CN215547078U - Machine tool material transfer system based on multi-axis manipulator - Google Patents
Machine tool material transfer system based on multi-axis manipulator Download PDFInfo
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- CN215547078U CN215547078U CN202121198500.2U CN202121198500U CN215547078U CN 215547078 U CN215547078 U CN 215547078U CN 202121198500 U CN202121198500 U CN 202121198500U CN 215547078 U CN215547078 U CN 215547078U
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Abstract
The utility model provides a machine tool material transferring system based on a multi-axis manipulator, which comprises a mechanical arm, a transmission device and a driving device, wherein the mechanical arm is connected with the transmission device; the mechanical arm comprises a longitudinal module and a transverse module which are vertically connected with each other; the bottom of the longitudinal module is connected with a fixed seat; the transverse module is connected with a tool rotating arm rotating shaft, and one end of the tool rotating arm rotating shaft is connected with the mechanical claw module; the transmission device comprises a linear transmission device and a rotary transmission device, the linear device is respectively arranged in the longitudinal module and the transverse module, and the rotary transmission device is respectively arranged on the fixed seat and the tool rotating arm rotating shaft; the driving devices are a plurality of driving devices which are correspondingly connected with the transmission devices one by one and provide power for the transmission devices. The machine tool material transferring system based on the multi-axis manipulator effectively reduces labor cost and improves working efficiency.
Description
Technical Field
The utility model belongs to the field of mechanical equipment, and particularly relates to a machine tool material transferring system based on a multi-axis manipulator.
Background
In the field of machining, automated production has become an inevitable direction for future development. The manipulator is a mature high-tech automatic production device and is characterized in that various expected operation actions can be completed through programming. The material grabbing mechanical arm is widely applied, manual work is replaced by mechanical arm operation, and adverse environments such as noise, dust production and repeated and boring work contents are engaged. Has positive effects on the health and safety of operators. The application of cooperation digit control machine tool makes up into perfect automatic processing production line, effectively reduces the cost of labor, practices thrift the production man-hour and improves production efficiency. The manipulator has high precision of automatic repeated actions, and can avoid manual participation in various operations of the production environment.
In view of this, it is urgent to provide a material transfer system for a machine tool based on a multi-axis manipulator.
SUMMERY OF THE UTILITY MODEL
Therefore, the technical problem to be solved by the utility model is to provide a machine tool material transferring system based on a multi-axis manipulator, which reduces errors of manual production and improves the working efficiency.
The utility model relates to a machine tool material transfer system, which comprises a mechanical arm, a transmission device, a driving device and a driving device;
the mechanical arm comprises a longitudinal module and a transverse module which are vertically connected with each other; the bottom of the longitudinal module is connected with a fixed seat; the transverse module is connected with a tool rotating arm rotating shaft, and one end of the tool rotating arm rotating shaft is connected with the mechanical claw module;
the transmission device comprises a linear transmission device and a rotary transmission device, the linear devices are respectively arranged in the longitudinal module and the transverse module, and the rotary transmission devices are respectively arranged on the fixed seat and the tool rotating arm rotating shaft;
the driving devices are multiple and are connected with the transmission devices in a one-to-one correspondence mode, and power is provided for the transmission devices.
Further, the fixed seat comprises a base and a rotating shaft positioned above the base, and the fixed seat is connected with the longitudinal module through the rotating shaft; the driving device is arranged on one side of the base, and the transmission device controls the rotating shaft to rotate.
Furthermore, the tool rotating arm rotating shaft comprises a horizontal connecting end and a rotating connecting end, the horizontal connecting end of the tool rotating arm rotating shaft is connected with the transverse module, and the driving device is arranged on the horizontal connecting end; and the rotating connecting end of the rotating shaft of the tool rotating arm is suitable for being connected with the mechanical claw module.
Further, the mechanical claw module comprises a connecting piece and a claw body, and the connecting piece is connected with the tool rotating arm rotating shaft; the claw body is arranged at the end part of the connecting piece.
Furthermore, a pneumatic quick-change seat is arranged between the connecting piece and the rotating shaft of the tool rotating arm.
Furthermore, the gripper module further comprises a bar code scanner arranged on the connecting piece.
Furthermore, the claw body is a material claw and/or a cutter claw and comprises a clamping finger cylinder and a clamping finger which are connected with each other, and the clamping finger cylinder controls the clamping finger to move.
Furthermore, a plurality of mounting holes are formed in the base.
