CN206010575U - Automatization's loading and unloading equipment of Digit Control Machine Tool - Google Patents
Automatization's loading and unloading equipment of Digit Control Machine Tool Download PDFInfo
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- CN206010575U CN206010575U CN201620894562.XU CN201620894562U CN206010575U CN 206010575 U CN206010575 U CN 206010575U CN 201620894562 U CN201620894562 U CN 201620894562U CN 206010575 U CN206010575 U CN 206010575U
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Abstract
This utility model discloses a kind of automatization's loading and unloading equipment of Digit Control Machine Tool，Including material conveying platform、Mechanical hand，Material conveying platform is provided with for transmitting the pay-off of workpiece，Mechanical hand is by pedestal on material conveying platform，The bit space that allows of workpiece is left between pedestal and material conveying platform，The material taking mouth for mechanical hand grabbing workpiece is offered on pedestal，Mechanical hand includes horizontal sliding table、Rotating driving device and a pair telescopic clamping devices，Horizontal sliding table is slidably fitted on pedestal by horizontal drive mechanism，Rotating driving device is fixedly mounted on horizontal sliding table，The pair of telescopic clamping device is by installing plate on the output shaft of rotating driving device，The pair of telescopic clamping device is arranged with regard to installing plate central point，One of them telescopic clamping device for feeding，Another telescopic clamping device for discharging.This utility model automatization handling equipment is compact, is easy to keep in repair, and shortens the feeding time, more laborsaving.
Description
Technical field
This utility model is related to automatization's manufacture field of Digit Control Machine Tool, and in particular in a kind of automatization of Digit Control Machine Tool
Blanking equipment.
Background technology
By loading and unloading are accomplished manually, there is high labor intensive in this mode to traditional Digit Control Machine Tool, and efficiency is low, safety
The problems such as difference, labour cost height.With the development and the increase of labor cost of science and technology, using automation mechanized operation handss
Section, reduces labor intensity, improve production efficiency, reduces production cost, reduces the certainty that manpower has become field of machining
Trend.Realize that the processing of Digit Control Machine Tool automatization be unable to do without the automatic loading and unloading device of Digit Control Machine Tool, Digit Control Machine Tool includes numerical control
Lathe, numerically control grinder etc., Digit Control Machine Tool is provided with machine tool chief axis, be arranged on machine tool chief axis and be used for clamping the main shaft card of workpiece
Disk, is arranged on workpiece on the spindle chuck of Digit Control Machine Tool by automatic loading and unloading device.Match somebody with somebody with Digit Control Machine Tool in the market
The ripe automatization's handling equipment of set application has following several:
1）Truss-like mechanical hand workpiece pipeline, outside Digit Control Machine Tool, truss mechanical hand is in workpiece for workpiece pipeline
Workpiece to be processed is taken on pipeline, and truss mechanical hand rises in place, moves into place to major axes orientation, and truss mechanical hand drops to
Position, carries out the exchange of finished work and workpiece to be processed.Truss mechanical hand rises in place, moves into place to pipeline direction,
Complete a loading and unloading circulation.In order to reserve the working space of operative employee, the working line of truss mechanical hand is all in Digit Control Machine Tool
Top, on the side of Digit Control Machine Tool, this causes the automatic loading and unloading device of truss mechanical hand workpiece pipeline to workpiece pipeline
Volume is big, takes up room, and loading and unloading station is remote with spindle chuck processing stations distance, and feeding non-cutting time is long, safeguards inconvenient.
2）Multi-joint manipulator processes workpiece pipeline, is more closely similar to artificial operation, and multi-joint manipulator kinematic accuracy will
Ask high, processing and manufacturing high cost, its control system are more complicated, and multi-joint manipulator is expensive.Multi-joint manipulator conveys work
During part, the arm of multi-joint manipulator is rotated with joint as fulcrum, forms cantilevered swing, in arm upper and lower, left and right freedom
During swing, each joint friction of multi-joint manipulator is big, easily makes each joint wear.For the ease of grabbing workpiece, lead to
Often the arm of multi-joint manipulator is all long, and when arm drives workpiece to swing together, swinging distance length is that stroke is long, multi-joint
The torque that mechanical hand bears is big, causes multi-joint manipulator fragile, and maintenance cost is high.For processing precise machining tool
Speech, multi-joint manipulator cause multi-joint manipulator from processing workpiece to be pin-pointed to the spindle chuck of lathe after damaging
On；And inertia is big, causes the abrasion between workpiece and the spindle chuck of lathe big, cause the damage of workpiece.
Content of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of automatization of Digit Control Machine Tool is upper and lower
Material equipment, the device are compact, and space availability ratio is high, is easy to keep in repair, and shorten the feeding time, more laborsaving.
