CN213410380U

CN213410380U - Workpiece grabbing device on numerical control machine tool

Info

Publication number: CN213410380U
Application number: CN202022316983.3U
Authority: CN
Inventors: 李腾; 石鑫; 姬志恒; 贺子龙; 殷伟
Original assignee: Headman Shanghai Automation Technology Co ltd
Current assignee: Headman Shanghai Automation Technology Co ltd
Priority date: 2020-10-16
Filing date: 2020-10-16
Publication date: 2021-06-11
Anticipated expiration: 2030-10-16

Abstract

The utility model provides a work piece grabbing device on digit control machine tool belongs to lathe technical field. The problem that a grabbing cylinder thin-wall workpiece is easy to deform is solved. The digit control machine tool includes the sword tower, this work piece grabbing device includes pneumatic hand claw, pneumatic hand claw includes that two symmetries set up and can the mutual translation be close to or the finger of keeping away from, the sword tower outer peripheral face is fixed with the installation piece, pneumatic hand claw fixes the translation direction that makes two fingers on the installation piece and is consistent with the radial of sword tower mutually, it has the pivoted grip block of ability to all articulate on two fingers, one side that two grip blocks are relative all has can with snatch work piece outer peripheral face matched with fitting surface, all be fixed with two elastic support piece on two fingers, each grip block is located to correspond between two elastic support piece with the pin joint that corresponds the finger, fix two elastic support piece's on same finger elasticity and all be used in corresponding the grip block. The workpiece grabbing device on the numerical control machine tool has the advantages of simple structure, high machining precision, high working efficiency and the like.

Description

Workpiece grabbing device on numerical control machine tool

Technical Field

The utility model belongs to the technical field of the lathe, a work piece grabbing device on the lathe is related to.

Background

With the rapid development of industrial automation, numerically controlled machine tools are increasingly used in the mechanical manufacturing industry, and workpieces can be well processed automatically by means of the numerically controlled machine tools. In some vertical numerical control machine tools, a tool turret is arranged, and different processing tools are distributed on the peripheral surface of the tool turret, so that a workpiece can be processed in a plurality of working procedures only by clamping once, and the processing efficiency is greatly improved.

However, the loading and unloading of the workpiece on the numerical control machine still depend on manual operation, and the speed of the manual operation is relatively slow, so that the processing efficiency is greatly slowed down. To improve the automation, chinese patent discloses a robot with application number 200720190383.9, which uses the robot to complete the grabbing of the workpiece to be machined by mounting the robot on a station of the turret of the machine tool, and uses the movement of the feed shaft of the machine tool to complete the transferring and conveying of the workpiece. However, the conventional finger-type manipulator can be suitable for clamping various solid workpieces, but when the conventional finger-type manipulator is used for grabbing cylindrical thin-walled workpieces with large diameters, the workpieces are stressed unevenly due to clamping deviation, so that the workpieces deform to cause that the machining precision does not reach the standard.

Disclosure of Invention

The utility model aims at the above-mentioned problem that prior art exists, provide the work piece grabbing device on the lathe, solved and snatched the yielding problem of drum thin wall class work piece.

The purpose of the utility model can be realized by the following technical proposal:

workpiece gripping device on numerical control machine, the numerical control machine includes the turret, this workpiece gripping device includes pneumatic hand claw, pneumatic hand claw include two symmetrical settings and can each other the translation be close to or the finger of keeping away from, the turret outer peripheral face is fixed with the installation piece, pneumatic hand claw fixes and makes the translation direction of two fingers and the radial of turret unanimous on the installation piece, its characterized in that, all articulated on two fingers have the grip block that can swing, one side that two grip blocks are relative all has can with the matched surface of grabbing work piece outer peripheral face, all be fixed with two elastic support piece on two fingers, each grip block is located and corresponds between two elastic support piece with the pin joint that corresponds the finger, the elasticity of two elastic support piece of fixing on same finger all is used in corresponding the grip block, and can make one of them elastic support piece compressed when the grip block atress swing.

