CN104772644A - Assembled type universal loading and unloading manipulator of numerical control machine tool - Google Patents
Assembled type universal loading and unloading manipulator of numerical control machine tool Download PDFInfo
- Publication number
- CN104772644A CN104772644A CN201510219109.9A CN201510219109A CN104772644A CN 104772644 A CN104772644 A CN 104772644A CN 201510219109 A CN201510219109 A CN 201510219109A CN 104772644 A CN104772644 A CN 104772644A
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- axis
- slideway
- machine tool
- carrying slide
- unloading manipulator
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/046—Handling workpieces or tools
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a loading and unloading manipulator, in particular to an assembled type universal loading and unloading manipulator of a numerical control machine tool, and belongs to the technical field of machine tool automation. The assembled type universal loading and unloading manipulator of the numerical control machine tool comprises X-axis slide ways, a bearing slide seat, a Z-axis slide way, a pneumatic clamping jaw, a pneumatic rotary unit and a main beam; the X-axis slide ways are arranged on the upper surface and the lower surface of the main beam in the horizontal direction, and the bearing slide seat is slidably connected to the X-axis slide ways through guide wheels; a Z-axis seat is fixed on the bearing slide seat, the Z-axis slide way is arranged on the Z-axis seat in the vertical direction, and the bearing slide seat is slidably connected to the Z-axis slide way through guide wheels; the lower end of the Z-axis slide way is provided with the pneumatic rotary unit, the lower end of the pneumatic rotary unit is connected with the pneumatic clamping jaw, and the pneumatic rotary unit can drive the pneumatic clamping jaw to do horizontal rotary motion. The assembled type universal loading and unloading manipulator of the numerical control machine tool is suitable for machining circular parts and finished parts of which the auxiliaries can be purchased in the market to form the universal loading and unloading manipulator; the assembled type universal loading and unloading manipulator is small in occupied area, low in cost and convenient to popularize and maintain, and can adapt to the transformation of the original layout of an old factory.
Description
Technical field
The present invention relates to a kind of loading and unloading manipulator, a kind of Assembled universal type loading and unloading manipulator of Digit Control Machine Tool, belongs to Machinery Tool Automation technical field specifically.
Background technology
At present, in auto industry, in the industries such as universal machine, internal combustion engine, bearing, for enhancing productivity, reduce labour's spending, the automatic loading and unloading system of Digit Control Machine Tool just progressively puts it over.Originally a machine tool is managed by an operator, and after adopting automatic loading and unloading manipulator, an operator can manage multiple stage lathe simultaneously.For the machine components of batch production, its economic benefit is apparent.But with the popularity rate of Digit Control Machine Tool is out-of-proportion, its automatic loading and unloading system application surface at home or minimum.The enterprise being only minority larger adopted, and main cause is: 1. the understanding of most enterprise to the loading and unloading manipulator of Digit Control Machine Tool is under a delusion, and thinks that technology is abstruse, not easily grasps; 2. the domestic Digit Control Machine Tool loading and unloading manipulator cost produced by professional factory is at present also very high, and one-time investment is comparatively large, and most enterprise is hung back; 3. the loading and unloading manipulator of existing multiple kind can not adapt to the transformation of existing equipment layout, must be that newly-built enterprise could apply.
Summary of the invention
The object of the invention is to overcome above-mentioned weak point, thus provide a kind of Assembled universal type loading and unloading manipulator of Digit Control Machine Tool, compact conformation, rationally, floor space is little, easy to maintenance, and cost is lower.
