CN211193887U - Gantry type mechanical arm of lathe - Google Patents
Gantry type mechanical arm of lathe Download PDFInfo
- Publication number
- CN211193887U CN211193887U CN201922453164.0U CN201922453164U CN211193887U CN 211193887 U CN211193887 U CN 211193887U CN 201922453164 U CN201922453164 U CN 201922453164U CN 211193887 U CN211193887 U CN 211193887U
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- fixing block
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- 230000002457 bidirectional effect Effects 0.000 claims description 23
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The utility model discloses a gantry type mechanical arm of a lathe, which comprises a longitudinal guide rail beam, a transverse guide rail beam, a lifting mechanism and a grabbing mechanism; the two ends of the transverse guide rail beam are movably connected with the longitudinal guide rail beam, the lifting mechanism is arranged on the transverse guide rail beam, the grabbing mechanism is arranged at the bottom of the lifting mechanism and comprises a mechanical arm I and a mechanical arm II, and the mechanical arm I and the mechanical arm II can be used alternatively. The utility model discloses be equipped with and snatch the mechanism, including manipulator I and manipulator II, can satisfy snatching and laying of different grade type object.
Description
Technical Field
The utility model belongs to the technical field of the manipulator, in particular to lathe planer-type manipulator.
Background
The lathe is mainly used for processing shafts, discs, sleeves and other workpieces with rotating surfaces, mainly takes a cylinder as a main part, and is the most widely used machine tool in a mechanical manufacturing factory. The machining principle of the lathe is that a cutter and a workpiece are arranged on a finished lathe, and the relative motion of the cutter and the workpiece, namely cutting motion, is generated by a transmission and speed change system of the lathe to cut a required part.
However, depending on the part requirements or to reduce the waste of stock material, it is often necessary to turn some blanks or stock material having a square state. If the manipulator for clamping the shaft-type material is still used, the manipulator cannot grab firmly, and the square object is difficult to grab stably and place accurately. There is a need for a manipulator that avoids the disadvantages of being suitable for gripping only a single type of object.
Disclosure of Invention
The utility model aims at overcoming not enough among the prior art, providing a lathe planer-type manipulator, the utility model discloses be equipped with and snatch the mechanism, including manipulator I and manipulator II, can satisfy snatching and laying of different grade type object.
In order to realize the purpose, the utility model discloses a technical scheme is:
a gantry type mechanical arm of a lathe comprises a longitudinal guide rail beam, a transverse guide rail beam, a lifting mechanism and a grabbing mechanism; the two ends of the transverse guide rail beam are movably connected with the longitudinal guide rail beam, the lifting mechanism is arranged on the transverse guide rail beam, the grabbing mechanism is arranged at the bottom of the lifting mechanism and comprises a mechanical arm I and a mechanical arm II, and the mechanical arm I and the mechanical arm II can be used alternatively.
Be equipped with lead screw I, motor I on the longitudinal rail roof beam, I one end of lead screw is equipped with the gear, and I setting of motor is in longitudinal rail roof beam one end, is equipped with the gear on I axle head of motor and meshes mutually with the gear of I one end of lead screw, and the gear has the chain to be connected with the gear, provides power through motor I and makes I rotations of lead screw.
The transverse guide rail beam is provided with a screw II, a motor II and a bearing block, the two ends of the screw II are movably connected with the bearing block, the bearing block is fixed on the transverse guide rail beam, one end of the transverse guide rail beam is provided with the motor II, the shaft end of the motor II is provided with a gear, one end of the screw II, which is close to the motor II, is simultaneously provided with the gear, and the two gears are meshed with each other; the motor II provides power to enable the screw rod II to rotate; the screw rod I rotates to drive the transverse guide rail beam to move along the longitudinal guide rail beam.
The lifting mechanism comprises a gear box, a guide fixing shaft, a fixing block I, a motor III and a worm, the gear box is arranged on the transverse guide rail beam, a screw rod II penetrates through the gear box, the gear box is provided with the motor III and the worm, the shaft end of the motor III is provided with a turbine, the turbine is meshed with the worm, and the bottom of the worm is provided with the fixing block I; the fixing block I is provided with a guide groove I, a threaded hole and a shaft sleeve; one end of the guide fixing shaft is fixed on the fixing block I, and the other end of the guide fixing shaft is fixed on the gear box, so that the fixing block I is prevented from rotating due to the lifting and rotating of the worm; the motor III provides power to enable the worm to rotate to drive the fixing block I to ascend; the lifting mechanism moves left and right on the transverse guide rail beam through the rotation of the screw rod II.
