CN210499387U

CN210499387U - Tool carrying manipulator

Info

Publication number: CN210499387U
Application number: CN201921074551.7U
Authority: CN
Inventors: 张磊; 荣志军; 徐录; 郑先道; 赵慧; 沈文磊
Original assignee: Shenyang Jingrui Numerical Control Machine Tool Co ltd
Current assignee: Shenyang Jingrui Numerical Control Machine Tool Co ltd
Priority date: 2019-07-10
Filing date: 2019-07-10
Publication date: 2020-05-12
Anticipated expiration: 2029-07-10

Abstract

The utility model provides a cutter transport manipulator belongs to handle of a knife management equipment technical field among the flexible intelligent production line, concretely relates to cutter transport manipulator. The utility model provides an degree of automation is high, can improve work efficiency, reduces administrative cost's cutter transport manipulator. The utility model discloses a frame, frame below are the handle of a knife storage area, are provided with the mutual device of handle of a knife, its characterized in that through XYZ triaxial actuating mechanism in the frame: the tool holder interaction device comprises a rotary cylinder connected with an XYZ triaxial drive mechanism, and a tool carrying manipulator is arranged on the rotary cylinder.

Description

Tool carrying manipulator

Technical Field

The utility model belongs to the technical field of handle of a knife management equipment in the flexible intelligent production line, concretely relates to cutter transport manipulator.

Background

The prior production and processing production line has the problems that either only a material carrying manipulator and no tool carrying manipulator are provided or the tool carrying manipulator has single function; the technical problems brought by the two conditions are also obvious, a production line of a tool carrying manipulator is not available, only tool handles can be carried and installed manually, errors are prone to occurring, the efficiency is low, an independent tool management room is required to be arranged for the production line with the demand on the number of tools, and special staff are used for managing and maintaining the tools, so that the workshop area is occupied, and the management cost is increased; the tool carrying manipulator with a single function only solves the problem that the operation of carrying and installing tools by operators is complex, and does not solve the problems of tool management cost and workshop use area saving.

The management of flexible production line handle of a knife is indispensable link at present, and the function of cutter transport manipulator in the past is comparatively single, only has and unit interaction and transport function, has more artifical participation in the cutter management process moreover, and intangibly a lot of potential safety hazards increase, along with the continuous improvement of production management requirement, current cutter transport manipulator function can't satisfy user's demand gradually.

SUMMERY OF THE UTILITY MODEL

The utility model discloses to above-mentioned problem, provide an degree of automation height, can improve work efficiency, reduce administrative cost's cutter transport manipulator.

In order to realize the above object of the utility model, the utility model discloses a following technical scheme, the utility model discloses a frame, the frame below is the handle of a knife storage area, is provided with the mutual device of handle of a knife, its characterized in that through XYZ triaxial actuating mechanism in the frame: the tool holder interaction device comprises a rotary cylinder connected with an XYZ triaxial drive mechanism, and a tool carrying manipulator is arranged on the rotary cylinder.

As the utility model discloses a preferred scheme, the cutter transport manipulator includes the rotor plate that links to each other with revolving cylinder, is provided with through sending the sword cylinder on the rotor plate and sends the knife rest, send to be provided with the card sword cylinder on the knife rest, and the piston rod of card sword cylinder links to each other with a radial positioning cardboard.

Furthermore, a positioning key matched with the cutter is arranged on the radial positioning clamping plate.

As an optimized scheme of the utility model, send and be provided with the swing cylinder on the knife rest, be provided with the information reading head through the swing span on the swing cylinder.

As another preferred scheme of the utility model, the XYZ three-axis drive mechanism comprises an X-axis drive motor, and the X-axis drive motor is matched with an X-axis rack on the frame beam through an X-axis gear; an X-axis driving motor is connected with an X-axis moving frame, a Z-axis driving motor is arranged on the X-axis moving frame, the Z-axis driving motor is matched with a Z-axis rack on a Z-axis lifting frame through a Z-axis gear, a Y-axis driving motor is arranged at the top of the Z-axis lifting frame, the end part of an output shaft of the Y-axis driving motor penetrates through the Z-axis lifting frame and is provided with a Y-axis gear, a Y-axis sliding plate is arranged at the lower end of the Z-axis lifting frame, and a Y-axis rack matched with the Y-; the rotary cylinder is arranged on the Y-axis sliding plate.