According to technical scheme provided by the invention, the Assembled universal type loading and unloading manipulator of Digit Control Machine Tool comprises X-axis slideway, carrying slide, Z axis slideway, Pneumatic clamping jaw, pneumatic rotary unit and girder, it is characterized in that: girder upper and lower surface is provided with X-axis slideway in the horizontal direction, carrying slide is slidably connected on X-axis slideway by guide wheel, carrying slide is provided with X-axis driving mechanism, and X-axis driving mechanism can drive carrying slide to seesaw along X-axis slideway; Carrying slide fixes Z axis seat, Z axis seat is vertically provided with Z axis slideway, carrying slide is slidably connected on Z axis slideway by guide wheel, and carrying slide is provided with Z axis driving mechanism, and Z axis driving mechanism can drive carrying slide to move up and down along Z axis slideway; Z axis slideway lower end is provided with pneumatic rotary unit, and pneumatic rotary unit lower end connects Pneumatic clamping jaw, and pneumatic rotary unit can drive Pneumatic clamping jaw to do horizontal rotation motion.
Further, X-axis driving mechanism comprises X-axis servomotor, X-axis reductor and X-axis driven wheel, X-axis servomotor output connects X-axis reductor, X-axis output end of reducer connects X-axis driven wheel, X-axis driven wheel and X-axis slideway engage each other, thus drive carrying slide to do the motion of horizontal direction.
Further, X-axis slideway rear and front end is provided with X-axis buffer stopper.
Further, be provided with X-axis protection drag chain between girder and carrying slide, X-axis protection drag chain one end is fixed on carrying slide, and the other end is fixed on girder.
Further, Z axis driving mechanism comprises Z axis servomotor, Z axis reductor and Z axis driven wheel, Z axis servomotor output connects Z axis reductor, Z axis output end of reducer connects Z axis driven wheel, Z axis driven wheel and Z axis slideway engage each other, thus drive carrying slide to do the motion of vertical direction.
Further, Z axis slideway rear and front end is provided with Z axis buffer stopper.
Further, be provided with Z axis protection drag chain between Z axis seat and carrying slide, Z axis protection drag chain one end is fixed on Z axis seat, and the other end is fixed on carrying slide.
Further, X-axis slideway and Z axis slideway are V-arrangement slideway.
Compared with the prior art the present invention has the following advantages:
Structure of the present invention is simple, compact, reasonable, and the present invention is adapted to process circular pieces, and the supporting component end item can bought in market, to form universal loading and unloading manipulator; Floor space is little, and can adapt to the transformation of the original layout of old factory, its cost is lower, is convenient to popularize; Easy to maintenance.
Accompanying drawing explanation
Fig. 1 is front view of the present invention.
Fig. 2 is side view of the present invention.
Fig. 3 is X-axis slideway front view.
Fig. 4 is X-axis slideway side view.
Fig. 5 is Y-axis slideway front view.
Fig. 6 is Y-axis slideway side view.
Description of reference numerals: 1-X axle slideway, 2-carries slide, 3-Z axle slideway, 4-Pneumatic clamping jaw, 5-pneumatic rotary unit, 6-X axle protection drag chain, 7-Z axle protection drag chain, 8-girder, 9-guide wheel, 10-X axle driving mechanism, 10.1-X axle servomotor, 10.2-X axle reductor, 10.3-X axle driven wheel, 11-X axle buffer stopper, 12-Z axle bed, 13-Z axle driving mechanism, 13.1-Z axle servomotor, 13.2-Z axle reductor, 13.3-Z axle driven wheel, 14-Z axle buffer stopper, A-automatic feed bin, B-door shape truss, C-lathe.
Detailed description of the invention
Embodiment in is by reference to the accompanying drawings further described by the present invention below:
As shown in Figure 1 and 2, the present invention mainly comprises X-axis slideway 1, carrying slide 2, Z axis slideway 3, Pneumatic clamping jaw 4, pneumatic rotary unit 5 and girder 8, girder 8 upper and lower surface is provided with X-axis slideway 1 in the horizontal direction, and carrying slide 2 is slidably connected on X-axis slideway 1 by guide wheel 8.Carrying slide 2 is provided with X-axis driving mechanism 10, and X-axis driving mechanism 10 can drive carrying slide 2 to seesaw along X-axis slideway 1.