The grabbing mechanism comprises an electric motor and a grab, and the electric motor is fixed at one end of the fixing block I; the gripper is divided into a mechanical arm I and a mechanical arm II; the manipulator I comprises a guide fixing block I, a guide block I, a screw rod, a fixing block II, a supporting rod, a grabbing arm I and a fixing block III; one side of the guide fixing block I is provided with a guide block I, one end of the guide fixing block I is provided with a screw rod and a fixing block II, the fixing block II is fixed on the guide fixing block I, the screw rod is movably connected with the guide fixing block I and the fixing block II, one end of the screw rod is provided with a gear, and the other end of the screw rod is movably connected with a fixing block III; one end of the supporting rod is connected with the fixing block II through a pin shaft, the other end of the supporting rod is connected with the grabbing arm I through a pin shaft, and one end of the grabbing arm I is connected with the fixing block III through a pin shaft; the guide fixing block I is inserted into a guide groove I in the fixing block I through the guide block I, a gear at one end of the screw rod is meshed with a gear at the shaft end of the electric motor through adjustment, and then the screw rod is fixed by matching with a threaded hole through a bolt; the electric motor provides power, the gears are meshed to transmit the power, the screw rod rotates to drive the fixing block III to ascend or descend, and therefore the grabbing arm I can be opened and closed or gathered together by taking the pin shaft at one end of the supporting rod as an axis to release or grab an object.
The manipulator II comprises a guide fixing block II, a guide groove II, a fixing plate, a bidirectional screw rod, a connecting fixing block, a power shaft, a bevel gear I, a bevel gear II and a grabbing arm II; the bottom of the guide fixing block II is provided with a guide groove II, one side of the guide fixing block II is provided with a guide block II, the bottoms of the two ends of the guide fixing block II are respectively provided with a fixing plate, and one end of the guide fixing block II is provided with a power shaft; one end of the power shaft is provided with a gear, and the other end of the power shaft is provided with a bevel gear I; two ends of the bidirectional screw rod are movably connected with a fixed plate, one end of the bidirectional screw rod is provided with a positive screw, the other end of the bidirectional screw rod is provided with a reverse screw, the bidirectional screw rod is movably sleeved and connected with the fixed block, two sides of the fixed block are fixedly connected with a grabbing arm II, and the top end of the grabbing arm II is provided with a sliding block and is arranged in the guide groove II; one end of the bidirectional screw rod, which is close to the power shaft, is provided with a conical gear II and is meshed with the conical gear I; inserting the guide fixing block II into the guide groove I through the guide block II, adjusting to enable the shaft end gear of the power shaft to be meshed with the shaft end gear of the electric motor, and fixing the shaft end gear of the electric motor through a bolt; the electric motor provides power to drive the power shaft to rotate so as to enable the bidirectional screw rod to rotate, and the positive wire and the negative wire of the bidirectional screw rod are utilized to enable the grabbing arm II to gather to grab towards the middle or loosen towards two sides, so that the object can be grabbed and released.
Preferably, the longitudinal guide rail beam is provided with a guide shaft for assisting the guide fixation of the transverse guide rail beam during sliding.
Preferably, one end of the grabbing arm I is provided with a jacking block, so that the object can be fixed and grabbed more firmly when grabbed.
Compared with the prior art, the utility model beneficial effect shows: the grabbing mechanism is only suitable for grabbing specific types of objects in a general state, and once different types of objects appear, the objects are difficult to grab; the utility model discloses be equipped with and snatch mechanism and hoist mechanism, snatch and be equipped with the tongs in the mechanism, the tongs includes manipulator I and manipulator II, and manipulator I and manipulator II correspond respectively and snatch square object and axle type object to can accomplish snatching of different grade type object basically.
