CN212858734U - Automatic feeding and discharging mechanism of integrated truss manipulator - Google Patents
Automatic feeding and discharging mechanism of integrated truss manipulator Download PDFInfo
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- CN212858734U CN212858734U CN202021832914.1U CN202021832914U CN212858734U CN 212858734 U CN212858734 U CN 212858734U CN 202021832914 U CN202021832914 U CN 202021832914U CN 212858734 U CN212858734 U CN 212858734U
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Abstract
The utility model relates to an automatic feeding and discharging mechanism of integral type truss manipulator, the utility model relates to the technical field of mechanical equipment, the truss stand is erected above the product charging tray, the top of the truss stand is transversely fixed with X axial truss, the side of X axial truss is fixed with X axial linear guide, the upper side of X axial truss is fixed with X axial transmission rack, X axial transmission rack meshes with the gear fixed on the output end of X axial transmission servo motor, X axial transmission servo motor is fixed on the Z axial upper and lower sliding block seat; the Z-axial upper and lower sliding block seats are arranged on the X-axial linear guide rail in a left-right sliding mode by utilizing the sliding blocks on the back surfaces of the Z-axial upper and lower sliding block seats; the Z-axis upper and lower sliding block seats are arranged on a Z-axis linear guide rail in a vertically sliding mode through sliding blocks in the Z-axis upper and lower sliding block seats, and the Z-axis linear guide rail is fixed to the side face of the Z-axis truss. Its ability rapid debugging is to the position, and convenient operation replaces artifical clamping work piece, and labour saving and time saving improves production efficiency under the prerequisite of guaranteeing the machining precision, reduces the cost in business.
Description
Technical Field
The utility model relates to the technical field of mechanical equipment, concretely relates to automatic feeding and discharging mechanism of integral type truss manipulator.
Background
In the application of a numerical control machine tool, a workpiece needs to be manually clamped and turned, and the defects of low clamping efficiency, light labor intensity and the like exist in manual clamping.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to prior art's defect with not enough, provide a reasonable in design's automatic unloading mechanism of going up of integral type truss manipulator, its ability rapid debugging is to the position, convenient operation, replaces artifical clamping work piece, and labour saving and time saving guarantees under the prerequisite of machining precision, improves production efficiency, reduces the cost in business.
In order to achieve the above purpose, the utility model adopts the following technical proposal: the device comprises a truss upright post, an X-axis truss, a Z-axis truss, an X-axis linear guide rail, an X-axis transmission rack, an X-axis transmission servo motor, a Z-axis linear guide rail, a Z-axis transmission rack, a Z-axis transmission servo motor, a Z-axis upper and lower sliding block seat, a product reversing mechanism and a manipulator hand-grasping mechanism; the truss upright post is erected above the product tray, an X-axis truss is transversely fixed at the top end of the truss upright post, an X-axis linear guide rail is fixed on the side surface of the X-axis truss, an X-axis transmission rack is fixed on the upper side surface of the X-axis truss, the X-axis transmission rack is meshed with a gear fixed on the output end of an X-axis transmission servo motor, and the X-axis transmission servo motor is fixed on a Z-axis upper and lower sliding block seat; the Z-axial upper and lower sliding block seats are arranged on the X-axial linear guide rail in a left-right sliding mode by utilizing the sliding blocks on the back surfaces of the Z-axial upper and lower sliding block seats; the Z-axial upper and lower sliding block seats are arranged on a Z-axial linear guide rail in a vertically sliding manner by utilizing a sliding block in the Z-axial upper and lower sliding block seats, the Z-axial linear guide rail is fixed on the side surface of a Z-axial truss, the Z-axial truss is arranged in the Z-axial upper and lower sliding block seats in a penetrating manner, a Z-axial transmission rack is fixed on the side surface of the Z-axial truss, the Z-axial transmission rack is meshed with a gear fixed on an output shaft of a Z-axial transmission servo motor, and the Z-axial transmission; the mechanical hand gripping mechanism is fixed at the bottom end of the Z-axis truss, and the product reversing mechanism is fixed on the truss upright post;