As shown in Fig. 3 ~ 4, described X-axis driving mechanism 10 comprises X-axis servomotor 10.1, X-axis reductor 10.2 and X-axis driven wheel 10.3, X-axis servomotor 10.1 output connects X-axis reductor 10.1, X-axis reductor 10.2 output connects X-axis driven wheel 10.3, X-axis driven wheel 10.3 and X-axis slideway 1 engage each other, thus drive carrying slide 2 to do the motion of horizontal direction.
Described X-axis slideway 1 rear and front end is provided with X-axis buffer stopper 11, and X-axis buffer stopper 11 reduces impact when carrying slide 2 puts in place.
Be provided with X-axis protection drag chain 6 between girder 8 and carrying slide 2, X-axis protection drag chain 6 one end is fixed on carrying slide 2, and the other end is fixed on girder 8, and X-axis protection drag chain 6 is for the installation protection of power supply and holding wire.
Carrying slide 2 fixes Z axis seat 12, Z axis seat 12 is vertically provided with Z axis slideway 3, carrying slide 2 is slidably connected on Z axis slideway 3 by guide wheel 8.Carrying slide 2 is provided with Z axis driving mechanism 13, and Z axis driving mechanism 13 can drive carrying slide 2 to move up and down along Z axis slideway 3.
As shown in Fig. 5 ~ 6, described Z axis driving mechanism 13 comprises Z axis servomotor 13.1, Z axis reductor 13.2 and Z axis driven wheel 13.3, Z axis servomotor 13.1 output connects Z axis reductor 13.2, Z axis reductor 13.2 output connects Z axis driven wheel 13.3, Z axis driven wheel 13.3 and Z axis slideway 3 engage each other, thus drive carrying slide 2 to do the motion of vertical direction.
Described Z axis slideway 3 rear and front end is provided with Z axis buffer stopper 14, and Z axis buffer stopper 14 reduces impact when carrying slide 2 puts in place.
Be provided with Z axis protection drag chain 7 between Z axis seat 12 and carrying slide 2, Z axis protection drag chain 7 one end is fixed on Z axis seat 12, and the other end is fixed on carrying slide 2, and Z axis protection drag chain 7 is for the installation protection of power supply and holding wire.
Z axis slideway 3 lower end is provided with pneumatic rotary unit 5, and pneumatic rotary unit 5 lower end connects Pneumatic clamping jaw 4.Pneumatic rotary unit 5 can drive Pneumatic clamping jaw 4 to do horizontal rotation motion.
Described X-axis slideway 1 and Z axis slideway 3 are V-arrangement slideway.
The present invention in use, is fixed on a shape truss, and makes girder be positioned at the top at machine tool chief axis center, and parallel with major axes orientation.Trussmember can according to lathe size, workpiece weight, size, and auxiliary equipment arrangement form and designed, designed, and material is to adopt heavy wall square tube comparatively suitable.
Be arranged in the X-axis slideway on girder and the heavy slideway in Z axis slideway employing linear guides, the heavy slideway of the HDS2 that the HEPCO MOTION company of Gou Jianyou Britain comparatively share at present produces, slideway length can provide by ordering requirements.Carrying slide is driven by X-axis driving mechanism and Z axis driving mechanism and moves along X-axis slideway and Z axis slideway, and the movement velocity of X-axis and Z axis can according to the stationarity of the length of required productive temp and work, and positioning precision etc. require to determine.Chosen by the power of the factor determination servomotors such as movement velocity and workpiece weight, the maximum movement speed of X-axis and Z axis should be no more than 1000 mm/second.
