CN212578636U - Feeding and discharging mechanical arm of double-channel machine tool - Google Patents
Feeding and discharging mechanical arm of double-channel machine tool Download PDFInfo
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- CN212578636U CN212578636U CN202021375251.5U CN202021375251U CN212578636U CN 212578636 U CN212578636 U CN 212578636U CN 202021375251 U CN202021375251 U CN 202021375251U CN 212578636 U CN212578636 U CN 212578636U
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Abstract
The utility model relates to a binary channels lathe goes up feeding mechanical arm, it includes manipulator device, crossbeam and the stand that sets up in pairs, and the crossbeam is installed on the lathe through the stand that sets up in pairs. The manipulator device comprises a moving unit and a material taking unit, wherein the moving unit is connected with the cross beam in a sliding mode. The material taking unit comprises a material taking frame, a rotating shaft, a turning servo motor and a plurality of suckers, the rotating shaft is rotatably connected with the moving unit, the rotating shaft is connected with the material taking frame, the suckers are arranged on the material taking frame, the turning servo motor is arranged on the moving unit, an output shaft of the turning servo motor is connected with the rotating shaft to drive the rotating shaft to rotate, and the material taking frame can be turned from a material loading state to a material unloading state or from the material unloading state to the material loading state. The utility model discloses a material loading and unloading process of binary channels lathe have been realized in the upset of work or material rest, have simplified the structure of material loading and unloading manipulator effectively to the manipulator device adopts the suspension type structure, make full use of the upper portion space of lathe bed, reduced area.
Description
Technical Field
The utility model relates to an automatic change processing technology field especially relates to a unloading manipulator on binary channels lathe.
Background
Along with the rapid development of economy, in order to meet the increasing product requirements of people, higher requirements are provided for the production efficiency in the machining field, so that double-channel or multi-channel numerical control machine tools appear on the market, the machine tools can realize the simultaneous machining of all channels without mutual influence, and meanwhile, the occupied space brought by the machine tools can be reduced. In order to further improve the production efficiency, the automatic feeding and discharging is a development trend in the machining field, but the automatic feeding and discharging is extremely difficult due to the small inner space of the machine tool. The existing double-channel or multi-channel numerical control machine tool mostly adopts a channel to correspond to a manipulator mode to carry out automatic feeding and discharging, or adopts a manipulator with a very complex structure to satisfy the multi-channel automatic feeding and discharging, the former can undoubtedly increase the occupied space of the machine tool, the original advantages of the double-channel or multi-channel machine tool are lost, and the latter has a complex structure, so that the use cost of the machine tool is increased.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
In view of the above-mentioned shortcoming, the deficiency of prior art, the utility model provides a unloading manipulator on binary channels lathe, it has solved the complicated and big technical problem of occupation space of unloading manipulator structure on.
(II) technical scheme
In order to achieve the above object, the utility model discloses a main technical scheme include:
a feeding and discharging manipulator for a double-channel machine tool comprises a manipulator device, a cross beam and upright columns arranged in pairs;
the first ends of the stand columns arranged in pairs are connected with a lathe bed of a machine tool through mounting plates, and the second ends of the stand columns arranged in pairs are connected with the cross beam;
the manipulator device comprises a moving unit and a material taking unit, and the moving unit is connected with the cross beam in a sliding manner;
the material taking unit comprises a material taking frame, a rotating shaft, a turnover servo motor and a plurality of suckers, the rotating shaft is rotatably connected with the moving unit, the rotating shaft is fixedly connected with the material taking frame, the suckers are arranged on the material taking frame, the turnover servo motor is arranged on the moving unit, an output shaft of the turnover servo motor is connected with the rotating shaft to drive the rotating shaft to rotate, and the material taking frame can be turned over from a material loading state to a material unloading state or from the material unloading state to the material loading state.
Optionally, the cross beam is vertically connected with the upright column, and a main slide rail and a main driving piece are arranged on the cross beam;
the extending direction of the main slide rail is parallel to the extending direction of the cross beam;
the main driving part comprises a main servo motor and a main lead screw, the main lead screw and the main servo motor are arranged on the cross beam, an output shaft of the main servo motor is connected with a lead screw of the main lead screw to drive the lead screw of the main lead screw to rotate, the extending direction of the lead screw of the main lead screw is parallel to the extending direction of the cross beam, a sliding block of the main lead screw is connected with the main sliding rail in a sliding manner, and the moving unit is connected with the sliding block of the main lead screw.
