CN216229440U - Truss manipulator device for duplex numerical control machine tool - Google Patents
Truss manipulator device for duplex numerical control machine tool Download PDFInfo
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- CN216229440U CN216229440U CN202122499202.3U CN202122499202U CN216229440U CN 216229440 U CN216229440 U CN 216229440U CN 202122499202 U CN202122499202 U CN 202122499202U CN 216229440 U CN216229440 U CN 216229440U
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Abstract
The utility model relates to a truss manipulator device for a duplex numerical control machine tool, which comprises a manipulator main body arranged between two numerical control machine tools and a turning mechanism which is fixed on one numerical control machine tool and used in cooperation with the manipulator main body. The manipulator main body can orderly place the workpieces to be machined and the machined workpieces, so that scratching and abrasion are avoided, meanwhile, the turning mechanism is arranged to complete turning and secondary clamping of the workpieces in cooperation with the manipulator main body, unmanned operation is realized, labor intensity of operators is effectively reduced, and efficiency is improved.
Description
Technical Field
The utility model relates to the technical field of manipulators, in particular to a truss manipulator device for a duplex numerical control machine tool.
Background
When metal parts are machined, a plurality of working procedures are needed, and an operator finishes the loading and unloading operation of the parts to be machined and the machined parts, so that on one hand, manual loading and unloading occupy manpower, and the machining efficiency is reduced; on the other hand, the workpieces need to be manually distinguished from machined parts and unmachined parts, and the workpieces cannot be orderly placed in most cases, so that the workpieces are damaged by friction. Therefore, it is desirable to use a truss robot to perform the secondary processing.
Disclosure of Invention
The utility model provides a truss manipulator device for a duplex numerical control machine tool, aiming at the problem that the feeding and discharging of a numerical control lathe for processing bar products are more efficient and convenient.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the utility model provides a truss manipulator device for pair digit control machine tool, is including setting up the manipulator main part between two digit control machine tools and fixing on one of them digit control machine tool with the mechanism that turns around of manipulator main part cooperation use.
The manipulator main part includes the support frame subassembly, install the X axle crossbeam on the support frame subassembly, be equipped with X axle mobile device on the X axle crossbeam, install Y axle crossbeam on the X axle mobile device, be equipped with Y axle mobile device on the Y axle crossbeam, gliding Z axle longeron about installing on the Y axle mobile device, the rotatory cylinder that snatchs is installed to Z axle longeron bottom, the rotatory subassembly that snatchs of installing on the cylinder, install sign indicating number work or material rest grabbing the subassembly below on the support frame subassembly, install sign indicating number material tray on the sign indicating number work or material rest, it places and places the piece with sign indicating number material to be equipped with the bar on the sign indicating number material tray, support frame subassembly one side is fixed with the switch board of supplying power to whole device consumer.
The turning mechanism comprises a rotary turning cylinder fixed on a numerical control machine tool, a turning finger cylinder is installed on a rotary seat of the rotary turning cylinder, two turning moving fingers of the turning finger cylinder are detachably installed on the fingers through bolts, and an arc-shaped clamping groove is formed in the bar turning clamping plate.
The support frame component comprises a base and two stand columns, wherein the two stand columns are fixed at the top of the base, a reinforcing plate is arranged between the lower ends of the side walls of the two stand columns and the base, a plurality of cross braces are arranged between the two stand columns, stand column top plates are fixed at the tops of the two stand columns, a cross beam supporting plate is arranged at the bottom of an X-axis cross beam, and cross beam supporting plate connecting ribs are arranged between the stand column top plates and the cross beam supporting plate.
X axle mobile device is including setting up two X axle guide rails, an X axle toothed bar board at X axle crossbeam upper surface, slidable mounting has X axle guard shield on two X axle guide rails, one side at X axle guard shield towards sign indicating number work or material rest is fixed to Y axle crossbeam, install X axle driving motor on the X axle guard shield, X axle driving motor's output shaft even has X axle gear, X axle gear and the meshing of X axle toothed bar board, X axle crossbeam upper surface is equipped with the spacing anticollision piece of X axle at the both ends of X axle toothed bar board.
Y axle mobile device is including fixing Y axle rack board at Y axle crossbeam upper surface, fixing two Y axle guide rails on a Y axle crossbeam lateral wall, slidable mounting has "L" shape Y axle guard shield on two Y axle guide rails, install Y axle driving motor on the horizontal part of "L" shape Y axle guard shield, Y axle driving motor's output shaft even has Y axle gear, Y axle gear and the meshing of Y axle rack board, the side of Y axle crossbeam is equipped with the spacing anti-collision piece of Y axle at Y axle guide rail both ends.
