CN209175381U - A cantilever manipulator capable of automatic loading and unloading - Google Patents

Abstract

The utility model relates to a mechanical arm technical field, more specifically relates to a can go up unloading cantilever type manipulator automatically. The device comprises a rotating mechanism, a horizontal moving mechanism, a vertical moving mechanism and a clamping device, wherein the clamping device is arranged on the vertical moving mechanism, the horizontal moving mechanism is connected with the vertical moving mechanism, and the rotating mechanism is connected with the horizontal moving mechanism. Simple structure, convenient to use, area is few, reaches the requirement of automatic unloading of going up, helps guaranteeing the stability of product, improves the efficiency of whole production flow, eliminates artifical material loading's danger, reduces the recruitment cost of enterprise.

Description

A cantilever manipulator capable of automatic loading and unloading

technical field

The utility model relates to the technical field of manipulators, in particular to a cantilever manipulator capable of automatic loading and unloading.

Background technique

In the process of mass production of a machined product, it is necessary to manually load the blank to be processed into the CNC machine tool. However, due to the influence of personnel factors in the manual feeding process, the stability is poor, the production efficiency is low, and the quality after processing is not high, and often due to operational errors, the tool is damaged, and even accidents that hurt workers occur. The existing method usually uses a 6-axis robot for loading and unloading, but the range of activities of the robot is in a dangerous area, which is easy to hurt people. At the same time, it will also increase the labor cost of the enterprise. Difficulty is higher.

Utility model content

In order to overcome at least one of the above-mentioned defects in the prior art, the utility model provides a cantilever type manipulator capable of automatic loading and unloading, which has a simple structure, is convenient to use, occupies a small area, meets the requirements of automatic loading and unloading, and helps to ensure Product stability, improve the efficiency of the entire production process, eliminate the danger of manual feeding, and reduce the labor cost of the enterprise.

In order to solve the above-mentioned technical problems, the technical scheme adopted by the present invention is: a cantilever type manipulator that can automatically load and unload materials, including a rotating mechanism, a horizontal motion mechanism, a vertical motion mechanism and a clamping device, and the clamping device is arranged in a vertical position. On the motion mechanism, the horizontal motion mechanism is connected with the vertical motion mechanism, and the rotation mechanism is connected with the horizontal motion mechanism.

In this device, the clamping device is used to clamp the blank, and the vertical movement mechanism drives the clamping device to move upward in the vertical direction, and then drives the clamping device to move in the horizontal direction through the horizontal movement mechanism, and drives the horizontal movement mechanism through the rotating mechanism. Rotate to realize the rotation of the clamping device, so that the position of the clamping device is adjusted according to the position where the blank to be processed is transferred into the machine tool, and the blank is loaded into the lathe. When the clamping process is completed, the clamping device is released, and then each movement mechanism Reset and prepare for the next job. Compared with the traditional mechanical arm, the device occupies a small area, and can load the blank to be processed into the rotating shaft of the horizontal lathe from the designated position, so as to meet the requirements of automatic loading and unloading, which is helpful to ensure the stability of the product and improve the whole production. Process efficiency, eliminate the danger of manual feeding, and reduce the labor cost of the enterprise.

Further, it also includes a column, the rotating mechanism includes a rotating seat, a rotating shaft, a gear, a rack, a first sliding block mounting plate, a first sliding block and a first cylinder, and the rotating seat is installed on the column, so The gear is connected with the rotating shaft, the rotating shaft is mounted on the rotating seat, the first sliding block mounting plate is mounted on the rotating seat, the first sliding block mounting plate is provided with a first guide rail, and the first sliding block mounting plate is provided with a first guide rail. The slider is slidably mounted on the first guide rail, the rack is connected with the first slider, the gear is meshed with the rack, the first cylinder is mounted on the first slider mounting plate, the first cylinder is The rack is connected with the rack to drive the rack to move along the direction of the first guide rail, and the end of the rotating shaft is fixedly connected with the horizontal movement mechanism. In this device, the first cylinder drives the rack to move, the rack and the gear mesh with the gear to drive the gear to rotate, and the shaft connected with the gear simultaneously drives the horizontal motion mechanism to rotate, thus realizing the rotational motion of the horizontal motion mechanism. The two bearings are installed vertically in the rotating seat; the gear is installed in the rotating shaft, the rotating shaft is installed in the bearing, and the position is limited by the circlip. Preferably, the first cylinder is a refill cylinder PB16x60SU-s.