The utility model has the advantages that: the utility model has the advantages of being compact in structure and simple in operation, powerful and perfect to there is good self-feedback to detect, can extensively be applicable to the production and processing trade.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is an enlarged view of a portion a of fig. 1.

Fig. 3 is an enlarged view of a portion B of fig. 1.

In the figure, 1 is an X-axis driving motor, 2 is a Y-axis driving motor, 3 is a Z-axis driving motor, 4 is a rack, 5 is a knife handle storage area, 6 is a knife conveying device, 7 is a swing cylinder, 8 is a swing frame, 9 is an information reading head, 10 is a positioning key, 11 is a radial positioning clamping plate, 12 is a knife clamping cylinder, 13 is a knife feeding cylinder, 14 is a knife feeding frame, 15 is a rotating plate, 16 is a rotating cylinder, 17 is a Y-axis rack, 18 is a Y-axis gear, 19 is a Z-axis lifting frame, 20 is an X-axis rack, 21 is an X-axis moving frame, and 22 is a Z-axis rack.

Detailed Description

The utility model discloses a frame 4, frame 4 below are handle of a knife storage area 5, are provided with the mutual device of handle of a knife, its characterized in that through XYZ triaxial actuating mechanism in frame 4: the tool holder interaction device comprises a rotary cylinder 16 connected with an XYZ three-axis driving mechanism, and a tool carrying manipulator is arranged on the rotary cylinder 16.

As a preferred scheme of the utility model, the tool carrying manipulator comprises a rotating plate 15 connected with a rotating cylinder 16, a tool feeding frame 14 is arranged on the rotating plate 15 through a tool feeding cylinder 13, a tool clamping cylinder 12 is arranged on the tool feeding frame 14, and a piston rod of the tool clamping cylinder 12 is connected with a radial positioning clamping plate 11; the tool feeding frame 14 is further provided with an axial positioning clamping plate matched with the radial clamping groove in the tool shank.

Furthermore, a positioning key 10 matched with a cutter is arranged on the radial positioning clamping plate 11.

As an optimized scheme of the utility model, send and be provided with swing cylinder 7 on the knife rest 14, be provided with information reading head 9 through swing span 8 on the swing cylinder 7.

As another preferred scheme of the utility model, the XYZ three-axis drive mechanism includes an X-axis drive motor 1, and the X-axis drive motor 1 is matched with an X-axis rack 20 on a cross beam of the frame 4 through an X-axis gear; the X-axis driving motor 1 is connected with the X-axis moving frame 21, a Z-axis driving motor 3 is arranged on the X-axis moving frame 21, the Z-axis driving motor 3 is matched with a Z-axis rack 22 on the Z-axis lifting frame 19 through a Z-axis gear, a Y-axis driving motor 2 is arranged at the top of the Z-axis lifting frame 19, the end part of an output shaft of the Y-axis driving motor 2 penetrates through the Z-axis lifting frame 19 to be provided with a Y-axis gear 18, the lower end of the Z-axis lifting frame 19 is provided with a Y-axis sliding plate, and a Y-axis rack 17 matched with the Y-axis gear 18; the rotary cylinder 16 is arranged on the Y-axis sliding plate.

The utility model discloses preparation work before using: on cutter conveyor 6 was placed to the handle of a knife that operating personnel will be prepared, then manual issue the instruction and give management and control system signal, management and control system received after the signal through 6 automatic transportation handle of a knife upward movements of cutter conveyor, reachs the handle of a knife and snatchs the station, and station position detection device obtains after the signal this moment, the utility model discloses the action snatchs the handle of a knife, reads handle of a knife information simultaneously to with information recording in management and control system, read information accomplish the back management and control system automatically place handle of a knife storage area 5 with the handle of a knife, treat when the unit lathe need use the handle of a knife, the utility model discloses move once more, carry appointed handle of a knife.

