CN211305644U

CN211305644U - Split type manipulator

Info

Publication number: CN211305644U
Application number: CN201921303607.1U
Authority: CN
Inventors: 陈丽霞; 张国斌; 关耀东; 王永相
Original assignee: Hohhot Zhonghuan Industry And Trade Co ltd
Current assignee: Hohhot Zhonghuan Industry And Trade Co ltd
Priority date: 2019-08-13
Filing date: 2019-08-13
Publication date: 2020-08-21
Anticipated expiration: 2029-08-13

Abstract

The utility model relates to a lathe manipulator technical field especially relates to a split type manipulator. Including spanner main part, locking shaft, forearm, apron, bolt, screw and double-layered sword locking device, double-layered sword locking device's design is taut fixed through the bolt between locking shaft bottom and the shaft cover, and manipulator can not glide in the use manipulator in-process, and the location is more accurate, and it is fixed only through the tensioning of the tight cover that expands to have solved traditional manipulator's locking shaft, and the phenomenon of gliding takes place easily when the manipulator uses for a long time, has the problem of certain potential safety hazard.

Description

Split type manipulator

Technical Field

The utility model relates to a lathe manipulator technical field especially relates to a split type manipulator.

Background

The automatic tool changer short ATC is composed of a tool magazine, a mechanical arm and a corresponding control system, and is a numerical control milling machine with drilling, boring and milling functions, wherein a common tool is arranged on a main shaft of a machine tool, a workpiece is arranged on a workbench, and in order to centralize the working procedures as much as possible and save the auxiliary time as much as possible, the automatic tool changer mechanical arm is additionally arranged on the numerical control milling machine to form a processing center, and the ATC plays an extremely important role in the processing center; the mechanical arm tool changing mode is a mode generally adopted by a numerical control center, the types of the mechanical arm tool changing mode are various, the main principle is that the mechanical arm is used for grabbing the tool changing mode to complete the replacement work of new and old tools, the manual tool changing time is saved, and the machining efficiency is improved.

However, the cutter clamping rod of the traditional manipulator is cylindrical, so that the cutter clamping rod is easy to rotate when a cutter is clamped, and the cutter clamping effect is affected.

When the manipulator is disassembled, the leveling manipulator needs to be manually supported for disassembling, and when the manipulator deviates laterally, the disassembly is difficult; the locking shaft of the manipulator is fixed by tensioning the expansion sleeve, and the phenomenon of sliding down easily occurs in long-term use.

SUMMERY OF THE UTILITY MODEL

The technical problem to be solved by the utility model is to solve the technical deficiencies, and a split type manipulator is provided, the design of the clamping knife locking device is adopted, the bottom of the locking shaft and the shaft cover are tightened and fixed through the bolt, the manipulator can not slide down in the process of using the manipulator, the positioning is more accurate, the locking shaft of the traditional manipulator is only tightened and fixed through the expansion sleeve, the sliding phenomenon easily occurs when the manipulator is used for a long time, and the problem of certain potential safety hazard is solved; the square clamping cutter rod of the manipulator replaces the traditional cylindrical clamping cutter rod, the clamping cutter rod cannot rotate when the cutter is clamped, and the clamping effect is very good; three expansion sleeves are arranged at the connecting part of the locking shaft and the wrench main body, each expansion sleeve does not need to expand to the limit, and the expansion sleeves can be used for the second time after being disassembled, so that the service life of the expansion sleeves is prolonged.

In order to solve the technical problem, the utility model discloses the technical scheme who adopts is: comprises a wrench main body, a locking shaft, a front arm, a cover plate, a bolt, a screw and a clamping knife locking device; clamping grooves are formed in the two ends of the wrench main body; the front arm is fixedly locked in the clamping groove through a screw; a groove is formed in one side of the clamping groove; the cover plate is fixedly arranged in the groove through a screw; a guide groove is arranged in the middle of the bottom of the groove; the clamping knife locking device is arranged at the position of the guide groove; the clamping knife locking device comprises a clamping knife rod, a gasket, a top rod, a clamping knife spring, a locking shaft and a gland; locking grooves are formed in the two sides of the middle of the wrench body; the locking shaft is connected inside the locking groove in a sliding manner; the bottom of the locking shaft is connected with the bottom end in the locking groove through a locking spring; the gland is fixedly arranged at the top of the locking groove through a screw; a button is arranged at the top of the locking shaft; the button penetrates through the middle of the gland.