Optionally, the motion unit comprises a first motion assembly, a second motion assembly, and a third motion assembly;
the first motion assembly is connected with a slide block of the main lead screw, the second motion assembly is connected with the first motion assembly in a sliding mode, and the third motion assembly is connected with the second motion assembly in a sliding mode;
the rotating shaft is rotatably connected with the third moving assembly, and the turnover servo motor is arranged on the third moving assembly.
Optionally, the first moving assembly includes a first mounting beam, a first servo motor, a first slide rail, and a first lead screw;
the first mounting beam is connected with a sliding block of the main lead screw, the first servo motor, the first slide rail and the first lead screw are all arranged on the first mounting beam, and an output shaft of the first servo motor is connected with a lead screw of the first lead screw to drive the first lead screw to rotate;
the sliding block of the first lead screw is connected with the first sliding rail in a sliding mode, and the second moving assembly is connected with the sliding block of the first lead screw;
the extension direction of the first mounting beam is parallel to the horizontal plane, the extension direction of the first mounting beam is perpendicular to the extension direction of the cross beam, the extension direction of the first slide rail is parallel to the extension direction of the first mounting beam, and the extension direction of the lead screw of the first lead screw is parallel to the extension square of the first mounting beam.
Optionally, a connection point of the first mounting beam and the slider of the main lead screw is located at the center of the first mounting beam.
Optionally, the second moving assembly includes a second mounting beam, a second servo motor, a second slide rail, and a second lead screw;
one end of the second mounting beam is connected with the sliding block of the first lead screw, the second servo motor, the second sliding rail and the second lead screw are all arranged on the second mounting beam, and an output shaft of the second servo motor is connected with a lead screw of the second lead screw to drive the lead screw of the second lead screw to rotate;
the sliding block of the second lead screw is connected with the second sliding rail in a sliding manner, and the third moving assembly is connected with the sliding block of the second lead screw;
the extending direction of the second mounting beam is perpendicular to the horizontal plane, the extending direction of the second slide rail is parallel to the extending direction of the second mounting beam, and the extending direction of the lead screw of the second lead screw is parallel to the extending direction of the second mounting beam.
Optionally, the third moving assembly includes a third mounting beam and a mounting arm, a first end of the mounting arm is connected to a first end of the third mounting beam, the flipping servo motor is disposed on the third mounting beam, the rotating shaft is rotatably connected to a second end of the mounting arm, and an extending direction of the mounting arm is parallel to an extending direction of the third mounting beam;
the third mounting beam is connected with the sliding block of the second lead screw, and the extending direction of the third mounting beam is parallel to the extending direction of the second mounting beam.
Optionally, the material taking frame comprises a support arm, a first material taking frame and a second material taking frame, the first end of the support arm is connected with the rotating shaft, the first material taking frame and the second material taking frame are connected with the second end of the support arm, and the first material taking frame and the second material taking frame are provided with a plurality of suckers.
Optionally, a through hole is formed in the second end of the mounting arm, a bearing is arranged in the through hole, the rotating shaft is sleeved in the bearing, the first end of the rotating shaft is connected with the first end of the support arm, and the second end of the rotating shaft is connected with an output shaft of the turnover servo motor through a speed reducer.
Optionally, the upright column is vertically connected with the mounting plate, and a reinforcing rib is arranged at the joint of the upright column and the mounting plate.
(III) advantageous effects
The utility model has the advantages that: the utility model discloses a last feeding mechanical arm manipulator device of binary channels lathe, crossbeam and the stand that sets up in pairs, wherein, the crossbeam is through the column mouting that sets up in pairs on the lathe. The manipulator device comprises a moving unit and a material taking unit, wherein the moving unit is connected with the cross beam in a sliding mode. The material taking unit comprises a material taking frame, a rotating shaft, a turning servo motor and a plurality of suckers, the rotating shaft is rotatably connected with the moving unit, the rotating shaft is fixedly connected with the material taking frame, the suckers are arranged on the material taking frame, the turning servo motor is arranged on the moving unit, an output shaft of the turning servo motor is connected with the rotating shaft to drive the rotating shaft to rotate, and the material taking frame can be turned from a loading state to a unloading state or from the unloading state to the loading state. Compared with the prior art, the loading and unloading process of the dual-channel machine tool is realized through the overturning of the material taking frame, the structure of the loading and unloading manipulator is effectively simplified, the manipulator device adopts a suspension type structure, the upper space of the machine tool body is fully utilized, and the occupied area is reduced.