the product reversing mechanism consists of a reversing mechanism supporting seat, a Y-axis adjusting fixing plate, a reversing rotary cylinder, a product reversing finger cylinder and a product finger clamping block; the reversing mechanism supporting seat is fixed on one side face of the truss upright post, a Y-axis adjusting fixing plate is adjustably connected and fixed on the reversing mechanism supporting seat, a reversing rotary cylinder is fixed on the Y-axis adjusting fixing plate, a product reversing finger cylinder is connected to the output end of the reversing rotary cylinder, and a product finger clamping block is connected to the output end of the product reversing finger cylinder;
the manipulator gripping mechanism consists of a gripping mechanism mounting seat, a rotary cylinder, a raw material finger clamping block, a finished product finger cylinder and a finished product finger clamping block; the handheld mechanism mounting seat is fixed at the lower end of the Z-axis truss, the bottom of the handheld mechanism mounting seat is connected with a rotary cylinder, the output end of the rotary cylinder is connected with a raw material finger cylinder and a finished product finger cylinder, the output end of the raw material finger cylinder is connected with a raw material finger clamping block, and the output end of the finished product finger cylinder is connected with a finished product finger clamping block;
the X-axis transmission servo motor, the Z-axis transmission servo motor, the reversing rotary cylinder, the product reversing finger cylinder, the raw material finger cylinder and the finished product finger cylinder are all connected with an electric cabinet of the machine tool.
Furthermore, an X-axis right limit inductor switch is fixed at one end of the X-axis truss, and an X-axis left limit inductor switch and an X-axis origin inductor switch are fixed at the other end of the X-axis truss; the X-axis right limit inductor switch, the X-axis left limit inductor switch and the X-axis original point inductor switch are all electrically connected with an electric cabinet of the machine tool.
Furthermore, a Z-axis lower limit inductor switch and a Z-axis original point inductor switch are fixed at the lower end of the Z-axis upper and lower sliding block seat, and a Z-axis upper limit inductor switch is fixed at the upper end of the Z-axis upper and lower sliding block seat; the Z-axis lower limit inductor switch, the Z-axis upper limit inductor switch and the Z-axis original point inductor switch are all electrically connected with an electric cabinet of the machine tool.
Furthermore, a truss safety protection net is arranged on the front side of the X-axis truss, one end of the truss safety protection net is fixed on the truss upright post, and the other end of the truss safety protection net is fixed on a top plate of the machine tool.
After the structure is adopted, the beneficial effects of the utility model are that: the utility model provides an automatic unloading mechanism of going up of integral type truss manipulator, it can the rapid debugging to the position, convenient operation replaces artifical clamping work piece, and labour saving and time saving improves production efficiency, reduces the cost in business under the prerequisite of guaranteeing the machining precision.
Description of the drawings:
fig. 1 is a schematic structural diagram of the application process of the present invention.
Fig. 2 is a schematic structural view of the utility model with a truss safety protection net installed in the application process.
Fig. 3 is a schematic structural diagram of the product reversing mechanism of the present invention.
Fig. 4 is a schematic structural diagram of the middle manipulator gripping mechanism of the present invention.
Description of reference numerals:
a truss upright post 1, an X axial truss 2, a Z axial truss 3, an X axial linear guide rail 4, an X axial transmission rack 5, an X axial transmission servo motor 6, a Z axial linear guide rail 7, a Z axial transmission rack 8, a Z axial transmission servo motor 9, a Z axial upper and lower sliding block seat 10, a product reversing mechanism 11, a reversing mechanism supporting seat 11-1, a Y axial adjusting fixing plate 11-2, a reversing rotary cylinder 11-3, a product reversing finger cylinder 11-4, a product finger clamping block 11-5, a manipulator hand-grasping mechanism 12, a hand-grasping mechanism mounting seat 12-1, a rotary cylinder 12-2, a raw material finger cylinder 12-3, a raw material finger clamping block 12-4, a finished product finger cylinder 12-5, a finished product finger clamping block 12-6, an X axial right limit inductor switch 13, an X axial left limit inductor switch 14, a X axial left limit inductor switch 14, An X-axis origin sensor switch 15, a Z-axis lower limit sensor switch 16, a Z-axis upper limit sensor switch 17, a Z-axis origin sensor switch 18 and a truss safety protection net 19.