Further optimizing the technical scheme, a through groove is arranged on the right side of the guide groove in a penetrating manner; the other end of the through groove is communicated with the locking groove; the clamping cutter rod is connected inside the guide groove in a sliding manner; the ejector rod is connected inside the through groove in a sliding manner; a fixing groove is formed in the middle of the right end of the clamping cutter rod; the left end of the ejector rod is fixedly arranged in the fixing groove; the cutter clamping spring is sleeved on the ejector rod, and the right end of the cutter clamping rod is connected with the right side in the guide groove through the cutter clamping spring.

Further optimizing the technical scheme, the left end of the clamping cutter rod is provided with a clamping cutter; the cross section of the clamping cutter rod is square; the side lengths of the cross sections of the clamping cutter rod and the guide groove are equal.

Further optimizing the technical scheme, the middle part of the clamping cutter rod is provided with a limit groove; a positioning pin is fixedly arranged on one side of the middle part of the guide groove; the locating pin sets up inside the spacing groove.

Further optimizing the technical scheme, the middle part of the wrench main body is provided with a shaft hole; the lower part of the locking shaft is arranged in the shaft hole; three expansion sleeves are arranged between the shaft hole and the locking shaft; the locking shaft and the shaft hole are fixedly locked through the expansion sleeve.

Further optimizing the technical scheme, a shaft cover is arranged at the bottom of the wrench main body below the shaft hole; the shaft cover and the wrench main body are fixedly locked through a screw; a round hole is formed in the middle of the shaft cover; the bottom of the locking shaft is provided with a threaded hole; and the bolt penetrates through the round hole and is fixedly locked with the threaded hole.

Compared with the prior art, the utility model has the advantages of it is following: 1. due to the design of the clamping knife locking device, the bottom of the locking shaft and the shaft cover are tightened and fixed through the bolt, the manipulator cannot slide down in the process of using the manipulator, the positioning is more accurate, and the problems that the locking shaft of the traditional manipulator is only tightened and fixed through the expansion sleeve, the manipulator is easy to slide down when being used for a long time, and certain potential safety hazards exist are solved; 2. the square clamping cutter rod of the manipulator replaces the traditional cylindrical clamping cutter rod, the clamping cutter rod cannot rotate when the cutter is clamped, and the clamping effect is very good; 3. three expansion sleeves are arranged at the connecting part of the locking shaft and the wrench main body, each expansion sleeve does not need to be expanded to the limit, and the expansion sleeves can be used for the second time after being disassembled, so that the service life of the expansion sleeves is prolonged; 4. when the manipulator is disassembled, the bolts are loosened slightly, then the bolts on the shaft cover are loosened thoroughly, and finally the bolts are loosened thoroughly to take off the shaft cover, so that the manipulator cannot fall down when one person loosens the tension sleeve; 5. the positioning pin and the limiting groove can play a role in limiting the cutter clamping rod.

Drawings

Fig. 1 is a schematic view of an overall installation structure of a split type robot.

Fig. 2 is a schematic view of a forearm site mounting structure of a split robot.

Fig. 3 is a partial sectional view of an internal wrench body mounting structure of a split type robot hand.

Fig. 4 is a partial sectional view of a structure of a connecting portion of a clamping guide rod and a push rod of a split type manipulator.

Fig. 5 is a partial exploded view of the structure of the connection part of the locking shaft and the wrench body of the split manipulator.