Drawings
FIG. 1 is a schematic perspective view of the feeding and discharging manipulator of the dual-channel machine tool of the present invention;
fig. 2 is a schematic perspective view of the manipulator device of the feeding and discharging manipulator of the dual-channel machine tool of the present invention;
FIG. 3 is a schematic front view of the feeding and discharging manipulator of the dual-channel machine tool of the present invention;
fig. 4 is the side view schematic diagram of the material taking unit of the feeding and discharging manipulator of the dual-channel machine tool of the utility model.
[ description of reference ]
1: a manipulator device;
11: a first mounting beam; 12: a first slide rail; 13: a first servo motor;
22: a second slide rail; 23: a second servo motor;
31: a third mounting beam; 32: mounting an arm;
41: a material taking frame; 411: a support arm; 412: a first material taking frame; 413: a second material taking frame; 42: a rotating shaft; 43: turning over the servo motor;
50: a suction cup;
100: a cross beam; 101: a column; 102: mounting a plate; 103: reinforcing ribs; 104: a main slide rail; 105: a main servo motor.
Detailed Description
For a better understanding of the present invention, reference will now be made in detail to the present invention, examples of which are illustrated in the accompanying drawings. As used herein, the terms "upper", "lower", and the like are used with reference to the orientation of FIG. 3.
The embodiment of the utility model provides a feeding mechanical arm on binary channels lathe has solved the complicated and big technical problem of occupation space of feeding mechanical arm structure. The feeding and discharging manipulator of the double-channel machine tool comprises a manipulator device 1, a cross beam 100 and columns 101 arranged in pairs, wherein the cross beam 100 is arranged on the machine tool through the columns 101 arranged in pairs. The robot device 1 includes a moving unit connected to the cross member 100 in a sliding manner, and a material taking unit. The material taking unit comprises a material taking frame 41, a rotating shaft 42, an overturning servo motor 43 and a plurality of suckers 50, wherein the rotating shaft 42 is rotatably connected with the moving unit, the rotating shaft 42 is fixedly connected with the material taking frame 41, the suckers 50 are all arranged on the material taking frame 41, the overturning servo motor 43 is arranged on the moving unit, an output shaft of the overturning servo motor 43 is connected with the rotating shaft 42 to drive the rotating shaft 42 to rotate, and the material taking frame 41 can be overturned from a material loading state to a material unloading state or overturned from the material unloading state to the material loading state. The utility model discloses a material loading and unloading process of binary channels lathe has been realized in the upset of material taking frame 41, has simplified the structure of last feeding mechanical arm effectively to manipulator device 1 adopts the suspension type structure, make full use of the upper portion space of lathe bed, reduced area.
In order to better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1, the dual-channel loading and unloading manipulator for the machine tool comprises a manipulator device 1, a cross beam 100 and columns 101 arranged in pairs. Wherein, the first end of the stand 101 that sets up in pairs all is connected fixed connection through the lathe bed of mounting panel 102 with the lathe, and the second end of the stand 101 that sets up in pairs all is connected with crossbeam 100, and mounting panel 102 has improved the stability that stand 101 and lathe are connected to the stability of crossbeam 100 has been improved, has guaranteed the stability of manipulator device 1 operation. The manipulator device 1 includes a moving unit and a material taking unit, and the moving unit is slidably connected to the cross beam 100 to realize the movement of the manipulator device 1 and the positioning of the raw material. The manipulator device 1 adopts a suspension type structure, fully utilizes the upper space of the lathe bed and reduces the occupied area. As shown in fig. 2, the material taking unit includes a material taking frame 41, a rotating shaft 42, a turnover servo motor 43 and a plurality of suckers 50, the rotating shaft 42 is rotatably connected with the moving unit, the rotating shaft 42 is fixedly connected with the material taking frame 41, the suckers 50 are all arranged on the material taking frame 41, the material taking frame 41 is provided with a feeding station and a discharging station, and the feeding station and the discharging station are symmetrically distributed based on the rotating shaft 42. The overturning servo motor 43 is arranged on the moving unit, an output shaft of the overturning servo motor 43 is connected with the rotating shaft 42 to drive the rotating shaft 42 to rotate, and the material taking frame 41 can be overturned from a loading state to a unloading state or from the unloading state to the loading state, so that the loading and unloading processes of the dual-channel machine tool are realized, and the structures of the loading and unloading mechanical arms are effectively simplified.