This work piece grabbing device is applied to in the digit control machine tool that the main shaft set up along vertical direction (being equivalent to vertical digit control machine tool), this digit control machine tool still including can follow vertical direction or the gliding cross layer board of horizontal direction, be fixed with the control box on the cross layer board, be provided with the pivot parallel with the lathe headstock on the control box, the sword tower is fixed in the pivot, can drive the sword tower through the pivot and rotate in order to carry out the switching of cutter, can realize the translation of sword tower along vertical direction or along the horizontal direction through the cross layer board simultaneously.

The workpiece grabbing device mainly aims at cylindrical thin-walled workpieces with large diameters, the cylindrical thin-walled workpieces with the large diameters are orderly and vertically placed on a transmission belt close to a numerical control machine tool, and the workpieces are vertically placed. When a workpiece needs to be grabbed, the two fingers on the pneumatic claw are controlled to be separated, and then the pneumatic claw is enabled to be close to the workpiece on the conveying belt by means of translation of the cross supporting plate until the two fingers are located on the outer side of the workpiece. And then, controlling the two fingers to approach each other, so that the matching surfaces on the two clamping blocks simultaneously lean against the outer peripheral surface of the workpiece to form clamping, thus grabbing the workpiece, and finally conveying the workpiece to a main shaft of the machine tool by means of the translation of the supporting plate for clamping and then processing. After the machining is finished, the machined workpiece is grabbed and moved out of the numerical control machine tool by the pneumatic gripper. Because the grip block is articulated mutually with the finger and all be equipped with two elastic support spare that are used in on every finger on the grip block, consequently when meetting the inaccurate condition in conveyer belt location and lead to the work piece to press from both sides partially, the work piece outer peripheral face can cause certain extrusion to the grip block and make the grip block swing certain angle around the pin joint, so just can carry out automatic centering to the work piece, make the fitting surface on two grip blocks can form abundant contact with the work piece outer peripheral face, thereby avoid the work piece to cause the deformation because of the atress is uneven in the process of snatching, the machining precision of work piece has been guaranteed. The elastic supporting pieces are arranged, the situation that the clamping blocks swing accidentally due to vibration in the workpiece grabbing process can be prevented, and the clamping blocks are kept balanced again under the action of the two elastic supporting pieces after the pneumatic gripper finishes grabbing of the workpiece. The workpiece grabbing device can not only realize automatic grabbing of the workpiece in the machine tool, but also automatically center the workpiece, and guarantees the machining precision of the workpiece while realizing automatic operation to improve the machining efficiency.

In the workpiece grabbing device on the numerical control machine tool, the matching surface is a V-shaped surface, and two flexible pads are fixed on the matching surface.

In the workpiece grabbing device on the numerical control machine tool, as another technical scheme, the matching surface is an arc surface, and a flexible pad is fixed on the matching surface.

No matter the V-shaped surface or the arc surface, the clamping block can be matched with the outer peripheral surface of a cylindrical thin-walled workpiece with a large diameter when the conveyor belt is inaccurate, so that the clamping block swings to perform automatic centering to prevent the workpiece clamp from deforming. The flexible pad is arranged, so that flexible contact is formed between the clamping block and the workpiece, the workpiece is further prevented from being clamped and deformed, and meanwhile, the surface of the workpiece can be prevented from being scratched.

In the workpiece grabbing device on the numerical control machine tool, the elastic supporting piece is a spring plunger.

In the workpiece grabbing device on the numerical control machine tool, as another technical scheme, the elastic supporting piece comprises a supporting column fixed on the finger and a supporting spring sleeved on the supporting column, and two ends of the supporting spring respectively abut against the finger and the clamping block.

In the workpiece grabbing device on the numerical control machine tool, the fingers are provided with a pair of lugs, the middle part of the clamping block is provided with a triangular block-shaped connecting part, a pin shaft is fixed between the two lugs, and the pin shaft penetrates through the connecting part.

In the workpiece grabbing device on the numerical control machine tool, a raised head is arranged at the center of one end face of the cutter tower, a mounting hole is formed in the raised head, an air inlet assembly is arranged in the mounting hole, an air inlet nozzle is arranged on the air inlet assembly, part of the air inlet assembly extends out of the raised head, and an air pipe is connected between the air inlet assembly extending out of the raised head and the pneumatic paw.

