CN213197581U

CN213197581U - But manipulator and gong machine of centre gripping milling cutter and pin

Info

Publication number: CN213197581U
Application number: CN202022190237.4U
Authority: CN
Inventors: 耿勇
Original assignee: Shenzhen Yihui Numerical Control Equipment Co ltd
Current assignee: Shenzhen Yihui Numerical Control Equipment Co ltd
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2021-05-14
Anticipated expiration: 2030-09-29

Abstract

A manipulator capable of clamping a milling cutter and pins comprises a lifting driving assembly and a working assembly, wherein the working assembly is connected with the lifting driving assembly through a connecting piece. The working assembly comprises mechanical fingers for clamping the milling cutter and the pin, and the mechanical fingers are at least three clamping jaws uniformly distributed around the same circumference. The working assembly also includes a percussive fastener for hammering the pin. The mechanical arm capable of clamping the milling cutter and the pin is arranged on the milling machine, so that the milling machine can automatically clamp and replace the milling cutter, and can also automatically clamp and position the pin for punching, and multiple purposes are realized.

Description

But manipulator and gong machine of centre gripping milling cutter and pin

Technical Field

The utility model relates to a gong machine equipment, concretely relates to but manipulator and gong machine of centre gripping milling cutter and pin.

Background

The gong machine is generally used for drilling and cutting materials such as circuit boards and the like. During the operation, for avoiding the material to produce relative displacement at the gong in-process of cutting, influence the gong and cut the machining precision, need set up the shop bolt on the workstation of gong machine to set up corresponding pinhole on the material and insert with supplying the shop bolt, will need the gong material location of cutting to install on the workstation through the shop bolt promptly, keep the preciseness and the precision of gong and cut.

In the prior art, the manual pin punching is usually adopted for positioning, the working efficiency is low, the standardized operation cannot be guaranteed during manual pin punching, the pin inclination is easily caused, and the positioning effect is influenced.

In addition, when the cutter is switched on the routing machine, the fixing piece such as a bolt for fixing the cutter is usually required to be screwed out, the cutter is taken down, the screw fixing piece is screwed again after a new cutter is installed, the steps are complicated, and the installation efficiency is influenced. Some gong machine manipulators capable of automatically switching the tools are available at present, but the gong machine manipulators cannot clamp pins and automatically drive the pins into positioning holes at the same time.

Disclosure of Invention

The application provides a manipulator can be used to centre gripping milling cutter and pin to can realize beating the pin operation.

According to a first aspect, an embodiment provides a manipulator capable of clamping a milling cutter and a pin, which comprises a base, and a lifting driving assembly, a connecting piece and a working assembly which are arranged on the base; the working assembly is connected to the lifting driving assembly through a connecting piece and moves back and forth on the base through the lifting driving assembly; the working assembly comprises mechanical fingers for clamping a milling cutter and a pin, and the mechanical fingers are at least three clamping jaws uniformly distributed around the same circumference; the working assembly further includes a peening fastener for peening a pin, the peening fastener being disposed along an axial center of the jaw.

In one embodiment, the working assembly further comprises a finger cylinder for controlling the mechanical finger to operate, and a cylinder push rod penetrating through the finger cylinder, wherein one end of the cylinder push rod is hinged to the connecting piece, and the other end of the cylinder push rod is hinged to the mechanical finger.

In one embodiment, the jaw comprises a connecting portion and a clamping portion; the connecting part and the clamping part are vertically arranged and are parallel to the bottom surface of the finger cylinder.

In one embodiment, the clamping surface of the clamping jaw is an arc-shaped surface matched with the milling cutter or the pin.

In one embodiment, the knocking fastener is arranged at one end of the cylinder push rod close to the mechanical finger, and the knocking fastener can be driven to knock through the cylinder push rod.

In one embodiment, a guide rail and a sliding block which is connected with the guide rail in a sliding way are arranged on the mounting surface of the base; the finger cylinder is fixedly or detachably arranged on the sliding block and moves back and forth on the guide rail through the sliding block.

In one embodiment, the lifting drive assembly comprises a moving cylinder and a cylinder mount; the top of the moving cylinder is fixed on the base through the cylinder fixing frame, and the bottom of the moving cylinder is connected to the finger cylinder through the connecting piece.

In one embodiment, the lifting driving assembly further comprises an adjusting fastener for adjusting the moving cylinder to perform buffering, and the adjusting fastener penetrates through the cylinder fixing frame and extends into the moving cylinder.

In one embodiment, the adjustment fastener includes an adjustment rod having a polygonal or elliptical cross-section, and an adjustment nut disposed on the adjustment rod.