The specific implementation mode is as follows:
the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1 to 4, the following technical solutions are adopted in the present embodiment: the device comprises a truss upright post 1, an X axial truss 2, a Z axial truss 3, an X axial linear guide rail 4, an X axial transmission rack 5, an X axial transmission servo motor 6, a Z axial linear guide rail 7, a Z axial transmission rack 8, a Z axial transmission servo motor 9, a Z axial upper and lower sliding block seat 10, a product reversing mechanism 11 and a manipulator hand-grasping mechanism 12; the truss upright post 1 is erected above a product material tray, an X-axis truss 2 is transversely fixed at the top end of the truss upright post 1, a truss safety protection net 19 is arranged on the front side of the X-axis truss 2, one end of the truss safety protection net 19 is fixed on the truss upright post 1 through a screw, and the other end of the truss safety protection net is movably erected on a top plate of a machine tool; an X-axis right limit inductor switch 13 is fixed at one end of the X-axis truss 2, and an X-axis left limit inductor switch 14 and an X-axis origin inductor switch 15 are fixed at the other end of the X-axis truss 2; the X-axis right limit inductor switch 13, the X-axis left limit inductor switch 14 and the X-axis origin inductor switch 15 are electrically connected with an electric control box of the machine tool and are used for controlling the start and stop of the X-axis transmission servo motor 6; an X-axis linear guide rail 4 is fixedly connected to the side surface of the X-axis truss 2 through a bolt, an X-axis transmission rack 5 is fixedly connected to the upper side surface of the X-axis truss 2 through a bolt, the X-axis transmission rack 5 is meshed with a gear fixed to the output end of an X-axis transmission servo motor 6, and the X-axis transmission servo motor 6 is fixedly connected to an upper Z-axis sliding block seat 10 through a bolt; a Z-axis lower limit inductor switch 16 and a Z-axis original point inductor switch 18 are fixed at the lower end of the Z-axis upper and lower slider seat 10, and a Z-axis upper limit inductor switch 17 is fixed at the upper end of the Z-axis upper and lower slider seat 10; the Z-axis lower limit inductor switch 16, the Z-axis upper limit inductor switch 17 and the Z-axis origin inductor switch 18 are electrically connected with an electric control box of the machine tool and are used for controlling the starting and stopping of the Z-axis transmission servo motor 9; the Z-axis upper and lower slide block seat 10 is arranged on the X-axis linear guide rail 4 by utilizing the slide block on the back surface to slide left and right; the Z-axis upper and lower sliding block seat 10 is arranged on a Z-axis linear guide rail 7 in a vertically sliding mode by utilizing a sliding block inside the Z-axis upper and lower sliding block seat, the Z-axis linear guide rail 7 is fixedly connected with the side face of a Z-axis truss 3 by utilizing a bolt, the Z-axis truss 3 is arranged in the Z-axis upper and lower sliding block seat 10 in a penetrating mode, a Z-axis transmission rack 8 is fixedly connected with the side face of the Z-axis truss 3 by utilizing a bolt, the Z-axis transmission rack 8 is meshed with a gear fixed on an output shaft of a Z-axis transmission servo motor 9, and the Z-axis transmission servo motor 9; the product reversing mechanism 11 consists of a reversing mechanism supporting seat 11-1, a Y-axis adjusting fixing plate 11-2, a reversing rotary cylinder 11-3, a product reversing finger cylinder 11-4 and a product finger clamping block 11-5; a reversing mechanism supporting seat 11-1 is fixedly connected to one side face of a truss upright post 1 through bolts, a common Y-axis adjusting fixing plate 11-2 is adjustably connected and fixed to the reversing mechanism supporting seat 11-1, a reversing rotary cylinder 11-3 is fixed to the Y-axis adjusting fixing plate 11-2, a product reversing finger cylinder 11-4 is connected to the output end of the reversing rotary cylinder 11-3, and a product finger clamping block 11-5 is connected to the output end of the product reversing finger cylinder 11-4;
