instrument mount pad (91), third servo motor (92) and machining tool, instrument mount pad (91) rotate to be connected on whole platform (90), whole platform (90) are installed in the free end department of arm (100), machining tool installs on instrument mount pad (91), instrument mount pad (91) on whole platform (90) are two at least, third servo motor (92) rotate through relative whole platform (90) of second drive mechanism drive instrument mount pad (91).
2. The manipulator for a changer of claim 1, characterized in that: the tool mounting seats (91) on the integral platform (90) are at least one row, each row comprises at least two tool mounting seats (91), the second transmission mechanism comprises a second transmission shaft (50), a second worm part (51) and a second worm wheel (52), the second worm gear (52) is fixedly arranged at the bottom of the tool mounting seat (91) and is positioned in the integral platform (90), the second worm part (51) is formed on the second transmission shaft (50) and is meshed with the second worm wheel (52), the second transmission shaft (50) is rotationally connected with the integral platform (90) through a bearing and a bearing seat, the second transmission shaft (50) is driven by a third servo motor (92), the number and the positions of the second worm wheel (52) and the second worm part (51) are in one-to-one correspondence with the number and the positions of the tool mounting seats (91), the number of the second transmission shafts (50) is the same as the number of rows of the tool mounting seats (91).
3. The manipulator for a changer of claim 1, characterized in that: tool mounting seat (91) on whole platform (90) are one row at least, and every row contains two at least tool mounting seat (91), second drive mechanism includes second drive gear (40) and second drive gear (41), the quantity and the position of second drive gear (40) and the quantity and the position one-to-one of tool mounting seat (91), second drive gear (40) fixed mounting is in tool mounting seat (91) bottom and is arranged in whole platform (90), all sets up between two adjacent second drive gear (40) of same row one with their second drive gear (41) that mesh mutually, second drive gear (41) and whole platform (90) rotate to be connected, a second drive gear (40) in the row are by third servo motor (92) directly or through the reduction gear drive.
4. The manipulator for a changer of claim 1, characterized in that: tool mounting seat (91) on whole platform (90) are one row at least, and every row contains two at least tool mounting seat (91), second drive mechanism includes second drive gear (40) and second rack (42), the quantity and the position of second drive gear (40) and the quantity and the position one-to-one of tool mounting seat (91), second drive gear (40) fixed mounting is in tool mounting seat (91) bottom and is arranged in whole platform (90), the number of second rack (42) is the same with the row number of tool mounting seat (91), and second drive gear (40) and a second rack (42) of same row mesh mutually, and a second drive gear (40) in a row is by direct or through the reduction gear drive of third servo motor (92).
5. The manipulator for a changer of claim 1, characterized in that: the tool mounting seats (91) on the integral platform (90) are arranged in an even number of rows, each row comprises at least one tool mounting seat (91), each second transmission mechanism comprises a second transmission shaft (50), a second worm part (51) and a second worm gear (52), the second worm gears (52) are fixedly mounted at the bottoms of the tool mounting seats (91) and are positioned in the integral platform (90), each two rows of tool mounting seats (91) correspond to one second transmission shaft (50), the second worm parts (51) are formed on the second transmission shafts (50), each second worm part (51) is meshed with two second worm gears (52), the second transmission shafts (50) are rotatably connected with the integral platform (90) through bearings and bearing seats, the second transmission shafts (50) are driven by a third servo motor (92), and the number and the positions of the second worm gears (52) are in one-to-one correspondence with the number and the positions of the tool mounting seats (91), the number of the second transmission shafts (50) is one half of the number of rows of the tool mounting seats (91).
6. The manipulator for a changer of claim 5, wherein: the second transmission mechanism further comprises a driving bevel gear (80) and a driven bevel gear (81), the driving bevel gear (80) is driven by a third servo motor (92) directly or through a speed reducer, the driven bevel gear (81) is meshed with the driving bevel gear (80), and the driven bevel gear (81) is connected with the second transmission shaft (50) in a key mode.
7. The manipulator for a changer of claim 1, characterized in that: the tool mounting seats (91) on the integral platform (90) are in even number rows, each row comprises at least one tool mounting seat (91), the second transmission mechanism comprises a second driving gear (40) and a second rack (42), the number and the positions of the second driving gears (40) correspond to those of the tool mounting seats (91) one by one, the second driving gear (40) is fixedly arranged at the bottom of the tool mounting seat (91) and is positioned in the integral platform (90), each two rows of tool mounting seats (91) correspond to one second rack (42), the number of the second racks (42) is half of the number of rows of the tool mounting seats (91), both sides of the second rack (42) are provided with teeth meshed with the second driving gears (40), and one second driving gear (40) in each two rows is driven by a third servo motor (92) directly or through a speed reducer.
8. The manipulator for a changer of claim 1, characterized in that: the machining tool comprises a grinding head, the grinding head mainly comprises a driving motor, a central steel column (150), elastic rubber (151) and an iron outer layer (152), the driving motor is detachably mounted on a tool mounting seat (91), the central steel column (150) is driven by the driving motor, and the elastic rubber (151) is cylindrical and wraps the head end of the central steel column (150); the iron outer layer (152) is wrapped on the outer side of the elastic rubber (151), and carborundum is bonded on the iron outer layer (152).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920583143.8U CN209850664U (en) | 2019-04-26 | 2019-04-26 | Manipulator for position changing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920583143.8U CN209850664U (en) | 2019-04-26 | 2019-04-26 | Manipulator for position changing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209850664U true CN209850664U (en) | 2019-12-27 |
Family
ID=68939240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920583143.8U Expired - Fee Related CN209850664U (en) | 2019-04-26 | 2019-04-26 | Manipulator for position changing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209850664U (en) |
-
2019
- 2019-04-26 CN CN201920583143.8U patent/CN209850664U/en not_active Expired - Fee Related
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