CN104999327A - Automatic loading/unloading manipulator of numerical control lathe - Google Patents

Abstract

The invention relates to an automatic loading and unloading manipulator for a numerical control lathe, which includes a base, a bracket, a raw material box, a push rod mechanism, a first mechanical claw, a slide rail mechanism, a mechanical arm and a second mechanical claw; wherein, the bracket is installed on On the base, a pallet is arranged on it; the raw material box and the push rod mechanism are installed on the pallet respectively, and the push rod mechanism can be inserted into the raw material box; the first mechanical claw is located on one side of the raw material box, and its The top is pivotally connected to the mechanical arm; the slide rail mechanism is connected to the mechanical arm, which links the mechanical arm; the second mechanical claw is installed at one end of the mechanical arm. The automatic loading and unloading manipulator of the numerical control lathe of the present invention has a high safety factor, reduces the intensity of manual operation, and can efficiently and stably complete specified actions, realize automatic control, and meet the requirements of automatic production.

Description

A kind of automatic loading and unloading manipulator of numerical control lathe

【Technical field】

The invention relates to a manipulator, in particular to an automatic loading and unloading manipulator for a numerically controlled lathe, and belongs to the technical field of industrial automation equipment.

【Background technique】

Most of the loading and unloading methods adopted by the CNC lathes in the prior art are completed by manually picking and clamping the workpiece. In the process of picking and clamping the workpiece, it will not only consume a lot of time and energy, but also have low efficiency. It cannot meet the needs of automated production lines; and in this process, manual operation is dangerous. Therefore, the traditional method is not only inefficient, but also requires a large cost, and it is also dangerous.

With the rapid development of industrial automation and the improvement of science and technology, traditional manual labor can no longer keep up with the rapid development of industrial automation. Therefore, innovating advanced equipment and realizing automated production to replace human labor and meet the needs of industrial automation is a particularly important part of mechanical innovation today.

Therefore, it is really necessary to provide an innovative automatic loading and unloading manipulator of a numerical control lathe to overcome the defects in the prior art.

【Content of invention】

In order to solve the above problems, the object of the present invention is to provide an automatic loading and unloading manipulator for a CNC lathe, which has a high safety factor, reduces the intensity of manual operation, and can efficiently and stably complete specified actions, realize automatic control, and meet the needs of automated production. requirements.

In order to achieve the above object, the technical solution adopted by the present invention is: an automatic loading and unloading manipulator of a numerically controlled lathe, which includes a base, a support, a raw material box, a push rod mechanism, a first mechanical claw, a slide rail mechanism, a mechanical arm and a second mechanical claw; wherein, the support is installed on the base, and a supporting plate is arranged on it; the raw material box and the push rod mechanism are installed on the supporting plate respectively, and the push rod mechanism can be inserted into the raw material box; the first The mechanical claw is located on one side of the raw material box, and its top is pivotally connected to the mechanical arm; the slide rail mechanism is connected to the mechanical arm, which links the mechanical arm; the second mechanical claw is installed at one end of the mechanical arm.

The automatic loading and unloading manipulator of the numerical control lathe of the present invention is further set as: described first mechanical claw comprises mechanical claw motor, base plate, rotating piece, support member, claw arm and V-shaped positioning block; Wherein, described mechanical claw motor is installed on On the bottom plate, it connects and drives the rotating piece; one end of the support member is hinged to the rotating piece, and the other end is hinged to the claw arm; the middle part of the claw arm is pivotally connected to the bottom plate; the V-shaped positioning block is installed on the claw arm one end.

The automatic loading and unloading manipulator of the numerical control lathe of the present invention is further set as follows: each of the support member, the claw arm and the V-shaped positioning block is provided with two; the two V-shaped positioning blocks are arranged oppositely.

The automatic loading and unloading manipulator of the numerically controlled lathe of the present invention is further configured such that: the structures of the first mechanical claw and the second mechanical claw are the same.

The automatic loading and unloading manipulator of numerical control lathe of the present invention is further set as: described slide rail mechanism comprises top plate, slide rail, slide rail motor and screw mandrel; Described slide rail and top plate match; Described slide rail motor is installed on top plate , which is connected to the slide rail through a screw rod, and can drive the slide rail to move along the top plate.