As shown in fig. 3, the beam 100 is vertically connected to the column 101, and the column 101 is preferably vertically connected to the bed of the machine tool, so that the beam 100 is parallel to the horizontal plane, thereby further improving the stability of the beam 100 when the robot moves. The cross beam 100 is provided with a main slide rail 104 and a main driving member, and the extending direction of the main slide rail 104 is parallel to the extending direction of the cross beam 100. Specifically, the main driving part comprises a main servo motor 105 and a main screw rod, the main screw rod adopts a conventional screw rod, the screw rod can convert the rotary motion of the screw rod into the linear motion of a sliding block sleeved on the screw rod, the main screw rod and the main servo motor 105 are arranged on the cross beam 100, an output shaft of the main servo motor 105 is connected with the screw rod of the main screw rod to drive the screw rod of the main screw rod to rotate, power transmission equipment can be realized between the output shaft of the main servo motor 105 and the screw rod through a gear set, a speed reducer, a coupler or the like, and the screw rod of the main screw rod can rotate along the rotation central axis of the main screw rod under the driving of the main servo motor 105. The extension direction of the lead screw of the main lead screw is parallel to the extension direction of the cross beam 100. The slide block of the main lead screw is slidably connected with the main slide rail 104, the slide block of the main lead screw is limited by the main slide rail 104, and when the lead screw of the main lead screw is driven by the main servo motor 105 to rotate, the slide block of the main lead screw can only slide along the main slide rail 104 and can not rotate around the lead screw of the main lead screw. The slider and the movement unit of main lead screw are connected, make the movement unit can slide along main slide rail 104 to realize getting the motion of material unit in the first direction.
As shown in fig. 2, the moving unit includes a first moving assembly, a second moving assembly, and a third moving assembly. The first moving assembly is connected with the sliding block of the main lead screw, the second moving assembly is connected with the first moving assembly in a sliding mode, and the third moving assembly is connected with the second moving assembly in a sliding mode. The rotating shaft 42 is rotatably connected with the third moving assembly, the material taking frame 41 is rotatably connected with the third moving assembly through the rotating shaft 42, and the overturning servo motor 43 is arranged on the third moving assembly and provides power for overturning the material taking unit. The first moving assembly, the second moving assembly and the third moving assembly enable the material taking unit to move in three different directions through the movement of the first moving assembly, the second moving assembly and the third moving assembly, so that the material taking unit can be positioned in a space position.
Specifically, as shown in fig. 2, the first moving assembly includes a first mounting beam 11, a first servo motor 13, a first slide rail 12, and a first lead screw. The first mounting beam 11 is preferably a straight beam, the upper surface of the first mounting beam 11 is connected with a slider of a main lead screw, the first servo motor 13, the first slide rail 12 and the first lead screw are all arranged on the first mounting beam 11, the first lead screw is a conventional lead screw, the lead screw can convert the rotary motion of the lead screw into the linear motion of the slider sleeved on the lead screw, and an output shaft of the first servo motor 13 is connected with the lead screw of the first lead screw to drive the first lead screw to rotate. The sliding block of the first lead screw is slidably connected with the first slide rail 12, the sliding block of the first lead screw is limited by the first slide rail 12, and when the lead screw of the first lead screw is driven by the first servo motor 13 to rotate, the sliding block of the first lead screw can only slide along the first slide rail 12 and can not rotate around the lead screw of the first lead screw. The second moving assembly is connected with the sliding block of the first lead screw and moves along with the movement of the sliding block of the first lead screw, so that the movement of the material taking unit in the second direction is realized. Furthermore, the extending direction of the first mounting beam 11 is parallel to the horizontal plane, the extending direction of the first mounting beam 11 is perpendicular to the extending direction of the cross beam 100, the extending direction of the first slide rail 12 is parallel to the extending direction of the first mounting beam 11, the extending direction of the lead screw of the first lead screw is parallel to the extending direction of the first mounting beam 11, the moving track of the material taking unit in the first direction and the moving track of the material taking unit in the second direction are both parallel to the horizontal plane, and the moving tracks of the material taking unit in the two directions are perpendicular to each other.
