CN212420536U - Manipulator system based on multistation lathe - Google Patents

Abstract

The utility model provides a manipulator system based on a multi-station machine tool, which comprises a control end, a manipulator mechanism, a beam and a support column which is arranged at one end part of the beam and plays a supporting role; the crossbeam sets up to four and connects into "X" type through another tip, the junction of four crossbeams is provided with the stand, the control end is close to the stand sets up, every all be provided with on the crossbeam manipulator mechanism, manipulator mechanism includes along the motion that the crossbeam removed is in with the setting the mechanism of snatching of motion lower extreme, snatch the mechanism include with the bearing that motion is connected, install carousel on the bearing is in with the setting a plurality of tongs bottom the carousel. Compared with the prior art, the system meets the requirement that one system controls a plurality of stations, and greatly improves the production efficiency.

Description

Manipulator system based on multistation lathe

Technical Field

The utility model relates to a manipulator field, concretely relates to manipulator system based on multistation lathe.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. It can replace the heavy labor of people to realize the mechanization and automation of production, and can be operated under harmful environment to protect the personal safety, thus being widely applied to the departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

The existing machine tool manipulator mainly adopts a feeding and discharging manipulator, is responsible for conveying workpieces to be machined on a conveying line into a machine tool, and is taken out after machining is completed. Mainly comprises a traditional joint manipulator with a great jack degree of freedom and a novel truss manipulator. The freedom joint manipulator has large volume, high price and high maintenance cost, and is not beneficial to the wide use of machine tools; although the novel truss manipulator occupies a small area, the cost of equipment is high, the requirement on operators is high, and unnecessary expenditure is increased.

In view of the above, it is necessary to provide a technical solution to the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: the utility model provides a manipulator system based on multistation lathe solves present truss manipulator function singleness, can not cooperate the problem that multistation lathe accomplished work well, the utility model provides a manipulator system just can accomplish putting of multichannel process and get, shift the problem in a manipulator system, has improved the efficiency of multistation lathe greatly.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a manipulator system based on a multi-station machine tool comprises a control end, a manipulator mechanism, a cross beam and a support column which is arranged at one end of the cross beam and plays a supporting role; the crossbeam sets up to four and connects into "X" type through another tip, the junction of four crossbeams is provided with the stand, the control end is close to the stand sets up, every all be provided with on the crossbeam manipulator mechanism, manipulator mechanism includes along the motion that the crossbeam removed is in with the setting the mechanism of snatching of motion lower extreme, snatch the mechanism include with the bearing that motion is connected, install carousel on the bearing is in with the setting a plurality of tongs bottom the carousel.

The utility model discloses a set four crossbeams to "X" type for the manipulator mechanism working range that is located on the crossbeam improves greatly, and different manipulator mechanisms can be used for the station demand that does not use of lathe, and in addition, the last a plurality of tongs that have still set up through the carousel of manipulator mechanism, makes the manipulator no longer confine the work of a work piece to, but can operate several work pieces simultaneously, utilizes this manipulator system not only to improve work efficiency, has satisfied the demand of a plurality of stations of system control simultaneously.

Preferably, the motion mechanism comprises a transverse motion mechanism moving transversely along the cross beam and a longitudinal motion mechanism moving longitudinally along the cross beam, and the longitudinal motion mechanism is connected with the bearing.

Preferably, the cross beams are provided with racks, and the transverse movement mechanism moves through a gear meshed with the racks.

Preferably, the ends of two adjacent cross beams are connected to form an arc part for moving the transverse moving mechanism. The connecting parts of the two adjacent cross beams are arranged to be in arc connection, the arc parts are also provided with racks, the racks of the arc parts are connected with the racks on the cross beams, the manipulator mechanism can move between the two adjacent cross beams through the sliding of the gears, and the double-track racks can be arranged on the cross beams in view of the condition that the manipulator mechanisms on different cross beams possibly move and conflict, so that the situation of motion conflict between the manipulators is avoided.

Preferably, the control end comprises a first motor and a second motor, and the first motor is arranged close to the upright column and used for controlling the transverse movement of the transverse movement mechanism; the second motor is respectively arranged on each longitudinal movement mechanism and used for controlling the longitudinal movement of the longitudinal movement mechanisms.

