CN106239488A - A kind of Digit Control Machine Tool machinery hands and positioner - Google Patents
A kind of Digit Control Machine Tool machinery hands and positioner Download PDFInfo
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- CN106239488A CN106239488A CN201610423757.0A CN201610423757A CN106239488A CN 106239488 A CN106239488 A CN 106239488A CN 201610423757 A CN201610423757 A CN 201610423757A CN 106239488 A CN106239488 A CN 106239488A
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- 230000007246 mechanism Effects 0.000 claims abstract description 125
- 230000003028 elevating effect Effects 0.000 claims abstract description 31
- 238000012545 processing Methods 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims description 38
- 238000007654 immersion Methods 0.000 claims description 21
- 238000004140 cleaning Methods 0.000 claims description 20
- 230000003139 buffering effect Effects 0.000 claims description 11
- 230000006870 function Effects 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 239000007789 gas Substances 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 4
- 241001473780 Sideroxylon lanuginosum Species 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 238000003754 machining Methods 0.000 claims description 2
- 230000003111 delayed effect Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000007787 solid Substances 0.000 description 4
- 241000817702 Acetabula Species 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000002791 soaking Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 208000031481 Pathologic Constriction Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 210000001215 vagina Anatomy 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
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- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
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Abstract
A kind of Digit Control Machine Tool machinery hands and positioner, it relates to numerical control machine tool technique field.Described gantry-type mechanical arm, soak elevating mechanism, workpiece feeding device, workpiece blanking device is arranged on table rest, clamping and positioning device, table rest are fixed in Digit Control Machine Tool mobile device, table rest is also secured on slide unit simultaneously, slide unit is fixed on slide unit bracing frame, and slide unit bracing frame is fixed on numerical controlled machine-tool；Clamping and positioning device of the present invention utilizes coaxial left-right screw thread operation principle, when motor rotates forward, left-hand thread screw mandrel or screw rod and right-hand thread screw mandrel or screw rod drive left L-type right angle guiding ruler location pushing block and right L-type right angle guiding ruler location pushing block to draw close to centre, when two L-type right angle guiding rulers draw close clamping to centre, workpiece, under the effect that two right angle guiding ruler four limits correct, is accurately positioned by workpiece to be processed；Digit Control Machine Tool can be installed 1 10 clamping and positioning devices and carry out multi-work piece alternately processing, improve work efficiency.
Description
Technical field
The present invention relates to numerical control machine tool technique field, be specifically related to a kind of Digit Control Machine Tool machinery hands and positioner.
Background technology
Along with the development of industrial automation, occurring in that numerical control machining center, it is while alleviating the labor intensity of workman,
Substantially increase labor productivity.But loading and unloading operation common in digital control processing, the most still uses manual operation or tradition to continue
The semi-automatic device of electrical equipment control.The former is time-consuming takes a lot of work, efficiency is low；The latter, because of design complexity, needs more relay, and wiring is numerous
Miscellaneous, easily disturbed by body oscillating, and there is the problem such as poor reliability, many, the maintenance difficult of fault.
In numerical control machining center manufacturing industry, work pieces process is required for first positioning workpiece.Carrying out digital control processing
During the location of central workpiece, general following three kinds of methods are used to position:
1, using guiding ruler location, artificial right angle, when carrying out positioning action, artificial left hand takes right angle guiding ruler, pre-at processing base
If guiding ruler being close on good benchmark, after then guiding ruler is close in the two of workpiece to be processed limits by the right hand, setting level workpiece, then opening
Vacuum on base or press briquetting and fixed by workpiece, reaches workpiece location purpose.
This location mode shortcoming is: numerical control machining center required precision is within several microns and several silk, the most directly
Angle guiding ruler is it is difficult to ensure that positioning precision, and reason is that guiding ruler is tight and pine is with the sensation of people, adds upper bed-plate and is machined with a lot of residue, if
Guiding ruler is top go time residue do not clean out and the most easily cause guiding ruler off normal, then be that guiding ruler is typically made by acryl material,
The most easy to wear, cause positioning runout, thus affect positioning precision, and manual operation can not also realize automatization.
2, use cylinder propulsion mode location, utilize the principle that cylinder can freely stretch, Telescopic-cylinder bar is installed
In the pushing block of one L-type, two limits of replacement right angle, two limits guiding ruler of L-type, the right angle of L-type and the four of processing base angles
A right angle on one wire, when not knocking off part, cylinder expansion link is in retracted mode, when knock off part time, of workpiece
Right angle is close to the right angle of the pushing block of cylinder, and then cylinder stretches out and workpiece is pushed to processing base center, arrives location purpose.