Vertical portion of "L" shape Y axle guard shield runs through the through-hole that has the confession Z axle longeron to pass, be equipped with built-in slider on the inner wall of through-hole both sides, be equipped with Z axle slide rail on the both sides wall of Z axle longeron, built-in slider slides and wears to establish on the Z axle slide rail that corresponds, be equipped with Z axle toothed bar board on the Z axle longeron, Z axle toothed bar board meshing has Z axle gear, Z axle gear even has Z axle driving motor, Z axle driving motor installs on "L" shape Y axle protects the cover, Z axle longeron is equipped with the spacing anticollision piece of Z axle at the upper and lower both ends of Z axle toothed bar board.
Snatch the subassembly including fixing the isosceles trapezoid connecting seat on the rotatory roating seat that snatchs the cylinder, all install centre gripping finger cylinder on two wainscots of isosceles trapezoid connecting seat, there is bar removal clamp plate through bolt demountable installation on two centre gripping movable plates of centre gripping finger cylinder, be equipped with the arc draw-in groove on the bar removal clamp plate.
The stacking rack is of a 'L' -shaped structure, the vertical part of the stacking rack is fixed on the side surfaces of the two stand columns, a triangular support is arranged between the horizontal part and the vertical part of the stacking rack, and the stacking tray is fixed on the upper surface of the horizontal part of the stacking rack; the stacking material placing piece is an L-shaped supporting plate detachably fixed on the upper surface of the stacking material tray through bolts, and a plurality of arc-shaped placing grooves for placing bars are formed in the L-shaped supporting plate.
X axle guide rail, Y axle guide rail, Z axle slide rail are the I-shaped structure, X axle guard shield bottom be equipped with X axle guide rail complex slider, the vertical part of "L" shape Y axle guard shield is equipped with Y axle guide rail complex slider.
The utility model has the beneficial effects that: the manipulator main body can orderly place the workpieces to be machined and the machined workpieces, so that scratching and abrasion are avoided, meanwhile, the turning mechanism is arranged to complete turning and secondary clamping of the workpieces in cooperation with the manipulator main body, unmanned operation is realized, labor intensity of operators is effectively reduced, and efficiency is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of the robot body in one direction;
FIG. 3 is a schematic view of the upper portion of FIG. 1;
FIG. 4 is a schematic view of the structure of the robot body in another direction;
FIG. 5 is a schematic view of the upper portion of FIG. 2;
FIG. 6 is a schematic structural view of a U-turn mechanism;
FIG. 7 is a schematic view at the finger clamping cylinder;
fig. 8 is a schematic view of a stacking rack;
FIG. 9 is a schematic view of a stacking tray;
in the figure: 1-numerical control machine tool; 2-a manipulator body; 3-a turning mechanism; 4-a support frame assembly; 5-X axis beam; 6-Y axis beam; 7-Z axis stringers; 8, rotating a grabbing cylinder; 9-stacking a material frame; 10-stacking trays; 11-a bar stock; 12-a power distribution cabinet; 13-a rotary U-turn cylinder; 14-turning finger cylinder; 15-turning around to move the finger; 16-turning and clamping the bar stock; 17-a base; 18-upright post; 19-a reinforcement plate; 20-horizontal bracing; 21-column top plate; 22-beam pallet; 23-beam supporting plate connecting ribs; a 24-X axis guide rail; 25-X axis rack plate; 26-X axis shield; 27-X axis drive motor; 28-X axis limit anti-collision block; 29-Y axis rack bar plate; 30-Y axis guide rails; 31- "L" shape Y-axis shield; 31-Y axis drive motors; a 33-Y axis limiting anti-collision block; 34-built-in slide block; 35-Z axis slide rails; 36-Z axis toothed bar plate; a 37-Z axis drive motor; a 38-Z axis limit anti-collision block; 39-isosceles trapezoid connecting base; 40-clamping finger cylinder; 41-clamping the moving plate; 42-bar moving clamping plate; 43-triangular supports; 44-L-shaped support plates; 45-arc-shaped placing grooves;
the following detailed description will be made in conjunction with embodiments of the present invention with reference to the accompanying drawings.
Detailed Description
The utility model is further illustrated by the following examples in conjunction with the accompanying drawings:
as shown in fig. 1 to 7, a truss manipulator device for a duplex numerical control machine comprises a manipulator main body 2 arranged between two numerical control machine tools 1 and a turning mechanism 3 fixed on one of the numerical control machine tools 1 and used in cooperation with the manipulator main body 2.