The purpose of this utility model can be achieved through the following technical solutions：
A kind of automatization loading and unloading equipment of Digit Control Machine Tool, it is characterised in that：Including material conveying platform, mechanical hand, described send
Material platform is provided with for transmitting the pay-off of workpiece, the mechanical hand by pedestal on material conveying platform, the base
The bit space that allows of workpiece is left between frame and material conveying platform, offers the material taking mouth for mechanical hand grabbing workpiece, institute on pedestal
Stating mechanical hand includes that horizontal sliding table, rotating driving device and a pair telescopic clamping devices, the horizontal sliding table are driven by level
Motivation structure is slidably fitted on pedestal, and the rotating driving device is fixedly mounted on horizontal sliding table, the pair of telescopic folder
Device is held by installing plate on the output shaft of rotating driving device, one of them is telescopic clamping device of feeding,
Another telescopic clamping device for discharging, the telescopic clamping device of the telescopic clamping device of feeding and discharging is installing
Being centrally formed for plate is centrosymmetrically arranged.The bit space that allows of workpiece is left between the pedestal and material conveying platform, is easy to feeding to fill
The workpiece that puts passes through from the lower end of mechanical hand, and the material taking mouth opened up on pedestal is easy to the telescopic clamping device of feeding through feeding
Workpiece to be processed on mouthful crawl pay-off loading and unloading station, also allows for the telescopic clamping device of discharging through material taking mouth by
Processing workpiece is placed on the loading and unloading station of pay-off.The axial line of the rotating driving device centre of gyration is slided with level
The direction of motion of platform is parallel.A pair telescopic clamping devices are located above the material taking mouth of pedestal, a pair telescopic clamping devices one
On be once arranged in the plane of installing plate, with the telescopic clamping device phase of the centrosymmetry that is centrally formed of installing plate, i.e., two
Mutually parallel, and the retaining paw of two telescopic clamping devices is towards on the contrary.After rotating driving device rotates 180 °, after rotation
The telescopic clamping device position of feeding is overlapped with the telescopic clamping device position of discharging before rotation, the telescopic clamping of discharging
Setting position is overlapped with the telescopic clamping device position of feeding before rotation.The centrage of installing plate（Or on installing plate, install one
Plane to telescopic clamping device）Vertical with the axial line of the rotating driving device centre of gyration, when a pair telescopic clamping dresses
When putting rotation in upright state, a pair telescopic clamping devices are vertical with material conveying platform, in the telescopic clamping device of feeding
The central axis coaxial of the loading and unloading station of heart axis and pay-off, the feeding of the telescopic clamping device of feeding by pedestal
Workpiece to be processed on the loading and unloading station of pay-off is clamped by mouth.When a pair telescopic clamping device rotations are the level of state
When, a pair telescopic clamping devices are parallel with the machine tool chief axis of Digit Control Machine Tool, the central axis of the telescopic clamping device of discharging
Be located at same level with the machine tool chief axis central axis of Digit Control Machine Tool, the telescopic clamping device of discharging by Digit Control Machine Tool
Processing workpiece is removed, and is driven installing plate to rotate 180 ° by rotating driving device, is made the center of the telescopic clamping device of feeding
Axis is located at same level with the machine tool chief axis central axis of Digit Control Machine Tool, by treating that the telescopic clamping device of feeding is clamped
Processing workpiece is on the machine tool chief axis of Digit Control Machine Tool.
The pair of telescopic clamping device includes retractor device and retaining paw, retractor device and retaining paw phase
Even, the retractor device is used for driving retaining paw to stretch out, retracting, and the retaining paw is used for clamping, unclamping workpiece.Telescopic
Clamping device can be with elastic and clamp workpiece；The retaining paw of the telescopic clamping device of the feeding is flexible with discharging
The retaining paw of formula clamping device is towards on the contrary.
The retaining paw includes holding finger, the drive mechanism of retaining paw and opens or close for controlling holding finger
The hydraulic jack or cylinder of conjunction, the hydraulic jack or cylinder are fixed on retractor device, the piston rod of hydraulic jack or
The piston rod of person's cylinder is connected with the drive mechanism of retaining paw, and holding finger is fixed on the drive mechanism of retaining paw, is used
In drive holding finger along hydraulic jack or cylinder radial motion.Holding finger is achieved by hydraulic jack or cylinder
Motion.
Two spring pressure plates are additionally provided with the retaining paw, and described two spring pressure plates are overlapped in retaining paw
On the end cap of hydraulic jack or cylinder, between two spring pressure plates, multiple springs are provided with.Telescopic clamping device in feeding
Spring pressure plate is respectively mounted with the retaining paw of the telescopic clamping device of discharging, when by workpiece to be processed be arranged on numerical control machine
When on bed, the spring pressure plate of the telescopic clamping device of feeding gives workpiece to be processed one axial force, it is ensured that Digit Control Machine Tool
Spindle chuck can be by workpiece to be processed clamping in place, it is ensured that the machining accuracy of workpiece；When by finished work from Digit Control Machine Tool
On when removing, be prevented from Digit Control Machine Tool spindle chuck unclamp after finished work come off from processing stations.
The sensor for positioning is equipped with the pair of telescopic clamping device.It is easy to instruct two by sensor
The action of telescopic clamping device.
The horizontal drive mechanism adopts fluid pressure type horizontal drive mechanism, or pneumatic type horizontal drive mechanism, Huo Zhe electricity
Dynamic formula horizontal drive mechanism.
The rotating driving device is fixed using the second electric rotating machine and decelerator, second electric rotating machine and decelerator
On horizontal sliding table, the output shaft of the second electric rotating machine is connected with the input shaft of decelerator, the output shaft of the decelerator
It is connected with installing plate；Second electric rotating machine could alternatively be air motor, or hydraulic motor.The rotating driving device drives
The telescopic clamping device of the telescopic clamping device of feeding and discharging is rotated, and adjusts telescopic clamping device and the discharging of feeding
Telescopic clamping device discharge position up and down.Rotating driving device reduces the rotation speed of the second electric rotating machine using decelerator
Degree, makes a pair telescopic clamping devices more steady when rotating, and decelerator avoids in rotary course that workpiece inertia is excessive to lead
Workpiece is caused to throw away from telescopic clamping device in quick rotation.
The lower end of the pedestal is provided with for detecting the induction installation of workpiece.The pedestal is by gripper shoe and support platform structure
Into the support platform is installed on the supporting plate, and the support platform is provided with the slide rail being slidably matched with horizontal sliding table, described
Gripper shoe is fixed on material conveying platform, is provided for the induction installation for detecting workpiece in the gripper shoe of pedestal, and this is used for detecting work
The workpiece to be processed that the induction installation of part detects pay-off is backward, and pay-off stop motion immediately makes workpiece to be processed
The loading and unloading station of pay-off is located exactly at, is easy to the telescopic clamping device gripping workpiece to be processed of feeding.And ought use
The finished work of the telescopic gripping apparatus grips for detecting discharging in the induction installation of detection workpiece is placed on pay-off
Loading and unloading station when, pay-off start, drive pay-off on workpiece to be processed and finished work movement.
The pay-off is using annular pay-off.Pay-off causes automatic loading/unloading to fill using annular pay-off
Put layout more compact, space availability ratio is high.
The pay-off includes feeding motor, carrier chain and some tray for work pieces, and the feeding motor is defeated for driving
Chain is sent to rotate, some tray for work pieces are on carrier chain；The carrier chain could alternatively be conveyer belt.The workpiece support
Disk can place workpiece of all sizes, and various workpiece are processed, and make the strong adaptability of lathe.