The utility model discloses the during operation is by cutter storage position to unit tool magazine: the utility model discloses a cutter transport manipulator passes through XYZ triaxial actuating mechanism and moves to near the cutter, send sword cylinder 13 to stretch out, the X axle is controlled by servo system to accurate target in place, then Z axle accurate descending guarantees that axial positioning cardboard cooperates with the radial draw-in groove portion of handle of a knife, carry out axial positioning to the handle of a knife, prevent handle of a knife axial float, card sword cylinder 12 stretches out and promotes radial positioning cardboard 11 to swing, guarantee that radial positioning cardboard 11's navigation key 10 cooperates with the keyway of handle of a knife, carry out radial positioning to the handle of a knife, prevent handle of a knife radial float, swing cylinder 7 rotates 90 and drives information reading head 9 and read the handle identity, after reading work, swing cylinder 7 withdraws, the X axle returns to fixed position, send sword cylinder 13 to retract and take out the handle of a knife from the memory location, the utility model discloses carry the cutter to near unit tool magazine dress blade holder, rotatory cylinder 16 rotates this moment, the cutter feeding cylinder 13 extends out, then the Z axis accurately falls, the Y axis extends out, the cutter handle is fed into the single-machine tool magazine cutter mounting seat to be fixed, the cutter clamping cylinder 12 retracts to push the radial positioning clamping plate 11 to swing, and the Y axis moves quickly to complete cutter mounting work.

It should be understood that the above detailed description of the present invention is only for illustrating the present invention and is not limited by the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention can still be modified or equivalently replaced to achieve the same technical effects; as long as the use requirement is satisfied, the utility model is within the protection scope.

Claims

1. The utility model provides a cutter transport manipulator, includes frame (4), and frame (4) below is handle of a knife storage area (5), is provided with handle of a knife interaction device, its characterized in that through XYZ triaxial actuating mechanism in frame (4): the tool holder interaction device comprises a rotary cylinder (16) connected with an XYZ three-axis driving mechanism, and a tool carrying manipulator is arranged on the rotary cylinder (16).

2. A tool-handling robot as recited in claim 1, wherein: the cutter carrying manipulator comprises a rotating plate (15) connected with a rotating cylinder (16), a cutter feeding frame (14) is arranged on the rotating plate (15) through a cutter feeding cylinder (13), a cutter clamping cylinder (12) is arranged on the cutter feeding frame (14), and a piston rod of the cutter clamping cylinder (12) is connected with a radial positioning clamping plate (11); the tool feeding rack (14) is also provided with an axial positioning clamping plate matched with the radial clamping groove on the tool shank.

3. A tool-handling robot as recited in claim 2, wherein: and a positioning key (10) matched with the cutter is arranged on the radial positioning clamping plate (11).

4. A tool-handling robot as recited in claim 2, wherein: the tool feeding frame (14) is provided with a swing cylinder (7), and the swing cylinder (7) is provided with an information reading head (9) through a swing frame (8).

5. A tool-handling robot as recited in claim 1, wherein: the XYZ three-axis driving mechanism comprises an X-axis driving motor (1), and the X-axis driving motor (1) is matched with an X-axis rack (20) on a cross beam of the rack (4) through an X-axis gear; an X-axis driving motor (1) is connected with an X-axis moving frame (21), a Z-axis driving motor (3) is arranged on the X-axis moving frame (21), the Z-axis driving motor (3) is matched with a Z-axis rack (22) on a Z-axis lifting frame (19) through a Z-axis gear, a Y-axis driving motor (2) is arranged at the top of the Z-axis lifting frame (19), a Y-axis gear (18) is arranged at the end part of an output shaft of the Y-axis driving motor (2) which penetrates through the Z-axis lifting frame (19), a Y-axis sliding plate is arranged at the lower end of the Z-axis lifting frame (19), and a Y-axis rack (17) matched with the Y-axis gear (18; and the rotary cylinder (16) is arranged on the Y-axis sliding plate.