CN211053213U - Machine tool material transfer system based on four-degree-of-freedom planar robot - Google Patents
Machine tool material transfer system based on four-degree-of-freedom planar robot Download PDFInfo
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- CN211053213U CN211053213U CN201921951574.1U CN201921951574U CN211053213U CN 211053213 U CN211053213 U CN 211053213U CN 201921951574 U CN201921951574 U CN 201921951574U CN 211053213 U CN211053213 U CN 211053213U
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- 239000000463 material Substances 0.000 title claims abstract description 42
- 238000012546 transfer Methods 0.000 title claims abstract description 37
- 210000000707 wrist Anatomy 0.000 claims abstract description 12
- 210000000245 forearm Anatomy 0.000 claims abstract description 10
- 230000001360 synchronised effect Effects 0.000 claims description 19
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
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Abstract
The utility model relates to a lathe material transfer system based on four degree of freedom planar robot relates to a material transfer system. The four-degree-of-freedom planar robot based machine tool material transfer system is compact in structure, high in running speed, high in precision and low in labor cost. The utility model relates to a lathe material transfer system based on four degrees of freedom planar robot is including the base that connects gradually, big arm, forearm, wrist and tongs five part structure, through swivel joint swing joint between big arm and base, forearm and the big arm, swivel joint can drive each structure and rotate, and the wrist part has rotatory and two degrees of freedom that go up and down, the tongs structure includes flange, clamp finger cylinder and clamp finger, the cylinder pole connection clamp finger that presss from both sides the finger cylinder.
Description
Technical Field
The utility model relates to a technical field is transported to the material, especially relates to a lathe material transfer system based on four degree of freedom planar robot.
Background
In the process of processing parts of a metal forming machine tool and a carving machine, the traditional manual feeding and discharging mode is adopted to hardly meet the requirements of quick and accurate production for the procedures of relatively single operation content and fast production rhythm. The traditional industrial mechanical arm has the defects of heavy weight, large volume, high price, complex use method and the like, and is not suitable for processing the above procedures. How to design a high-efficiency substitute of the traditional industrial mechanical arm is a technical problem which is urgently needed to be solved in the production process of enterprises.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a compact structure, functioning speed are fast, the precision is high, the cost of labor is low based on four degrees of freedom planar robot's lathe material transfer system.
The utility model relates to a lathe material transfer system based on four degree of freedom planar robot, including the base that connects gradually, big arm, forearm, wrist and tongs five part structure, through swivel joint swing joint between big arm and base, forearm and the big arm, swivel joint can drive each structure and rotate, and the wrist part has rotatory and two degrees of freedom that go up and down, the tongs structure includes flange, clamp finger cylinder and clamp finger, the cylinder pole connection clamp finger that presss from both sides the finger cylinder.
The utility model relates to a lathe material transfer system based on four degree of freedom planar robot, wherein each rotary joint pivoted power is provided by servo motor, and servo motor passes through the harmonic reduction gear transmission back and connects the connecting rod, and the connecting rod drives rotary joint and rotates.
The utility model relates to a lathe material transfer system based on four degrees of freedom planar robot, wherein the wrist structure includes ball, integral key shaft, spline nut and harmonic reducer ware.
The utility model relates to a lathe material transfer system based on four degree of freedom planar robot, wherein triaxial servo motor in the big arm directly links with triaxial initiative synchronous pulley, and the ball nut links firmly with triaxial driven synchronous pulley, and it is rotatory through belt drive ball, and the ball nut is connected with the connecting plate, and the connecting plate is connected with the spline shaft, the tongs is installed at the bottom of integral key shaft.
The utility model relates to a lathe material transfer system based on four degree of freedom planar robot, wherein the stopper is equipped with at the ball both ends.
The utility model relates to a lathe material transfer system based on four degrees of freedom planar robot, wherein four-axis servo motor in the forearm directly links with four-axis driving synchronous pulley, and it is rotatory through belt drive four-axis driven synchronous pulley, and four-axis driven synchronous pulley directly links with four-axis harmonic reducer ware, and ball spline nut directly links with the reduction gear output.
The utility model relates to a lathe material transfer system based on four degree of freedom planar robot, wherein the power that the clamp indicates the cylinder is provided by the air in the gas circuit pipeline, and the air pipe head on air supply and the forearm is connected, and the air pipe head is inside to indicate the cylinder to link to each other with the clamp through the gas circuit pipeline.
The utility model relates to a lathe material transfer system based on four degree of freedom planar robot, wherein install the solenoid valve on the gas circuit pipeline.
The utility model relates to a lathe material transfer system based on four degree of freedom planar robot, wherein the clamp indicates to carry out the profile modeling design according to the appearance of work piece.
The utility model relates to a lathe material transfer system based on four degrees of freedom planar robot, wherein be provided with the pipeline package between base structure and the forearm structure.