The lower surface of the material conveying platform is provided with the guide rail for being slidably matched with Digit Control Machine Tool.It is conveniently adjusted by guide rail
Material conveying platform and the position of Digit Control Machine Tool.After mechanical hand upper and lower discharge position is adjusted, make material conveying platform solid by locking device
It is scheduled on Digit Control Machine Tool loading and unloading station；When needing to adjust position of manipulator or manually operate, unclamping locking device makes feeding
Platform is moved along the rail, machine tool chief axis of the driving mechanical handss away from Digit Control Machine Tool, is that operator concedes working space.
The beneficial effects of the utility model：This utility model includes that material conveying platform and mechanical hand, material conveying platform are arranged on machine
On bed, near the machine tool chief axis position of lathe.Mechanical hand is arranged on material conveying platform by pedestal, between pedestal and material conveying platform
The bit space that allows of workpiece is left, the material taking mouth for mechanical hand grabbing workpiece on pedestal, is offered, mechanical hand is located at material conveying platform
Pay-off above, be easy to mechanical hand grabbing workpiece.The horizontal sliding table of mechanical hand is slidably fitted in by horizontal drive mechanism
On pedestal, for transverse shifting before and after driving mechanical handss, it extend at the machine tool chief axis of lathe, constitutes the arm of mechanical hand.Machine
The rotating driving device of tool handss is fixedly mounted on horizontal sliding table, and a pair telescopic clamping devices of mechanical hand are pacified by installing plate
It is mounted on the output shaft of rotating driving device, one of them telescopic clamping device for feeding, another is the flexible of discharging
Formula clamping device；The rotating driving device drives a pair telescopic clamping devices to rotate, and adjusts the telescopic clamping dress of feeding
The position with the telescopic clamping device of discharging is put, the wrist of mechanical hand is constituted.A pair telescopic clamping devices are used to clamp
Workpiece, constitutes the paw of mechanical hand.
When the horizontal sliding table transverse movement of mechanical hand, lathe master of a pair telescopic clamping devices to Digit Control Machine Tool is driven
Direction of principal axis is moved, and up to the machine tool chief axis dead ahead of Digit Control Machine Tool, the telescopic clamping device of discharging stretches out in place, spindle chuck
Unclamp, the telescopic clamping device of discharging clamps finished work, and the telescopic clamping device of discharging drives finished work contracting
Return to position.After the telescopic clamping device of discharging is retracted in place, rotating driving device just drives the two telescopic clamping dresses
Rotation is put, makes the telescopic clamping device of the telescopic clamping device and feeding of the discharging on installing plate that there is in opposite direction putting down
Row power, forms couple, it is ensured that during upper and lower rotating freely, two telescopic clampings are filled two telescopic clamping devices
Put torque little, more laborsaving relative to multi-joint manipulator, the telescopic clamping device of this utility model is hardly damaged, service life
Long, it is to avoid telescopic clamping device swings, and workpiece to be processed can be pin-pointed on the machine tool chief axis of Digit Control Machine Tool.Adopt
Replace mechanical hand overall close to the machine tool chief axis target location of Digit Control Machine Tool with telescopic clamping device so that mechanical hand is only needed
Can achieve loading and unloading function, save in the movement adjustment of the position of transverse movement, the position adjustment without lengthwise movement
While space so that the distance between the workpiece of pay-off and machine tool chief axis of Digit Control Machine Tool are automatic with the market
Change handling equipment is compared most short.This utility model automatic loading and unloading device is by two standalone feature lists of mechanical hand and pay-off
Unit organically combines so that automatization's handling equipment structure becomes simple, reliable, and compact is easy to maintenance, price
Low.In the case of the equal feed speed of existing manipulator, the time used by this utility model loading and unloading is most short, improves production effect
Rate, reduces production cost.This utility model is applied to the lathes such as numerically controlled lathe, numerically control grinder, and setting accuracy is high, can
Meet the requirement of precision finishing machine, especially suitable accurate digital control horizontal lathe.This utility model automatic loading and unloading device is assembled
On precise NC lathe so that the labor intensity of operating staff for controlling the precise NC lathe is substantially reduced, by operator
Free in simply working from frequently loading and unloading etc..Because of the reduction of labor intensity so that operator just can be with
More precise NC lathes are controlled, the labor cost of enterprise is reduced, the production efficiency of enterprise is improve.And this practicality
New type auto handling equipment simple structure, low cost of manufacture improve enterprise automation working ability.
Description of the drawings
Fig. 1 is the structural representation of this utility model automatic loading and unloading device（In figure, four-headed arrow X represents the water of mechanical hand
Somoothing board Digit Control Machine Tool X to motion）；
Fig. 2 is B direction views in Fig. 1（In figure, four-headed arrow D represents drive of the telescopic clamping device in rotating driving device
Under around rotating driving device output shaft axial line along rotating clockwise or counterclockwise）；
Fig. 3 is C direction views in Fig. 2（In figure, four-headed arrow X represents the X of the horizontal sliding table of mechanical hand in Digit Control Machine Tool to fortune
Dynamic, four-headed arrow Z represents that material conveying platform is moved in the Z-direction of Digit Control Machine Tool）；
Fig. 4 is A-A sectional views in Fig. 1（In figure, four-headed arrow D represents band of the telescopic clamping device in rotating driving device
Output shaft axial line edge under dynamic around rotating driving device rotates clockwise or counterclockwise）；
Fig. 5 is the structural representation of retaining paw.
In accompanying drawing：1 is pedestal, 1-1 is external support board, 1-2 is middle gripper shoe, 1-3 is inner support plate, 1-4 is material taking mouth,
1-5 be slide rail, 2 be allow bit space, 3 be induction installation, 4 be mechanical hand, 41 be horizontal sliding table, 41-1 be leading screw, 41-2 be the
One synchronous pulley, 41-3 are the first Timing Belt, 41-4 is horizontal drive mechanism, 41-5 is the first electric rotating machine, 41-6 is slide block,
41-7 is pad, 41-8 is nut seat, 41-9 is nut, 42 is rotating driving device, 42-1 is decelerator, 42-2 is same for second
Step belt wheel, 42-3 be the second Timing Belt, 42-4 be the second electric rotating machine, 43 be telescopic clamping device, 43a be the flexible of feeding
Formula clamping device, 43b are the telescopic clamping device of discharging, 43-1 be retaining paw, 43-11 be holding finger, 43-12 be folder
Hold the drive mechanism of paw, 43-13 be cylinder, 43-2 be retractor device, 43-21 be piston rod, 43-3 be that installing plate, 44-1 are
Finished work, 44-2 be workpiece to be processed, 5 be material conveying platform, 51 be feeding motor, 52 be guide rail, 53 be guide rail slide block, 54
It is tray for work pieces, 6 is Digit Control Machine Tool, 7 is spindle chuck, 71 is machine tool chief axis, 72 is main spindle box, 73 is for pay-off, 55
Belt pulley, 74 be main shaft oil cylinder, 8 be spring pressure plate, 9 be spring.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is further described.