Preferably, the connecting point of the first mounting beam 11 and the slider of the main screw is located at the symmetric center of the first mounting beam 11, and the connecting point of the first mounting beam 11 and the slider of the main screw is located at the center of gravity of the first mounting beam 11, so as to ensure better stress of the first mounting beam 11, improve the stability of the first moving assembly, and improve the stability of the manipulator device 1.
Further, referring to fig. 2, the second moving assembly includes a second mounting beam, a second servo motor 23, a second slide rail 22, and a second lead screw. The second mounting beam is preferably a straight beam, one end of the second mounting beam is connected with the slider of the first lead screw, the second servo motor 23, the second slide rail 22 and the second lead screw are all arranged on the second mounting beam, the second lead screw is a conventional lead screw, and the lead screw can convert the rotary motion of the lead screw into the linear motion of the slider sleeved on the lead screw. An output shaft of the second servo motor 23 is connected with a screw rod of the second screw rod to drive the screw rod of the second screw rod to rotate. The slide block of the second lead screw is slidably connected with the second slide rail 22, the slide block of the second lead screw is limited by the second slide rail 22, and when the lead screw of the second lead screw is driven by the second servo motor 23 to rotate, the slide block of the second lead screw can only slide along the second slide rail 22 and can not rotate around the lead screw of the second lead screw. The third moving assembly is connected with the sliding block of the second lead screw and moves along with the movement of the sliding block of the second lead screw, so that the movement of the material taking unit in a third direction is realized. And the extending direction of the second mounting beam is vertical to the horizontal plane, the extending direction of the second slide rail 22 is parallel to the extending direction of the second mounting beam, the extending direction of the screw rod of the second screw rod is parallel to the extending direction of the second mounting beam, and the motion track of the material taking unit in the third direction is vertical to the horizontal plane.
Still further, referring to fig. 2, the third moving assembly includes a third mounting beam 31 and a mounting arm 32, the third mounting beam 31 is preferably a straight beam, the mounting arm 32 is preferably a straight arm, a first end of the mounting arm 32 is connected to a first end of the third mounting beam 31, a flipping servo motor 43 is disposed on the third mounting beam 31, a rotating shaft 42 is rotatably connected to a second end of the mounting arm 32, and an extending direction of the mounting arm 32 is parallel to an extending direction of the third mounting beam 31. The third mounting beam 31 is connected with the slider of the second lead screw, and the extending direction of the third mounting beam 31 is parallel to the extending direction of the second mounting beam.
Next, as shown in fig. 4, the material taking frame 41 includes a supporting arm 411, a first material taking frame 412 and a second material taking frame 413, a first end of the supporting arm 411 is connected to the rotating shaft 42, the first material taking frame 412 and the second material taking frame 413 are both connected to a second end of the supporting arm 411, and a plurality of suction cups 50 are disposed on the first material taking frame 412 and the second material taking frame 413. The first material taking frame 412 and the second material taking frame 413 both adopt flat plate frames, the first material taking frame 412 and the second material taking frame 413 are spliced into a whole flat plate frame, the first material taking frame 412 and the second material taking frame 413 are both vertically connected with the support arm 411, and the support arm 411 is perpendicular to the plane where the flat plate frame is located. The first material taking frame 412 is used for absorbing a plate to be processed when the sucking disc 50 is matched for feeding, and the second material taking frame 413 is used for absorbing a finished plate when the sucking disc 50 is matched for discharging. The arm 411 rotates around the rotating shaft 42 to realize the turning of the first material taking frame 412 and the second material taking frame 413. When the first material taking frame 412 and the second material taking frame 413 are located in the same vertical plane and the first material taking frame 412 is located above the second material taking frame 413, the material taking unit is in a feeding state; when the first material taking frame 412 and the second material taking frame 413 are located in the same vertical plane, and the first material taking frame 412 is located below the second material taking frame 413, the material taking unit is in a blanking state.