Further, it also includes a buffer mechanism, the first buffer mechanism includes a first buffer mount, a limit block and a first buffer, the first buffer mount is mounted on the rotating seat, and the limit The block is connected with the rotating seat, the two first buffers are respectively installed on the left and right ends of the rack, and the end of the first buffer facing the limit block is provided with a buffer. The buffer mechanism is used to slow down and limit the impact effect of the first cylinder to the left and right poles, so as to prevent the rack from falling out of the gear. And the shock absorber is used at the end of the first buffer to reduce the mechanical collision caused by the collision between the buffer and the limit block when the buffer is at the limit position, play the role of buffer, and improve the life of the machine. Preferably, the first buffer is a pneumatic oil pressure buffer AC0806.

Further, the horizontal motion mechanism includes a fixed seat, a cantilever plate, a second cylinder, a second slider, a second guide rail and a Z-axis mounting plate, the cantilever plate is installed on the fixed seat, and the second The guide rail is arranged on the cantilever plate, the second sliding block is slidably arranged on the second guide rail, the second air cylinder is connected with the second sliding block, and the vertical motion mechanism is connected to the second sliding block through the Z-axis mounting plate. block connection. The second air cylinder is used as a power driving member, the second air cylinder drives the second sliding block to slide along the second guide rail, and the vertical motion mechanism connected with the second sliding block moves synchronously with the second sliding block, realizing the clamping device in the horizontal direction. Position movement, so as to realize the adjustment of adjusting the position of the workpiece. In this device, the mechanism of the guide rail and the slider can make the driving movement more stable, reduce the mechanical vibration, prevent the workpiece from falling off or dislocated from the clamping device due to vibration, and ensure the stability of the work. Preferably, the second cylinder is a rodless cylinder RMS20X150LB.

Further, it also includes a second buffer mechanism, the second buffer mechanism includes a second buffer mount and a second buffer, the second buffer is connected to the second buffer mount, and the two Two buffer mounts are installed on both ends of the cantilever plate, and the end of the second buffer is provided with a buffer. The buffer mechanism is used to slow down and limit the impact effect of the second cylinder toward the left and right poles. And the shock absorber is used at the end of the second buffer to reduce the mechanical collision caused by the collision at the limit position, play the role of buffer, and improve the service life of the machine. The second buffer is the pneumatic oil pressure buffer AC0806.

Further, a reinforcing plate is also included, and the reinforcing plate is respectively connected to the cantilever plate and the fixed seat. Two reinforcing plates are provided, and the two reinforcing plates are symmetrically arranged at both ends of the cantilever plate, so as to enhance the overall mechanical strength of the horizontal motion mechanism.

Further, the vertical motion mechanism includes a third cylinder, a Z-axis motion plate, a third guide rail and a third slider, the third slider is slidably connected to the third guide rail, and the third guide rail is connected to the Z-axis. The axis movement plate is connected, the third cylinder is connected with the Z axis movement plate, and the clamping device is installed on the Z axis movement plate. In this device, the third cylinder drives the third sliding block to move linearly along the third guide rail, and drives the clamping device connected to it through the third sliding block, so as to realize the movement change of the clamping device in the vertical direction. Preferably, the third cylinder is a mini cylinder MI16x200SU-s.

Further, it also includes a third buffer mechanism, the third buffer mechanism includes a third buffer mount and a third buffer, and the two third buffer mounts are respectively installed at both ends of the Z-axis motion plate, so The third buffer mount is connected to the third buffer, and the end of the third buffer is provided with a buffer. The buffer mechanism is used to slow down and limit the impact effect of the third cylinder towards the pole. And the buffer at the end of the third buffer plays the role of shock absorption, reduces the mechanical collision caused by the collision at the limit position, plays the role of buffer, and improves the service life of the machine. The third buffer is the pneumatic hydraulic buffer AC0806.

Further, the clamping device includes a fourth cylinder, a clamping jaw and a rubber block, two of the clamping jaws are arranged to slide toward each other, the fourth cylinder is connected with the clamping jaw, and the fourth cylinder drives the two clamping jaws. The clamping jaws move in the same way, and the rubber block is arranged on the clamping jaws. Prevent the blank between the two jaws, and drive the two jaws to move toward each other through the fourth cylinder to clamp the blank. In this device, the rubber block increases friction, so that the blank can be more Grip well. Preferably, the fourth cylinder is a gripper cylinder HFZ20-s.