The utility model relates to a lathe material transfer system and prior art difference lie in based on four degree of freedom planar robot, the utility model relates to a lathe material transfer system based on four degree of freedom planar robot is through the control to four revolute joint and terminal tongs clamping jaws, realizes the automatic upper and lower material in the machine tool working process. Compare traditional artifical unloading of going up, have characteristics such as fast, the position is accurate, interference killing feature is strong, improved production efficiency, reduced the human cost of production simultaneously. Compared with a common industrial robot, the system has the characteristics of high speed, small size and high precision, and is very suitable for being applied to scenes with narrow space and high-beat running requirements.
The following will further explain the machine tool material transfer system based on the four-degree-of-freedom planar robot of the present invention with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of a machine tool material transfer system based on a four-degree-of-freedom planar robot according to the present invention;
fig. 2 is a cross-sectional view of a machine tool material transfer system based on a four-degree-of-freedom planar robot of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
the notation in the figures means: 1-a base; 2-big arm; 3-forearm; 4, gripping the hand; 5-wrist; 6-air pipe joint; 7-pipeline package; 11-a three-axis servo motor; 12-a three-axis drive synchronous pulley; 13-four-axis servo motor; 14-four-axis driving synchronous belt wheel; 15-ball screw nut; 16-a connecting plate; 17-a splined shaft; 18-a three-axis driven synchronous pulley; 19-four-axis driven synchronous pulleys; 20-four-axis harmonic reducer; 21-ball spline nuts; 22. 23-clamping fingers; 24-workpiece.
Detailed Description
The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
As shown in figure 1, the utility model relates to a lathe material transfer system based on four degrees of freedom planar robot is including the base 1 that connects gradually, big arm 2, forearm 3, wrist 5 and 4 five part structures of tongs, through rotary joint swing joint between big arm and base, forearm and the big arm. The rotary joint can drive each structure to rotate. The power for rotating each rotary joint is provided by a servo motor, the servo motor is connected with a connecting rod after being transmitted by a harmonic reducer, and the connecting rod drives the rotary joints to rotate. The servo motor and the harmonic reducer are adopted to realize the accurate control of each structure position, reduce the volume and the weight of the whole structure and improve the transmission precision.
The rotary joints on the big arm 2 and the small arm 3 can drive the big arm 2 and the small arm 3 to rotate, and the position of the wrist 5 is controlled through the rotation of the big arm 2 and the small arm 3. The wrist 5 portion has two degrees of freedom of rotation and elevation for enabling control of rotation and elevation of the end grip 4.
The wrist 5 has two degrees of freedom of lifting about three axes in the large arm 2 and rotating about four axes in the small arm 3. As shown in fig. 2 and fig. 3, the three-axis servo motor 11 is directly connected to the three-axis driving synchronous pulley 12, and the ball screw nut 15 is fixedly connected to the three-axis driven synchronous pulley 18 and drives the ball screw to rotate through belt transmission. The ball screw nut 15 is connected with the connecting plate 16, the connecting plate 16 is connected with the spline shaft 17, and the up-and-down movement of the ball screw nut 15 drives the spline shaft 17 to move up and down, so that the lifting and descending of the gripper 4 are controlled. The hand grip 4 is mounted on the lowermost end of the spline shaft 17. The gripper 4 consists of a gripper cylinder and gripper fingers 22 and 23, and a workpiece 24 is clamped on the gripper fingers.
The four-axis servo motor 13 is directly connected with the four-axis driving synchronous belt wheel 14 and drives the four-axis driven synchronous belt wheel 19 to rotate through belt transmission. The four-axis driven synchronous pulley 19 is directly connected with the four-axis harmonic reducer 20, and the ball spline nut 21 is directly connected with the output end of the four-axis harmonic reducer 20. Thus, the four-shaft servo motor 13 rotates to drive the ball spline shaft to rotate so as to drive the tail end gripper 4 to rotate.
And limiting blocks are arranged at two ends of the ball screw, so that damage caused by overrun during up-and-down motion of the spline shaft is prevented.
The gripper 4 structurally comprises a flange, a clamping finger cylinder and a clamping finger. The cylinder rod of the clamping finger cylinder is connected with the clamping finger. The power of the finger clamping cylinder is provided by air in an air path pipeline, an air source is connected with an air pipe joint 6 on the small arm 3, and the interior of the air pipe joint 6 is connected with the finger clamping cylinder through the air path pipeline. The gas circuit is provided with an electromagnetic valve which is used for controlling the gas supply state of the clamping finger cylinder. The clamp fingers are designed in a copying manner according to the appearance of the workpiece, and the grabbing and positioning precision is high.
A pipeline packet 7 is arranged between the base 1 structure and the small arm 3 structure, and the pipeline packet 7 can arrange cables in the system uniformly, so that peripheral equipment is simplified, and external pipelines are reduced.