An embodiment provides a gong machine, including the manipulator of any one above can grasp milling cutter and pin. The milling machine in the embodiment comprises a host machine and a manipulator which is controlled by the host machine and can clamp a milling cutter and a pin; but manipulator of centre gripping milling cutter and pin includes the base, still includes:

the lifting driving component and the working component are arranged on the base;

the working assembly is connected to the lifting driving assembly through a connecting piece and moves back and forth on the base through the lifting driving assembly;

the working assembly comprises mechanical fingers for clamping a milling cutter and a pin, and the mechanical fingers are at least three clamping jaws uniformly distributed around the same circumference; the clamping surface of the clamping jaw is an arc surface matched with the milling cutter or the pin;

the working assembly further includes a percussive fastener for striking a pin, the percussive fastener extending over an axial center of the jaw.

In one embodiment, the lifting driving assembly further comprises an adjusting fastener for adjusting the moving cylinder, and the adjusting fastener penetrates through the cylinder fixing frame and extends into the moving cylinder.

In one embodiment, the adjusting fastener comprises an adjusting rod and an adjusting nut arranged on the adjusting rod, and the cross section of the adjusting rod is polygonal or elliptical.

According to the manipulator capable of clamping the milling cutter and the pin, due to the fact that the working assembly in the manipulator capable of clamping the milling cutter and the pin is improved, the head assembly used for replacing the milling cutter is set to be the mechanical finger with the clamping jaw structure, the milling cutter or the pin can be clamped, the knocking fastener is additionally arranged in the center of the mechanical finger, the manipulator capable of clamping the milling cutter and the pin can be used for clamping and replacing the milling cutter, the pin can be clamped for punching and positioning, and the multifunctional milling cutter and pin clamping manipulator is multipurpose.

Drawings

Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present application.

Fig. 2 is a partially enlarged view of a robot hand according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.

Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed. As used herein, the term "connected", unless otherwise specified, includes both direct and indirect connections.

As shown in fig. 1, the utility model relates to a but manipulator of centre gripping milling cutter and pin mainly is applied to the automatic tool changing of circuit board gong machine (brill milling machine) and snatchs the pin operation. Specifically, the manipulator capable of clamping the milling cutter and the pin comprises a base, and further comprises a lifting driving assembly and a working assembly which are arranged on the base. The lifting driving assembly and the working assembly are connected through a connecting piece and are positioned on the same straight line. For example, one end of the connecting piece is fixed with the lifting driving component, and the other end of the connecting piece is fixed with the working component. The shape and structure of the connecting piece are not limited, and the lifting driving assembly and the working assembly can be connected together.

Further, as shown in fig. 2, the working assembly of this embodiment includes a mechanical finger for holding the milling cutter and the pin. The mechanical fingers are at least three clamping jaws 43 uniformly distributed around the same circumference, and the clamping jaws 43 are axially arranged on the working assembly, namely the gravity center of the clamping jaws 43 is coincident with that of the working assembly. For example, three clamping jaws 43 may be provided in 120 ° halves (i.e. distributed in an equilateral triangle) around the same circumference, and the three clamping jaws 43 may be more evenly stressed when clamping a milling cutter or a pin, and may be more stably and firmly clamped compared with two clamping jaws 43 of a planar structure. Of course, other numbers of four or five clamping jaws 43 may be used for clamping, and in the embodiment, for cost, three clamping jaws 43 are used as mechanical fingers, so that a three-dimensional clamping milling cutter or a pin can be realized.

In order to drive the gripped pin into the positioning hole, the working assembly in this embodiment further includes a knocking fastener 44 (a cylinder push rod 42 which may be provided in the working assembly on one end near the mechanical finger) for knocking the pin, and is provided along the axial center of the jaw 43, in other words, the mounting position of the knocking fastener 44 is located on the axial center line of the jaw 43. In use, for pinning, the percussive fastener 44 and jaws 43 cooperate to complete the operation. After the clamping jaw 43 clamps the pin, the pin is moved to the positioning hole and then is knocked down by knocking the fastener 44, so that the pin can be smoothly driven into the positioning hole, and automatic pin knocking operation is realized. When the milling cutter is clamped, the knocking fastener 44 does not displace, and the milling cutter is directly clamped by the clamping jaw 43. Preferably, the knock fastener 44 is a knock screw, and when the pin is knocked out, the pin gripped by the jaw 43 is pressed downward and driven into the positioning hole by screwing out the knock screw. Further, the percussive fastener 44 is powered by a power device in the working assembly, such as by a cylinder ram 42 of a finger cylinder 41 in the working assembly for percussive operation.