Further, the driving device is a servo motor.
Furthermore, the rotary transmission device is a harmonic reducer, and the linear transmission device is a lead screw guide rail piece.
Compared with the prior art, the technical scheme of the utility model has the following advantages:
according to the machine tool material transferring system based on the multi-axis manipulator, the longitudinal module, the transverse module, the fixing seat, the tool rotating arm rotating shaft and the mechanical claw module in the manipulator are in motion fit, so that the mechanical claw module can move 360 degrees in the working space of the manipulator, the working efficiency is improved, and the working cost is effectively reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of a robotic arm provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a tool swivel arm spindle and gripper module and configuration according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a gripper module according to an embodiment of the present invention;
fig. 4 is a schematic cross-sectional view of a longitudinal module according to an embodiment of the present invention.
Wherein, 1, fixing the base; 2. a longitudinal module; 3. a transverse module; 4. a tool rotating arm rotating shaft; 5. a finger clamping cylinder; 6. clamping fingers; 7. a barcode scanner; 8. a servo motor; 9. a cutter; 10. a pneumatic quick-change seat; 11. a lead screw guide member; 12. a module connecting piece.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The material transfer system of the machine tool based on the multi-axis manipulator of the embodiment comprises a mechanical arm, a transmission device and a driving device, as shown in fig. 1-2.
The mechanical arm comprises a longitudinal module 2 and a transverse module 3 which are vertically connected with each other; the bottom of the longitudinal module 2 is connected with the fixed seat 1; and a tool rotating arm rotating shaft 4 is connected to the transverse module 3, and one end of the working rotating arm rotating shaft is connected with the mechanical claw module.
The transmission device comprises a linear transmission device and a rotary transmission device, the linear transmission device is respectively arranged in the longitudinal module 2 and the transverse module 3, and the rotary transmission device is respectively arranged on the fixed seat 1 and the tool rotating arm rotating shaft 4.
The driving devices are multiple and are connected with the transmission devices in a one-to-one correspondence mode, and power is provided for the transmission devices.
Preferably, the fixed seat 1 comprises a base and a rotating shaft positioned above the base, and the fixed seat 1 is connected with the longitudinal module 2 through the rotating shaft; drive arrangement locates one side of base, transmission control the pivot is rotated, through drive arrangement with the pivot is realized vertical module 2 winds the rotary motion of fixing base 1.
Preferably, the base is provided with a mounting hole, and the mechanical arm can be rigidly fixed on a foundation station or a linear ground rail through the mounting hole, so that the mechanical arm can move across the region along the ground rail, and the working region is enlarged.
Preferably, the tool rotating arm rotating shaft 4 comprises a horizontal connecting end and a rotating connecting end, the horizontal connecting end of the tool rotating arm rotating shaft 4 is connected with the transverse module 3, the driving device is arranged on the horizontal connecting end of the tool rotating arm rotating shaft 4, and the rotating connecting end of the tool rotating arm rotating shaft 4 is suitable for being connected with a mechanical claw module.
Further preferably, the mechanical claw module comprises a connecting piece and a claw body, wherein the connecting piece is connected with the tool rotating arm rotating shaft 4; the claw body is located the connecting piece tip, the connecting piece in be equipped with pneumatic quick change seat between instrument rocking arm pivot 4 for quick replacement gripper module. In this embodiment, the two claw bodies are provided, the connecting member is in a rectangular parallelepiped shape, and the two claw bodies are respectively provided at two ends of the connecting member, it should be noted that the shape of the connecting member is not limited thereto, and the number and positions of the claw bodies are also not limited thereto, and the positions and number of the claw bodies are adjusted accordingly according to the shape of the connecting member.
Further preferably, the claw body is a material claw or a cutter 9 claw, the claw body comprises a clamping finger cylinder 5 and a clamping finger 6 which are connected with each other, and the clamping finger cylinder 5 controls the clamping finger 6 to move.
Further preferably, as shown in fig. 3, the gripper module further includes a barcode scanner 7, which is disposed on the connecting member and is used for scanning a barcode on the tool 9 or the material.
Each driving device is a servo motor 8, the rotary transmission device is a harmonic reducer, and the linear transmission device is a lead screw guide rail piece. As shown in fig. 4. The transverse module 3 is connected with the longitudinal module 2 through a module connecting piece, the lead screw guide rail piece drives the transverse module 3 to slide along the longitudinal module 2 under the action of the driving device, and the transverse module 3 and the tool rotating arm rotating shaft 4 move mutually under the driving of the driving device through the lead screw guide rail piece.