The utility model relates to a lathe material transfer system based on four degrees of freedom planar robot is when transporting the material, through each connecting rod motion of the servo motor drive of each joints of controller and servo motor driver control robot to the realization is to the control of 4 movement tracks of terminal tongs. And after receiving a movement starting signal sent by the machine tool controller, the robot control system starts to control each joint of the robot to move, so that the tail end gripper 4 is driven to move to the material taking position. The opening and closing of clamping fingers on the air cylinder of the gripper 4 are controlled by the electromagnetic valve to grip and put down a target workpiece. After the workpiece is grabbed, each joint of the robot transfers the workpiece to a material discharging position according to a set track program, and after the workpiece is placed in place, the clamping finger cylinder is opened, and the workpiece is placed to a workpiece machining position on the machine tool. After the workpiece is placed in place, the robot withdraws to a safe area and is ready for next grabbing. And after a control system of the machine tool or the engraving and milling machine receives the signals that the workpiece is placed in place and the robot is evacuated, processing the workpiece. After the machining is finished, the machine tool control system transmits a finishing signal to the robot, the robot moves to a workpiece taking position, the clamping fingers are folded to grab a workpiece, the robot body drives the clamping jaw to move to a blanking position after the grabbing is finished, the workpiece is put down, and the workpiece is discharged.
The utility model relates to a lathe material transfer system based on four degree of freedom planar robot realizes the automatic upper and lower material in the lathe course of working through the control to pressing from both sides the finger on four rotation joints and terminal tongs 4. Compare traditional artifical unloading of going up, have characteristics such as fast, the position is accurate, interference killing feature is strong, improved production efficiency, reduced the human cost of production simultaneously. Compared with a common industrial robot, the system has the characteristics of high speed, small size and high precision, and is very suitable for being applied to scenes with narrow space and high-beat running requirements.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. The utility model provides a lathe material transfer system based on four degree of freedom planar robot which characterized in that: the hand grip comprises a base, a large arm, a small arm, a wrist and a hand grip, the base, the large arm, the small arm and the large arm are sequentially connected, the large arm is movably connected with the base, the small arm and the large arm through rotary joints, the rotary joints can drive the structures to rotate, the wrist part has two degrees of freedom of rotation and lifting, the hand grip structure comprises a flange, a finger clamping cylinder and a finger clamping cylinder, and a cylinder rod of the finger clamping cylinder is connected with the finger clamping cylinder.
2. The four-degree-of-freedom planar robot-based machine tool material transfer system according to claim 1, wherein: the power for rotating each rotary joint is provided by a servo motor, the servo motor is connected with a connecting rod after being transmitted by a harmonic reducer, and the connecting rod drives the rotary joints to rotate.
3. The four-degree-of-freedom planar robot-based machine tool material transfer system according to claim 1, wherein: the wrist structure comprises a ball screw, a spline shaft, a spline nut and a harmonic reducer.
4. The four-degree-of-freedom planar robot-based machine tool material transfer system according to claim 3, wherein: three-axis servo motor in the big arm directly links with three-axis driving synchronous pulley, and the ball nut links firmly with three-axis driven synchronous pulley, drives the ball through belt transmission and rotates, and the ball nut is connected with the connecting plate, and the connecting plate is connected with the spline shaft, the tongs is installed at the lower extreme of integral key shaft.
5. The four-degree-of-freedom planar robot-based machine tool material transfer system according to claim 4, wherein: and two ends of the ball screw are provided with limiting blocks.
6. The four-degree-of-freedom planar robot-based machine tool material transfer system according to claim 3, wherein: four-axis servo motor in the forearm directly links with four-axis driving synchronous pulley, and it is rotatory to drive four-axis driven synchronous pulley through belt transmission, and four-axis driven synchronous pulley directly links with four-axis harmonic reducer ware, and ball spline nut directly links with the reduction gear output.
7. The four-degree-of-freedom planar robot-based machine tool material transfer system according to claim 1, wherein: the power of the clamping finger cylinder is provided by air in an air path pipeline, an air source is connected with an air pipe joint on the small arm, and the interior of the air pipe joint is connected with the clamping finger cylinder through the air path pipeline.
8. The four-degree-of-freedom planar robot-based machine tool material transfer system of claim 7, wherein: and the gas path pipeline is provided with an electromagnetic valve.
9. The four-degree-of-freedom planar robot-based machine tool material transfer system according to claim 1, wherein: the clamping fingers are designed in a copying mode according to the appearance of the workpiece.
10. The four-degree-of-freedom planar robot-based machine tool material transfer system according to claim 1, wherein: a pipeline packet is arranged between the base structure and the small arm structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921951574.1U CN211053213U (en) | 2019-11-12 | 2019-11-12 | Machine tool material transfer system based on four-degree-of-freedom planar robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921951574.1U CN211053213U (en) | 2019-11-12 | 2019-11-12 | Machine tool material transfer system based on four-degree-of-freedom planar robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211053213U true CN211053213U (en) | 2020-07-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921951574.1U Active CN211053213U (en) | 2019-11-12 | 2019-11-12 | Machine tool material transfer system based on four-degree-of-freedom planar robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211053213U (en) |
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2019
- 2019-11-12 CN CN201921951574.1U patent/CN211053213U/en active Active
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Address after: 272000, No. 888 Huarun Road, Zhongxin Electromechanical Industrial Park, Zhongdian Town, Zoucheng City, Jining City, Shandong Province Patentee after: Luoshi (Shandong) Robot Group Co.,Ltd. Country or region after: China Address before: No. b801-004, 8th floor, Xueyan complex building, Tsinghua University, Haidian District, Beijing 100084 Patentee before: ROKAE, Inc. Country or region before: China |