CN201102243Y - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN201102243Y CN201102243Y CNU2007201903839U CN200720190383U CN201102243Y CN 201102243 Y CN201102243 Y CN 201102243Y CN U2007201903839 U CNU2007201903839 U CN U2007201903839U CN 200720190383 U CN200720190383 U CN 200720190383U CN 201102243 Y CN201102243 Y CN 201102243Y
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- CN
- China
- Prior art keywords
- slide carriage
- manipulator
- right slide
- transmission shaft
- power transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Abstract
The utility model relates to a manipulator arranged on a vertical CNC lathe provided with a power turret and used for realizing the automatic clamping and unclamping of a machined material such as a disc bushing and also a transferring line of other logistics systems, comprising an overall supporting mechanism consisting of a main frame, a baffle, two guides, etc, a driving mechanism consisting of a drive shaft, an axle bed, an axle sleeve, a connecting plate, a left connecting rod, a right connecting rod, a bearing, etc, a clamping mechanism consisting of a left slide carriage, a right slide carriage, a plurality of cramp bars, a spring, a button stem and a hinge shaft, etc, and a limit adjusting mechanism consisting of a backing plate and a stop block. The manipulator is arranged on the tool position of the power turret of the vertical CNC lathe; the actions of the clamping and the unclamping are realized by controlling a servo motor driving the drive shaft and a compression spring; and the movement of the feed shaft of the lathe is utilized to finish the conveying function. The manipulator has the advantages of simple structure, short action time, fast response, high efficiency, low cost and easy operation, strong spring clamping security and good overall stability and reliability.
Description
Technical field
The utility model relates to a kind of NC vertical lathe that is provided with power cutter tower that is installed in to be produced, and the materials such as disk cover parts after the processing are realized that automatic clamping throws off the manipulator of function, also can be used on other logistics system transmission production line.
Background technology
High speed development along with industrial automation, Digit Control Machine Tool in the machine building industry more and more widely, the NC vertical lathe process automation is more perfect, the automation of workpiece process also should be embodied on the transfer system of extracting, transfer and placement to processing work, and manipulator is absolutely necessary on transfer system.Manipulator kind in the market is a lot, and principle also is not quite similar, but structure is all very complicated, and response speed is slow, and efficient is low, and maintenance difficult.
The utility model content
The technical problems to be solved in the utility model provides rational in infrastructure simple, and response speed is fast, the manipulator that efficient is high.
The utility model manipulator, rectangular body frame comprising frame structure, fixedly connected with flanged (FLGD) axle bed in the centre of main frame lower surface, in axle bed, rotate equipped by bearing and power transmission shaft, the power transmission shaft bottom is rotated equipped by needle bearing and flanged (FLGD) axle sleeve, axle sleeve is fixedlyed connected with axle bed, installs end cover additional in the lower port of axle sleeve; The power transmission shaft lower end is connected with driving mechanism, and its upper end passes axle bed and the connecting plate vertical fixing is connected as a single entity; The two ends of connecting plate are hinged with left and right connecting rod one end respectively symmetrically, and the other end of left and right connecting rod upwards flexibly connects by the hinge and the left and right slide carriage of fixedlying connected with it respectively; At least be provided with a pair of clamping bar respectively symmetrically on the mutual corresponding front and rear side of the upper surface of left and right slide carriage, be provided with the guide-track groove that pair of parallel is installed respectively symmetrically on the mutual corresponding front and rear side of the lower surface of left and right slide carriage, fixedly connected with brace summer separately respectively with two guide rails that are parallel to each other that guide-track groove is equipped, brace summer is fixedlyed connected with main frame respectively; Upwards be respectively equipped with the baffle plate that is connected as a single entity with it at the left and right end of main frame, along continuous straight runs is provided with stem stem in the inboard middle part of baffle plate, the gripper shoe of bending is housed respectively on the inner side edge of left and right slide carriage lower surface, in the bottom of gripper shoe another stem stem is housed, two stem stems are on same axis, and be positioned at the orthogonal same plane of power transmission shaft on, pocketed springs between stem stem; The position corresponding with gripper shoe, two ends in main frame is respectively equipped with limited block.
The utility model manipulator wherein between left and right slide carriage, is respectively equipped with the left and right protective plate of fixedlying connected with left and right slide carriage, relatively move.