This mode shortcoming is: the design of this body structure of cylinder is limited, and is the expanding-contracting action function of a kind of extensive property, because he
To seal cylinder inner carrier by sealing ring, with packing ring come spacing, seal, spacing collar the most flexible, the most spacing do not have precision,
Easily abrasion.Adding cylinder and changed, by the strong and weak of air source pressure intensity, instability of exerting oneself, its inertia size is the most different, adds that this fills
Putting only one of which angle, two margin positions, two other limit is unsettled, and in the case of the varying in size of thrust inertia, workpiece is by inertia
The drift produced is indefinite, therefore it is difficult to ensure that positioning precision.It is constantly the spray water containing Acidity of Aikalinity when also having Product processing,
Also there are residue, Telescopic-cylinder bar to be easy to be glued dirty, along with Telescopic-cylinder is easy to abradable seal circle, cause cylinder to damage
Or unstable, the life-span is short.
3, using CCD optical alignment, CCD is visual imaging, is to utilize CCD visual grasping workpiece sideline to calculate in workpiece
Heart position, visual imaging is relevant with peripheral light source, and just as photograph, light has inverted image and refraction in workpiece different angles, this
Will cause CCD that product sideline is caused erroneous judgement, particularly for processing workpiece is glass transparencies, cannot ensure especially to arrive
Precision, it is the highest the most imperfect to add cost, therefore can hardly find practical applications.
Three of the above scheme is all it cannot be guaranteed that the precision and stability of workpiece location, at the product processed not preservation
Reason, causes the workpiece fraction defective processed the highest, reduces efficiency, add production cost, the most not yet obtain
Actual application and popularization.
Summary of the invention
It is an object of the invention to provide a kind of Digit Control Machine Tool machinery hands and positioner, to solve background technology is carried
The problem gone out, it has planer-type three-dimensional motion machinery handgrip and numerical control Working piece positioning device, utilizes coaxial left-right screw thread two-way
Motion principle, controls motor by electronic digit system, and driven by motor screw rod rotates, and realizes when positive/negative thread rotating shaft rotating
The clamping of work piece holder or unclamp workpiece and reach to be accurately positioned.The course of action of this device is all by electronic numerical control apparatus system control
Making, workpiece can be placed on clamping positioning mechanism or take off by its gantry-type mechanical arm automatically, and this device has removing automatically
Workpiece of residues function, has the automatic soaking function of workpiece, has and can install 1-10 workpiece location on numerically controlled processing equipment
Device multi-work piece is processed.
For achieving the above object, the present invention provides following technical scheme:
A kind of Digit Control Machine Tool machinery hands and positioner, including table rest, gantry-type mechanical arm, slide unit bracing frame, cunning
Platform, clamping positioning mechanism, elastic buffering mechanism, Air Valve Control box, clamping positioning mechanism base, residue cleaning mechanism, immersion rise
Descending mechanism, electronic numerical control device, Air Valve Control box, workpiece feeding device, workpiece blanking device；It is characterized in that: described dragon
Gate-type mechanical hand, immersion elevating mechanism, workpiece feeding device, workpiece blanking device is arranged on table rest, and table rest is solid
Being scheduled in Digit Control Machine Tool mobile device, be also secured on slide unit simultaneously, slide unit is fixed on slide unit bracing frame, and slide unit bracing frame is solid
It is scheduled on numerical controlled machine-tool；Clamping positioning mechanism, workpiece of residues cleaning mechanism, elastic buffering mechanism, Air Valve Control box are fixed
On clamping positioning mechanism base, clamping positioning mechanism base is fixed in Digit Control Machine Tool mobile device；Electronic numerical control device is put
Put outside mechanical hand and positioner mechanism workbench；Gantry-type mechanical arm is supported for by left vertical support frame and right vertical support frame
Planer type structure；Described slide unit bracing frame and slide unit composition gantry-type mechanical arm, immersion elevating mechanism, workpiece feeding device,
Workpiece blanking device is arranged on the supporting construction of table rest, and table rest is fixed in Digit Control Machine Tool mobile device, by number
Control machine tool movement device powered belt is moved table rest and is slided on slide unit；Described gantry-type mechanical arm sets on horizontal operation face
Having X-axis motion module and Y-axis motion module, be provided with Z axis motion module on lower work face, the end of Y-axis motion module sets
There is mechanical gripper, workpiece to be processed can be put on clamping positioning mechanism or take off by gantry-type mechanical arm, planer-type machine
Tool torch unit includes X-axis motion module motor, Y-axis motion module motor, Z axis motion module motor and mechanical gripper motor.
Preferably, described clamping positioning mechanism is by positioning motor, workpiece positioning base, bearing block, left-hand thread screw mandrel, the right side
Threaded screw rod, left-hand thread set, right-hand thread set, left L-type right angle guiding ruler location pushing block and right L-type right angle guiding ruler location pushing block composition；
The left end of described positioning motor connects the left-hand thread screw mandrel having forward, and the right-hand member of positioning motor connects reverse right-hand thread silk
Bar, left-hand thread screw mandrel is provided with matched left-hand thread set, and right-hand thread screw mandrel is provided with matched right-hand thread set, left L
Type right angle guiding ruler location pushing block and right L-type right angle guiding ruler location pushing block are respectively provided at left-hand thread set and put with right-hand thread, described
Guiding ruler location, left L-type right angle pushing block is provided with elastic buffering mechanism, and the lower section of left-hand thread screw mandrel and right-hand thread screw mandrel is provided with guide rail,
Left-hand thread set and right-hand thread set coordinate with slide.