The working principle of the machine tool material transfer system based on the multi-axis manipulator is as follows: the start-up of each drive arrangement of control is rotary motion around the base through vertical module 2, and horizontal module 3 moves along the vertical direction of vertical module 2, and the horizontal direction motion of horizontal module 3 is followed to instrument rocking arm pivot, and the rotary motion is around instrument rocking arm pivot 4 to the gripper module, realizes this embodiment in the free motion of 360 degrees directions, then snatchs through the claw body in the gripper module, places material or cutter 9, realizes the transportation work to the lathe material.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the utility model.
Claims (10)
1. A machine tool material transfer system based on a multi-axis manipulator is characterized by comprising a mechanical arm, a transmission device and a driving device;
the mechanical arm comprises a longitudinal module and a transverse module which are vertically connected with each other; the bottom of the longitudinal module is connected with a fixed seat; the transverse module is connected with a tool rotating arm rotating shaft, and one end of the tool rotating arm rotating shaft is connected with the mechanical claw module;
the transmission device comprises a linear transmission device and a rotary transmission device, the linear transmission device is respectively arranged in the longitudinal module and the transverse module, and the rotary transmission device is respectively arranged on the fixed seat and the tool rotating arm rotating shaft;
the driving devices are multiple and are connected with the transmission devices in a one-to-one correspondence mode, and power is provided for the transmission devices.
2. The multi-axis robot-based machine material transfer system of claim 1, wherein the mounting block comprises a base and a spindle above the base, the mounting block being connected to the longitudinal module by the spindle; the driving device is arranged on one side of the base, and the transmission device controls the rotating shaft to rotate.
3. The multi-axis robot-based machine tool material transfer system as claimed in claim 2, wherein the tool boom spindle includes a horizontal connecting end and a rotational connecting end, the horizontal connecting end of the tool boom spindle is connected with the transverse module, and the driving device is provided on the horizontal connecting end; and the rotating connecting end of the rotating shaft of the tool rotating arm is suitable for being connected with the mechanical claw module.
4. The multi-axis robot-based machine material transfer system of claim 3, wherein the gripper module comprises a link and a gripper body, the link being pivotally connected to the tool rotating arm; the claw body is arranged at the end part of the connecting piece.
5. The multi-axis robot based material transfer system for a machine tool as claimed in claim 4, wherein a pneumatic quick-change seat is provided between the connecting member and the tool rotating arm rotating shaft.
6. The multi-axis robot-based machine material transfer system of claim 5, wherein the gripper unit further comprises a bar code scanner disposed on the linkage.
7. The multi-axis robot based machine tool material transfer system of claim 6, wherein the jaw body is a material jaw and/or a tool jaw, and comprises a clamping finger cylinder and a clamping finger which are connected with each other, and the clamping finger cylinder controls the movement of the clamping finger.
8. The multi-axis robot based machine material transfer system of claim 7, wherein the base has a plurality of mounting holes.
9. A multi-axis robot based machine material transfer system as claimed in claim 8, wherein the drive means is a servo motor.
10. The multi-axis robot based machine tool material transfer system of claim 9, wherein the rotary drive is a harmonic reducer and the linear drive is a lead screw guide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121198500.2U CN215547078U (en) | 2021-05-31 | 2021-05-31 | Machine tool material transfer system based on multi-axis manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121198500.2U CN215547078U (en) | 2021-05-31 | 2021-05-31 | Machine tool material transfer system based on multi-axis manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215547078U true CN215547078U (en) | 2022-01-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121198500.2U Active CN215547078U (en) | 2021-05-31 | 2021-05-31 | Machine tool material transfer system based on multi-axis manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215547078U (en) |
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2021
- 2021-05-31 CN CN202121198500.2U patent/CN215547078U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220622 Address after: 075400 workshop 106, Jingxi SME Entrepreneurship counseling base, Huailai County, Zhangjiakou City, Hebei Province Patentee after: Zhangjiakou Technology Popularization Precision Machinery Manufacturing Co.,Ltd. Address before: 102200 room c0513, science and technology complex building, No. 7, Beinong Road, Huilongguan town, Changping District, Beijing (Changping Demonstration Park) Patentee before: BEIJING KESO PRECISION TECHNOLOGY CO.,LTD. |
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| TR01 | Transfer of patent right |