Drawings
FIG. 1 is a schematic structural view of a gantry type manipulator of a lathe of the present invention;
FIG. 2 is a schematic structural diagram of a lifting mechanism and a manipulator I in a gantry type manipulator of the lathe of the utility model;
fig. 3 is a schematic structural diagram of a manipulator i in a gantry-type manipulator of the lathe of the present invention;
fig. 4 is a schematic structural view of a lifting mechanism in a gantry-type manipulator of the lathe of the present invention;
FIG. 5 is a schematic structural view of a lifting mechanism and a manipulator II in a gantry type manipulator of the lathe of the present invention;
fig. 6 is a schematic structural diagram of a manipulator ii in a gantry-type manipulator of the lathe of the present invention;
in the figure: 1. a longitudinal guide rail beam; 11. a screw I; 12. a motor I; 13. a guide shaft; 2. a transverse guide rail beam; 21. a screw II; 22. a motor II; 23. a bearing seat; 3. a lifting mechanism; 31. a gear case; 32. a guide fixing shaft; 33. a fixed block I; 331. a guide groove I; 332. a threaded hole; 333. a shaft sleeve; 34. a motor III; 35. a worm; 4. a grabbing mechanism; 41. an electric motor; 42. a gripper; 421. a mechanical arm I; 4211. a guide fixing block I; 4212. a guide block I; 4213. a screw rod; 4214. a fixed block II; 4215. a support bar; 4216. a grabbing arm I; 4217. a fixed block III; 4218. a top block; 422. a mechanical arm II; 4221. a guide fixing block II; 4222. a guide block II; 4223. a guide groove II; 4224. a fixing plate; 4225. a bidirectional screw rod; 4226. connecting a fixed block; 4227. a power shaft; 4228. a bevel gear I; 4229. a bevel gear II; 4230. and a grabbing arm II.
Detailed Description
In order to facilitate understanding of those skilled in the art, the technical solution of the present invention is further specifically described below with reference to fig. 1 to 6.
A gantry type manipulator of a lathe comprises a longitudinal guide rail beam 1, a transverse guide rail beam 2, a lifting mechanism 3 and a grabbing mechanism 4; the two ends of the transverse guide rail beam 2 are movably connected with the longitudinal guide rail beam 1, the lifting mechanism 3 is arranged on the transverse guide rail beam 2, the grabbing mechanism 4 is arranged at the bottom of the lifting mechanism 3, and the grabbing mechanism 4 comprises a mechanical hand I421 and a mechanical hand II 422 which can be used alternatively.
Be equipped with lead screw I11, motor I12 on the longitudinal rail roof beam 1, lead screw I11 one end is equipped with the gear, and motor I12 sets up in longitudinal rail roof beam 1 one end, is equipped with the gear on the I12 axle head of motor and meshes mutually with the gear of I11 one end of lead screw, and the gear has the chain to be connected with the gear, provides power through motor I12 and makes I11 rotations of lead screw.
The transverse guide rail beam 2 is provided with a screw II 21, a motor II 22 and a bearing seat 23, the two ends of the screw II 21 are movably connected with the bearing seat 23, the bearing seat 23 is fixed on the transverse guide rail beam 2, one end of the transverse guide rail beam 2 is provided with the motor II 22, the shaft end of the motor II 22 is provided with a gear, one end of the screw II 21 close to the motor II 22 is simultaneously provided with the gear, and the two gears are meshed with each other; the motor II 22 provides power to rotate the screw II 21; the screw I11 rotates to drive the transverse guide rail beam 2 to move along the direction of the longitudinal guide rail beam 1.
The lifting mechanism 3 comprises a gear box 31, a guide fixing shaft 32, a fixing block I33, a motor III 34 and a worm 35, the gear box 31 is arranged on the transverse guide rail beam 2, a screw II 21 penetrates through the gear box 31, the motor III 34 and the worm 35 are arranged on the gear box 31, a worm wheel is arranged at the shaft end of the motor III 34 and meshed with the worm 35, and the fixing block I33 is arranged at the bottom of the worm 35; a guide groove I331, a threaded hole 332 and a shaft sleeve 333 are arranged on the fixing block I33; one end of the guide fixing shaft 32 is fixed on the fixing block I33, and the other end of the guide fixing shaft is fixed on the gear box 31, so that the fixing block I33 is prevented from rotating due to the lifting and rotating of the worm 35; the motor III 34 provides power to enable the worm 35 to rotate to drive the fixing block I33 to ascend; the lifting mechanism 3 moves left and right on the transverse guide rail beam 2 through the rotation of the screw II 21.