In the figure: 1. a wrench body; 101. a card slot; 102. a groove; 103. a guide groove; 104. a locking groove; 105. a through groove; 106. positioning pins; 107. a shaft hole; 2. a locking shaft; 201. a threaded hole; 3. a forearm; 4. a cover plate; 5. a bolt; 6. a screw; 7. a clamping knife locking device; 701. clamping a cutter rod; 702. a gasket; 703. a top rod; 704. a knife clamping spring; 705. a locking spring; 706. a lock shaft; 707. a gland; 708. a button; 709. fixing grooves; 710. clamping a cutter; 711. a limiting groove; 8. expanding and tightening the sleeve; 9. a shaft cover; 901. a circular hole.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

The first embodiment is as follows: as shown in fig. 1 to 5, a split robot is characterized in that: comprises a wrench body 1, a locking shaft 2, a front arm 3, a cover plate 4, a bolt 5, a screw 6 and a clamping knife locking device 7; clamping grooves 101 are formed in the two ends of the wrench body 1; the front arm 3 is fixedly locked in the clamping groove 101 through a screw 6; a groove 102 is formed in one side of the clamping groove 101; the cover plate 4 is fixedly arranged in the groove 102 through a screw 6; a guide groove 103 is arranged in the middle of the bottom of the groove 102; the clamping knife locking device 7 is arranged at the position of the guide groove 103; the knife clamping locking device 7 comprises a knife clamping rod 701, a gasket 702, a top rod 703, a knife clamping spring 704, a locking spring 705, a locking shaft 706 and a gland 707; locking grooves 104 are formed in the two sides of the middle of the wrench body 1; the locking shaft 2 is connected inside the locking groove 104 in a sliding manner; the bottom of the locking shaft 706 is connected with the bottom end inside the locking groove 104 through a locking spring 705; the gland 707 is fixedly arranged on the locking groove top 104 through a screw 6; a button 708 is arranged at the top of the locking shaft 706; the button 708 penetrates through the middle of the gland 707; a through groove 105 is arranged on the right side of the guide groove 103 in a penetrating manner; the other end of the through groove 105 is communicated with the locking groove 104; the clamping tool bar 701 is connected inside the guide groove 103 in a sliding manner; the top rod 703 is slidably connected inside the through groove 105; a fixing groove 709 is formed in the middle of the right end of the clamping tool bar 701; the left end of the ejector rod 703 is fixedly arranged in the fixing groove 709; the cutter clamping spring 704 is sleeved on the ejector rod 703, and the right end of the cutter clamping rod 701 is connected with the right side inside the guide groove 103 through the cutter clamping spring 704; a clamping knife 710 is arranged at the left end of the clamping knife rod 701; the cross section of the clamping tool bar 701 is square; the side lengths of the cross sections of the cutter clamping rod 701 and the guide groove 103 are equal; a limiting groove 711 is formed in the middle of the clamping tool rod 701; a positioning pin 106 is fixedly arranged on one side of the middle part of the guide groove 103; the positioning pin 106 is arranged in the limiting groove 711; the middle part of the wrench body 1 is provided with a shaft hole 107; the lower part of the locking shaft 2 is arranged in the shaft hole 107; three expansion sleeves 8 are arranged between the shaft hole 107 and the locking shaft 2; the locking shaft 2 and the shaft hole 107 are fixedly locked through the expansion sleeve 8; a shaft cover 9 is arranged at the bottom of the wrench main body 1 below the shaft hole 107; the shaft cover 9 and the wrench main body 1 are fixedly locked through a screw 6; a round hole 901 is formed in the middle of the shaft cover 9; the bottom of the locking shaft 2 is provided with a threaded hole 201; the bolt 5 penetrates through the round hole 901 and then is fixedly locked with the threaded hole 201.