The automatic loading and unloading manipulator of the numerical control lathe of the present invention is further set as: described mechanical arm comprises big arm, small arm, rotating shaft and mechanical arm motor; , a small arm motor is installed on the pivot; the first mechanical claw and the second mechanical claw are respectively installed on the small arm; the rotating shaft is connected to the big arm, which is pivotally connected to the slide rail; Connect and drive the shaft.

The automatic loading and unloading manipulator of the numerical control lathe of the present invention is further set as: described push rod mechanism comprises support, push rod motor, crank, connection block, linear bearing and push rod; Wherein, described push rod motor is installed on the support , which is connected to and drives the crank; one end of the connection block is hinged to the crank, and the push rod is installed at the other end; the linear bearing is installed on a support, which supports the push rod.

The automatic loading and unloading manipulator of the numerically controlled lathe of the present invention is further set as: the both sides of described raw material box are provided with through hole, and push rod can be inserted into through hole; Wherein a through hole and a V-shaped centering groove butt joint; Described raw material box There are rollers at the bottom.

The automatic loading and unloading manipulator of the numerically controlled lathe of the present invention is also set as follows: the support is installed on the base through a screw rod, and the height can be adjusted; the base is welded with several reinforcing ribs.

Compared with the prior art, the present invention has the following beneficial effects:

1. The automatic loading and unloading manipulator of the CNC lathe of the present invention replaces manual actions, has a high safety factor, reduces the intensity of manual operations, and can efficiently and stably complete specified actions, realize automatic control, and meet the requirements of automated production.

2. The automatic loading and unloading manipulator of the CNC lathe of the present invention realizes putting in and taking out workpieces by exchanging the positions of two mechanical claws. The degree of freedom requirement is lower than that of a single mechanical claw, and it is more efficient than a single mechanical claw.

3. The automatic loading and unloading manipulator of the CNC lathe of the present invention can be freely applied to different types of CNC machine tools, and can meet workpiece processing by adjusting the height of the bracket and the degree of expansion of the mechanical claws according to different needs.

4. The automatic loading and unloading manipulator of the CNC lathe of the present invention saves manpower. It only needs to adjust the position of the machine tool, simply put the blanks for processing, and only needs simple start and stop in the working process, so that one person can control multiple machine tools.

【Description of drawings】

Fig. 1 is the front view of the automatic loading and unloading manipulator of the numerical control lathe of the present invention.

Fig. 2 is a side view of the automatic loading and unloading manipulator of the numerical control lathe of the present invention.

Fig. 3 is an enlarged view of position I in Fig. 1 .

Fig. 4 is an enlarged view of II in Fig. 2 .

Fig. 5 is a front view of the first gripper.

Fig. 6 is a top view of the first gripper.

Fig. 7 is a front view of the slide rail mechanism.

Fig. 8 is a top view of the slide rail mechanism.

Fig. 9 is a side view of the raw material cartridge.

【Detailed ways】

Please refer to accompanying drawings 1 to 9 of the description, the present invention is an automatic loading and unloading manipulator for a CNC lathe, which consists of a base 1, a bracket 2, a raw material box 3, a push rod mechanism 4, a first mechanical claw 5, a sliding The rail mechanism 6, the mechanical arm 7 and the second mechanical claw 8 are composed of several parts.

Wherein, the bracket 2 is installed on the base 1, and a supporting plate 21 is arranged on it. Specifically, the bracket 2 is installed on the base 1 through a screw rod 22 , the height of the bracket 2 can be adjusted by loosening the screw rod 22 , and the bracket 2 and the base 1 can be fixedly connected by tightening the screw rod 22 . The base 1 is welded with several obliquely arranged reinforcing ribs 11 , so that the structural strength of the base 1 can be increased.

The raw material box 3 and the push rod mechanism 4 are installed on the supporting plate 21 respectively, and the said push rod mechanism 4 can be inserted into the raw material box 3 to push out the parts to be processed of the raw material box 3 .

The push rod mechanism 4 is composed of several parts such as a support 41 , a push rod motor 42 , a crank 43 , a connecting block 44 , a linear bearing 45 and a push rod 46 . The push rod motor 42 is installed on the support 41, which is connected and drives the crank 43; one end of the connecting block 44 is hinged with the crank 43, and the other end is equipped with the push rod 46; the linear bearing 45 is installed on the support On the seat 41, it supports the push rod 46.