The grabbing mechanism 4 comprises an electric motor 41 and a grabbing hand 42, and the electric motor 41 is fixed at one end of the fixing block I33; the gripper 42 is divided into a manipulator I421 and a manipulator II 422; the manipulator I421 comprises a guide fixing block I4211, a guide block I4212, a screw rod 4213, a fixing block II 4214, a support rod 4215, a grabbing arm I4216 and a fixing block III 4217; one side of the guide fixing block I4211 is provided with a guide block I4212, one end of the guide fixing block I4211 is provided with a screw rod 4213 and a fixing block II 4214, the fixing block II 4214 is fixed on the guide fixing block I4211, the screw rod 4213 is movably connected with the guide fixing block I4211 and the fixing block II 4214, one end of the screw rod 4213 is provided with a gear, and the other end of the screw rod 4213 is movably connected with a fixing block III 4217; one end of a support rod 4215 is connected with a fixing block II 4214 through a pin shaft, the other end of the support rod 4215 is connected with a grabbing arm I4216 through a pin shaft, and one end of the grabbing arm I4216 is connected with a fixing block III 4217 through a pin shaft; the guide fixing block I4211 is inserted into a guide groove I331 in the fixing block I33 through a guide block I4212, a gear at one end of the screw rod 4213 is meshed with a gear at the shaft end of the electric motor 41 through adjustment, and then the screw rod is matched with the threaded hole 332 to be fixed; the electric motor 41 provides power, the gears are meshed to transmit the power, the screw rod 4213 rotates to drive the fixing block III 4217 to ascend or descend, and therefore the grabbing arm I4216 is opened or closed or gathered by taking a pin shaft at one end of the supporting rod 4215 as an axis to release or grab an object.
The manipulator II 422 comprises a guide fixing block II 4221, a guide block II 4222, a guide groove II 4223, a fixing plate 4224, a bidirectional screw rod 4225, a connecting fixing block 4226, a power shaft 4227, a conical gear I4228, a conical gear II 4229 and a grabbing arm II 4230; the bottom of the guide fixing block II 4221 is provided with a guide groove II 4223, one side of the guide fixing block II is provided with a guide block II 4222, the bottoms of the two ends of the guide fixing block II are respectively provided with a fixing plate 4224, and one end of the guide fixing block II is provided with a power shaft 4227; one end of the power shaft 4227 is provided with a gear, and the other end of the power shaft 4227 is provided with a bevel gear I4228; two ends of a bidirectional screw rod 4225 are movably connected with a fixing plate 4224, one end of the bidirectional screw rod is provided with a positive screw, the other end of the bidirectional screw rod is provided with a reverse screw, the bidirectional screw rod is movably sleeved with the fixing block 4226, two sides of the fixing block 4226 are fixedly connected with a grabbing arm II 4230, the top end of the grabbing arm II 4230 is provided with a sliding block and is arranged in a guide groove II 4223; one end of the bidirectional screw rod 4225 close to the power shaft 4227 is provided with a conical gear II 4229 and is meshed with a conical gear I4228; inserting the guide fixing block II 4221 into the guide groove I331 through the guide block II 4222, adjusting to enable the shaft end gear of the power shaft 4227 to be meshed with the shaft end gear of the electric motor 41, and fixing the shaft end gear by using a bolt; the electric motor 41 provides power to drive the power shaft 4227 to rotate so as to enable the bidirectional screw rod 4225 to rotate, and the positive screw and the negative screw of the bidirectional screw rod 4225 are utilized to enable the grabbing arm II 4230 to gather towards the middle for grabbing or loosen towards two sides, so that objects are grabbed and released.
The longitudinal guide rail beam 1 is provided with a guide shaft 13 for assisting the guide fixation of the transverse guide rail beam 2 during sliding.
One end of the grabbing arm I4216 is provided with a top block 4218, so that the object can be firmly fixed and grabbed when grabbed.
A gantry type mechanical arm of a lathe comprises the following working processes:
and selecting a mechanical arm I or a mechanical arm II according to the grabbed object, grabbing the object by using the grabbing mechanism, lifting the grabbing mechanism by using the lifting mechanism, then extending the transverse guide rail beam to move along the longitudinal guide rail beam by using the transverse guide rail beam, and finishing the movement of the grabbed object by the lifting mechanism along the transverse guide rail beam.
The foregoing is merely exemplary and illustrative of the structure of the invention, and various modifications, additions and substitutions as described in the detailed description may be made by those skilled in the art without departing from the structure or exceeding the scope of the invention as defined in the claims.