When the spanner is used, step one is combined with the steps shown in figures 1-5, when a tool is changed, the locking shaft 2 rotates, and the middle part of the spanner main body 1 is provided with the shaft hole 107; the lower part of the locking shaft 2 is arranged in the shaft hole 107; three expansion sleeves 8 are arranged between the shaft hole 107 and the locking shaft 2; the locking shaft 2 and the shaft hole 107 are fixedly locked by the expansion sleeve 8, so that the locking shaft 2 rotates to drive the wrench body 1 to rotate together by the expansion sleeve 8, the wrench body 1 rotates to drive the clamping tool bar 701 and the front arm 3 to rotate together, the wrench body 1 rotates to press the button 708 through the control unit, the button 708 pushes the locking shaft 706 to slide downwards along the locking groove 104 in the downward movement process and compress the locking spring 705, and the locking state of the ejector rod 703 is released (the movement process is the same as the movement principle of the traditional manipulator).

When the front arm 3 contacts with a cutter, the cutter pushes the cutter clamping rod 701 to slide along the middle of the guide groove 103, the push rod 703 is pushed to synchronously slide towards the middle along the through groove 105 in the process that the cutter clamping rod 701 moves towards the middle, and the cutter clamping spring 704 is compressed in the process that the cutter clamping rod 701 moves towards the middle; when the cutter moves completely between the cutter clamping rod 701 and the cutter clamping rod 710, the cutter clamping rod 701 rebounds under the action of the cutter clamping spring 704 and presses the cutter clamping rod 701 tightly, the locking shaft 706 resets under the action of the elastic force of the locking spring 705 and clamps the ejector rod 703 tightly, and the cutter can be locked and fixed under the action of the cutter clamping rod 701.

The left end of the clamping tool bar 701 is provided with a clamping tool 710; the cross section of the clamping tool bar 701 is square; the side lengths of the cross sections of the cutter clamping rod 701 and the guide groove 103 are equal', so that the square cutter clamping rod 701 of the manipulator replaces the traditional cylindrical cutter clamping rod 701, the cutter clamping rod 701 cannot rotate when the cutter is clamped, and the clamping effect is very good.

Step two, as shown in fig. 1-5, the shaft cover 9 is arranged at the bottom of the wrench body 1 below the shaft hole 107; the shaft cover 9 and the wrench main body 1 are fixedly locked through a screw 6; a round hole 901 is formed in the middle of the shaft cover 9; the bottom of the locking shaft 2 is provided with a threaded hole 201; the bolt 5 penetrates through the round hole 901 and then is fixedly locked with the threaded hole 201', so that the manipulator cannot slide down in the process of using the manipulator for a long time, the locking shaft 2 and the wrench body 1 are fixedly locked through the shaft cover 9 and the bolt 5, the effect of central positioning can be achieved, and the wrench body 1 is prevented from falling down due to the loosening of the expansion sleeve 8; thereby make the manipulator location more accurate, it is fixed only through the tight cover tensioning that expands to have solved the locking axle of traditional manipulator, takes place the gliding phenomenon easily when the manipulator uses for a long time, has the problem of certain potential safety hazard.

When the wrench body 1 is disassembled, firstly loosening the bolt 5 for several times, then completely loosening the screw 6 on the shaft cover 9, and finally completely loosening the bolt 5 and taking off the shaft cover 9; dismantle earlier the screw 6 at 9 periphery positions of shaft cap, dismantle the bolt 5 at middle part again, this dismantlement process can prevent to take place the side deviation when dismantling wrench body 1, causes the inconvenient problem of dismantlement, and the installation of bolt 5 has played the function of central point location in wrench body 1 dismantlement process.

After the shaft cover 9 is taken down, the lower expansion sleeve 8 is loosened, and the middle part of the wrench main body 1 is provided with a shaft hole 107; the lower part of the locking shaft 2 is arranged in the shaft hole 107; three expansion sleeves 8' are arranged between the shaft hole 107 and the locking shaft 2, so that the manipulator cannot fall down when one person looses the expansion sleeves 8; finally, the wrench body 1 can be dismounted by loosening the upper expansion sleeve 8; the whole manipulator is completely disassembled; be provided with the dismounting groove in shaft hole 107 middle part both sides, the accessible dismounting groove will expand tight cover 8 and extract of will expanding tight cover 8 after tight cover 8 loosens, and the setting in dismounting groove can conveniently expand tight cover 8's dismantlement work, so say at the tight cover 8 of three bloateing of the connecting portion installation of locking shaft 2 and wrench body 1, every tight cover that rises need not rise to the limit, can the secondary use after the dismantlement to the life that the tight cover 8 that expands has been increased.