Compared with the prior art, the beneficial effects are:

1. The device is simple in structure, easy to use, occupies less floor space, and is easy to maintain; it can load the blank to be processed into the rotating shaft of the horizontal lathe from the designated position to meet the requirements of automatic loading and unloading, which helps to ensure the stability of the product , improve the efficiency of the entire production process, eliminate the danger of manual feeding, and reduce the labor cost of the enterprise;

2. The device has a reasonable structure and can make the blank reach any position in the space, ensuring that it can adapt to any type of machine tool;

3. The buffer mechanism in the device can reduce the mechanical collision at the limit position, play the role of buffering, improve the mechanical life, and ensure the stability of the transmission.

Description of drawings

Fig. 1 is the axonometric view of the present utility model;

Fig. 2 is the front view of Fig. 1;

Fig. 3 is the schematic diagram of another orientation of Fig. 1;

FIG. 4 is a partial schematic diagram of part I in FIG. 1 .

Detailed ways

The accompanying drawings are for illustrative purposes only, and should not be construed as limitations on this patent; in order to better illustrate the present embodiment, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable to the artisan that certain well-known structures and descriptions thereof may be omitted from the drawings. The positional relationships described in the drawings are only for exemplary illustration, and should not be construed as a limitation on the present patent.

A cantilever manipulator capable of automatic loading and unloading, including a rotating mechanism, a horizontal motion mechanism, a vertical motion mechanism and a clamping device, the clamping device is arranged on the vertical motion mechanism, the horizontal motion mechanism is connected with the vertical motion mechanism, and the rotating mechanism is connected with the horizontal motion mechanism. Institutional connections.

As shown in Figures 1-4, it also includes a column 1, the rotating mechanism includes a rotating seat 2, a rotating shaft 5, a gear 4, a rack 20, a first slider mounting plate 3, a first slider and a first cylinder 18, the rotating seat 2 is installed on the upright column 1, and two bearings 15 are installed vertically in the rotating seat 2; the gear 4 is installed in the rotating shaft 5, and the rotating shaft 5 is installed in the bearing 15, and is limited by a circlip. The first sliding block mounting plate 3 is mounted on the rotating seat 2, the first sliding block mounting plate 3 is provided with a first guide rail 19, the first sliding block is slidably mounted on the first guide rail 19, and the rack 20 and the first sliding block are connected to each other. connected, the gear 4 meshes with the rack 20, the first cylinder 18 is installed above the first slider mounting plate 3, and also includes a first floating joint 17 and a floating sheet metal 16, the first cylinder 18 and the first floating joint 17 Connection, the first floating joint 17 is matched with the floating sheet metal 16, the floating sheet metal 16 is connected to the rack 20, the first cylinder 18 drives the rack 20 to move in the direction of the first guide rail 19, and the end of the rotating shaft 5 is fixedly connected to the horizontal motion mechanism . A first buffer mechanism is provided on the rotating mechanism. The first buffer mechanism includes a first buffer mount 6, a limit block 7 and a first buffer 6-1. The first buffer mount 6 is mounted on the rotating seat 2, and the limit block 7 is connected to the rotating seat 2. The two The first buffers 6 - 1 are respectively installed on the left and right ends of the rack 20 , and buffer members are provided at the ends of the first buffer 6 - 1 facing the limiting block 7 .

The horizontal motion mechanism includes a fixed seat, a cantilever plate 24, a second cylinder 25, a second slider, a second guide rail 10, a Z-axis mounting plate 8 and a reinforcing plate 22. The cantilever plate 24 is installed on the fixed seat, and the second guide rail 10 is provided On the cantilever plate 24 , the second sliding block is slidably arranged on the second guide rail 10 , the second cylinder 25 is connected with the second sliding block, and the vertical motion mechanism is connected with the second sliding block through the Z-axis mounting plate 8 . The two reinforcing plates 22 are symmetrically arranged on the cantilever plate 24 respectively, and the reinforcing plates 22 are respectively connected to the cantilever plate 24 and the fixed seat, so that the entire horizontal motion mechanism structure is more stable. A second buffer mechanism is provided on the horizontal motion mechanism, including a second buffer mount 11 and a second buffer 12-1, the second buffer 12-1 is connected to the second buffer mount 11, and two second buffer mounts The seat 11 is installed on both ends of the cantilever plate 24, and the end of the second buffer 12-1 is provided with a buffer. The fixed seat is the lock block 21 , the rotating shaft 5 is connected with the lock block 21 , and the rotating shaft 5 and the lock block 21 are locked by pin positioning.