The utility model manipulator wherein also is provided with the connected protective sleeve of being made by soft material on clamping bar.
The utility model manipulator, wherein the angle range of the distance qualification power transmission shaft between the gripper shoe that limited block is corresponding with it is 0 °～45 °.
The utility model manipulator is installed on the cutter spacing of vertical numerical controlled lathe power cutter tower, and the servomotor and the compression spring that drive power transmission shaft by control are realized clamping and thrown off action, utilize the motion of machine tool feed axle to finish the transfer transmitting function.It has simple in structure, and actuation time is short, and response is rapid, the efficient height, and cost is low, simple operation and other advantages, spring clamps high safety, monolithic stability good reliability.
Description of drawings
Fig. 1 looks generalized section for the utility model robot manipulator structure master;
Fig. 2 is side-looking and the centre section schematic diagram of Fig. 1;
Fig. 3 is the schematic top plan view of Fig. 1;
Fig. 4 is the utility model robot manipulator structure principle schematic (being that Fig. 3 removes left and right slide carriage and protective plate).
The specific embodiment
By Fig. 1～Fig. 3 as seen, the utility model manipulator comprises the rectangular body frame 1 of frame structure, fixedly connected with flanged (FLGD) axle bed 4 in the centre of main frame 1 lower surface, in axle bed 4, rotate equipped by angular contact ball bearing 9 and power transmission shaft 8, power transmission shaft 8 bottoms are rotated equipped by needle bearing 7 and flanged (FLGD) axle sleeve 5, axle sleeve 5 is fixedlyed connected with axle bed 4, installs end cover 6 additional in the lower port of axle sleeve 5; Power transmission shaft 8 lower ends are connected with driven by servomotor axle on the NC vertical lathe power cutter tower, and its upper end passes axle bed 4 and is connected as a single entity with connecting plate 10 vertical fixing; The two ends of connecting plate 10 are hinged with left and right connecting rod 3,3 ' one ends respectively symmetrically, left and right connecting rod 3,3 ' the other end upwards respectively by with its fixedly connected hinge 11 and left and right slide carriage 24,24 ' intermediate active be connected; Left and right slide carriage 24,24 ' the mutually corresponding front and rear side of upper surface on be provided with a pair of clamping bar 18 respectively symmetrically at least, promptly along left and right slide carriage 24,24 ' each two exterior angle on establish four clamping bars 18 altogether, also can establish many symmetrically from this upper edge, four angles front and rear side direction to clamping bar 18; Left and right slide carriage 24,24 ' the mutually corresponding front and rear side of lower surface on be provided with the guide-track groove 22 that pair of parallel is installed respectively symmetrically, fixedly connected with brace summer 21 separately respectively with two guide rails that are parallel to each other 20 that guide-track groove 22 is equipped with, brace summer 21 is fixedlyed connected with main frame 1 respectively; Upwards be respectively equipped with the baffle plate 15 that is connected as a single entity with it at main frame 1 left and right end, be provided with stem stem 14 at baffle plate 15 inboard middle part along continuous straight runs, the gripper shoe 16 of bending is housed respectively on the inner side edge of left and right slide carriage 24,24 ' lower surface, another stem stem 12 is housed in the bottom of gripper shoe 16, two stem stems 12,14 are on same axis, and be positioned at power transmission shaft 8 orthogonal same planes on, pocketed springs 13 between stem stem 12,14; Two ends in main frame 1 and gripper shoe 16 corresponding positions are respectively equipped with limited block 2, adjust the distance between limited block 2 gripper shoe 16 corresponding with it, and the angle range of determining power transmission shaft 8 is 0 °～45 °, sees Fig. 4.
Wherein left and right slide carriage 24,24 ' between, be respectively equipped with and left and right slide carriage 24,24 ' left and right protective plate 25,26 that fixedly connected, that relatively move.Also be provided with the connected protective sleeve of making by soft material 19 in clamping bar 18 upper ends, as copper sheathing, when avoiding clamping to the damage of surface of the work.
The utility model manipulator is formed overall supporting mechanism by main frame 1, baffle plate 15, two guide rails 20 and brace summer separately 21 etc.; By power transmission shaft 8, axle bed 4, axle sleeve 5, connecting plate 10, left and right sides connecting rod 3,3 ', and bearing etc. constitutes transmission mechanism; By left and right sides slide carriage 24,24 ', many clamping bar 18, spring 13, stem stem 12,14 and hinge 11 etc. are constituted clamp mechanism; Constitute spacing guiding mechanism by gripper shoe 16 and limited block 2.