When positioning motor rotates forward, left-hand thread set and right-hand thread set on left-hand thread screw mandrel and right-hand thread screw mandrel drive left L
Type right angle guiding ruler location pushing block and right L-type right angle guiding ruler location pushing block are drawn close to centre, clamp workpiece；When positioning motor inverts
Time, left-hand thread set and right-hand thread set on left-hand thread screw mandrel and right-hand thread screw mandrel drive left L-type right angle guiding ruler location pushing block and right L
Guiding ruler location, type right angle pushing block moves to both sides, unclamps workpiece.
Preferably, described residue cleaning mechanism is made up of fumarole, air jet pipe joint, Air Valve Control box, and fumarole sets
On left L-type right angle guiding ruler location pushing block or right L-type right angle guiding ruler location pushing block, Air Valve Control box is connected by air jet pipe joint
Fumarole, after gases at high pressure are controlled by Air Valve Control box, high pressure gas physical ability cleaner's part surface of fumarole ejection and processing
Processing residue on positioning base.
Preferably, the described elevating mechanism that soaks is located at the left side of gantry-type mechanical arm, and workpiece feeding device is located at gantry
The right side of formula mechanical hand, described immersion elevating mechanism include lifting motor, shaft coupling, threaded screw rod, thread bush, bearing block,
Hold water tank, workpiece lifting pallet, workpiece blanking device；Threaded screw rod one end connecting shaft bearing, the other end passes through shaft coupling and liter
Fall motor connects, and thread bush is arranged on threaded screw rod, and is connected with workpiece lifting pallet, and described workpiece blanking device is located at
On workpiece lifting pallet, driving threaded screw rod to rotate by lifting motor, thread bush moves up and down along threaded screw rod so that with
The workpiece lifting pallet that thread bush connects can lift, thus be dipped into by the workpiece in workpiece blanking device in appearance water tank or take
Go out.
Preferably, described electronic numerical control device is by human-machine operation panel, microprocessor control circuit, gantry-type mechanical arm
Sequence circuit, clamping positioning mechanism sequence circuit, residue cleaning mechanism sequence circuit, immersion elevating mechanism journey
Sequence control circuit forms；Described human-machine operation panel is provided with startup shutdown switch, operation button groups, relay indicating light, man-machine
Guidance panel provides human-computer exchange operation, manual debugging function, and work pieces process program is inputted by touch screen, and working method is said good-bye
Move and automatic two kinds；Described microprocessor control circuit presses the action of working procedure and the setting of human-machine operation panel to planer-type machine
Tool hands sequence circuit, clamping positioning mechanism sequence circuit, residue cleaning mechanism sequence circuit, immersion elevator
Structure sequence circuit is controlled；Gantry-type mechanical arm group of motors is controlled by described gantry-type mechanical arm sequence circuit
System, positioning motor is controlled by described clamping positioning mechanism sequence circuit, described immersion elevating mechanism programme-control electricity
Lifting motor is controlled by road, and Air Valve Control box is controlled by described residue cleaning mechanism sequence circuit.
Preferably, described elastic buffering mechanism can replace by spring, gum elastic, elastic piece structure mode, elastic buffer
The cushion stroke of structure can set and regulate.
Preferably, described immersion elevating mechanism (5) elevating mechanism can be with cylinder, hydraulic pressure, and transmission band replaces, can be by rising
Power multi-direction drive workpiece lifting pallet (27) lifting of descending mechanism.
Preferably, described Digit Control Machine Tool machinery hands and positioner can install 1 to 10 clamping positioning mechanisms carry out
Multi-work piece is processed.
Preferably, described positioning motor is not limited to be arranged on the center of clamping positioning mechanism, and positioning motor can
Being arranged on left end or the right-hand member of clamping positioning mechanism, left-hand thread screw mandrel and right-hand thread screw mandrel now can be with the spiral shells of coaxial two-direction
Stricture of vagina screw mandrel replaces.
Preferably, described residue cleaning mechanism, it is not limited to jet mechanism except residue, can replace carrying out with hydrojet mechanism
Except residue.
Preferably, described bracing frame can support with other frame modes, can not when installing on some Digit Control Machine Tool
With bracing frame and slide unit.