In the work piece grabbing device on foretell digit control machine tool, the subassembly of admitting air include air inlet seat and air connector, air inlet seat center is equipped with the mating holes along the turret axial, be equipped with inlet channel in the air inlet seat, inlet channel's import is located the air inlet seat and keeps away from a terminal surface of plush copper, inlet channel's import department is located to the suction nozzle, inlet channel's export is located the pore wall of mating holes, air connector one end inserts in the mating holes and outside its other end stretches out the plush copper, be equipped with air passing channel in the air connector, the one end outside that air connector inserted in the mating holes is equipped with the annular, air passing channel's import is located the cell wall of annular, air passing channel's export is located air inlet channel's other end lateral part, trachea one end inserts in air passing.

The air inlet nozzle is connected with an air source through a pipe, air in the air source is supplied into the matching hole through an air inlet channel on the air inlet seat, then enters the air passing channel from the annular groove and is finally conveyed to the pneumatic paw through the air pipe, and therefore the two fingers can be moved close to or away from each other in a translation mode. Through set up the subassembly that admits air in the mounting hole of plush copper for the air feed structure of pneumatic hand claw can be in the same place with the sword tower better, makes the structure become simpler.

Compared with the prior art, the workpiece grabbing device on the numerical control machine tool has the advantages that the clamping blocks are hinged on the fingers, so that the workpiece can be automatically centered by swinging a certain angle when the clamping blocks are in contact with the outer peripheral surface of the workpiece, the matching surfaces on the two clamping blocks can be in full contact with the outer peripheral surface of the workpiece, the workpiece is prevented from being deformed due to uneven stress in the grabbing process, and the processing precision of the workpiece is guaranteed while the processing efficiency is improved.

In addition, the elastic supporting piece can support the clamping block in the workpiece conveying process, the situation that the clamping block swings accidentally due to vibration is avoided, and the workpiece grabbing stability is guaranteed.

Drawings

Fig. 1 is a schematic perspective view of a first embodiment of a workpiece gripping device on a numerical control machine tool.

Fig. 2 is a schematic plan view of a first embodiment of the workpiece gripping device on the nc machine tool.

Fig. 3 is another perspective view of the first embodiment of the workpiece grabbing device on the numerical control machine tool.

Fig. 4 is a cross-sectional view of a turret in an embodiment of the workpiece gripping device on the nc machine tool.

In the figure, 1, a knife tower; 1a, a raised head; 2. mounting blocks; 3. a pneumatic gripper; 3a, fingers; 3a1, lugs; 4. a clamping block; 4a, a clamping surface; 4b, a connecting part; 5. an elastic support member; 6. a flexible pad; 7. an air inlet seat; 8. an air inlet joint; 8a, a gas passing channel; 9. an air inlet nozzle; 10. an air tube; 11. and (5) a workpiece.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

Example one

As shown in fig. 1, the workpiece grabbing device on the numerical control machine tool, the numerical control machine tool include the turret 1, this workpiece grabbing device includes pneumatic hand claw 3, pneumatic hand claw 3 includes that two symmetries set up and can each other the translation be close to or the finger 3a of keeping away from, pneumatic hand claw 3 specifically can adopt the two finger translation manipulators of canned type of SCHUNK brand in this embodiment, consequently the theory of operation about pneumatic hand claw 3 no longer redundantly in this embodiment.

As shown in fig. 1, 2 and 3, a mounting block 2 is fixed to the outer peripheral surface of the turret 1, and the pneumatic gripper 3 is fixed to the mounting block 2, and the translation direction of the two fingers 3a coincides with the radial direction of the turret 1. The two fingers 3a are hinged with clamping blocks 4 capable of swinging, one sides of the two clamping blocks 4 opposite to each other are provided with matching surfaces 4a capable of being matched with the peripheral surfaces of the grabbed workpieces 11, the matching surfaces 4a are V-shaped surfaces, and two flexible pads 6 are fixed on the matching surfaces 4 a. Two elastic supporting pieces 5 are fixed on the two fingers 3a, the hinged point of each clamping block 4 and the corresponding finger 3a is positioned between the corresponding two elastic supporting pieces 5, the elastic force of the two elastic supporting pieces 5 fixed on the same finger 3a acts on the corresponding clamping block 4, and when the clamping block 4 swings under stress, one of the elastic supporting pieces 5 can be compressed. Wherein the elastic support 5 is embodied as a spring plunger. The finger 3a is provided with a pair of lugs 3a1, the middle part of the clamping block 4 is provided with a connecting part 4b in a triangular block shape, a pin shaft is fixed between the two lugs 3a1 and penetrates through the connecting part 4b, and the axis of the pin shaft is parallel to the axis of the turret 1.