the manipulator gripping mechanism 12 consists of a gripping mechanism mounting seat 12-1, a rotary cylinder 12-2, a raw material finger cylinder 12-3, a raw material finger clamping block 12-4, a finished product finger cylinder 12-5 and a finished product finger clamping block 12-6; the hand-held mechanism mounting seat 12-1 is fixedly connected with the lower end of the Z-axis truss 3 through bolts, the bottom of the hand-held mechanism mounting seat 12-1 is connected with a rotary cylinder 12-2, the output end of the rotary cylinder 12-2 is connected with a raw material finger cylinder 12-3 and a finished product finger cylinder 12-5, the output end of the raw material finger cylinder 12-3 is connected with a raw material finger clamping block 12-4, and the output end of the finished product finger cylinder 12-5 is connected with a finished product finger clamping block 12-6;
the X-axis transmission servo motor 6, the Z-axis transmission servo motor 9, the reversing rotary cylinder 11-3, the product reversing finger cylinder 11-4, the raw material finger cylinder 12-3 and the finished product finger cylinder 12-5 are all connected with an electric cabinet of the machine tool.
The working principle of the specific embodiment is as follows: the manipulator grasping mechanism 12 is driven by the X-axis transmission servo motor 6 to move to the position above the lattice type bin material tray, the manipulator grasping mechanism 12 descends to the position above the lattice type bin material tray under the action of the Z-axis transmission servo motor 9 to clamp a workpiece from the lattice type bin material tray, the manipulator grasping mechanism 12 is lifted upwards under the action of the Z-axis transmission servo motor 9 and then moves to the position above the numerical control lathe under the drive of the X-axis transmission servo motor 6, a top roof window door on the numerical control lathe is opened, the manipulator grasping mechanism 12 moves downwards to the center position of a lathe chuck under the action of the Z-axis transmission servo motor 9, a finished product finger cylinder 12-5 in the manipulator grasping mechanism 12 retreats from the chuck clamp to clamp the workpiece, a rotating cylinder 12-2 in the manipulator grasping mechanism 12 rotates 180 degrees to move, and the manipulator grasping mechanism 12 moves forwards, a product clamped by a raw material finger cylinder 12-3 is placed into a lathe chuck, the raw material finger cylinder 12-3 is loosened, the chuck clamps the product, a mechanical hand gripping mechanism 12 retreats, the mechanical hand gripping mechanism 12 is lifted upwards under the action of a Z-axis transmission servo motor 9, a lathe skylight door is closed, the mechanical hand gripping mechanism 12 is driven by an X-axis transmission servo motor 6 to move to the position above a product reversing mechanism 11, the mechanical hand gripping mechanism 12 moves to the position above a dot matrix bin, the mechanical hand gripping mechanism 12 downwards puts the product on a product finger clamping block 11-5 under the action of the Z-axis transmission servo motor 9, the product is clamped by a product reversing finger cylinder 11-4, a finished product finger cylinder 12-5 in the mechanical hand gripping mechanism 12 retreats after being loosened, and a rotating cylinder 12-2 in the mechanical hand gripping mechanism 12 rotates 180 degrees, a reversing rotary cylinder 11-3 in a product reversing mechanism 11 rotates 180 degrees to perform reversing turnover action, a manipulator gripping mechanism 12 moves forward, a raw material finger cylinder 12-3 clamps a product from a product finger clamping block 11-5, the product reversing finger cylinder 11-4 is loosened, the manipulator gripping mechanism 12 is lifted upwards under the action of a Z-axis transmission servo motor 9 and then is driven by an X-axis transmission servo motor 6 to move to the upper part of a numerical control lathe, a top crown window door on the lathe is opened, the manipulator gripping mechanism 12 moves downwards to the central position of a lathe chuck under the action of the Z-axis transmission servo motor 9, the finished product