The operation steps of replacing the milling cutter by the conventional milling machine manipulator are complicated. A plurality of screws need to be unscrewed, the original milling cutter is disassembled, and after a new milling cutter is installed, the screws need to be screwed again to prevent the milling cutter from falling off. And the manipulator mounting the milling cutter does not achieve simultaneous grasping of the pins. When the circuit board is positioned, the operation mode of manually grabbing pins and knocking the pins into the workbench is still adopted at present, time and labor are wasted, the pins are inclined and staggered easily, and the positioning effect is influenced. The utility model discloses improve based on above-mentioned technical problem, but improve the finger structure of the manipulator of centre gripping milling cutter and pin, set the work subassembly of manipulator to clamping jaw 43 structure to set up on clamping jaw 43 center and strike fastener 44, make but the manipulator of centre gripping milling cutter and pin not only can be used for snatching milling cutter and pin, can also be used to squeeze into the locating hole with the pin, realize a tractor serves several purposes.

In one embodiment, the clamping surfaces of the clamping jaws 43 are arc-shaped surfaces adapted to a milling cutter or a pin, and the clamping surfaces of the three clamping jaws 43 can enclose a circular shape when opened at a certain angle, and the size of the cross section of the circular shape is generally equal to or slightly smaller than that of the cross section of the milling cutter or the pin (the milling cutter and the pin with the same standard diameter are used), so that the clamping jaws can be fastened more tightly and are not easy to fall off when being clamped. Of course, a plurality of clamping jaws 43, such as four or five clamping jaws 43, may be used for clamping, and is not limited herein.

In one embodiment, the clamping jaw 43 comprises a connecting portion and a clamping portion. Wherein the connecting portion is perpendicular to the clamping portion and parallel to the bottom surface of the finger cylinder 41. That is, each clamping jaw 43 is an inverted "L" structure when viewed from the side, wherein the parallel portion in the inverted "L" is a connecting portion for fixing with the finger cylinder 41, and the fixing can be performed by welding, bolt and nut fitting, and the like. The vertical part in the inverted L is a clamping part for clamping the milling cutter or the pin. Preferably, a magnetic metal layer may be disposed on the clamping surface of the clamping portion to achieve fastening and suction of the milling cutter or the screw.

During the use, to snatch the pin as an example, but the lift drive assembly drive on the manipulator of centre gripping milling cutter and pin the work module descends, is close to the part district of placing the pin, and clamping jaw 43 on the work module opens, snatchs the pin after, and the clamping face and the pin laminating of clamping jaw 43 press from both sides tight pin, lift drive assembly drive the work module rises to carry out the instruction operation through the host computer on the gong machine, with the manipulator removal to the workstation of centre gripping milling cutter and pin on, the drive of lift drive assembly the locating hole of circuit board on the workstation descends to squeeze into the pin to the locating hole. Because the pin is laminated with the clamping face of clamping jaw 43, and clamping jaw 43 and the focus coincidence of work subassembly, consequently when clamping jaw 43 is perpendicular to the circuit board, can with through knocking fastener 44 the pin is hit into the locating hole of circuit board, effectively avoids the pin to beat partially, and the automation is hit the pin simultaneously and can effectively improve the operating efficiency.

In one embodiment, the working assembly further comprises a finger cylinder 41 for controlling the mechanical finger to perform work, and a cylinder push rod 42 penetrating through the finger cylinder 41, one end of the cylinder push rod 42 is hinged to the connecting piece 33, the other end of the cylinder push rod is hinged to the mechanical finger, and the cylinder push rod 42 is provided with a knocking fastener 44 at one end close to the mechanical finger, and the knocking fastener 44 extends on the center line of a clamping jaw 43 of the mechanical finger. In the present embodiment, the finger cylinder 41 is used to power the operation of the robot fingers. During operation, the lifting driving assembly drives the finger cylinder 41 to reciprocate, and the cylinder push rod 42 in the finger cylinder 41 drives the mechanical finger to move along the direction of the cylinder push rod 42, so as to further drive the clamping jaw 43 on the mechanical finger to perform grabbing and releasing operations, thereby realizing the grabbing and holding of a milling cutter or a pin; and the cylinder push rod 42 can control the lifting and falling of the knocking fastener 44, so that the knocking step is completed.

Referring to fig. 1, the base 10 of the present invention is provided with a guide rail 31 on a mounting surface thereof, and a slider 32 slidably connected to the guide rail 31. The finger cylinder 41 is fixed or detachably arranged on the sliding block 32, and under the driving of the lifting driving device, the finger cylinder 41 in the working assembly can reciprocate on the guide rail 31 through the sliding block 32, so as to drive the mechanical finger to move.

Specifically, in one embodiment, the lift drive assembly includes a motion cylinder 21 and a cylinder mount 22. The top of the moving cylinder 21 is fixed on the base 10 through the cylinder fixing frame 22, and the bottom of the moving cylinder is connected to the finger cylinder 41 through the connecting piece 33. In this embodiment, the purpose of the lifting driving assembly is to drive the working assembly to reciprocate, wherein the moving cylinder 21 in the lifting driving assembly provides power, and the cylinder fixing frame 22 can fix the moving cylinder 21 on the base 10 of the manipulator which can clamp milling cutters and pins to prevent displacement.