Further, as shown in fig. 3 and 4, a raised head 1a is arranged in the center of one end face of the turret 1, an installation hole is formed in the raised head 1a, an air inlet assembly is arranged in the installation hole, an air inlet nozzle 9 is arranged on the air inlet assembly, part of the air inlet assembly extends out of the raised head 1a, and an air pipe 10 is connected between the air inlet assembly extending out of the raised head 1a and the pneumatic gripper 3. The air inlet assembly comprises an air inlet seat 7 and an air inlet connector 8, a matching hole is formed in the center of the air inlet seat 7 along the axial direction of the turret 1, an air inlet channel is arranged in the air inlet seat 7, the inlet of the air inlet channel is located on one end face, far away from the raised head 1a, of the air inlet seat 7, an air inlet nozzle 9 is arranged at the inlet of the air inlet channel, the outlet of the air inlet channel is located on the hole wall of the matching hole, one end of the air inlet connector 8 is inserted into the matching hole, the other end of the air inlet connector extends out of the raised head 1a, an air passing channel 8a is arranged in the air inlet connector 8, an annular groove is formed in the outer side of one end, inserted into the matching hole, of the air passing channel 8a is located on the groove wall of the annular groove, the outlet of the.

This work piece grabbing device is applied to the main shaft and follows the digit control machine tool of vertical direction setting, this digit control machine tool still including can follow vertical direction or the gliding cross layer board of horizontal direction, be fixed with the control box on the cross layer board, be provided with the pivot parallel with the lathe headstock on the control box, turret 1 is fixed in the pivot, can drive turret 1 through the pivot and rotate in order to carry out the switching of cutter, can realize turret 1 through the cross layer board simultaneously along vertical direction or along the translation of horizontal direction.

The workpiece grabbing device mainly aims at the cylindrical thin-wall workpieces 11 with large diameters, the cylindrical thin-wall workpieces 11 with large diameters are orderly and vertically placed on a transmission belt close to a numerical control machine tool, and the workpieces 11 are vertically placed. When the workpiece 11 needs to be grabbed, the two fingers 3a on the pneumatic claw 3 are controlled to be separated, and then the pneumatic claw 3 is enabled to approach the workpiece 11 on the conveyor belt by means of the cross-shaped supporting plate translation until the two fingers 3a are positioned on the outer side of the workpiece 11. And then, controlling the two fingers 3a to approach each other, so that the matching surfaces 4a on the two clamping blocks 4 simultaneously lean against the outer peripheral surface of the workpiece 11 to form clamping, thereby grabbing the workpiece 11, and finally conveying the workpiece 11 to a main shaft of the machine tool by means of the translation of the supporting plate for clamping and then processing. Because the clamping block 4 is hinged to the fingers 3a, and each finger 3a is provided with two elastic supporting pieces 5 acting on the clamping block 4, when the workpiece 11 is clamped in a deviated manner due to inaccurate positioning of the conveyor belt, the peripheral surface of the workpiece 11 can extrude the clamping block 4 to a certain degree, so that the clamping block 4 swings around a hinge point to a certain angle, the workpiece 11 can be automatically centered, the matching surfaces 4a on the two clamping blocks 4 can be in full contact with the peripheral surface of the workpiece 11, the workpiece 11 is prevented from being deformed due to uneven stress in the grabbing process, and the machining precision of the workpiece 11 is ensured. The arrangement of the elastic supporting members 5 can prevent the situation that the clamping block 4 swings accidentally due to vibration in the grabbing process of the workpiece 11, and the clamping block 4 is kept balanced again under the action of the two elastic supporting members 5 after the pneumatic gripper 3 finishes grabbing the workpiece 11.