Compared with prior art, the invention has the beneficial effects as follows: the present invention have planer-type three-dimensional motion machinery handgrip and
NC positioning devices, utilizes left and right screw thread bidirectional-movement principle, controls positioning motor, driven by motor spiral shell by electronic numerical control device
Bar rotates, and realizes one and opens the co-clip tense-lax part that goes into operation and realize being accurately positioned, make workpiece centre with solid during bidirectional helical axle rotating
Determine processing base center superposition, thus realize the location of high accuracy, high efficiency, high stability, greatly improve conforming product rate
And production efficiency.The gantry-type mechanical arm of this device exists by controlling X-axis motion module, Y-axis motion module and Z axis motion module
The activity of full degree of freedom in space, is provided with the Acetabula device of mechanical gripper, the suction of mechanical gripper on Z axis motion module simultaneously
Vacuum cup decline on dish device rises after holding workpiece, then moves to precalculated position, and vacuum cup declines, vacuum cup
Workpiece is placed on the fixing processing base of fixing device release, workpiece positioning base has auxiliary vacuum hole, can be by work
Part auxiliary sucks, and workpiece is drawn close to center and pushed fixing processing base center to by the location of the L-type in fixing device pushing block simultaneously, makes
Workpiece centre and fixing processing base center superposition, thus realize the location of high accuracy, high efficiency, high stability, it is greatly improved
Conforming product rate and production efficiency.The course of action of this device is all controlled by electronic numerical control apparatus system, it is achieved that automatically
Change, save artificial, reduce production cost.This positioner can according to actual needs can be on same numerical control machining center
One or more combination is installed so that it is numerical control machining center is not shut down, continual at processing workpiece, add planer-type machine
Workpiece can be placed on clamping positioning mechanism or take off by tool hands, thus realizes the location of high accuracy, high efficiency, high stability,
Greatly improve conforming product rate and production efficiency.This device has removes workpiece of residues function automatically, has the automatic of workpiece
Soaking function, great popularization.
Accompanying drawing explanation
Fig. 1 is the composition structural representation of the present invention；
Fig. 2 is the constructive embodiment schematic diagram of clamping positioning mechanism of the present invention；
Fig. 3 is the moving structure embodiment schematic diagram of guiding ruler location, L-type right angle pushing block
Fig. 4 is the constructive embodiment schematic diagram of driven by motor left and right of the present invention threaded screw rod；
Fig. 5 is the constructive embodiment schematic diagram that the present invention soaks elevating mechanism；
Fig. 6 is the circuit embodiments schematic diagram of the electronic-controlled installation of the present invention.
In figure: 1-gantry-type mechanical arm table rest；2-gantry-type mechanical arm；3-clamping positioning mechanism；4-residue is cleared up
Mechanism；5-soaks elevating mechanism；6-electronic numerical control mechanism；The left vertical support frame of 7-；The right vertical support frame of 8-；9-X axle motion module；
10-Y axle motion module；11-Z axle motion module；12-elastic buffering mechanism；13-workpiece feeding device；14-mechanical gripper；15-
Air Valve Control box；16-fumarole；17-air jet pipe joint；18-slide unit bracing frame；19-gantry-type mechanical arm group of motors；20-is sliding
Platform；21-lifting motor；22-shaft coupling；23-threaded screw rod；24-thread bush；25-bearing block；26-water tank；27-workpiece liter
Fall pallet；28-workpiece blanking device；29-clamping positioning mechanism base；30-Digit Control Machine Tool mobile device；31-positioning motor；
32-workpiece positioning base；33-bearing block；34-left-hand thread screw mandrel；35-right-hand thread screw mandrel；36-left-hand thread set；37-right-hand thread
Set；Guiding ruler location, 38-left L-type right angle pushing block；Guiding ruler location, 39-right L-type right angle pushing block；40-guide rail；61-human-machine operation panel；
62-microprocessor control circuit；63-gantry-type mechanical arm sequence circuit；64-clamping positioning mechanism sequence circuit；
65-residue cleaning mechanism sequence circuit；66-soaks elevating mechanism sequence circuit.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Referring to as shown in Fig. 1～Fig. 5, a kind of Digit Control Machine Tool machinery hands and positioner, including including table rest 1, dragon
Gate-type mechanical hand 2, slide unit bracing frame 18, slide unit 20, clamping positioning mechanism 3, elastic buffering mechanism 12, Air Valve Control box 15, folder
Tightening position mechanism base 29, residue cleaning mechanism 4, immersion elevating mechanism 5, electronic numerical control device 6, Air Valve Control box 15, workpiece
Feeding device 13, workpiece blanking device 28；It is characterized in that: described gantry-type mechanical arm 2, soak on elevating mechanism 5, workpiece
Material device 13, workpiece blanking device 28 is arranged on table rest 1, and table rest 1 is fixed in Digit Control Machine Tool mobile device 30,
Being also secured on slide unit 20, slide unit solid 20 is fixed on slide unit bracing frame 18, and slide unit bracing frame 18 is fixed on Digit Control Machine Tool simultaneously
On fuselage；Clamping positioning mechanism 3, elastic buffering mechanism 12, Air Valve Control box 15, workpiece of residues cleaning mechanism 4 are fixed on clamping
On detent mechanism base 29, clamping positioning mechanism base 29 is fixed in Digit Control Machine Tool mobile device 30；Electronic numerical control device 6 is put
Put outside mechanical hand and positioner mechanism workbench；Gantry-type mechanical arm 2 is by left vertical support frame 7 and right vertical support frame 8
Support is planer type structure；Described gantry-type mechanical arm 2 is provided with X-axis motion module 9 and Y-axis motion module on horizontal operation face
10, lower work face is provided with Z axis motion module 11, the end of Y-axis motion module 11 is provided with mechanical gripper 14, passes through gantry
Workpiece to be processed can be put on clamping positioning mechanism 3 or take off by formula mechanical hand 2, and gantry-type mechanical arm group of motors 19 includes X
Axle motion module 9 motor, Y-axis motion module 10 motor, Z axis motion module 11 motor and mechanical gripper 14 motor.