When the utility model manipulator uses, be fixed on the cutter spacing of power cutter tower, treat that workpiece machines after, with manipulator piece-holder is transferred on the logistics transmission production line, promptly finish clamping and open two duties, and circulation and so forth.When not working, manipulator is in the clamping limiting condition, and the pressured spring 13 that contracts of clamping force obtains; At this moment, the connecting plate 10 on the power transmission shaft 8 is in 45 ° of positions, the right, see shown in Figure 4, spring 13 length on both sides the longest (but be not free state, determine) simultaneously by limited block, gripper shoe 16 contacts with limited block 2.During work, because workpiece varies in size, the clamped condition position is unfixing, connecting plate 10 is in 0～45 ° of scope, at this moment, power transmission shaft 8 drives left and right slide carriage 24,24 ' move clamping bar 18 clamping work pieces on it to the center, simultaneously compress spring 13 because gripper shoe 16 contacts with limited block 2, clamping force is that pressured bullet and the drive motors of contracting provides together.When being placed into the workpiece of clamping on the logistics transmission line, need unclamp clamping bar 18, this process is that power transmission shaft 8 drives left and right slide carriage 24,24 ' outwards move in the other direction, and subsequently, manipulator is got back to the clamping limiting condition.
Claims (4)
1, a kind of manipulator, it is characterized in that comprising the rectangular body frame (1) of frame structure, fixedly connected with flanged (FLGD) axle bed (4) in the centre of described main frame (1) lower surface, in described axle bed (4), rotate equipped by bearing (9) and power transmission shaft (8), described power transmission shaft (8) bottom is rotated equipped by needle bearing (7) and flanged (FLGD) axle sleeve (5), described axle sleeve (5) is fixedlyed connected with axle bed (4), installs end cover (6) additional in the lower port of described axle sleeve (5); Described power transmission shaft (8) lower end is connected with driving mechanism, and its upper end passes described axle bed (4) and is connected as a single entity with connecting plate (10) vertical fixing; The two ends of described connecting plate (10) are hinged with left and right connecting rod (3,3 ') end respectively symmetrically, and the other end of described left and right connecting rod (3,3 ') upwards flexibly connects with left and right slide carriage (24,24 ') by the hinge (11) of fixedlying connected with it respectively; At least be provided with a pair of clamping bar (18) respectively symmetrically on the mutual corresponding front and rear side of the upper surface of described left and right slide carriage (24,24 '), be provided with the guide-track groove (22) that pair of parallel is installed respectively symmetrically on the mutual corresponding front and rear side of the lower surface of described left and right slide carriage (24,24 '), fixedly connected with brace summer (21) separately respectively with two guide rails (20) that described guide-track groove (22) is equipped, described brace summer (21) is fixedlyed connected with described main frame (1) respectively; Upwards be respectively equipped with the baffle plate (15) that is connected as a single entity with it at the left and right end of described main frame (1), along continuous straight runs is provided with stem stem (14) in the inboard middle part of described baffle plate (15), the gripper shoe (16) of bending is housed respectively on the inner side edge of described left and right slide carriage (24,24 ') lower surface, in the bottom of described gripper shoe (16) another stem stem (12) is housed, two described stem stems (12,14) are on same axis, and be positioned at the orthogonal same plane of described power transmission shaft (8) on, pocketed springs (13) between described stem stem (12,14); The position corresponding with described gripper shoe (16), two ends in described main frame (1) is respectively equipped with limited block (2).
2, manipulator according to claim 1 is characterized in that being positioned between the described left and right slide carriage (24,24 '), is respectively equipped with and described left and right slide carriage (24,24 ') left and right protective plate that fixedly connected, that relatively move (25,26).
3, manipulator according to claim 1 and 2 is characterized in that also being provided with the connected protective sleeve of being made by soft material (19) on described clamping bar (18).