The vertical motion mechanism includes a third cylinder 27, a Z-axis motion plate 9, a third guide rail 13 and a third slider, the third slider is slidably connected to the third guide rail 13, and the third guide rail 13 is connected to the Z-axis through the first floating block 23. The movement plate 9 is connected, the third cylinder 27 is connected with the Z-axis movement plate 9, and also includes a second floating joint 28 and a second floating block 29, the second floating joint 28 is connected to the third cylinder 27, and the Z-axis movement plate 9 is installed in the third guide rail 13; the second floating block 29 is connected with the Z-axis movement plate 9; The clamping device is mounted on the Z-axis motion plate 9 . A third buffer mechanism is provided on the vertical motion mechanism. The third buffer mechanism includes a third buffer mount 14 and a third buffer 14-1. The two third buffer mounts 14 are respectively mounted on both ends of the Z-axis motion plate 9 , the third buffer mount 14 is connected to the third buffer 14-1, and the end of the third buffer 14-1 is provided with a buffer.

The clamping device includes a fourth cylinder 30, a clamping jaw 32 and a rubber block 31. The two clamping jaws 32 are slidingly arranged relative to each other. The fourth cylinder 30 is connected with the clamping jaw 32. The fourth cylinder 30 drives the two clamping jaws 32 to move, and the rubber block 31 is arranged on the clamping jaw 32 .

Wherein, preferably, the first cylinder 18 is a refill cylinder PB16x60SU-s, the second cylinder 25 is a rodless cylinder RMS20X150LB, the third cylinder 27 is a mini cylinder MI16x200SU-s, and the fourth cylinder 30 It is a clamping jaw 32 cylinder HFZ20-s, and the buffer is a pneumatic oil pressure buffer AC0806.

The use process of the device is as follows: when the product to be processed is in place, the third cylinder 27 drives the Z-axis movement plate 9 to descend; the fourth cylinder 30 clamps the product, and the third cylinder 27 drives the Z-axis movement plate 9 to rise; the third cylinder 27 drives the Z-axis movement plate 9 to rise; A cylinder 18 drives the rack 20 to move in the horizontal direction, the rack 20 moves in coordination with the gear 4, and converts the linear motion of the rack 20 into the circular motion of the gear 4. The gear 4 is connected with the rotating shaft 5, the cantilever plate 24, etc. to drive the whole The rotation of the cantilever plate 24 moves the originally vertical Z-axis moving plate 9 to a horizontal position; the third air cylinder 27 drives the Z-axis moving plate 9 to extend; the second air cylinder 25 drives the Z-axis mounting plate 8 to move to the right; Transfer to the spindle of the CNC machine tool; the second cylinder 25 drives the Z-axis mounting plate 8 to move to the left, the third cylinder 27 drives the Z-axis moving plate 9 to retract, and the product starts to be processed; after the processing is completed, the third cylinder 27 drives the Z-axis to move The plate 9 extends; the second cylinder 25 drives the Z-axis mounting plate 8 to move to the right; the clamping jaw 32 cylinder clamps the product; the second cylinder 25 drives the Z-axis mounting plate 8 to move to the left, and the third cylinder 27 drives the Z-axis motion plate 9 retracts; the third cylinder 27 drives the Z-axis movement plate 9 to extend; the second cylinder 25 drives the Z-axis mounting plate 8 to move to the right; the first cylinder 18 drives the gear 4 rack 20 to move the Z-axis movement plate 9 to the right. Vertical direction; the third air cylinder 27 drives the Z-axis moving plate 9 to descend, and the product is placed at the processing completion position; the third air cylinder 27 drives the Z-axis moving plate 9 to rise; the second air cylinder 25 drives the Z-axis mounting plate 8 to move to the left, Reset is complete.

Obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included within the protection scope of the claims of the present utility model.