finger cylinder 12-5 retreats from clamping of the chuck to clamp a processed workpiece, a rotary cylinder 12-2 rotates 180 degrees, the manipulator gripping mechanism 12 moves forward, the raw material finger cylinder 12-3 clamps the product and places the product into the lathe chuck, raw material finger cylinders 12-3 are loosened, a chuck clamps a product, a manipulator grabbing mechanism 12 retreats, the manipulator grabbing mechanism 12 is lifted upwards to leave a lathe top door in a lathe to be closed under the action of a Z-axis transmission servo motor 9, the manipulator grabbing mechanism 12 is driven by an X-axis transmission servo motor 6 to move to the upper side of an original point array type stock bin material tray, the manipulator grabbing mechanism 12 descends under the action of the Z-axis transmission servo motor 9, a processed product is placed on an original point array type stock bin material tray product station, and the manipulator grabbing mechanism 12 displaces the position of a second product to continue grabbing and repeating.
After adopting above-mentioned structure, this embodiment's beneficial effect is: this embodiment provides automatic unloading mechanism of going up of integral type truss manipulator, and it can the rapid debugging to the position, and convenient operation replaces artifical clamping work piece, and labour saving and time saving improves production efficiency, reduces the cost in business under the prerequisite of guaranteeing the machining precision.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (4)
1. Automatic unloading mechanism of going up of integral type truss manipulator, its characterized in that: the device comprises a truss upright post (1), an X-axis truss (2), a Z-axis truss (3), an X-axis linear guide rail (4), an X-axis transmission rack (5), an X-axis transmission servo motor (6), a Z-axis linear guide rail (7), a Z-axis transmission rack (8), a Z-axis transmission servo motor (9), a Z-axis upper and lower sliding block seat (10), a product reversing mechanism (11) and a manipulator hand-grasping mechanism (12); the truss column (1) is erected above a product tray, an X-axis truss (2) is transversely fixed at the top end of the truss column (1), an X-axis linear guide rail (4) is fixed on the side face of the X-axis truss (2), an X-axis transmission rack (5) is fixed on the upper side face of the X-axis truss (2), the X-axis transmission rack (5) is meshed with a gear fixed on the output end of an X-axis transmission servo motor (6), and the X-axis transmission servo motor (6) is fixed on a Z-axis upper and lower sliding block seat (10); the Z-axis upper and lower sliding block seat (10) is arranged on the X-axis linear guide rail (4) by utilizing the sliding block on the back surface to slide left and right; the Z-axis upper and lower sliding block seat (10) is arranged on a Z-axis linear guide rail (7) in a vertically sliding mode by utilizing a sliding block inside the Z-axis upper and lower sliding block seat, the Z-axis linear guide rail (7) is fixed on the side face of a Z-axis truss (3), the Z-axis truss (3) is arranged in the Z-axis upper and lower sliding block seat (10) in a penetrating mode, a Z-axis transmission rack (8) is fixed on the side face of the Z-axis truss (3), the Z-axis transmission rack (8) is meshed with a gear fixed on an output shaft of a Z-axis transmission servo motor (9), and the Z-axis transmission servo motor (9) is fixed on the Z; the mechanical hand gripping mechanism (12) is fixed at the bottom end of the Z-axis truss (3), and the product reversing mechanism (11) is fixed on the truss upright post (1);
the product reversing mechanism (11) consists of a reversing mechanism supporting seat (11-1), a Y-axis adjusting fixing plate (11-2), a reversing rotating cylinder (11-3), a product reversing finger cylinder (11-4) and a product finger clamping block (11-5); a reversing mechanism supporting seat (11-1) is fixed on one side face of a truss upright post (1), a common Y-axis adjusting fixing plate (11-2) is adjustably connected and fixed on the reversing mechanism supporting seat (11-1), a reversing rotary cylinder (11-3) is fixed on the Y-axis adjusting fixing plate (11-2), a product reversing finger cylinder (11-4) is connected to the output end of the reversing rotary cylinder (11-3), and a product finger clamping block (11-5) is connected to the output end of the product reversing finger cylinder (11-4);