Install pneumatic rotary unit and Pneumatic clamping jaw in the lower end of Z axis, Pneumatic clamping jaw buying, from companies such as Britain FIBRO and German FESTO, can capture blank to be processed in feed bin when Pneumatic clamping jaw is downward; Pneumatic clamping jaw left time can capture the workpiece processed on machine chuck.On main shaft of numerical control machine tool center line, chuck side arranges automatic feed bin, places blank in automatic feed bin, and manipulator stretches in automatic feed bin and captures blank.X-axis and Z axis arrange protection drag chain, to protect power power-line, holding wire, appendix etc.Its inner cavity size should be large enough to hold whole spool and leave surplus.
Manipulator of the present invention belongs to " rectangular co-ordinate class " in robot classification, and be different from " garden cylindrical coordinates class " and " spherical coordinates class ", its movement locus is the straight line of different directions, and thus its mechanical construction and control system is all relatively simple.The present invention is adapted to processing circular pieces, and the supporting component end item can bought in market, to form universal loading and unloading manipulator.Frame for movement is simple, and floor space is little, can adapt to the transformation of the original layout of old factory.Its basic element of character is except truss structure, and as linear guides, Pneumatic clamping jaw, the parts such as automatic feed bin can commercially be chosen, and therefore most factory can assemble voluntarily.Its assembly cost, less than 1/2nd of finished product manipulator, is convenient to popularize.And be assembled with and be beneficial to the performance that manipulator is familiar with by enterprise, contribute to the maintenance of manipulator and improve the technical merit of enterprise.
Claims (8)
1. the Assembled universal type loading and unloading manipulator of a Digit Control Machine Tool, comprise X-axis slideway (1), carrying slide (2), Z axis slideway (3), Pneumatic clamping jaw (4), pneumatic rotary unit (5) and girder (8), it is characterized in that: girder (8) upper and lower surface is provided with X-axis slideway (1) in the horizontal direction, carrying slide (2) is slidably connected on X-axis slideway (1) by guide wheel (8), carrying slide (2) is provided with X-axis driving mechanism (10), and X-axis driving mechanism (10) can drive carrying slide (2) to seesaw along X-axis slideway (1); The upper fixing Z axis seat (12) of carrying slide (2), Z axis seat (12) is vertically provided with Z axis slideway (3), carrying slide (2) is slidably connected on Z axis slideway (3) by guide wheel (8), carrying slide (2) is provided with Z axis driving mechanism (13), and Z axis driving mechanism (13) can drive carrying slide (2) to move up and down along Z axis slideway (3); Z axis slideway (3) lower end is provided with pneumatic rotary unit (5), and pneumatic rotary unit (5) lower end connects Pneumatic clamping jaw (4), and pneumatic rotary unit (5) can drive Pneumatic clamping jaw (4) to do horizontal rotation motion.
2. the Assembled universal type loading and unloading manipulator of Digit Control Machine Tool as claimed in claim 1, it is characterized in that: described X-axis driving mechanism (10) comprises X-axis servomotor (10.1), X-axis reductor (10.2) and X-axis driven wheel (10.3), X-axis servomotor (10.1) output connects X-axis reductor (10.1), X-axis reductor (10.2) output connects X-axis driven wheel (10.3), X-axis driven wheel (10.3) and X-axis slideway (1) engage each other, thus drive carrying slide (2) to do the motion of horizontal direction.
3. the Assembled universal type loading and unloading manipulator of Digit Control Machine Tool as claimed in claim 1, is characterized in that: described X-axis slideway (1) rear and front end is provided with X-axis buffer stopper (11).
4. the Assembled universal type loading and unloading manipulator of Digit Control Machine Tool as claimed in claim 1; it is characterized in that: between described girder (8) and carrying slide (2), be provided with X-axis protection drag chain (6); X-axis protection drag chain (6) one end is fixed in carrying slide (2), and the other end is fixed on girder (8).
