CN108188800A - A kind of pneumatic tool-changing mechanical arm of machining center - Google Patents

Abstract

The invention discloses a pneumatic tool changing manipulator of a machining center, which comprises a manipulator arm, a pin shaft, a cylinder, a U-shaped push rod, a roller and a mechanical claw. The beneficial effects of the present invention are: the present invention can provide controllable clamping force, so that the tool will not fall off, and the tool will not be unclamped, and the device is also very simple and fast when clamping and releasing the tool. It is a manipulator that can quickly clamp or release the tool with precise force during the tool change process, which can reduce the occurrence of accidents. In the automatic tool change device of the machining center, the manipulator plays the role of grabbing and transporting the tool , remove the tool from the tool magazine and install it on the spindle, and at the same time remove the tool from the spindle and put it back into the tool magazine.

Description

A Pneumatic Tool Changer Manipulator for Machining Center

technical field

The invention relates to a manipulator, in particular to a pneumatic tool changing manipulator of a machining center, which belongs to the technical field of mechanical application.

Background technique

A manipulator is an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. The characteristic is that various expected operations can be completed through programming, and the advantages of both human and robotic machines are combined in structure and performance. The manipulator is the earliest industrial robot and the first modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, Departments of electronics, light industry and atomic energy.

The traditional manipulator has the tool drop phenomenon caused by the clamping jaw spring pressure is too small or the nut behind the spring is loose and the tool is overweight, or the spring of the loose lock is pressed too tightly and the jaw cannot be retracted, causing the tool to be clamped. Can't let go of the problem. Therefore, in view of the above problems, a pneumatic tool changing manipulator of a machining center is proposed.

Contents of the invention

The object of the present invention is to provide a pneumatic tool changing manipulator of a machining center in order to solve the above problems.

The present invention achieves the above object through the following technical solutions, a pneumatic tool changing manipulator of a machining center, including a mechanical arm, a cylinder is installed on the mechanical arm, and the cylinder rod of the cylinder is connected with a U-shaped push rod; the mechanical arm The mechanical claw is fixedly connected with the rolling bearing through the pin shaft; the U-shaped push rod is connected to the chute of the mechanical claw through the roller, and the roller is connected with the U-shaped push rod through the bearing; the U-shaped push rod is passed through Bearings are connected to the rollers.

Preferably, the cylinder is fixed on one side of the robot arm, and the cylinder is arranged obliquely and symmetrically to provide the power required by the robot arm in the process of grasping and releasing.

Preferably, the U-shaped push rod ensures the coaxiality of the drum, and the horizontal direction is stable when sliding in the chute, and the U-shaped push rod is fixed on the head of the cylinder rod of the cylinder, and the U-shaped push rod Slidingly connected with the mechanical claw.

Preferably, in order to be able to rotate at a large angle and facilitate the entry of the tool, the mechanical claw is fixed on one side of the opening of the mechanical arm through a bearing and a pin shaft.

The beneficial effects of the present invention are: the present invention can provide controllable clamping force, so that the tool will not fall off, and the tool will not be unclamped, and the device is also very simple and fast when clamping and releasing the tool. It is a manipulator that can quickly clamp or release the tool with precise force during the tool change process, which can reduce the occurrence of accidents. In the automatic tool change device of the machining center, the manipulator plays the role of grabbing and transporting the tool , remove the tool from the tool magazine and install it on the main shaft, at the same time, you can also remove the tool from the main shaft and put it back into the tool magazine, which has good economic and social benefits and is suitable for popularization and use.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention;

Fig. 2 is a schematic diagram of the expansion of the mechanical claw of the present invention;

Fig. 3 is the overall structure bottom view of the present invention;

Fig. 4 is a structural schematic diagram of the mechanical claw part of the present invention;

Among the figure: 1, mechanical arm, 2, pin shaft, 3, air cylinder, 4, U-shaped push rod, 5, roller, 6, mechanical claw.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Fig. 1-4, a kind of machining center pneumatic tool changing manipulator includes a manipulator 1, a cylinder 3 is installed on the manipulator 1, and the cylinder rod of the cylinder 3 is connected with a U-shaped push rod 4; The mechanical claw 6 is fixedly connected to the mechanical arm 1 through the pin shaft 2 and the rolling bearing; the U-shaped push rod 4 is connected to the chute of the mechanical claw 6 through the roller 5, and the roller 5 is connected to the U-shaped push rod through the bearing. The rod 4 is connected; the U-shaped push rod 4 is connected with the drum 5 through a bearing.

As a technical optimization solution of the present invention, the cylinder 3 is fixed on one side of the robot arm 1, and the cylinder 3 is arranged obliquely and symmetrically.

As a technical optimization solution of the present invention, the U-shaped push rod 4 is fixed on the head of the cylinder rod of the cylinder 3 , and the U-shaped push rod 4 is slidably connected with the mechanical claw 6 .

As a technical optimization solution of the present invention, the mechanical claw 6 is fixed on one side of the opening of the mechanical arm 1 through a bearing and a pin shaft 2 .

When the present invention is in use, the cylinder 3 provides the power to move the U-shaped push rod 4, and the reciprocating linear motion of the cylinder rod and the U-shaped push rod 4 can make the mechanical claw 6 take the pin shaft 2 as a fixed point through the chute on the mechanical claw 6. The rotary motion of mechanical jaw 6 is performed clockwise to clamp the tool, and counterclockwise to release the tool. When the manipulator rotates to the position of grabbing the knife, the air cylinder 3 supplies air, the cylinder rod is extended, and the mechanical claw 6 rotates clockwise around the pin shaft to compress the knife to complete the work of grabbing the knife. After the manipulator installs the tool on the main shaft, the air cylinder 3 is cut off. The cylinder 3 is a single-rod cylinder. Because the single-rod cylinder has a return spring, the cylinder rod shrinks immediately to drive the mechanical claw 6 to open, and the tool is released to complete the tool change work.

It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.

In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

Claims (4)

1. A machining center pneumatic tool changing manipulator, comprising a manipulator (1), characterized in that a cylinder (3) is installed on the manipulator (1), and the cylinder rod of the cylinder (3) is connected to a U-shaped The push rod (4); the mechanical claw (6) is fixedly connected with the rolling bearing through the pin shaft (2) on the mechanical arm (1); the U-shaped push rod (4) is connected to the mechanical claw through the roller (5) (6), and the cylinder (5) is connected with the U-shaped push rod (4) through the bearing; the U-shaped push rod (4) is connected with the cylinder (5) through the bearing. 2. A pneumatic tool changing manipulator for a machining center according to claim 1, characterized in that: the cylinder (3) is fixed on one side of the robot arm (1), and the cylinder (3) is arranged obliquely and symmetrically. 3. A machining center pneumatic tool change manipulator according to claim 1, characterized in that: the U-shaped push rod (4) is fixed on the head of the cylinder rod of the cylinder (3), and the U-shaped push rod (4) The push rod (4) is slidingly connected with the mechanical claw (6). 4. A machining center pneumatic tool changing manipulator according to claim 1, characterized in that: the mechanical claw (6) is fixed on one side of the opening of the mechanical arm (1) through a bearing and a pin shaft (2) .