Referring to shown in Fig. 2, Fig. 3, Fig. 4, described clamping positioning mechanism 3 is by positioning motor 31, workpiece positioning base 32, axle
Bearing 33, left-hand thread screw mandrel 34, right-hand thread screw mandrel 35, left-hand thread set 36, right-hand thread set 37, left L-type right angle guiding ruler location pushing block
38 and right L-type right angle guiding ruler location pushing block 39 form；The left end of described positioning motor 31 connects the left-hand thread screw mandrel having forward
34, the right-hand member of positioning motor 31 connects reverse right-hand thread screw mandrel 35, and left-hand thread screw mandrel 34 is provided with matched left spiral shell
Stricture of vagina set 36, right-hand thread screw mandrel 35 is provided with matched right-hand thread set 37, left L-type right angle guiding ruler location pushing block 38 and right L-type
Guiding ruler location, right angle pushing block 39 is respectively provided on left-hand thread set 36 and right-hand thread set 37, and described guiding ruler location, left L-type right angle pushes away
Block 38 is provided with elastic buffering mechanism 12, and the lower section of left-hand thread screw mandrel 34 and right-hand thread screw mandrel 35 is provided with guide rail 40, left-hand thread set
36 and right-hand thread set 37 be slidably matched with guide rail 40.
When positioning motor 31 rotates forward, the left-hand thread set 36 on left-hand thread screw mandrel 34 and right-hand thread screw mandrel 35 and right-hand thread set
37 drive left L-type right angle guiding ruler location pushing block 38 and right L-type right angle guiding ruler location pushing block 39 to draw close to centre, clamp workpiece；When
When positioning motor 31 inverts, the left-hand thread set 36 on left-hand thread screw mandrel 34 and right-hand thread screw mandrel 35 and the right-hand thread set 37 left L of drive
Type right angle guiding ruler location pushing block 38 and right L-type right angle guiding ruler location pushing block 39 move to both sides, unclamp workpiece.
Referring to shown in Fig. 1, Fig. 2, Fig. 3, described residue cleaning mechanism 4 is by fumarole 16, air jet pipe joint 17, air valve control
Box 15 processed forms, and fumarole 16 is located on left L-type right angle guiding ruler location pushing block 38 or right L-type right angle guiding ruler location pushing block 39, gas
Valve controls box 15 and connects fumarole 16 by air jet pipe joint 17, after gases at high pressure are controlled by Air Valve Control box 15, and fumarole
Processing residue on high pressure gas physical ability cleaner's part surface of 16 ejections and locating and machining base 32.
Referring to shown in Fig. 1, Fig. 5, the described elevating mechanism 5 that soaks is located at the left side of gantry-type mechanical arm 2, and workpiece feeding fills
Putting 13 right sides being located at gantry-type mechanical arm 2, described immersion elevating mechanism 5 includes lifting motor 21, shaft coupling 22, screw thread silk
Bar 23, thread bush 24, bearing block 25, appearance water tank 26, workpiece lifting pallet 27, workpiece blanking device 28；Threaded screw rod 23 one end
Connecting shaft bearing 25, the other end is connected with lifting motor 21 by shaft coupling 22, and thread bush 24 is arranged on threaded screw rod 23, and
Being connected with workpiece lifting pallet 27, described workpiece blanking device 28 is located on workpiece lifting pallet 27, by lifting motor 21
Driving threaded screw rod 23 to rotate, thread bush 24 moves up and down along threaded screw rod 23 so that the workpiece liter being connected with thread bush 24
Fall pallet 27 can lift, thus be dipped into by the workpiece in workpiece blanking device 28 in appearance water tank 26 or take out.
Referring to shown in Fig. 6, Fig. 1～Fig. 5, described electronic numerical control device 6 is controlled by human-machine operation panel 61, microprocessor
Circuit 62, gantry-type mechanical arm sequence circuit 63, clamping positioning mechanism sequence circuit 64, residue cleaning mechanism program
Control circuit 65, immersion elevating mechanism sequence circuit 66 form；Described human-machine operation panel 61 is provided with startup stopping and opening
Closing, operate button groups, relay indicating light, human-machine operation panel 61 provides human-computer exchange to operate, manual debugging function, work pieces process
Program is inputted by touch screen, and working method divides manually and automatically two kinds；Described microprocessor control circuit 62 is by working procedure
Electric to gantry-type mechanical arm sequence circuit 63, clamping positioning mechanism programme-control with the action that human-machine operation panel 61 sets
Road 64, residue cleaning mechanism sequence circuit 65, immersion elevating mechanism sequence circuit 66 are controlled.Described planer-type
Gantry-type mechanical arm group of motors 19 is controlled by mechanical hand sequence circuit 63, described clamping positioning mechanism programme-control electricity
Positioning motor 31 is controlled by road 64, and lifting motor 21 is controlled by described immersion elevating mechanism sequence circuit 66,
Air Valve Control box 15 is controlled by described residue cleaning mechanism sequence circuit 65.