4, manipulator according to claim 3 is characterized in that the angle range of the distance described power transmission shaft of qualification (8) between described limited block (2) the described gripper shoe (16) corresponding with it is 0 °～45 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201903839U CN201102243Y (en) | 2007-11-27 | 2007-11-27 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201903839U CN201102243Y (en) | 2007-11-27 | 2007-11-27 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201102243Y true CN201102243Y (en) | 2008-08-20 |
Family
ID=39949261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007201903839U Expired - Lifetime CN201102243Y (en) | 2007-11-27 | 2007-11-27 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201102243Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166659A (en) * | 2011-05-27 | 2011-08-31 | 扬州新棱机械制造有限公司 | Automatic feeding device of digital controlled lathe |
| CN104690323A (en) * | 2015-01-29 | 2015-06-10 | 山东鲁南机床有限公司 | Power knife tower allowing manipulator to be mounted at any tool apron position |
| CN105643617A (en) * | 2016-03-31 | 2016-06-08 | 宁波海天精工股份有限公司 | Servo stacking system |
| CN107838732A (en) * | 2017-12-15 | 2018-03-27 | 东莞长盈精密技术有限公司 | Fixture for thin slice processing |
| CN107972134A (en) * | 2017-11-16 | 2018-05-01 | 童建勇 | A kind of bamboo chip splitting equipment and its operating method |
-
2007
- 2007-11-27 CN CNU2007201903839U patent/CN201102243Y/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166659A (en) * | 2011-05-27 | 2011-08-31 | 扬州新棱机械制造有限公司 | Automatic feeding device of digital controlled lathe |
| CN102166659B (en) * | 2011-05-27 | 2013-06-12 | 扬州新棱机械制造有限公司 | Automatic feeding device of digital controlled lathe |
| CN104690323A (en) * | 2015-01-29 | 2015-06-10 | 山东鲁南机床有限公司 | Power knife tower allowing manipulator to be mounted at any tool apron position |
| CN104690323B (en) * | 2015-01-29 | 2017-01-04 | 山东鲁南机床有限公司 | Can on any tool rest position the power cutter tower of installation manipulator |
| CN105643617A (en) * | 2016-03-31 | 2016-06-08 | 宁波海天精工股份有限公司 | Servo stacking system |
| CN105643617B (en) * | 2016-03-31 | 2018-09-28 | 宁波海天精工股份有限公司 | A kind of servo palletizing system |
| CN107972134A (en) * | 2017-11-16 | 2018-05-01 | 童建勇 | A kind of bamboo chip splitting equipment and its operating method |
| CN107838732A (en) * | 2017-12-15 | 2018-03-27 | 东莞长盈精密技术有限公司 | Fixture for thin slice processing |
| CN107838732B (en) * | 2017-12-15 | 2019-07-23 | 东莞长盈精密技术有限公司 | Fixture for thin slice processing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Beijing No.1 CNC Machine Tool Co., Ltd. Assignor: No.1 Machine Tool Factory, Beijing Contract fulfillment period: 2008.10.15 to 2013.10.15 Contract record no.: 2009110000208 Denomination of utility model: Method and manipulator for quickly replacting sprue of tundish for conticaster Granted publication date: 20080820 License type: Exclusive license Record date: 20090921 |
|
| LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2008.10.15 TO 2013.10.15; CHANGE OF CONTRACT Name of requester: BEIJING BEIYI NUMERICALLY CONTROL MACHINE TOOL CO. Effective date: 20090921 |
|
| ASS | Succession or assignment of patent right |
Owner name: BEIJING BEIYI NUMERICAL CONTROL MACHINE TOOLS CO., Free format text: FORMER OWNER: NO.1 MACHINE TOOL FACTORY, BEIJING Effective date: 20110721 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20110721 Address after: 101300, 16, Shuanghe Avenue, Lin River Industrial Development Zone, Beijing, Shunyi District Patentee after: Beijing No.1 CNC Machine Tool Co., Ltd. Address before: 101300, 16, Shuanghe Avenue, Shunyi District forest and Industrial Development Zone, Beijing Patentee before: No.1 Machine Tool Factory, Beijing |
|
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 101300, 16, Shuanghe Avenue, Lin River Industrial Development Zone, Beijing, Shunyi District Patentee after: Beijing No.1 Machine Tool Plant Address before: 101300, 16, Shuanghe Avenue, Lin River Industrial Development Zone, Beijing, Shunyi District Patentee before: Beijing No.1 CNC Machine Tool Co., Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20080820 |