Referring to a kind of automatization's loading and unloading equipment of the Digit Control Machine Tool shown in Fig. 1 to Fig. 5, including material conveying platform 5 and machinery
Handss 4, the lower surface of the material conveying platform 5 are provided with the guide rail 52 for being slidably matched, the lathe bed of Digit Control Machine Tool 6 with Digit Control Machine Tool 6
On be fixed with guide rail slide block 53, the guide rail 52 of material conveying platform 5 is slidably matched with the guide rail slide block 53 of Digit Control Machine Tool 6, is conveniently adjusted
The position of material conveying platform 5, is fixed on Digit Control Machine Tool 6 by locking device after the adjustment good position of material conveying platform 5, and locking device is adopted
Use clamping screw.The material conveying platform 5 is provided with for transmitting the pay-off 54 of workpiece, and the pay-off 54 includes feeding
Motor 51, sprocket wheel, carrier chain and some tray for work pieces 55, the feeding motor 51 adopt servomotor, feeding motor 51 to drive
Sprocket wheel is rotated, and drives carrier chain to rotate under the transmission of sprocket wheel, and on carrier chain, carrier chain turns some tray for work pieces
Dynamic so as to driving tray for work pieces 55 to move.Tray for work pieces can place workpiece of all sizes, various workpiece are carried out plus
Work, makes the strong adaptability of lathe.The carrier chain could alternatively be conveyer belt.Workpiece to be processed 44-2 is placed on pay-off 54
Tray for work pieces 55 in, be also disposed in after finished work 44-1 is processed in the tray for work pieces 55 of pay-off.The feeding
Device 54 causes automatic loading and unloading device layout more compact using annular pay-off, pay-off using annular pay-off,
Space availability ratio is high.
The mechanical hand 4 makes mechanical hand 4 be erected at just going up for pay-off 54 by pedestal 1 on material conveying platform 5
Side, the pedestal 1 are made up of polylith gripper shoe and support platform, and the polylith gripper shoe is fixed on material conveying platform 5, described
In polylith gripper shoe, that leaves workpiece between support platform and material conveying platform 5 allows bit space 2 to support stage+module, support platform
On offer material taking mouth 1-4 for mechanical hand grabbing workpiece, the material taking mouth 1-4 is just being located at the loading and unloading station of pay-off
Top, the upper surface of the support platform are provided with front-end bearing pedestal and rear bearing block and and horizontal sliding table for support screw
41 two slide rail 1-5 being slidably matched, are provided with reinforcement between two slide rail 1-5.Three pieces of supports are provided with the present embodiment
Support platform is supported on feeding by plate, respectively external support board 1-1, middle gripper shoe 1-2 and inner support plate 1-3, three pieces of gripper shoes
The top of platform 5.
The mechanical hand 4 includes horizontal sliding table 41, rotating driving device 42 and a pair telescopic clamping devices 43, the water
The lower surface of somoothing board 41 is provided with the slide block 41-6 and connecting seat being engaged for the slide rail 1-5 with pedestal 1, and horizontal sliding table 41 leads to
Cross horizontal drive mechanism 41-4 to be slidably matched on the pedestal 1, horizontal drive mechanism 41-4 drives 41 transverse movement of horizontal sliding table, institute
State the arm that horizontal sliding table 41 constitutes mechanical hand.The slide rail 1-5 of the pedestal 1 is longer than horizontal sliding table 41, it is ensured that horizontal sliding table 41
There is part reach the outside of pedestal 1 so that the telescopic clamping device energy of the telescopic clamping device and feeding of discharging
Get at the machine tool chief axis dead ahead up to Digit Control Machine Tool 6.The horizontal drive mechanism 41-4 adopts fluid pressure type horizontal drive mechanism, or
Person's pneumatic type horizontal drive mechanism, or electrodynamic type horizontal drive mechanism.Fluid pressure type horizontal drive mechanism adopts hydraulic jack, gas
Dynamic formula horizontal drive mechanism adopts cylinder, electrodynamic type horizontal drive mechanism to adopt linear electric motors, the hydraulic jack or cylinder
Or linear electric motors fix on the pedestal 1, the piston rod of piston rod or cylinder or the axostylus axostyle of linear electric motors of hydraulic jack with set
The connecting seat that puts on horizontal sliding table 41 is fixedly connected, and drives 41 transverse movement of horizontal sliding table.
The horizontal drive mechanism 41-4 can also adopt the first electric rotating machine 41-5 and the level biography for horizontal drive
Motivation structure, the first electric rotating machine 41-5 for horizontal drive adopt servomotor, and the horizontal drive mechanism is using rolling
Screw nut pair, the leading screw 41-1 two ends of the ball guide screw nat are rotatably supported on pedestal 1 by bearing
In front-end bearing pedestal and rear bearing block, the first electric rotating machine 41-5 for horizontal drive is arranged on 1 side of pedestal, drives for level
The first synchronous pulley 41- is equipped with the dynamic output shaft of the first electric rotating machine 41-5 and the leading screw 41-1 of ball guide screw nat
2, between two the first synchronous pulley 41-2, the first Timing Belt 41-3 is set, for horizontal drive the first electric rotating machine 41-5 with
It is connected by the first Timing Belt 41-3 between the leading screw 41-1 of ball guide screw nat, the nut 41-9 of ball guide screw nat sets
Put in nut seat 41-8, nut seat 41-8 is fixed on by screw and pin on the connecting seat of horizontal sliding table 41.When level is driven
When the first electric rotating machine 41-5 for horizontal drive of motivation structure 41-4 works, by the electric rotating machine for horizontal drive
The first synchronous pulley 41-2 on 41-5 is acted on the first Timing Belt 41-3, and the first Timing Belt 41-3 drives ball-screw nut
Secondary leading screw 41-1 is rotated, and the leading screw 41-1 of ball guide screw nat drives the nut 41-9 of ball guide screw nat axially to transport
Dynamic, drive horizontal sliding table 41 to do transverse movement by the nut 41-9 of ball guide screw nat, so as to driving mechanical handss are to numerical control
Lathe is close.The first electric rotating machine 41-5 for the horizontal drive and leading screw 41-1 of ball guide screw nat can also lead to
Cross shaft joint to be directly connected to.Pad is additionally provided between the connecting seat of the nut 41-9 and horizontal sliding table 41 of the ball guide screw nat
Piece 41-7.