The beneficial effects of the utility model reside in that:

1) the utility model provides a manipulator system based on a multi-station machine tool, which comprises a control end, a manipulator mechanism, a beam and a support column which is arranged at one end part of the beam and plays a supporting role; the crossbeam sets up to four and connects into "X" type through another tip, the junction of four crossbeams is provided with the stand, the control end is close to the stand sets up, every all be provided with on the crossbeam manipulator mechanism, manipulator mechanism includes along the motion that the crossbeam removed is in with the setting the mechanism of snatching of motion lower extreme, snatch the mechanism include with the bearing that motion is connected, install carousel on the bearing is in with the setting a plurality of tongs bottom the carousel. Compared with the prior art, the utility model discloses a set four crossbeams to "X" type for the manipulator mechanism working range who is located on the crossbeam improves greatly, and different manipulator mechanisms can be used for the station demand that does not use of lathe, and in addition, the last a plurality of tongs that have still set up through the carousel of manipulator mechanism, make the manipulator no longer confine the work of a work piece to, but can operate several work pieces simultaneously, utilize this manipulator system not only to improve work efficiency, satisfied the demand of a plurality of stations of system control simultaneously.

2) The utility model discloses the arc portion that sets up can make manipulator mechanism back and forth movement on different crossbeams, has further improved the flexibility of manipulator work, greatly increased its application prospect in the industry.

Drawings

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

In the figure: 1-a control end; 11-a first electric machine; 12-a second electric machine; 2-a manipulator mechanism; 21-a motion mechanism; 211-a lateral movement mechanism; 212-longitudinal movement mechanism; 22-a gripping mechanism; 221-a bearing; 222-a turntable; 223-hand grip; 3-a cross beam; 4-a support column; 5-upright post.

Detailed Description

In order to make the technical solutions and advantages of the present invention clearer, the present invention and its advantageous effects will be described in further detail below with reference to the accompanying drawings of the detailed description and the specification, but the present invention is not limited thereto.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; 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 in specific cases to those skilled in the art.

The utility model discloses the standard part that uses all can purchase from the market, and dysmorphism piece all can be customized according to the description with the record of drawing of description, and the concrete connection mode of each part all adopts conventional means such as ripe bolt, rivet, welding among the prior art, and machinery, part and equipment all adopt prior art, and conventional model, including circuit connection adopts conventional connection mode among the prior art, does not detailed here again.

As shown in fig. 1, a manipulator system based on a multi-station machine tool comprises a control end 1, a manipulator mechanism 2, a cross beam 3 and a support column 4 which is arranged at one end of the cross beam 3 and plays a supporting role; the crossbeam 3 sets up to four and connects into "X" type through another tip, the junction of four crossbeams 3 is provided with stand 5, control end 1 is close to stand 5 and sets up, all be provided with manipulator mechanism 2 on every crossbeam 3, manipulator mechanism 2 includes the motion 21 that moves along the crossbeam and sets up the mechanism 22 of snatching at the motion 21 lower extreme, it includes the bearing 221 who is connected with motion 21 to snatch the mechanism 22, install carousel 222 on bearing 221 and set up a plurality of tongs 223 in carousel 222 bottom, tongs 223 can set up to sucking disc form and absorb the work piece or the clamp is got the work piece, also can improve the shape of tongs according to the demand of specific work piece and get in order to adapt to getting of work piece and put.

Wherein the motion mechanism 21 comprises a lateral motion mechanism 211 moving laterally along the cross beam 3 and a longitudinal motion mechanism 212 moving longitudinally along the cross beam 3, the longitudinal motion mechanism 212 being connected with the bearing 221. The transverse beams 3 are all provided with racks, the transverse movement mechanism 211 moves through a gear meshed with the racks, the longitudinal movement mechanism 212 can control the longitudinal movement of the manipulator through a telescopic rod, the racks and the telescopic rod are not shown in the figures and can be arranged according to the existing design, and specific description is not provided herein. The control end 1 comprises a first motor 11 and a second motor 12, wherein the first motor 11 is arranged close to the upright post 5 and used for controlling the transverse movement of the transverse movement mechanism 211; the second motors 12 are respectively arranged on each longitudinal movement mechanism 212 and used for controlling the longitudinal movement of the longitudinal movement mechanisms 212, that is, the number of the second motors 12 is four, specifically, the second motors 12 can be arranged at the upper ends of the longitudinal movement mechanisms 212, and the lifting of the manipulator mechanism is realized by driving the telescopic rods to extend and retract, so that the hand grips can grip workpieces at different heights and different positions. The motor may be disposed between the rotary bearing 221 and the rotary table 222, or the position of the motor may be changed according to specific installation requirements, but it should be ensured that the motor is electrically connected to the control terminal 1, and the specific picking and placing operations are realized through the control terminal 1. The arrangement of other specific accessories can refer to the arrangement of the existing truss manipulator, for example, the control end 1 can adopt a PLC control end, and the use materials, the specific shape and structure and the like of the cross beam 3 and the manipulator mechanism 2 can refer to the existing arrangement, and are not described again here.