The manipulator main part 2 includes support frame subassembly 4, install X axle crossbeam 5 on the support frame subassembly 4, be equipped with X axle mobile device on the X axle crossbeam 5, install Y axle crossbeam 6 on the X axle mobile device, be equipped with Y axle mobile device on the Y axle crossbeam 6, gliding Z axle longeron 7 from top to bottom is installed on the Y axle mobile device, the rotation is installed to 7 bottoms of Z axle longeron and is snatched cylinder 8, the rotation is snatched and is installed on the cylinder 8 and snatch the subassembly, install sign indicating number work or material rest 9 in the support frame subassembly 4 below snatching the subassembly, install sign indicating number material tray 10 on the sign indicating number work or material rest 9, it places and places the piece with sign indicating number material to be equipped with bar 11 on the sign indicating number material tray 10, support frame subassembly 4 one side is fixed with the switch board 12 of the power supply of electric components for whole device.
The turning mechanism is including fixing the rotatory turn round cylinder 13 on digit control machine tool 1, install turning round finger cylinder 14 on the roating seat of rotatory turn round cylinder 13, have bar turn round clamp plate 16 through bolt demountable installation on two turning round removal fingers 15 of turning round finger cylinder 14, be equipped with the arc draw-in groove on the bar turn round clamp plate 16.
The support frame component 4 comprises a base 17 and two stand columns 18, the two stand columns 18 are fixed at the top of the base 17, reinforcing plates 19 are arranged between the lower ends of the side walls of the two stand columns 18 and the base 17, a plurality of cross braces 20 are arranged between the two stand columns 18, stand column top plates 21 are fixed at the tops of the two stand columns 18, beam supporting plates 22 are arranged at the bottoms of the X-axis beams 5, and beam supporting plate connecting ribs 23 are arranged between the stand column top plates 21 and the beam supporting plates 22.
X axle mobile device has X axle guard shield 26 including setting up two X axle guide rails 24, an X axle toothed bar board 25 at 5 upper surfaces of X axle crossbeam, slidable mounting on two X axle guide rails 24, Y axle crossbeam 6 is fixed in one side of X axle guard shield 26 towards yard work or material rest 9, install X axle driving motor 27 on the X axle guard shield 26, X axle driving motor 27's output shaft even has X axle gear, X axle gear and the meshing of X axle toothed bar board 25, X axle crossbeam 5 upper surface is equipped with the spacing crashproof piece 28 of X axle at the both ends of X axle toothed bar board 25.
Y axle mobile device is including fixing Y axle rack bar 29 at Y axle crossbeam 6 upper surface, fixing two Y axle guide rails 30 on Y axle crossbeam 6 a lateral wall, slidable mounting has "L" shape Y axle guard shield 31 on two Y axle guide rails 30, install Y axle driving motor 32 on the horizontal part of "L" shape Y axle guard shield 31, Y axle driving motor 32's output shaft even has Y axle gear, Y axle gear and the meshing of Y axle rack bar 29, the side of Y axle crossbeam 6 is equipped with Y axle spacing anticollision piece 33 at Y axle guide rail 30 both ends.
Vertical portion of "L" shape Y axle guard shield 31 runs through the through-hole that supplies Z axle longeron 7 to pass, be equipped with built-in slider 34 on the inner wall of through-hole both sides, be equipped with Z axle slide rail 35 on the both sides wall of Z axle longeron 7, built-in slider 34 slides and wears to establish on the Z axle slide rail 35 that corresponds, be equipped with Z axle toothed bar plate 36 on the Z axle longeron 7, the meshing of Z axle toothed bar plate 36 has Z axle gear, Z axle gear even has Z axle driving motor 37, Z axle driving motor 37 is installed on "L" shape Y axle guard shield 31, Z axle longeron 7 is equipped with the spacing anti-collision piece 38 of Z axle at the upper and lower both ends of Z axle toothed bar plate 36.
Snatch the subassembly including fixing the isosceles trapezoid connecting seat 39 on the rotatory roating seat that snatchs cylinder 8, all install centre gripping finger cylinder 40 on two wainscots of isosceles trapezoid connecting seat 39, have bar removal clamp plate 42 through bolt demountable installation on two centre gripping movable plates 41 of centre gripping finger cylinder 40, be equipped with the arc draw-in groove on the bar removal clamp plate 42.
The stacking frame 9 is of a 'L' -shaped structure, the vertical part of the stacking frame 9 is fixed on the side surfaces of the two upright posts 18, a triangular support 43 is arranged between the horizontal part and the vertical part of the stacking frame 9, and the stacking tray 10 is fixed on the upper surface of the horizontal part of the stacking frame 9; the stacking placing piece is an L-shaped supporting plate 44 detachably fixed on the upper surface of the stacking tray 10 through bolts, and a plurality of arc-shaped placing grooves 45 for placing the bars 11 are formed in the L-shaped supporting plate 44.