In another embodiment, the lifting driving assembly further includes an adjusting fastener 23 for adjusting the movement cylinder 21 to cushion in addition to the movement cylinder 21, and the adjusting fastener 23 passes through the cylinder fixing frame 22 and extends inside the movement cylinder 21. In a preferred embodiment, the adjustment fastener 23 comprises an adjustment rod having a polygonal or elliptical cross-section, and an adjustment nut disposed on the adjustment rod. In the prior art, the cross section of the adjusting rod is of a circular structure, so that the adjusting fastener 23 is easy to rotate and shift in the propelling process, and the operation effect is influenced. In the embodiment, the cross section of the adjusting rod is set to be in a non-circular structure, such as a polygon or an ellipse, so that the adjusting rod is ensured not to be rotationally displaced when being pushed.

The utility model also provides a gong machine, it includes above but the manipulator of centre gripping milling cutter and pin. In this embodiment the gong machine still includes the host computer, through host computer control but the manipulator of centre gripping milling cutter and pin snatchs milling cutter or pin. Realize the automatic switch-over of milling cutter, need not artifical the change, can also realize simultaneously that automatic snatching the pin and drive into the locating hole. The mechanical fingers of the mechanical arm capable of clamping the milling cutter and the pin are improved, the mechanical fingers are arranged into at least three clamping jaws with arc-shaped clamping surfaces, the knocking fastener is arranged at one end, close to the clamping jaws, of the cylinder push rod, the pin is automatically clamped through the clamping jaws, the pin is driven into a positioning hole of a circuit board through the knocking fastener, and the operations of clamping the pin and knocking the pin are achieved.

It is right to have used specific individual example above the utility model discloses expound, only be used for helping to understand the utility model discloses, not be used for the restriction the utility model discloses. To the technical field of the utility model technical personnel, the foundation the utility model discloses an idea can also be made a plurality of simple deductions, warp or replacement.

Claims

1. A manipulator capable of clamping a milling cutter and a pin comprises a base and is characterized by further comprising a lifting driving assembly, a connecting piece and a working assembly, wherein the lifting driving assembly, the connecting piece and the working assembly are arranged on the base; the working assembly is connected to the lifting driving assembly through a connecting piece and moves back and forth on the base through the lifting driving assembly; the working assembly comprises mechanical fingers for clamping a milling cutter and a pin, and the mechanical fingers are at least three clamping jaws uniformly distributed around the same circumference; the working assembly further includes a peening fastener for peening a pin, the peening fastener being disposed along an axial center of the jaw.

2. The manipulator capable of clamping milling cutters and pins according to claim 1, wherein the working assembly further comprises a finger cylinder for controlling the mechanical finger to perform work, and a cylinder push rod penetrating through the finger cylinder, one end of the cylinder push rod is hinged to the connecting piece, and the other end of the cylinder push rod is hinged to the mechanical finger.

3. The manipulator of claim 2, wherein the clamping jaw includes a connecting portion and a clamping portion; the connecting part and the clamping part are vertically arranged and are parallel to the bottom surface of the finger cylinder.

4. The manipulator of claim 2, wherein the clamping surface of the clamping jaw is an arc surface adapted to the milling cutter or the pin.

5. The manipulator capable of clamping milling cutters and pins as claimed in claim 2, wherein the knocking fastener is arranged at one end of the cylinder push rod close to the mechanical finger, and the knocking fastener can be driven by the cylinder push rod to knock.

6. The manipulator capable of clamping milling cutter and pin according to claim 2, wherein the base is provided with a guide rail on the mounting surface, and a slide block connected with the guide rail in a sliding manner; the finger cylinder is fixedly or detachably arranged on the sliding block and moves back and forth on the guide rail through the sliding block.

7. The manipulator of claim 2, wherein the lifting drive assembly comprises a moving cylinder and a cylinder holder; the top of the moving cylinder is fixed on the base through the cylinder fixing frame, and the bottom of the moving cylinder is connected to the finger cylinder through the connecting piece.

8. The manipulator of claim 7, wherein the lifting drive assembly further comprises an adjustment fastener for adjusting a moving cylinder, the adjustment fastener passing through the cylinder holder and extending inside the moving cylinder.

9. The manipulator of claim 8, wherein the adjustment fastener comprises an adjustment rod and an adjustment nut disposed on the adjustment rod, the adjustment rod having a polygonal or elliptical cross-section.

10. A gong machine, characterized by comprising a manipulator according to any one of claims 1 to 9, able to grip milling cutters and pins.