Claims (4)
1. A gantry type mechanical arm of a lathe comprises a longitudinal guide rail beam, a transverse guide rail beam, a lifting mechanism and a grabbing mechanism; the automatic picking and placing device is characterized in that two ends of a transverse guide rail beam are movably connected with a longitudinal guide rail beam, a lifting mechanism is arranged on the transverse guide rail beam, a picking mechanism is arranged at the bottom of the lifting mechanism, and the picking mechanism comprises a mechanical arm I and a mechanical arm II;
the longitudinal guide rail beam is provided with a screw I and a motor I, one end of the screw I is provided with a gear, the motor I is arranged at one end of the longitudinal guide rail beam, the shaft end of the motor I is provided with the gear which is meshed with the gear at one end of the screw I, and the gear is connected with the gear through a chain;
the transverse guide rail beam is provided with a screw II, a motor II and a bearing block, the two ends of the screw II are movably connected with the bearing block, the bearing block is fixed on the transverse guide rail beam, one end of the transverse guide rail beam is provided with the motor II, the shaft end of the motor II is provided with a gear, one end of the screw II, which is close to the motor II, is simultaneously provided with the gear, and the two gears are meshed with each other;
the lifting mechanism comprises a gear box, a guide fixing shaft, a fixing block I, a motor III and a worm, the gear box is arranged on the transverse guide rail beam, a screw rod II penetrates through the gear box, the gear box is provided with the motor III and the worm, the shaft end of the motor III is provided with a turbine, the turbine is meshed with the worm, and the bottom of the worm is provided with the fixing block I; the fixing block I is provided with a guide groove I, a threaded hole and a shaft sleeve; one end of the guide fixing shaft is fixed on the fixing block I, and the other end of the guide fixing shaft is fixed on the gear box.
2. The gantry type manipulator for lathes as claimed in claim 1, wherein the gripping mechanism comprises an electric motor and a gripper, the electric motor is fixed at one end of the fixed block I; the gripper is divided into a mechanical arm I and a mechanical arm II; the manipulator I comprises a guide fixing block I, a guide block I, a screw rod, a fixing block II, a supporting rod, a grabbing arm I and a fixing block III; one side of the guide fixing block I is provided with a guide block I, one end of the guide fixing block I is provided with a screw rod and a fixing block II, the fixing block II is fixed on the guide fixing block I, the screw rod is movably connected with the guide fixing block I and the fixing block II, one end of the screw rod is provided with a gear, and the other end of the screw rod is movably connected with a fixing block III; one end of the supporting rod is connected with the fixing block II through a pin shaft, the other end of the supporting rod is connected with the grabbing arm I through a pin shaft, and one end of the grabbing arm I is connected with the fixing block III through a pin shaft;
the manipulator II comprises a guide fixing block II, a guide groove II, a fixing plate, a bidirectional screw rod, a connecting fixing block, a power shaft, a bevel gear I, a bevel gear II and a grabbing arm II; the bottom of the guide fixing block II is provided with a guide groove II, one side of the guide fixing block II is provided with a guide block II, the bottoms of the two ends of the guide fixing block II are respectively provided with a fixing plate, and one end of the guide fixing block II is provided with a power shaft; one end of the power shaft is provided with a gear, and the other end of the power shaft is provided with a bevel gear I; two ends of the bidirectional screw rod are movably connected with a fixed plate, one end of the bidirectional screw rod is provided with a positive screw, the other end of the bidirectional screw rod is provided with a reverse screw, the bidirectional screw rod is movably sleeved and connected with the fixed block, two sides of the fixed block are fixedly connected with a grabbing arm II, and the top end of the grabbing arm II is provided with a sliding block and is arranged in the guide groove II; one end of the bidirectional screw rod, which is close to the power shaft, is provided with a bevel gear II and is meshed with the bevel gear I.
3. The gantry robot for lathes of claim 1, wherein said longitudinal rail beam is provided with a guide shaft.
4. The gantry type mechanical arm for lathes as claimed in claim 2, wherein a top block is arranged at one end of the gripping arm I.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922453164.0U CN211193887U (en) | 2019-12-30 | 2019-12-30 | Gantry type mechanical arm of lathe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922453164.0U CN211193887U (en) | 2019-12-30 | 2019-12-30 | Gantry type mechanical arm of lathe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211193887U true CN211193887U (en) | 2020-08-07 |
Family
ID=71888490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922453164.0U Expired - Fee Related CN211193887U (en) | 2019-12-30 | 2019-12-30 | Gantry type mechanical arm of lathe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211193887U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112017506A (en) * | 2020-08-28 | 2020-12-01 | 芜湖宏嘉科技有限公司 | Auxiliary device for intelligent teaching |
| CN114178857A (en) * | 2021-12-20 | 2022-03-15 | 江苏一重数控机床有限公司 | Intelligent flexible milling production line |
-
2019
- 2019-12-30 CN CN201922453164.0U patent/CN211193887U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112017506A (en) * | 2020-08-28 | 2020-12-01 | 芜湖宏嘉科技有限公司 | Auxiliary device for intelligent teaching |
| CN114178857A (en) * | 2021-12-20 | 2022-03-15 | 江苏一重数控机床有限公司 | Intelligent flexible milling production line |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200807 |