Claims (9)

1. one kind can automatic loading/unloading cantilevered manipulator, which is characterized in that including rotating mechanism, horicontal motion mechanism, vertical Movement mechanism and clamping device, the clamping device are set in vertical movement mechanism, the horicontal motion mechanism and hang down Straight movement mechanism connection, the rotating mechanism are connect with horicontal motion mechanism.

2. one kind according to claim 1 can automatic loading/unloading cantilevered manipulator, which is characterized in that further include column (1), the rotating mechanism includes rotating seat (2), shaft (5), gear (4), rack gear (20), the first sliding block mounting plate (3), One sliding block and the first cylinder (18), the rotating seat (2) are mounted on column (1), and the gear (4) and shaft (5) are even It connecing, shaft (5) is mounted on rotating seat (2), and the first sliding block mounting plate (3) is mounted on rotating seat (2), and described One sliding block mounting plate (3) is equipped with the first guide rail (19), and first sliding block is slidably mounted on the first guide rail (19), described Rack gear (20) connect with the first sliding block, gear (4) is engaged with rack gear (20), and it is sliding that first cylinder (18) is mounted on first On block mounting plate (3), first cylinder (18) connect drive rack (20) with rack gear (20) along the first guide rail (19) direction Movement, the shaft (5) end is fixedly connected with horicontal motion mechanism.

3. one kind according to claim 2 can automatic loading/unloading cantilevered manipulator, which is characterized in that further include first slow Punch mechanism, first buffer gear include the first buffering mounting base (6), limited block (7) and the first buffer (6-1), institute The first buffering mounting base (6) stated is mounted on rotating seat (2), and the limited block (7) is connect with rotating seat (2), two institutes The first buffer (6-1) stated is separately mounted to the left and right ends of rack gear (20), the first buffer (6-1) direction limit The end of block (7) is equipped with bolster.

4. one kind according to claim 1 can automatic loading/unloading cantilevered manipulator, which is characterized in that the horizontal fortune Motivation structure includes fixing seat, cantilever slab (24), the second cylinder (25), the second sliding block, the second guide rail (10) and Z axis mounting plate (8), The cantilever slab (24) is mounted in fixing seat, and second guide rail (10) is arranged on cantilever slab (24), and described the Two sliding blocks are slidably arranged on the second guide rail (10), and second cylinder (25) is connect with the second sliding block, the vertical fortune Motivation structure is connect by Z axis mounting plate (8) with the second sliding block.

5. one kind according to claim 4 can automatic loading/unloading cantilevered manipulator, which is characterized in that further include second slow Punch mechanism, second buffer gear include the second buffering mounting base (11) and the second buffer (12-1), and described second Buffer (12-1) is connect with the second buffering mounting base (11), and the second buffering mounting base (11) described in two is mounted on cantilever slab (24) both ends, the second buffer end (12-1) are equipped with bolster.

6. one kind according to claim 4 can automatic loading/unloading cantilevered manipulator, which is characterized in that further include stiffening plate (22), the stiffening plate (22) is separately connected cantilever slab (24) and fixing seat.

7. one kind according to claim 1 can automatic loading/unloading cantilevered manipulator, which is characterized in that the vertical fortune Motivation structure includes third cylinder (27), Z axis maneuvering board (9), third guide rail (13) and third sliding block, the third sliding block and Three guide rails (13) are slidably connected, and the third guide rail (13) is connect with Z axis maneuvering board (9), the third cylinder (27) and Z Axis maneuvering board (9) connection, the clamping device are mounted on Z axis maneuvering board (9).

8. one kind according to claim 7 can automatic loading/unloading cantilevered manipulator, which is characterized in that further include that third is slow Punch mechanism, the third buffer gear includes third buffering mounting base (14) and third buffer (14-1), described in two Third buffering mounting base (14) is separately mounted to Z axis maneuvering board (9) both ends, and third buffering mounting base (14) and third are slow Device (14-1) connection is rushed, the third buffer end (14-1) is equipped with bolster.

9. one kind according to claim 1 can automatic loading/unloading cantilevered manipulator, which is characterized in that the clamping dress It sets including the 4th cylinder (30), clamping jaw (32) and blob of viscose (31), clamping jaw (32) described in two slides in opposition setting, and described Four cylinders (30) are connect with clamping jaw (32), clamping jaw (32) movement, the blob of viscose described in the 4th cylinder (30) driving two (31) it is set on clamping jaw (32).