The horizontal drive mechanism of the horizontal drive mechanism 41-4 can also adopt pinion and rack, the rack-and-pinion
The tooth bar of mechanism is fixed on the side of horizontal sliding table 41, installs gear and tooth on the axle for the electric rotating machine of horizontal drive
The tooth bar engagement of wheel rackwork, for horizontal drive electric rotating machine through pinion and rack and horizontal sliding table 41 connecting seat
It is fixedly connected.
The rotating driving device 42 is fixedly mounted on horizontal sliding table 41, and the pair of telescopic clamping device 43 passes through
On the output shaft of rotating driving device 42, the rotating driving device 42 constitutes the wrist of mechanical hand to installing plate 43-3.
The rotating driving device 42 adopts the second electric rotating machine 42-4 and decelerator 42-1, the second electric rotating machine 42-4 and decelerator
42-1 is fixed on horizontal sliding table 41, and the second electric rotating machine 42-4 is fixedly mounted on horizontal sliding table 41 by motor cabinet, and second
The second synchronous pulley 42-2, the second electric rotating machine is equipped with the input shaft of the output shaft of electric rotating machine 42-4 and decelerator 42-1
42-4 is connected with decelerator 42-1 by the second synchronous pulley 42-2 and the second Timing Belt 42-3, the output of the decelerator 42-1
Axle is connected with installing plate 43-3 by ring flange, and the second electric rotating machine 42-4 is connected with installing plate through decelerator 42-1.Second rotation
Rotating motor 42-4 drives decelerator 42-1 input shafts to rotate by the second synchronous pulley 42-2 and the second Timing Belt 42-3, decelerator
42-1 output shaft rotations drive installing plate to do gyration.Decelerator 42-1 reduces the rotation speed of the second electric rotating machine 42-4
Degree, makes telescopic clamping device more steady when rotating, it is to avoid workpiece is thrown away in quick rotation from telescopic clamping device.
The second electric rotating machine 42-4 adopts servomotor.Can also lead between the second electric rotating machine 42-4 and decelerator 42-1
Cross shaft joint to be directly connected to.The second electric rotating machine 42-4 could alternatively be air motor, or hydraulic motor.
The pair of telescopic clamping device 43 is located at directly over the material taking mouth 1-4 of pedestal 1, the pair of telescopic clamping
Device includes that retractor device 43-2 and retaining paw 43-1, retractor device 43-2 are connected with retaining paw 43-1, and a pair flexible
Telescopic clamping device 43a of one of them of formula clamping device 43 for feeding, another telescopic clamping device for discharging
43b.The telescopic clamping device 43b of the telescopic clamping device 43a of feeding and discharging is with being centrally formed of installing plate 43-3
The heart is arranged symmetrically, i.e. the telescopic clamping device 43a of the feeding and telescopic clamping device 43b of discharging is parallel is fixed on installing plate
On, and the retaining paw of the telescopic clamping device 43b of the telescopic clamping device 43a of feeding and discharging is towards on the contrary.Described
The telescopic clamping device 43a of feeding is used for feeding of the workpiece to be processed through pedestal 1 on the tray for work pieces 55 of pay-off 54
Mouth 1-4 clamps workpiece, is then fitted on the spindle chuck 7 of Digit Control Machine Tool.The telescopic clamping device 43b of the discharging is used for
Finished work is removed from the spindle chuck 7 of Digit Control Machine Tool, then pay-off 54 is placed on through the material taking mouth 1-4 of pedestal 1
Tray for work pieces 55 on.The rotating driving device 42 drives a pair telescopic clamping devices 43 to rotate, and adjusts the flexible of feeding
The position of the telescopic clamping device 43b of formula clamping device 43a and discharging.Two telescopic clamping devices be arranged in parallel, two
When individual telescopic clamping device has clamped workpiece, rotating driving device 42 is acted on and forms a pair of size phases on installing plate 43-3
It is couple Deng, in opposite direction but not conllinear parallel force.Couple makes object not assume any translational motion completely, only presents pure
Rotary motion.The load of rotating driving device and a pair telescopic clamping device coupling parts is alleviated, relevant apparatus are extended
Life-span.
The retractor device 43-2 of the pair of telescopic clamping device 43 is using hydraulic jack or cylinder or straight-line electric
Machine, hydraulic jack or cylinder or linear electric motors are fixed on installing plate 43-3, the piston rod 43-21 of hydraulic jack or gas
The output shaft of the piston rod 43-21 or linear electric motors of cylinder is connected with retaining paw 43-1, for driving before retaining paw 43-1,
After stretch.In the present embodiment, retractor device 43-2 adopts cylinder, and the cylinder adopts decussation guide rail slide unit cylinder.The feeding
Telescopic clamping device 43a retaining paw 43-1 and discharging telescopic clamping device 43b retaining paw 43-1 directions
On the contrary.