In addition, the ends of two adjacent beams 3 are connected to form an arc part for moving the transverse moving mechanism. The connection part of two adjacent cross beams 3 is arranged to be in arc connection, the arc part is also provided with a rack and a gear, the rack of the arc part is connected with the rack on the cross beam 3, so that the manipulator mechanism 2 can move between the two adjacent cross beams 3, the movement of the manipulator mechanism 2 mainly moves between the cross beams 3 on the left side and the right side respectively, and specifically, the arrangement of the arc position in the figure can be referred to, certainly, in view of the situation that the manipulator mechanisms 2 on different cross beams 3 can move in conflict, the cross beam 3 can be provided with a double-track rack, the same double-track rack connected with the arc part is arranged on the arc part, and the manipulator mechanisms 2 on different cross beams are arranged on different track racks, so as to avoid the situation of motion conflict between the manipulators; of course, if the double tracks are not arranged for staggering, the situation of collision can be avoided by controlling the movement speeds of different manipulator mechanisms 2.

The utility model discloses a theory of operation: the system is generally arranged in an X shape, and a rack and a gear are arranged on each cross beam 3, so that the manipulator mechanism 2 can move on the cross beam 3, a workpiece is transferred to different positions, the moving range of the manipulator mechanism 2 is expanded, and the workpiece taking and placing are not limited to a certain small area; meanwhile, the longitudinal movement mechanism 212 can realize the lifting of the manipulator mechanism 2 through the arrangement of a telescopic rod, and meets the grabbing requirements of machine tools with different heights; in addition, a plurality of grippers 223 can be arranged in the gripping mechanism 22 by using the turntable 222, and several workpieces can be gripped simultaneously in the gripping process of the workpieces, so that the production efficiency is greatly improved. And the junction between two adjacent crossbeams 3 sets to the arc, and has also set up the rack in the junction, and the rack of junction corresponds each other with the rack on the crossbeam 3 and is connected, makes manipulator mechanism 2 can remove between the crossbeam 3 of difference through the drive of 1 motor in control end, and the mode of curved connection has made things convenient for manipulator mechanism 2's transfer more, has improved the flexibility ratio of manipulator motion.

Variations and modifications to the above-described embodiments may become apparent to those skilled in the art from the disclosure and teachings of the above description. Therefore, the present invention is not limited to the above-mentioned embodiments, and any obvious modifications, replacements or variations made by those skilled in the art on the basis of the present invention belong to the protection scope of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims (5)

1. A manipulator system based on a multi-station machine tool is characterized by comprising: the manipulator mechanism comprises a control end, a manipulator mechanism, a cross beam and a support column which is arranged at one end of the cross beam and plays a supporting role; the crossbeam sets up to four and connects into "X" type through another tip, the junction of four crossbeams is provided with the stand, the control end is close to the stand sets up, every all be provided with on the crossbeam manipulator mechanism, manipulator mechanism includes along the motion that the crossbeam removed is in with the setting the mechanism of snatching of motion lower extreme, snatch the mechanism include with the bearing that motion is connected, install carousel on the bearing is in with the setting a plurality of tongs bottom the carousel.

2. The multi-station machine tool-based manipulator system according to claim 1, wherein the motion mechanism comprises a transverse motion mechanism moving transversely along the cross beam and a longitudinal motion mechanism moving longitudinally along the cross beam, and the longitudinal motion mechanism is connected with the bearing.

3. The manipulator system based on a multi-station machine tool according to claim 2, characterized in that the cross beams are provided with racks, and the transverse moving mechanism moves through a gear meshed with the racks.

4. The multi-station machine tool-based manipulator system according to claim 2 or 3, wherein the ends of two adjacent beams are connected to form an arc part for moving the transverse moving mechanism.

5. The multi-station machine tool-based manipulator system according to claim 2, wherein the control end comprises a first motor and a second motor, the first motor is arranged close to the upright and used for controlling the transverse movement of the transverse movement mechanism; the second motor is respectively arranged on each longitudinal movement mechanism and used for controlling the longitudinal movement of the longitudinal movement mechanisms.

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