Example two

The structure and principle of this embodiment are basically the same as those of the first embodiment, except that: in this embodiment, the mating surface 4a is a circular arc surface, and the flexible pad 6 is fixed on the mating surface 4 a.

EXAMPLE III

The structure and principle of this embodiment are basically the same as those of the first embodiment, except that: in this embodiment, the elastic supporting member 5 includes a supporting column fixed on the finger 3a and a supporting spring sleeved on the supporting column, and two ends of the supporting spring respectively abut against the finger 3a and the clamping block 4.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims

1. The workpiece grabbing device on the numerical control machine comprises a cutter tower (1), the workpiece grabbing device comprises a pneumatic claw (3), the pneumatic claw (3) comprises two fingers (3a) which are symmetrically arranged and can be mutually translated to be close to or far away from the cutter tower, an installation block (2) is fixed on the outer peripheral surface of the cutter tower (1), the pneumatic claw (3) is fixed on the installation block (2) to ensure that the translation directions of the two fingers (3a) are consistent with the radial direction of the cutter tower (1), the workpiece grabbing device is characterized in that two clamping blocks (4) which can swing are hinged on the two fingers (3a), matching surfaces (4a) which can be matched with the outer peripheral surface of a grabbed workpiece (11) are arranged on one opposite sides of the two clamping blocks (4), two elastic supporting pieces (5) are fixed on the two fingers (3a), and the hinge point of each clamping block (4) and the corresponding finger (3a) is positioned between the corresponding two elastic supporting pieces (5), the elasticity of two elastic supporting pieces (5) fixed on the same finger (3a) acts on the corresponding clamping block (4), and when the clamping block (4) is stressed to swing, one of the elastic supporting pieces (5) can be compressed.

2. The workpiece gripping device on the numerical control machine tool according to claim 1, characterized in that the matching surface (4a) is a V-shaped surface, and two flexible pads (6) are fixed on the matching surface (4 a).

3. The workpiece gripping device on the numerical control machine tool according to claim 1, wherein the matching surface (4a) is a circular arc surface, and a flexible pad (6) is fixed on the matching surface (4 a).

4. The workpiece gripping device on the numerical control machine tool according to claim 1, wherein the elastic supporting member (5) is a spring plunger.

5. The workpiece gripping device on the numerical control machine tool according to claim 1, wherein the elastic supporting member (5) comprises a supporting column fixed on the finger (3a) and a supporting spring sleeved on the supporting column, and two ends of the supporting spring respectively abut against the finger (3a) and the clamping block (4).

6. The workpiece grabbing device for the numerical control machine tool according to claim 1, wherein the finger (3a) is provided with a pair of lugs (3a1), the middle part of the clamping block (4) is provided with a connecting part (4b) in a triangular block shape, a pin shaft is fixed between the two lugs (3a1), and the pin shaft penetrates through the connecting part (4 b).

7. The workpiece grabbing device for the numerical control machine tool is characterized in that a raised head (1a) is arranged in the center of one end face of the cutter tower (1), a mounting hole is formed in the raised head (1a), an air inlet assembly is arranged in the mounting hole, an air inlet nozzle (9) is arranged on the air inlet assembly, part of the air inlet assembly extends out of the raised head (1a), and an air pipe (10) is connected between the air inlet assembly extending out of the raised head (1a) and the pneumatic gripper (3).

8. The workpiece grabbing device for the numerically-controlled machine tool according to claim 7, wherein the air inlet assembly comprises an air inlet seat (7) and an air inlet joint (8), a matching hole is formed in the center of the air inlet seat (7) along the axial direction of the turret (1), an air inlet channel is arranged in the air inlet seat (7), an inlet of the air inlet channel is located on one end surface, away from the raised head (1a), of the air inlet seat (7), an air inlet nozzle (9) is arranged at an inlet of the air inlet channel, an outlet of the air inlet channel is located on the wall of the matching hole, one end of the air inlet joint (8) is inserted into the matching hole, the other end of the air inlet joint extends out of the raised head (1a), an air passing channel (8a) is arranged in the air inlet joint (8), an annular groove is formed in the outer side of one end, inserted into the matching hole, of the air inlet channel (8a) is located on the wall of the annular groove, and an outlet, one end of the air pipe (10) is inserted into the outlet of the air passage (8 a).