The retaining paw 43-1 of the telescopic clamping device 43 includes the driver of holding finger 43-11, retaining paw
Structure 43-12, for control holding finger open or the hydraulic jack that closes or cylinder 43-13, holding finger 43-11 L-shaped,
The hydraulic jack or cylinder are fixed on retractor device 43-2, and the drive mechanism 43-12 of retaining paw is set in hydraulic oil
On the piston rod of the piston rod of cylinder or cylinder 43-13, the piston rod and folder of the piston rod or cylinder 43-13 of hydraulic jack are made
The drive mechanism 43-12 for holding paw is connected, and holding finger 43-11 is bolted to connection the drive mechanism in retaining paw
On 43-12, the piston rod of the piston rod or cylinder of hydraulic jack is acted on the drive mechanism 43-12 of retaining paw, is used for
Holding finger 43-11 is driven along the radial motion of hydraulic jack or cylinder 43-13.The drive mechanism 43-12 of the retaining paw
Including fairlead and multiple guide runners, the fairlead is fixed on the piston rod of cylinder, the lateral surface of fairlead be provided with to
The wedge-shaped protrusion of evagination, offers the chute being slidably matched with the wedge-shaped protrusion of fairlead on guide runner, for controlling clamping
Finger opens or the hydraulic jack that closes or cylinder 43-13 drive each guide runner along hydraulic jack or cylinder by fairlead
Radial motion, the holding finger 43-11 is bolted on each guide runner.The retaining paw 43-1 constitutes machine
The paw of tool handss is used for clamping, unclamping workpiece.It is provided with three holding fingers in the present embodiment, described for controlling holding finger
The upper cover of piston rod of the cylinder 43-13 for opening or closing is provided with the fairlead of cylinder, and the fairlead is provided with three equidistantly
Points 360 ° of wedge-shaped protrusion, the wedge-shaped protrusion of the fairlead are sliding combined with three guide runners along cylinder radial motion, and three
Individual guide runner is equidistantly divided equally the guide runner of 360 °, i.e., three and is circumferentially uniformly distributed, and three holding finger 43-11 are solid respectively
It is scheduled on three guide runners.
Two spring pressure plates 8 are additionally provided with the retaining paw 43-1, and described two spring pressure plates 8 are overlapped in clamping
On the end cap of the hydraulic jack of paw 43-1 or cylinder 43-13, the end cap is the front end of hydraulic jack or cylinder 43-13
Lid, is provided with multiple springs 9 between two spring pressure plates 8.Three springs 9 and two spring pressure plates 8 are provided with the present embodiment, described
Two spring pressure plates 8 are provided with three wings for stretching out, and three wings for stretching out equidistantly divide equally 360 °, two springs
Three wings for stretching out of platen 8 are overlapped, and three springs 9 are located between the wing of upper and lower spring pressure plate 8 respectively.Two
Stretch out three wings of individual spring pressure plate 8 are crisscross arranged with three holding finger 43-11 of retaining paw 43-1.Upper
Spring pressure is respectively mounted on the retaining paw 43-1 of the telescopic clamping device 43b of the telescopic clamping device 43a of material and discharging
Disk, when by workpiece to be processed on Digit Control Machine Tool, the spring pressure plate of the telescopic clamping device of feeding gives work to be processed
One axial force of part, it is ensured that the spindle chuck of Digit Control Machine Tool can be by workpiece to be processed clamping in place, it is ensured that the processing of workpiece
Precision；When finished work is removed from lathe, be prevented from lathe spindle chuck 7 unclamp after finished work from plus
Work station comes off.
The sensor for positioning is equipped with the pair of telescopic clamping device 43, and the sensor is passed using magnetic
Sensor.Sensor on telescopic clamping device 43 is for monitoring retractor device and clamping device action whether in place, stretch
Whether formula clamping device 43 carries out the basis of next step action.Ensure that in assembling a pair telescopic clamping devices 43 are in vertical shape
During state, the axial line of retaining paw wherein directed downwardly is centrally located at same straight line with the loading and unloading station of pay-off.
On main spindle box 72, main spindle box 72 fixes machine tool chief axis 71, belt pulley 73 to the machine tool chief axis 71 of Digit Control Machine Tool 6
It is fixed on machine tool chief axis 71, machine tool chief axis 71 are connected with motor with belt by belt pulley 73, motor drives belt pulley 73 to revolve
Turn so as to driving machine tool chief axis 71 to rotate.Main shaft oil cylinder 74 is connected with spindle chuck 7 by a connecting rod, controls spindle chuck
7 opening and closing, the operation principle of spindle chuck 7 is the piston rod drivening rod of hydraulic oil drive shaft oil cylinder 74, from
And drive the plunger of spindle chuck 7 to realize the control to 7 opening and closing of spindle chuck.
Further：The lower end of the pedestal 1 is provided with for detecting the induction installation 3 of workpiece, described for detecting workpiece
Induction installation 3 be arranged in the gripper shoe of pedestal 1, the output shaft axial line of the 3 offset rotation driving means 42 of induction installation,
It is arranged in gripper shoe 1-2 and inner support plate 1-3.After induction installation 3 detects workpiece, pay-off stop motion, from
And control the action of pay-off.The induction installation 3 is stopped so as to control tray for work pieces by sensing the workpiece on tray for work pieces
On the loading and unloading station of pay-off.The induction installation 3 can be opened using the sensing such as infrared inductor or proximity switch
Close.
Operation principle of the present utility model：A pair telescopic clamping devices 43 of original state are in horizontal level, discharging
Telescopic clamping device 43b be located at feeding telescopic clamping device 43a above, the clamping of the telescopic clamping device of discharging
Paw opens, and accompanies a workpiece to be processed on the retaining paw 43-1 of the telescopic clamping device 43a of feeding.In horizontal drive
41 horizontal movement of horizontal sliding table of mechanical hand 4 under the drive of mechanism 41-4, horizontal sliding table 41 are done transverse movement and are driven a pair and stretch
Formula clamping device 43 is close to the machine tool chief axis 71 of Digit Control Machine Tool 6；Axial line and number as the telescopic clamping device 43b of discharging
When the axial line of the machine tool chief axis 71 of control lathe 6 is coaxial, horizontal drive mechanism 41-4 stopping actions, horizontal sliding table 41 stop moving
Dynamic, the retractor device 43-2 of the telescopic clamping device 43b of discharging stretches out drive retaining paw 43-1 and proceeds to up to Digit Control Machine Tool 6
71 dead ahead of machine tool chief axis, the spindle chuck 7 of machine tool chief axis 71 unclamps finished work, the telescopic clamping device of discharging
43b clamps finished work, and the retractor device 43-2 of the telescopic clamping device 43b of discharging drives retaining paw 43-1 retractions.