Described elastic buffering mechanism 12 can replace by spring, gum elastic, elastic piece structure mode, elastic buffer structure
Cushion stroke can set and regulate；Described immersion elevating mechanism 5 elevating mechanism can be with cylinder, hydraulic pressure, and transmission band replaces；Can be logical
The power multi-direction drive workpiece lifting pallet 27 crossing elevating mechanism lifts；On described Digit Control Machine Tool machinery hands and positioner
1 to 10 clamping positioning mechanisms 3 can be installed and carry out multi-work piece processing；Described positioning motor 31 is not limited to be arranged on clamping and positioning
The center of mechanism 3, positioning motor 31 can be arranged on left end or the right-hand member of clamping positioning mechanism 3, left-hand thread silk at this moment
Bar 34 and right-hand thread screw mandrel 35 can replace with the threaded screw rod of coaxial two-direction；Described residue cleaning mechanism 4 is not limited to spray
Mechanism of qi structure removes residue, can replace carrying out except residue with hydrojet mechanism；Described bracing frame 18 can support with other frame modes,
Can be without bracing frame 18 and slide unit 20 when some Digit Control Machine Tool is installed.
Referring to shown in Fig. 1～Fig. 4, the gantry-type mechanical arm 2 of this device is by controlling X-axis motion module 9, Y-axis motion mould
Group 10 and Z axis motion module 11 activity of full degree of freedom in space, be provided with mechanical gripper on Y-axis motion module 10 simultaneously
The Acetabula device of 14, the vacuum cup decline on the Acetabula device of mechanical gripper 14 rises after holding workpiece, then moves to pre-
Location is put, and vacuum cup declines, and workpiece is placed on clamping positioning mechanism 3 release, the left side on clamping positioning mechanism 3 by vacuum cup
L-type right angle guiding ruler location pushing block 38 and by L-type right angle guiding ruler location pushing block 39 workpiece drawn close to center and push the fixing processing end to
Seat center, makes workpiece centre and fixing processing base center superposition, thus realizes the location of high accuracy, high efficiency, high stability.
The present invention has planer-type three-dimensional motion machinery handgrip and numerical control Working piece positioning device, utilizes coaxial left-right screw thread double
To motion principle, controlling motor by digital display circuit, driven by motor screw rod rotates, and realizes work when positive/negative thread rotating shaft rotating
The clamping of part fixture or unclamp workpiece and reach to be accurately positioned.The course of action of this device is all by electronic numerical control apparatus system control
Making, workpiece can be placed on clamping positioning mechanism or take off by its gantry-type mechanical arm automatically, and this device has removing automatically
Workpiece of residues function, has the automatic soaking function of workpiece, has and can install 1-10 workpiece location on numerically controlled processing equipment
Device multi-work piece is processed, and this plant automation degree is high, and function is many, high-accuracy high-efficiency rate can carry out workpiece location, great popularization
It is worth.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, permissible
Understand and these embodiments can be carried out multiple change without departing from the principles and spirit of the present invention, revise, replace
And modification, the scope of the present invention be defined by the appended.