The X-axis guide rail 24, the Y-axis guide rail 30 and the Z-axis slide rail 35 are all I-shaped structures, the bottom of the X-axis shield 26 is provided with a slide block matched with the X-axis guide rail 24, and the vertical part of the L-shaped Y-axis shield 31 is provided with a slide block matched with the Y-axis guide rail 30.
The mechanical arm main body 2 is controlled by a PLC system, a machining process is set, the system judges the moving distance according to process information, and the system automatically and quickly moves to the stacking rack 9 to grab a workpiece. All be equipped with the sensor on the three of manipulator main part 2 is epaxial, also be equipped with the sensor on the sign indicating number work or material rest 9, and the sensor is ohm dragon proximity sensor, combines manipulator main part 2 and the mechanism 3 record of turning round to process the work piece and wait to process the work piece through the PLC system.
The manipulator main body 2 can orderly place workpieces to be machined and machined workpieces to avoid scratching and abrasion, normally, a numerical control machine 1 machines a workpiece part placed in a machining area, usually, only half of a bar to be machined is machined, and the other half of the bar to be machined needs to be turned around manually. The labor intensity of operators is effectively reduced, and the efficiency is improved.
The utility model has been described in connection with the accompanying drawings, it is to be understood that the utility model is not limited to the specific embodiments disclosed, but is intended to cover various modifications, adaptations or uses of the utility model, and all such modifications and variations are within the scope of the utility model.
Claims (10)
1. The utility model provides a truss manipulator device for pair digit control machine tool which characterized in that, is including setting up manipulator main part (2) between two digit control machine tool (1) and fixing on one of them digit control machine tool (1) and manipulator main part (2) cooperation use turn round mechanism (3).
2. The truss manipulator device for the duplex numerical control machine tool is characterized in that the manipulator main body (2) comprises a support frame assembly (4), an X-axis cross beam (5) is mounted on the support frame assembly (4), an X-axis moving device is arranged on the X-axis cross beam (5), a Y-axis cross beam (6) is mounted on the X-axis moving device, a Y-axis moving device is arranged on the Y-axis cross beam (6), a Z-axis longitudinal beam (7) which slides up and down is mounted on the Y-axis moving device, a rotary grabbing cylinder (8) is mounted at the bottom of the Z-axis longitudinal beam (7), a grabbing assembly is mounted on the rotary grabbing cylinder (8), a stacking frame (9) is mounted below the grabbing assembly on the support frame assembly (4), a stacking tray (10) is mounted on the stacking frame (9), and a stacking material placing piece for placing a bar material (11) is arranged on the stacking tray (10), and a power distribution cabinet (12) for supplying power to the electric parts of the whole device is fixed on one side of the support frame assembly (4).
3. The truss manipulator device for the duplex numerical control machine tool is characterized in that the turning mechanism comprises a rotary turning cylinder (13) fixed on the numerical control machine tool (1), a turning finger cylinder (14) is installed on a rotary seat of the rotary turning cylinder (13), bar turning clamping plates (16) are detachably installed on two turning moving fingers (15) of the turning finger cylinder (14) through bolts, and arc-shaped clamping grooves are formed in the bar turning clamping plates (16).
4. The truss manipulator device for the duplex numerical control machine tool is characterized in that the support frame assembly (4) comprises a base (17) and two stand columns (18), the two stand columns (18) are fixed to the top of the base (17), a reinforcing plate (19) is arranged between the lower ends of the side walls of the two stand columns (18) and the base (17), a plurality of cross braces (20) are arranged between the two stand columns (18), stand column top plates (21) are fixed to the tops of the two stand columns (18), a cross beam supporting plate (22) is arranged at the bottom of the X-axis cross beam (5), and cross beam supporting plate connecting ribs (23) are arranged between the stand column top plates (21) and the cross beam supporting plate (22).
5. The truss manipulator device for the duplex numerical control machine tool is characterized in that the X-axis moving device comprises two X-axis guide rails (24) and one X-axis toothed plate (25) which are arranged on the upper surface of an X-axis beam (5), an X-axis shield (26) is slidably mounted on the two X-axis guide rails (24), the Y-axis beam (6) is fixed on one side, facing the stacking rack (9), of the X-axis shield (26), an X-axis driving motor (27) is mounted on the X-axis shield (26), an output shaft of the X-axis driving motor (27) is connected with an X-axis gear, the X-axis gear is meshed with the X-axis toothed plate (25), and X-axis limiting anti-collision blocks (28) are arranged on the upper surface of the X-axis beam (5) at two ends of the X-axis toothed plate (25).