Then, a through hole is formed at the second end of the mounting arm 32, the through hole is disposed in the bearing, the rotating shaft 42 is sleeved in the bearing, the first end of the rotating shaft 42 is connected with the first end of the support arm 411, and the second end of the rotating shaft 42 is connected with the output shaft of the turning servo motor 43 through a speed reducer. In order to facilitate the torque transmission from the turning servo motor 43 and the speed reducer to the rotating shaft 42, various transmission mechanisms, such as a gear set or a belt pulley set, may be additionally added between the speed reducer and the rotating shaft 42 for connection. When the turning servo motor 43 drives the rotation shaft 42 to rotate through the reduction gear, the arm 411 fixed to the rotation shaft 42 rotates around the rotation shaft accompanying the rotation shaft 42.
Finally, referring to fig. 1, the upright column 101 is vertically connected with the mounting plate 102, and the joint between the upright column 101 and the mounting plate 102 is provided with the reinforcing rib 103, so that the connection stability between the upright column 101 and the mounting plate 102 is effectively improved.
The utility model discloses a first motion subassembly, second motion subassembly and the respective motion of third motion subassembly to realized that manipulator device 1 is in the motion of three direction, the upset motion of material unit is got to the rethread, and the messenger gets the material unit and can follow the material loading state upset to the unloading state or overturn to the material loading state from the unloading state, provides material loading and unloading operation for the processing station of difference. The manipulator device 1 is simple in structure, fully utilizes the upper space of the lathe bed by adopting a suspension type structure, and reduces the occupied area.
In the description of the present invention, it is to be understood that the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
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; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; either as communication within the two elements or as an interactive relationship of the two elements. 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 application, unless otherwise expressly stated or limited, a first feature may be "on" or "under" a second feature, and the first and second features may be in direct contact, or the first and second features may be in indirect contact via an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lower level than the second feature.
In the description herein, the description of the terms "one embodiment," "some embodiments," "an embodiment," "an example," "a specific example" or "some examples" or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While embodiments of the present invention have been shown and described, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that modifications, alterations, substitutions and variations may be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (10)
1. The feeding and discharging manipulator for the double-channel machine tool is characterized by comprising a manipulator device, a cross beam and stand columns arranged in pairs;
the first ends of the stand columns arranged in pairs are connected with a lathe bed of a machine tool through mounting plates, and the second ends of the stand columns arranged in pairs are connected with the cross beam;
the manipulator device comprises a moving unit and a material taking unit, and the moving unit is connected with the cross beam in a sliding manner;
the material taking unit comprises a material taking frame, a rotating shaft, a turnover servo motor and a plurality of suckers, the rotating shaft is rotatably connected with the moving unit, the rotating shaft is fixedly connected with the material taking frame, the suckers are arranged on the material taking frame, the turnover servo motor is arranged on the moving unit, an output shaft of the turnover servo motor is connected with the rotating shaft to drive the rotating shaft to rotate, and the material taking frame can be turned over from a material loading state to a material unloading state or from the material unloading state to the material loading state.
2. The dual-channel loading and unloading manipulator for the machine tool as claimed in claim 1, wherein the beam is vertically connected with the column, and a main slide rail and a main driving element are arranged on the beam;
the extending direction of the main slide rail is parallel to the extending direction of the cross beam;
the main driving part comprises a main servo motor and a main lead screw, the main lead screw and the main servo motor are arranged on the cross beam, an output shaft of the main servo motor is connected with a lead screw of the main lead screw to drive the lead screw of the main lead screw to rotate, the extending direction of the lead screw of the main lead screw is parallel to the extending direction of the cross beam, a sliding block of the main lead screw is connected with the main sliding rail in a sliding manner, and the moving unit is connected with the sliding block of the main lead screw.
3. The dual-channel loading and unloading manipulator of a machine tool as claimed in claim 2, wherein the motion unit comprises a first motion assembly, a second motion assembly and a third motion assembly;
the first motion assembly is connected with a slide block of the main lead screw, the second motion assembly is connected with the first motion assembly in a sliding mode, and the third motion assembly is connected with the second motion assembly in a sliding mode;
the rotating shaft is rotatably connected with the third moving assembly, and the turnover servo motor is arranged on the third moving assembly.