Both sides of the raw material box 3 are provided with through holes 31 , and the push rod 46 can be inserted into the through holes 31 , thereby pushing out the parts to be processed in the raw material box 3 . One of the through holes 31 is docked with a V-shaped centering groove 32; the bottom of the raw material box 3 is provided with a roller 33, and the roller 33 supports the parts to be processed, thereby making the parts to be processed flexible.

The working process of the raw material box 3 and the push rod mechanism 4 is as follows: the push rod motor 42 drives the crank 43, and the crank 43 successively links the connecting block 44 and the push rod 46, so that the push rod 46 moves along the left and right sides under the action of the linear bearing 45. Reciprocating operation; the push rod 46 passes through the through hole 31 and is inserted into the raw material box 3, and the parts to be processed of the raw material box 3 are pushed out by the push rod 46 and positioned in the V-shaped centering groove 32 for centering; the push rod 46 exits the raw material box 3 Finally, the part to be processed in the raw material box 3 falls on the roller 33 due to its own gravity.

The first mechanical claw 5 is located on one side of the raw material box 3 , and its top is pivotally connected with the mechanical arm 7 . The first mechanical claw 5 can grab the part to be processed on the V-shaped centering groove 32, and transport the part to be processed to the corresponding processing station.

The first gripper 5 is composed of a gripper motor 51 , a bottom plate 52 , a rotating piece 53 , a support member 54 , a gripper arm 55 and a V-shaped positioning block 56 and the like. Wherein, the claw motor 51 is installed on the bottom plate 52 , which is connected to and drives the rotating piece 53 . A moment arm fixing member 521 is disposed on the bottom plate 52 . One end of the support member 54 is hinged to the rotating piece 53 , and the other end is hinged to the claw arm 55 . The middle portion of the claw arm 55 is pivotally connected to the bottom plate 52 . The V-shaped positioning block 56 is mounted on one end of the claw arm 55 . Further, there are two support members 54 , claw arms 55 and V-shaped positioning blocks 56 ; the two V-shaped positioning blocks 56 are arranged opposite to each other, and can clamp parts to be processed.

The working process of the first mechanical claw 5 is as follows: the mechanical claw motor 51 drives the rotating piece 53, the rotating piece 53 links the supporting member 54, and the supporting member 54 drives the claw arm 55 to rotate, so that the V-shaped positioning block 56 runs relatively to clamp parts to be processed.

The slide rail mechanism 6 is connected to the mechanical arm 7 , and it links the mechanical arm 7 . Described slide rail mechanism 6 is made up of several parts such as top plate 61, slide rail 62, slide rail motor 63 and screw mandrel 64. Wherein, the slide rail 62 is matched with the top plate 61; the slide rail motor 63 is mounted on the top plate 61, connected with the slide rail 62 through a screw 64, and can drive the slide rail 62 to move along the top plate 61.

Described mechanical arm 7 is made up of several parts such as big arm 71, small arm 72, rotating shaft 73 and mechanical arm motor 74. Wherein, the small arm 72 is pivotally connected to two ends of the large arm 72 through a pivot 75 , and a small arm motor 76 is installed on the pivot 75 . The first mechanical claw 5 and the second mechanical claw 8 are respectively installed on the small arm 72 through the arm fixing member 521; the rotating shaft 73 is connected to the big arm 71, which is pivotally connected to the slide rail 62; the mechanical The arm motor 74 is connected to and drives the rotating shaft 73 .

The working process of described slide rail mechanism 6 and mechanical arm 7 is as follows: slide rail motor 63 pushes slide rail 62 to move by screw mandrel 64, and slide rail 62 drives the rotating shaft 73 that is installed on it and mechanical arm motor 74; Mechanical arm motor 74 The main arm 71 is driven to rotate through the rotating shaft 73 ; the small arm motor 76 is driven to rotate through the pivot 75 .

The second mechanical gripper 8 is installed at one end of the mechanical arm 6 , and has the same structure as the first mechanical gripper 5 , which will not be repeated here.