Claims (8)
1. Digit Control Machine Tool machinery hands and a positioner, including table rest (1), gantry-type mechanical arm (2), slide unit bracing frame
(18), at the bottom of slide unit (20), clamping positioning mechanism (3), elastic buffering mechanism (12), Air Valve Control box (15), clamping positioning mechanism
On seat (29), residue cleaning mechanism (4), immersion elevating mechanism (5), electronic numerical control device (6), Air Valve Control box (20), workpiece
Material device (13), workpiece blanking device (28)；It is characterized in that: described gantry-type mechanical arm (2), soak elevating mechanism (5),
Workpiece feeding device (13), workpiece blanking device (28) is arranged on table rest (1), and table rest (1) is fixed on numerical control machine
On bed mobile device (30), being also secured on slide unit (20), slide unit (20) is fixed on slide unit bracing frame (18), and slide unit props up simultaneously
Support (18) is fixed on numerical controlled machine-tool；Clamping positioning mechanism (3), workpiece of residues cleaning mechanism (4), elastic buffering mechanism
(12), Air Valve Control box (15) be fixed on clamping positioning mechanism base (29), clamping positioning mechanism base (29) is fixed on number
In control machine tool movement device (30)；Electronic numerical control device (6) is placed on outside mechanical hand and positioner mechanism workbench；Gantry
Formula mechanical hand (2) is supported for planer type structure by left vertical support frame (7) and right vertical support frame (8)；Described gantry-type mechanical arm
(2) on horizontal operation face, it is provided with X-axis motion module (9) and Y-axis motion module (10), lower work face is provided with Z axis fortune
Dynamic model group (11), the end of Y-axis motion module (10) is provided with mechanical gripper (14), can be by be added by gantry-type mechanical arm (2)
Work workpiece is put into or is taken off on clamping positioning mechanism (3), and gantry-type mechanical arm group of motors (19) includes X-axis motion module (9)
Motor, Y-axis motion module (10) motor, Z axis motion module (11) motor and mechanical gripper (14) motor；Described clamping and positioning
Mechanism (3) is by positioning motor (31), workpiece positioning base (32), bearing block (33), left-hand thread screw mandrel (34), right-hand thread screw mandrel
(35), left-hand thread set (36), right-hand thread set (37), left L-type right angle guiding ruler location pushing block (38) and right L-type right angle guiding ruler location push away
Block (39) forms；The left end of described positioning motor (31) connects left-hand thread screw mandrel (34), and the right-hand member of positioning motor (31) is even
Being connected to right-hand thread screw mandrel (35), left-hand thread screw mandrel (34) is provided with matched left-hand thread set (36), right-hand thread screw mandrel (35)
It is provided with matched right-hand thread set (37), left L-type right angle guiding ruler location pushing block (38) and right L-type right angle guiding ruler location pushing block
(39) it is respectively provided on left-hand thread set (36) and right-hand thread set (37), described left L-type right angle guiding ruler location pushing block (38) sets
Flexible buffer gear (12), the lower section of left-hand thread screw mandrel (34) and right-hand thread screw mandrel (35) is provided with guide rail (40), left-hand thread set
(36) it is slidably matched with guide rail (40) with right-hand thread set (37)；Described residue cleaning mechanism (4) is by fumarole (16), air jet pipe
Joint (17), Air Valve Control box (15) form, and fumarole (16) is located at left L-type right angle guiding ruler location pushing block (38) or right L-type is straight
On angle guiding ruler location pushing block (39), Air Valve Control box (15) connects fumarole (16), gases at high pressure by air jet pipe joint (17)
After being controlled by Air Valve Control box (15), high pressure gas physical ability cleaner's part surface that fumarole (16) sprays and locating and machining base
(32) the processing residue on；Described immersion elevating mechanism (5) is located at the left side of gantry-type mechanical arm (2), and workpiece feeding fills
Putting (13) and be located at the right side of gantry-type mechanical arm (2), described immersion elevating mechanism (5) includes lifting motor (21), shaft coupling
(22), threaded screw rod (23), thread bush (24), bearing block (25), appearance water tank (26), workpiece lifting pallet (27), workpiece blanking
Device (28)；Threaded screw rod (23) one end connecting shaft bearing (25), the other end is by shaft coupling (22) with lifting motor (21) even
Connecing, thread bush (24) is arranged on threaded screw rod (23), and is connected with workpiece lifting pallet (27), described workpiece blanking device
(28) it is located on workpiece lifting pallet (27), drives threaded screw rod (23) to rotate by lifting motor (21), thread bush (24) edge
Threaded screw rod (23) to move up and down so that the workpiece lifting pallet (27) being connected with thread bush (24) can lift so that will
Workpiece in workpiece blanking device (28) be dipped into appearance water tank (26) inner or take out.
A kind of Digit Control Machine Tool machinery hands the most according to claim 1 and positioner, it is characterised in that: described electron number
Control device (6) is by human-machine operation panel (61), microprocessor control circuit (62), gantry-type mechanical arm sequence circuit
(63), clamping positioning mechanism sequence circuit (64), residue cleaning mechanism sequence circuit (65), immersion elevating mechanism journey
Sequence control circuit (66) forms；Described human-machine operation panel (61) is provided with startup shutdown switch, operation button groups, work instruction
Lamp, human-machine operation panel (61) provides human-computer exchange operation, manual debugging function, and work pieces process program is inputted by touch screen,
Working method divides manually and automatically two kinds；Described microprocessor control circuit (62) presses working procedure and human-machine operation panel (61)
The action set is clear to gantry-type mechanical arm sequence circuit (63), clamping positioning mechanism sequence circuit (64), residue
Reason mechanism's sequence circuit (65), immersion elevating mechanism sequence circuit (66) are controlled；Described gantry-type mechanical arm
Gantry-type mechanical arm group of motors (19) is controlled by sequence circuit (63), described clamping positioning mechanism sequence circuit
(64) being controlled positioning motor (31), lifting motor (21) is carried out by described immersion elevating mechanism sequence circuit (66)
Controlling, Air Valve Control box (15) is controlled by described residue cleaning mechanism sequence circuit (65).