4. The dual-channel loading and unloading manipulator of a machine tool as claimed in claim 3, wherein the first moving assembly comprises a first mounting beam, a first servo motor, a first slide rail and a first lead screw;
the first mounting beam is connected with a sliding block of the main lead screw, the first servo motor, the first slide rail and the first lead screw are all arranged on the first mounting beam, and an output shaft of the first servo motor is connected with a lead screw of the first lead screw to drive the first lead screw to rotate;
the sliding block of the first lead screw is connected with the first sliding rail in a sliding mode, and the second moving assembly is connected with the sliding block of the first lead screw;
the extension direction of the first mounting beam is parallel to the horizontal plane, the extension direction of the first mounting beam is perpendicular to the extension direction of the cross beam, the extension direction of the first slide rail is parallel to the extension direction of the first mounting beam, and the extension direction of the lead screw of the first lead screw is parallel to the extension square of the first mounting beam.
5. The dual channel machine loading and unloading manipulator of claim 4, wherein the connection point of the first mounting beam to the slider of the main lead screw is located at the center of the first mounting beam.
6. The dual-channel loading and unloading manipulator of a machine tool as claimed in claim 4, wherein the second moving assembly comprises a second mounting beam, a second servo motor, a second slide rail and a second lead screw;
one end of the second mounting beam is connected with the sliding block of the first lead screw, the second servo motor, the second sliding rail and the second lead screw are all arranged on the second mounting beam, and an output shaft of the second servo motor is connected with a lead screw of the second lead screw to drive the lead screw of the second lead screw to rotate;
the sliding block of the second lead screw is connected with the second sliding rail in a sliding manner, and the third moving assembly is connected with the sliding block of the second lead screw;
the extending direction of the second mounting beam is perpendicular to the horizontal plane, the extending direction of the second slide rail is parallel to the extending direction of the second mounting beam, and the extending direction of the lead screw of the second lead screw is parallel to the extending direction of the second mounting beam.
7. The dual-channel loading and unloading manipulator of a machine tool as claimed in claim 6, wherein the third moving assembly comprises a third mounting beam and a mounting arm, a first end of the mounting arm is connected with a first end of the third mounting beam, the flipping servomotor is disposed on the third mounting beam, the rotating shaft is rotatably connected with a second end of the mounting arm, and an extending direction of the mounting arm is parallel to an extending direction of the third mounting beam;
the third mounting beam is connected with the sliding block of the second lead screw, and the extending direction of the third mounting beam is parallel to the extending direction of the second mounting beam.
8. The loading and unloading manipulator of claim 7, wherein the material taking frame comprises a support arm, a first material taking frame and a second material taking frame, a first end of the support arm is connected with the rotating shaft, the first material taking frame and the second material taking frame are both connected with a second end of the support arm, and a plurality of suckers are arranged on the first material taking frame and the second material taking frame.
9. The loading and unloading manipulator of claim 8, wherein the second end of the mounting arm is provided with a through hole, the through hole is disposed in the bearing, the rotating shaft is sleeved in the bearing, the first end of the rotating shaft is connected with the first end of the supporting arm, and the second end of the rotating shaft is connected with the output shaft of the turnover servo motor through a reducer.
10. The loading and unloading manipulator of the double-channel machine tool as claimed in any one of claims 1 to 9, wherein the upright column is vertically connected with the mounting plate, and reinforcing ribs are arranged at the connection part of the upright column and the mounting plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021375251.5U CN212578636U (en) | 2020-07-14 | 2020-07-14 | Feeding and discharging mechanical arm of double-channel machine tool |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114055113A (en) * | 2021-11-17 | 2022-02-18 | 湖南韵高电子科技有限公司 | Automatic equipment shell positioner of bluetooth headset |
| CN114227480A (en) * | 2021-12-11 | 2022-03-25 | 宇晶机器（长沙）有限公司 | Multi-station automatic polishing machine |
-
2020
- 2020-07-14 CN CN202021375251.5U patent/CN212578636U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114055113A (en) * | 2021-11-17 | 2022-02-18 | 湖南韵高电子科技有限公司 | Automatic equipment shell positioner of bluetooth headset |
| CN114055113B (en) * | 2021-11-17 | 2023-08-25 | 深圳市创生达电子有限公司 | Automatic equipment shell positioner of bluetooth headset |
| CN114227480A (en) * | 2021-12-11 | 2022-03-25 | 宇晶机器（长沙）有限公司 | Multi-station automatic polishing machine |
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