180 ° of 42 rotate counterclockwise of rotating driving device of mechanical hand 4 so that the telescopic clamping device 43a of feeding is located at stretching for discharging
The top of contracting formula clamping device 43b（NC Machine oriented is seen to the inside of lathe）, the now telescopic clamping device 43a of feeding
The axial line of the machine tool chief axis of axial line and Digit Control Machine Tool 6 is coaxial.The retractor device of the telescopic clamping device 43a of feeding
43-2 stretches out drive retaining paw 43-1 and advances in place, by the retaining paw 43-1 of the telescopic clamping device 43a of feeding
Workpiece to be processed is sent on the spindle chuck of 6 machine tool chief axis of Digit Control Machine Tool, the retaining paw of the telescopic clamping device 43a of feeding
43-1 unclamps workpiece to be processed, and spindle chuck 7 is closed and clamps workpiece to be processed, and the telescopic clamping device 43a of feeding stretches
Compression apparatus drive retaining paw 43-1 to retract in place.Start horizontal drive mechanism 41-4, in the driving of horizontal drive mechanism 41-4
Under, the horizontal sliding table 41 of mechanical hand 4 returns to initial position, and 42 clockwise of rotating driving device of mechanical hand 4 is rotated by 90 °, makes
The telescopic clamping device 43a of the telescopic clamping device 43b and feeding of discharging is in erection position, the telescopic clamping of discharging
The retaining paw 43-1 of device 43b down, upward, stretch for the retaining paw 43-1 of the telescopic clamping device 43a of feeding by discharging
The retractor device 43-2 of contracting formula clamping device 43b drives retaining paw 43-1 to be moved downwardly to through the material taking mouth 1-4 on pedestal 1
The loading and unloading station of pay-off 54, then the retaining paw 43-1 releases of the telescopic clamping device 43b of discharging, will clamp handss
On pawl 43-1, finished work is placed on the tray for work pieces 55 of 54 loading and unloading station of pay-off, the telescopic clamping of last discharging
The retractor device of device 43b is retracted, and drives the retaining paw 43-1 of the telescopic clamping device 43b of discharging to move upward to position.
The rotating driving device 42 of mechanical hand 4 turns clockwise 180 °, makes the retaining paw 43-1 of the telescopic clamping device 43a of feeding
Down, pay-off 54 starts, and drives the carrier chain on pay-off 54 that finished work is sent to next station, while by under
One workpiece to be processed is sent to loading and unloading station by the control of induction installation 3.Pay-off 54 stops, the telescopic clamping of feeding
The retractor device of device 43a stretches out drive retaining paw 43-1 and moves downward in place, then the telescopic clamping device 43a of feeding
Retaining paw 43-1 closure, retaining paw 43-1 clamp 54 tray for work pieces of pay-off on workpiece to be processed, last feeding
The retractor device of telescopic clamping device 43a retract, drive retaining paw 43-1 and workpiece to be processed to move upward to position.Machine
90 ° of 42 rotate counterclockwise of rotating driving device of tool handss 4, makes mechanical hand return to original state.Complete a loading and unloading circulation.
Pay-off 54 and mechanical hand are set on the material conveying platform 5 of this utility model Digit Control Machine Tool automatization handling equipment
4, it is achieved that the high effective integration of pay-off 54 and mechanical hand 4, the pallet arranged on the carrier chain on pay-off 54 are adapted to
The workpiece conveying of of different sizes, varying diameters.The telescopic clamping device 43 of mechanical hand 4 is in 54 loading and unloading station of pay-off
Surface.Material conveying platform 5 is near the spindle chuck 7 of Digit Control Machine Tool 6, it is ensured that 54 loading and unloading station of pay-off and main shaft card
The distance between processing stations of disk 7 are very short, and mechanical hand 4 can be realized filling feeding by a simple transverse movement action
The workpiece to be processed that puts on 54 loading and unloading stations is sent on the processing stations of spindle chuck 7.The mechanical hand 4 is solid by pedestal 1
Dingan County is mounted on material conveying platform 5, and the lower surface of material conveying platform 5 is provided with the guide rail 52 for being slidably matched, numerical control with Digit Control Machine Tool 6
Guide rail slide 53 is fixed on lathe 6, and guide rail 52 is slidably matched with guide rail slide 53.In automatic loading/unloading, material conveying platform 5 is fixed
In loading and unloading station；When needing artificial operation, 5 driving mechanical handss 4 of material conveying platform along 52 direction of guide rail away from Digit Control Machine Tool 6 machine
Bed main shaft 71 concedes working space for operator.Size is adapted to using this utility model Digit Control Machine Tool automatization handling equipment
Different, the workpiece loading and unloading of varying diameters, significantly shorten the loading and unloading time, improve production efficiency, have saved logistics empty
Between, human resourcess are saved, can be applied to and be required higher accurate digital control horizontal lathe, effectively improve in processing industry
Whole competitiveness.
Claims (10)
1. automatization's loading and unloading equipment of a kind of Digit Control Machine Tool, it is characterised in that：Including material conveying platform（5）, mechanical hand（4）, institute
State material conveying platform（5）It is provided with for transmitting the pay-off of workpiece（54）, the mechanical hand（4）It is arranged on by pedestal (1)
Material conveying platform（5）On, pedestal (1) and material conveying platform（5）Between leave the bit space that allows of workpiece（2）, pedestal opened up on (1)
There is the material taking mouth for mechanical hand grabbing workpiece（1-4）, the mechanical hand（4）Including horizontal sliding table（41）, rotating driving device
（42）With a pair telescopic clamping devices（43）, the horizontal sliding table（41）By horizontal drive mechanism（41-4）It is slidably fitted in
On pedestal (1), the rotating driving device（42）It is fixedly mounted on horizontal sliding table（41）On, the pair of telescopic clamping device
（43）By installing plate（43-3）It is arranged on rotating driving device（42）Output shaft on, one of them for feeding telescopic folder
Hold device（43a）, another telescopic clamping device for discharging（43b）, the telescopic clamping device of feeding（43a）And discharging
Telescopic clamping device（43b）With installing plate（43-3）Be centrally formed and be centrosymmetrically arranged.