A kind of Digit Control Machine Tool machinery hands the most according to claim 1 and positioner, it is characterised in that: work as positioning motor
(31), when rotating forward, left-hand thread set (36) and right-hand thread set (37) on left-hand thread screw mandrel (34) and right-hand thread screw mandrel (35) drive a left side
L-type right angle guiding ruler location pushing block (38) and right L-type right angle guiding ruler location pushing block (39) are drawn close to centre, clamp workpiece；Work as location
During motor (31) reversion, the left-hand thread set (36) on left-hand thread screw mandrel (34) and right-hand thread screw mandrel (35) and right-hand thread set (37) band
Dynamic left L-type right angle guiding ruler location pushing block (38) and right L-type right angle guiding ruler location pushing block (39) move to both sides, unclamp workpiece.
A kind of Digit Control Machine Tool machinery hands the most according to claim 1 and positioner, it is characterised in that: described elasticity is delayed
Punch mechanism (12) can replace by spring, gum elastic, elastic piece structure mode, and the cushion stroke of elastic buffer structure (12) can set
And regulation.
A kind of Digit Control Machine Tool machinery hands the most according to claim 1 and positioner, it is characterised in that: described immersion liter
Descending mechanism (5) elevating mechanism can be with cylinder, hydraulic pressure, and transmission band replaces；Can be by the power multi-direction drive workpiece of elevating mechanism
Lifting tray (27) lifts.
A kind of Digit Control Machine Tool machinery hands the most according to claim 1 and positioner, it is characterised in that: described numerical control machine
On bed mechanical hand and positioner, 1 to 10 clamping positioning mechanisms (3) can be installed and carry out multi-work piece processing.
A kind of Digit Control Machine Tool machinery hands the most according to claim 1 and positioner, it is characterised in that: described location electricity
Machine (31) can be arranged on left end or the right-hand member of clamping positioning mechanism (3), left-hand thread screw mandrel (34) and right-hand thread screw mandrel (35) can
Replace with the threaded screw rod of coaxial two-direction.
A kind of Digit Control Machine Tool machinery hands the most according to claim 1 and positioner, it is characterised in that: described residue is clear
The available hydrojet mechanism of reason mechanism (4) replaces carrying out except residue.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610423757.0A CN106239488B (en) | 2016-06-15 | 2016-06-15 | Digit control machine tool manipulator and positioner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610423757.0A CN106239488B (en) | 2016-06-15 | 2016-06-15 | Digit control machine tool manipulator and positioner |
Publications (2)
| Publication Number | Publication Date |
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| CN106239488A true CN106239488A (en) | 2016-12-21 |
| CN106239488B CN106239488B (en) | 2020-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610423757.0A Expired - Fee Related CN106239488B (en) | 2016-06-15 | 2016-06-15 | Digit control machine tool manipulator and positioner |
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| CN107758262A (en) * | 2017-10-10 | 2018-03-06 | 深圳市极维度智能科技有限公司 | A kind of automated production producing line of achievable carrier circulation |
| CN107934486A (en) * | 2017-12-11 | 2018-04-20 | 广东伟创五洋智能设备有限公司 | Module transfer machine |
| CN108890370A (en) * | 2018-07-13 | 2018-11-27 | 安徽工程大学 | A kind of numerically-controlled machine tool multijoint control device |
| CN110039539A (en) * | 2019-04-04 | 2019-07-23 | 肖卫国 | A kind of method, computer-readable medium and system carrying out transport operation based on automatic transporting trolley |
| CN110039323A (en) * | 2019-04-04 | 2019-07-23 | 科德数控股份有限公司 | A kind of Longmen machine tool with Work transfer apparatus |
| CN110950086A (en) * | 2019-12-26 | 2020-04-03 | 苏州精濑光电有限公司 | Gamma correction device and equipment with multiple correction devices |
| CN112621556A (en) * | 2020-12-15 | 2021-04-09 | 深圳沃特佳科技有限公司 | CNC (computer numerical control) circular processing technology |
| CN112676851A (en) * | 2020-12-26 | 2021-04-20 | 温州市熙瑞机械科技有限公司 | Processing mechanism of aluminum substrate of LED lamp |
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| CN115815192A (en) * | 2022-11-22 | 2023-03-21 | 江苏福拉特自动化设备有限公司 | Continuous machining device and method for Micro-LED substrate |
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| CN110950086A (en) * | 2019-12-26 | 2020-04-03 | 苏州精濑光电有限公司 | Gamma correction device and equipment with multiple correction devices |
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| CN112676851A (en) * | 2020-12-26 | 2021-04-20 | 温州市熙瑞机械科技有限公司 | Processing mechanism of aluminum substrate of LED lamp |
| CN113323422A (en) * | 2021-06-08 | 2021-08-31 | 广东博智林机器人有限公司 | Workpiece clamping system and workpiece clamping method |
| CN115815192A (en) * | 2022-11-22 | 2023-03-21 | 江苏福拉特自动化设备有限公司 | Continuous machining device and method for Micro-LED substrate |
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