The utility model discloses a control mode comes automatic control through the controller, and the control circuit of controller can realize through the simple programming of technical staff in this field, belongs to the common general knowledge in this field, and the utility model discloses mainly be used for protecting mechanical device, so the utility model discloses no longer explain control mode and circuit connection in detail.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims

1. The utility model provides a split type manipulator which characterized in that: comprises a wrench main body (1), a locking shaft (2), a front arm (3), a cover plate (4), a bolt (5), a screw (6) and a clamping knife locking device (7); clamping grooves (101) are formed in the two ends of the wrench main body (1); the front arm (3) is fixedly locked in the clamping groove (101) through a screw (6); a groove (102) is formed in one side of the clamping groove (101); the cover plate (4) is fixedly arranged in the groove (102) through a screw (6); a guide groove (103) is arranged in the middle of the bottom of the groove (102); the clamping knife locking device (7) is arranged at the position of the guide groove (103); the cutter clamping locking device (7) comprises a cutter clamping rod (701), a gasket (702), a push rod (703), a cutter clamping spring (704), a locking spring (705), a locking shaft (706) and a gland (707); locking grooves (104) are formed in the two sides of the middle of the wrench main body (1); the locking shaft (2) is connected inside the locking groove (104) in a sliding manner; the bottom of the locking shaft (706) is connected with the bottom end inside the locking groove (104) through a locking spring (705); the gland (707) is fixedly arranged at the top of the locking groove (104) through a screw (6); a button (708) is arranged at the top of the locking shaft (706); the button (708) penetrates through the middle of the gland (707).

2. The split robot as claimed in claim 1, wherein: a through groove (105) is arranged on the right side of the guide groove (103) in a penetrating manner; the other end of the through groove (105) is communicated with the locking groove (104); the clamping cutter rod (701) is connected inside the guide groove (103) in a sliding manner; the ejector rod (703) is connected inside the through groove (105) in a sliding manner; the middle part of the right end of the clamping cutter rod (701) is provided with a fixing groove (709); the left end of the ejector rod (703) is fixedly arranged in the fixing groove (709); the cutter clamping spring (704) is sleeved on the ejector rod (703), and the right end of the cutter clamping rod (701) is connected with the right side inside the guide groove (103) through the cutter clamping spring (704).

3. The split robot as claimed in claim 1, wherein: a clamping knife (710) is arranged at the left end of the clamping knife rod (701); the cross section of the clamping cutter rod (701) is square; the length of the cross section sides of the clamping knife rod (701) and the guide groove (103) is equal.

4. The split robot as claimed in claim 1, wherein: a limiting groove (711) is formed in the middle of the clamping cutter rod (701); a positioning pin (106) is fixedly arranged on one side of the middle part of the guide groove (103); the positioning pin (106) is arranged inside the limiting groove (711).

5. The split robot as claimed in claim 1, wherein: the middle part of the wrench main body (1) is provided with a shaft hole (107); the lower part of the locking shaft (2) is arranged in the shaft hole (107); three expansion sleeves (8) are arranged between the shaft hole (107) and the locking shaft (2); the locking shaft (2) and the shaft hole (107) are fixedly locked through the expansion sleeve (8).

6. The split robot as claimed in claim 5, wherein: a shaft cover (9) is arranged at the bottom of the wrench main body (1) below the shaft hole (107); the shaft cover (9) and the wrench main body (1) are fixedly locked through a screw (6); a round hole (901) is formed in the middle of the shaft cover (9); the bottom of the locking shaft (2) is provided with a threaded hole (201); and the bolt (5) penetrates through the round hole (901) and then is fixedly locked with the threaded hole (201).