5. the Assembled universal type loading and unloading manipulator of Digit Control Machine Tool as claimed in claim 1, it is characterized in that: described Z axis driving mechanism (13) comprises Z axis servomotor (13.1), Z axis reductor (13.2) and Z axis driven wheel (13.3), Z axis servomotor (13.1) output connects Z axis reductor (13.2), Z axis reductor (13.2) output connects Z axis driven wheel (13.3), Z axis driven wheel (13.3) and Z axis slideway (3) engage each other, thus drive carrying slide (2) to do the motion of vertical direction.
6. the Assembled universal type loading and unloading manipulator of Digit Control Machine Tool as claimed in claim 1, is characterized in that: described Z axis slideway (3) rear and front end is provided with Z axis buffer stopper (14).
7. the Assembled universal type loading and unloading manipulator of Digit Control Machine Tool as claimed in claim 1; it is characterized in that: between described Z axis seat (12) and carrying slide (2), be provided with Z axis protection drag chain (7); Z axis protection drag chain (7) one end is fixed on Z axis seat (12), and the other end is fixed in carrying slide (2).
8. the Assembled universal type loading and unloading manipulator of Digit Control Machine Tool as claimed in claim 1, is characterized in that: described X-axis slideway (1) and Z axis slideway (3) are V-arrangement slideway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510219109.9A CN104772644A (en) | 2015-04-30 | 2015-04-30 | Assembled type universal loading and unloading manipulator of numerical control machine tool |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510219109.9A CN104772644A (en) | 2015-04-30 | 2015-04-30 | Assembled type universal loading and unloading manipulator of numerical control machine tool |
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| CN104772644A true CN104772644A (en) | 2015-07-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510219109.9A Pending CN104772644A (en) | 2015-04-30 | 2015-04-30 | Assembled type universal loading and unloading manipulator of numerical control machine tool |
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| CN (1) | CN104772644A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105234436A (en) * | 2015-11-23 | 2016-01-13 | 重庆欧博特智能机器人科技有限公司 | Workpiece positioning and clamping mechanism |
| CN105798911A (en) * | 2016-05-13 | 2016-07-27 | 韩永亮 | Mechanical arm moving control system for automatic lathe |
| CN106041618A (en) * | 2016-06-27 | 2016-10-26 | 泰州市金鹰精密铸造有限公司 | Truss type automatic machining system and method for clutch drive disc |
| CN108436497A (en) * | 2018-05-22 | 2018-08-24 | 南京工程学院 | A kind of flexible Z axis and C axis composite structures |
| CN111496275A (en) * | 2020-04-29 | 2020-08-07 | 刘环 | Guide rail type automatic feeding and discharging mechanism on numerical control lathe |
| CN113618471A (en) * | 2021-08-23 | 2021-11-09 | 津上精密机床（浙江）有限公司 | Automatic unloading system of digit control machine tool |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105234436A (en) * | 2015-11-23 | 2016-01-13 | 重庆欧博特智能机器人科技有限公司 | Workpiece positioning and clamping mechanism |
| CN105798911A (en) * | 2016-05-13 | 2016-07-27 | 韩永亮 | Mechanical arm moving control system for automatic lathe |
| CN106041618A (en) * | 2016-06-27 | 2016-10-26 | 泰州市金鹰精密铸造有限公司 | Truss type automatic machining system and method for clutch drive disc |
| CN108436497A (en) * | 2018-05-22 | 2018-08-24 | 南京工程学院 | A kind of flexible Z axis and C axis composite structures |
| CN111496275A (en) * | 2020-04-29 | 2020-08-07 | 刘环 | Guide rail type automatic feeding and discharging mechanism on numerical control lathe |
| CN111496275B (en) * | 2020-04-29 | 2022-12-13 | 宝鸡山崎精工智能装备有限公司 | Guide rail type automatic feeding and discharging mechanism on numerical control lathe |
| CN113618471A (en) * | 2021-08-23 | 2021-11-09 | 津上精密机床（浙江）有限公司 | Automatic unloading system of digit control machine tool |
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Application publication date: 20150715 |