The working principle of the automatic loading and unloading manipulator of the numerically controlled lathe of the present invention is as follows: first put the parts to be processed into the raw material box 3, after receiving the processing order, the mechanical arm 7 is launched, and the workpiece is clamped by the first mechanical claw 5; The small arm motor 76 drives the small arm 72, and the small arm 72 links the first mechanical claw 5, after the first mechanical claw 5 moves to a certain position, the mechanical arm 7 is rotated so that the workpiece is aligned with the center of the machine tool chuck, and then the workpiece is moved Enter the chuck, the machine tool clamps automatically.

After the workpiece is processed, the second mechanical claw 8 grabs the finished product, and at the same time, the first mechanical claw 5 grabs the part to be processed, moves the second mechanical claw 8 to a safe position after grabbing, rotates the mechanical arm 7, and then Adjust the position of the second mechanical claw 8, the finished product enters the finished product box, repeat the above steps after the workpiece is processed again, realize the simultaneous delivery and picking of the workpiece, and achieve the purpose of automatic loading and unloading.

The specific implementation above is only a preferred embodiment of this creation, and is not intended to limit this creation. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this creation should be included in this creation. within the scope of protection.

Claims (9)

1. an automatic loading and unloading manipulator for numerically controlled lathe, is characterized in that: comprise base, support, raw material box, transfer bar mechanism, the first gripper, sliding track mechanism, mechanical arm and the second gripper; Wherein, described support installing, on base, which is provided with a supporting plate; Described raw material box, transfer bar mechanism are installed on supporting plate respectively, and described transfer bar mechanism can insert in raw material box; Described first gripper is positioned at the side of raw material box, its top and mechanical arm pivot joint; Described sliding track mechanism is connected with mechanical arm, its described mechanical arm that links; Described second gripper is installed on one end of mechanical arm.

2. the automatic loading and unloading manipulator of numerically controlled lathe as claimed in claim 1, is characterized in that: described first gripper comprises gripper motor, base plate, revolving fragment, support member, pawl arm and V-arrangement locating piece; Wherein, described gripper motor is installed on base plate, and it connects and drives revolving fragment; Described support member one end and revolving fragment hinged, the other end and pawl arm hinged; The middle part of described pawl arm is articulated on base plate; Described V-arrangement locating piece is installed on one end of pawl arm.

3. the automatic loading and unloading manipulator of numerically controlled lathe as claimed in claim 2, is characterized in that: described support member, pawl arm and V-arrangement locating piece are equipped with two; Described two V-arrangement locating pieces are in being oppositely arranged.

4. the automatic loading and unloading manipulator of numerically controlled lathe as claimed in claim 3, is characterized in that: described first gripper is identical with the structure of the second gripper.

5. the automatic loading and unloading manipulator of numerically controlled lathe as claimed in claim 1, is characterized in that: described sliding track mechanism comprises top board, slide rail, slide rail motor and screw mandrel; Described slide rail and top board match; Described slide rail motor is installed on top board, and it is connected with slide rail by screw mandrel, and slide rail can be driven to move along top board.

6. the automatic loading and unloading manipulator of numerically controlled lathe as claimed in claim 5, is characterized in that: described mechanical arm comprises large arm, forearm, rotating shaft and mechanical arm motor; Wherein, described forearm is articulated in the two ends of large arm respectively by a pivot, pivot is provided with a forearm motor; Described first gripper and the second gripper are installed on forearm respectively; Described rotating shaft is connected in large arm, and it is articulated on slide rail; Described mechanical arm motor connects and drive shaft.

7. the automatic loading and unloading manipulator of numerically controlled lathe as claimed in claim 1, is characterized in that: described transfer bar mechanism comprises bearing, push-rod electric machine, crank, contiguous block, linear bearing and push rod; Wherein, described push-rod electric machine is installed on bearing, and it connects and driving crank; Described contiguous block one end and crank are hinged, and the other end is provided with described push rod; Described linear bearing is installed on bearing, and it supports described push rod.

8. the automatic loading and unloading manipulator of numerically controlled lathe as claimed in claim 7, it is characterized in that: the both sides of described raw material box offer through hole, push rod can insert through hole; A wherein through hole and V-arrangement centering chamfer docking; The bottom of described raw material box is provided with roller.

9. the automatic loading and unloading manipulator of numerically controlled lathe as claimed in claim 1, is characterized in that: described support is installed on base by a screw rod, and can regulate height; Described base is welded with some reinforcements.