6. The truss manipulator device for the duplex numerical control machine tool as claimed in claim 5, wherein the Y-axis moving device comprises a Y-axis toothed bar plate (29) fixed on the upper surface of the Y-axis beam (6), two Y-axis guide rails (30) fixed on one side wall of the Y-axis beam (6), a reversed-L-shaped Y-axis shield (31) is slidably mounted on the two Y-axis guide rails (30), a Y-axis driving motor (32) is mounted on the horizontal part of the reversed-L-shaped Y-axis shield (31), a Y-axis gear is connected to the output shaft of the Y-axis driving motor (32), the Y-axis gear is engaged with the Y-axis toothed bar plate (29), and Y-axis limiting anti-collision blocks (33) are arranged on the side surface of the Y-axis beam (6) at two ends of the Y-axis guide rails (30).
7. The truss manipulator device for the twin numerical control machine tool as claimed in claim 6, characterized in that a through hole for a Z-axis longitudinal beam (7) to pass through is arranged on the vertical part of the L-shaped Y-axis protective cover (31), built-in sliding blocks (34) are arranged on the inner walls of the two sides of the through hole, Z-axis sliding rails (35) are arranged on the two side walls of the Z-axis longitudinal beam (7), the built-in sliding blocks (34) are slidably arranged on the corresponding Z-axis sliding rails (35) in a penetrating way, Z-axis toothed bar plates (36) are arranged on the Z-axis longitudinal beams (7), the Z-axis toothed plate (36) is engaged with a Z-axis gear which is connected with a Z-axis driving motor (37), the Z-axis driving motor (37) is installed on the L-shaped Y-axis shield (31), and Z-axis limiting anti-collision blocks (38) are arranged at the upper end and the lower end of the Z-axis toothed plate (36) of the Z-axis longitudinal beam (7).
8. The truss manipulator device for the duplex numerical control machine tool is characterized in that the grabbing component comprises an isosceles trapezoid connecting base (39) fixed on a rotating base of a rotating grabbing cylinder (8), clamping finger cylinders (40) are mounted on two waist plates of the isosceles trapezoid connecting base (39), bar moving clamping plates (42) are detachably mounted on two clamping moving plates (41) of the clamping finger cylinders (40) through bolts, and arc-shaped clamping grooves are formed in the bar moving clamping plates (42).
9. The truss manipulator device for the duplex numerical control machine tool is characterized in that the stacking rack (9) is of a 'L' -shaped structure, the vertical part of the stacking rack (9) is fixed on the side surfaces of two upright posts (18), a triangular support (43) is arranged between the horizontal part and the vertical part of the stacking rack (9), and the stacking tray (10) is fixed on the upper surface of the horizontal part of the stacking rack (9); the stacking placing piece is an L-shaped supporting plate (44) detachably fixed on the upper surface of the stacking tray (10) through bolts, and a plurality of arc-shaped placing grooves (45) for placing the bars (11) are formed in the L-shaped supporting plate (44).
10. The truss manipulator device for the duplex numerical control machine tool as claimed in claim 9, wherein the X-axis guide rail (24), the Y-axis guide rail (30) and the Z-axis slide rail (35) are all i-shaped structures, the bottom of the X-axis shield (26) is provided with a slider matched with the X-axis guide rail (24), and the vertical part of the "l-shaped" Y-axis shield (31) is provided with a slider matched with the Y-axis guide rail (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122499202.3U CN216229440U (en) | 2021-10-18 | 2021-10-18 | Truss manipulator device for duplex numerical control machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122499202.3U CN216229440U (en) | 2021-10-18 | 2021-10-18 | Truss manipulator device for duplex numerical control machine tool |
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| Publication Number | Publication Date |
|---|---|
| CN216229440U true CN216229440U (en) | 2022-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122499202.3U Active CN216229440U (en) | 2021-10-18 | 2021-10-18 | Truss manipulator device for duplex numerical control machine tool |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115091251A (en) * | 2022-07-25 | 2022-09-23 | 南通晓亚机械有限公司 | Exempt from tool setting pay-off positioner based on digit control machine tool |
-
2021
- 2021-10-18 CN CN202122499202.3U patent/CN216229440U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115091251A (en) * | 2022-07-25 | 2022-09-23 | 南通晓亚机械有限公司 | Exempt from tool setting pay-off positioner based on digit control machine tool |
| CN115091251B (en) * | 2022-07-25 | 2024-06-07 | 智浦鑫(江苏)智能装备有限公司 | Tool setting-free feeding and positioning device based on numerical control machine tool |
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