the manipulator grabbing mechanism (12) consists of a grabbing mechanism mounting seat (12-1), a rotary cylinder (12-2), a raw material finger cylinder (12-3), a raw material finger clamping block (12-4), a finished product finger cylinder (12-5) and a finished product finger clamping block (12-6); a hand-held mechanism mounting seat (12-1) is fixed at the lower end of the Z-axis truss (3), the bottom of the hand-held mechanism mounting seat (12-1) is connected with a rotary cylinder (12-2), the output end of the rotary cylinder (12-2) is connected with a raw material finger cylinder (12-3) and a finished product finger cylinder (12-5), the output end of the raw material finger cylinder (12-3) is connected with a raw material finger clamping block (12-4), and the output end of the finished product finger cylinder (12-5) is connected with a finished product finger clamping block (12-6);
the X-axis transmission servo motor (6), the Z-axis transmission servo motor (9), the reversing rotary cylinder (11-3), the product reversing finger cylinder (11-4), the raw material finger cylinder (12-3) and the finished product finger cylinder (12-5) are all connected with an electric cabinet of the machine tool.
2. The automatic unloading mechanism of going up of integral type truss manipulator of claim 1 characterized in that: an X-axis right limit inductor switch (13) is fixed at one end of the X-axis truss (2), and an X-axis left limit inductor switch (14) and an X-axis origin inductor switch (15) are fixed at the other end of the X-axis truss (2); the X-axis right limit inductor switch (13), the X-axis left limit inductor switch (14) and the X-axis origin inductor switch (15) are all in electric control connection with an electric cabinet of the machine tool.
3. The automatic unloading mechanism of going up of integral type truss manipulator of claim 1 characterized in that: a Z-axis lower limit inductor switch (16) and a Z-axis original point inductor switch (18) are fixed at the lower end of the Z-axis upper and lower slider seat (10), and a Z-axis upper limit inductor switch (17) is fixed at the upper end of the Z-axis upper and lower slider seat (10); and the Z-axis lower limit inductor switch (16), the Z-axis upper limit inductor switch (17) and the Z-axis origin inductor switch (18) are electrically connected with an electric control box of the machine tool.
4. The automatic unloading mechanism of going up of integral type truss manipulator of claim 1 characterized in that: a truss safety protection net (19) is arranged on the front side of the X-axis truss (2), one end of the truss safety protection net (19) is fixed on the truss upright post (1), and the other end of the truss safety protection net is fixed on a top plate of a machine tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021832914.1U CN212858734U (en) | 2020-08-26 | 2020-08-26 | Automatic feeding and discharging mechanism of integrated truss manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021832914.1U CN212858734U (en) | 2020-08-26 | 2020-08-26 | Automatic feeding and discharging mechanism of integrated truss manipulator |
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| CN212858734U true CN212858734U (en) | 2021-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021832914.1U Active CN212858734U (en) | 2020-08-26 | 2020-08-26 | Automatic feeding and discharging mechanism of integrated truss manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056014A (en) * | 2022-08-11 | 2022-09-16 | 赫比(成都)精密塑胶制品有限公司 | Numerical control machine tool and automatic material changing method thereof |
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2020
- 2020-08-26 CN CN202021832914.1U patent/CN212858734U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056014A (en) * | 2022-08-11 | 2022-09-16 | 赫比(成都)精密塑胶制品有限公司 | Numerical control machine tool and automatic material changing method thereof |
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