2. automatization's loading and unloading equipment of Digit Control Machine Tool according to claim 1, it is characterised in that：The pair of telescopic
Clamping device（43）Include retractor device（43-2）And retaining paw（43-1）, retractor device（43-2）With retaining paw（43-
1）It is connected, the retractor device（43-2）For driving retaining paw（43-1）Stretch out, retract, the retaining paw（43-1）With
In clamping, unclamp workpiece；The telescopic clamping device of the feeding（43a）Retaining paw（43-1）Telescopic folder with discharging
Hold device（43b）Retaining paw（43-1）Towards on the contrary.
3. automatization's loading and unloading equipment of Digit Control Machine Tool according to claim 2, it is characterised in that：The retaining paw
（43-1）Including holding finger（43-11）, retaining paw drive mechanism（43-12）With open or close for controlling holding finger
The hydraulic jack or cylinder of conjunction（43-13）, the hydraulic jack or cylinder（43-13）It is fixed on retractor device（43-2）
On, the piston rod or cylinder of hydraulic jack（43-13）Piston rod be connected with the drive mechanism of retaining paw, holding finger is solid
It is scheduled on the drive mechanism of retaining paw, for driving holding finger（43-11）Along hydraulic jack or cylinder（43-13）Radial direction
Motion.
4. automatization's loading and unloading equipment of the Digit Control Machine Tool according to Claims 2 or 3, it is characterised in that：The clamping handss
Pawl（43-1）On be additionally provided with two spring pressure plates（8）, described two spring pressure plates（8）Overlap in retaining paw（43-1）'s
Hydraulic jack or cylinder（43-13）End cap on, two spring pressure plates（8）Between be provided with multiple springs (9).
5. automatization's loading and unloading equipment of Digit Control Machine Tool according to claim 1 and 2, it is characterised in that：The pair of stretch
Contracting formula clamping device（43）On be equipped with for position sensor.
6. automatization's loading and unloading equipment of Digit Control Machine Tool according to claim 1 and 2, it is characterised in that：The level is driven
Motivation structure（41-4）Using fluid pressure type horizontal drive mechanism, or pneumatic type horizontal drive mechanism, or electrodynamic type horizontal drive
Mechanism.
7. automatization's loading and unloading equipment of Digit Control Machine Tool according to claim 1 and 2, it is characterised in that：The rotation is driven
Dynamic device（42）Using the second electric rotating machine（42-4）And decelerator（42-1）, second electric rotating machine（42-4）And decelerator
（42-1）It is fixedly mounted on horizontal sliding table（41）On, the second electric rotating machine（42-4）Output shaft and decelerator（42-1）Input
Axle is connected, the decelerator（42-1）Output shaft and installing plate（43-3）It is connected；Second electric rotating machine（42-4）Can be with
Replace with air motor, or hydraulic motor.
8. automatization's loading and unloading equipment of Digit Control Machine Tool according to claim 1 and 2, it is characterised in that：Pedestal (1)
Lower end be provided with for detecting the induction installation of workpiece（3）.
9. automatization's loading and unloading equipment of Digit Control Machine Tool according to claim 1, it is characterised in that：The pay-off
（54）Using annular pay-off.
10. automatization's loading and unloading equipment of the Digit Control Machine Tool according to claim 1 or 9, it is characterised in that：The feeding dress
Put（54）Including feeding motor（51）, carrier chain and some tray for work pieces（55）, the feeding motor（51）For driving conveying
Chain is rotated, some tray for work pieces（55）On carrier chain；The carrier chain could alternatively be conveyer belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620894562.XU CN206010575U (en) | 2016-08-18 | 2016-08-18 | Automatization's loading and unloading equipment of Digit Control Machine Tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620894562.XU CN206010575U (en) | 2016-08-18 | 2016-08-18 | Automatization's loading and unloading equipment of Digit Control Machine Tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206010575U true CN206010575U (en) | 2017-03-15 |
Family
ID=58249106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620894562.XU Active CN206010575U (en) | 2016-08-18 | 2016-08-18 | Automatization's loading and unloading equipment of Digit Control Machine Tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206010575U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106141786A (en) * | 2016-08-18 | 2016-11-23 | 重庆科菲精密机械有限公司 | Automatization's handling equipment of Digit Control Machine Tool |
| CN112775707A (en) * | 2021-01-29 | 2021-05-11 | 广州比木云建筑科技有限公司 | Building board processing assembly based on automatic feeding |
| CN114378627A (en) * | 2021-12-24 | 2022-04-22 | 伯朗特机器人股份有限公司 | Feeding and discharging system and processing equipment |
| CN114850945A (en) * | 2020-11-30 | 2022-08-05 | 广东鑫光智能***有限公司 | High-precision clamping device |
-
2016
- 2016-08-18 CN CN201620894562.XU patent/CN206010575U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106141786A (en) * | 2016-08-18 | 2016-11-23 | 重庆科菲精密机械有限公司 | Automatization's handling equipment of Digit Control Machine Tool |
| CN106141786B (en) * | 2016-08-18 | 2024-06-25 | 沧州卓金管道科技有限公司 | Automatic feeding and discharging device of numerical control machine tool |
| CN114850945A (en) * | 2020-11-30 | 2022-08-05 | 广东鑫光智能***有限公司 | High-precision clamping device |
| CN112775707A (en) * | 2021-01-29 | 2021-05-11 | 广州比木云建筑科技有限公司 | Building board processing assembly based on automatic feeding |
| CN114378627A (en) * | 2021-12-24 | 2022-04-22 | 伯朗特机器人股份有限公司 | Feeding and discharging system and processing equipment |
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| TR01 | Transfer of patent right |
Effective date of registration: 20231218 Address after: 061300 Zhenggang Economic Development Zone, Yanshan County, Cangzhou City, Hebei Province Patentee after: Cangzhou Zhuojin Pipeline Technology Co.,Ltd. Address before: 402247 No. 38 Jinma Avenue, Shuangfu New District, Jiangjin District, Chongqing Patentee before: CHONGQING KEFEI PROCISIVE MOCHINARY Co.,Ltd. |
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| TR01 | Transfer of patent right |