CN114800434B - Automatic material taking and discharging manipulator for numerical control machining based on precise pins of die - Google Patents
Automatic material taking and discharging manipulator for numerical control machining based on precise pins of die Download PDFInfo
- Publication number
- CN114800434B CN114800434B CN202210470227.7A CN202210470227A CN114800434B CN 114800434 B CN114800434 B CN 114800434B CN 202210470227 A CN202210470227 A CN 202210470227A CN 114800434 B CN114800434 B CN 114800434B
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- sliding
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- driving
- lubricating oil
- chain
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- 239000000463 material Substances 0.000 title claims abstract description 10
- 238000007599 discharging Methods 0.000 title claims abstract description 9
- 238000003754 machining Methods 0.000 title claims abstract description 8
- 239000010687 lubricating oil Substances 0.000 claims abstract description 54
- 239000003921 oil Substances 0.000 claims description 35
- 230000007246 mechanism Effects 0.000 claims description 34
- 239000007788 liquid Substances 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 239000000203 mixture Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000005461 lubrication Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 239000003643 water by type Substances 0.000 description 2
- 238000005266 casting Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an automatic material taking and discharging manipulator for numerical control machining based on a die precision pin, which relates to the technical field of manipulators and comprises the following components: a support column; the base of the support column is arranged on the upper end face of the concrete base, four mounting plates are arranged on the base of the support column, and an anti-loosening part is arranged on the upper end face of each mounting plate; two T-shaped sliding grooves are formed in the upper portion of the front end face of the support column, and the front end face of the support column is connected with a height adjusting piece in a sliding mode through the two T-shaped sliding grooves. According to the invention, through the matching of the chain driving part, the lubricating oil tank, the pump body and the one-way disc, the chain and the chain wheel can be well lubricated, so that the stability of the manipulator in moving positions is improved; the problem of current chain and sprocket structure on the manipulator be lubricated through scribbling lubricating oil, but when lubricating oil lacks the back, will reduce lubricated effect, lead to the manipulator to appear unstable phenomenon when moving the position is solved.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to an automatic material taking and discharging manipulator for numerical control machining based on a die precise pin.
Background
The precise pins of the die are used for fixing the relative positions between the templates, play an important role in the die, and when the precise pins of the die are processed through numerical control, an automatic material taking and discharging manipulator is usually used.
However, when the existing manipulator is in the adjusting position, part of the manipulator can move through the chain structure, and in the meshing process of the chain and the chain wheel, although lubricating oil can be smeared on the chain and the chain wheel, after the lubricating oil is smeared, the lubricating oil can easily drop downwards from the chain and the chain wheel, so that after the lubricating oil on the chain and the chain wheel is lack, the lubricating effect on the chain and the chain wheel can be reduced, the phenomenon of instability can occur when the manipulator is in the moving position, and in addition, when the existing manipulator is installed on a concrete base, the support column can vibrate in the operation process of the manipulator, so that the nut connected between the support column and the concrete base is easy to loosen, and the stability of the manipulator in use is reduced.
Disclosure of Invention
In view of the above, the invention provides an automatic material taking and discharging manipulator for numerical control machining of a precise pin based on a die, which enables a chain and a chain wheel to be well lubricated through the cooperation of a chain driving part, a lubricating oil tank, a pump body and a one-way disc, so that the stability of the manipulator in moving positions is improved, and a fastening nut can be effectively used for locking through the arrangement of a locking part, so that the stability of the manipulator in use is improved.
The invention provides an automatic material taking and discharging manipulator for numerical control machining based on a die precision pin, which comprises the following steps: a support column; the base of the support column is arranged on the upper end face of the concrete base, four mounting plates are arranged on the base of the support column, and an anti-loosening part is arranged on the upper end face of each mounting plate; the upper part of the front end surface of the support column is provided with two T-shaped sliding grooves, the front end surface of the support column is slidably connected with a height adjusting piece through the two T-shaped sliding grooves, the upper end surface of the height adjusting piece is provided with a lubricating oil tank, the inside of the lubricating oil tank is provided with a chain driving part, and the rear end surface of the support column is provided with a controller; the front end face of the height adjusting piece is provided with two transverse guide rods, the front end face of the height adjusting piece is connected with a left sliding piece and a right sliding piece in a sliding manner through the two transverse guide rods, the bottoms of the left sliding piece and the right sliding piece are provided with a front moving part and a back moving part, the bottoms of the front moving part and the back moving part are provided with lifting mechanisms, and the bottoms of the lifting mechanisms are provided with clamping mechanisms; the rear end face of the lubricating oil tank is provided with a pump body, the rear end of an input shaft on the pump body is fixedly connected with a one-way disc, and the front end face of the lubricating oil tank is provided with a strip-shaped through hole; spacing jack has been offered to terminal surface upper portion before the support column in the form.
Optionally, four threaded columns are arranged on the upper end face of the concrete base, and the upper ends of the four threaded columns penetrate through the four mounting plates respectively; every screw thread post outside all has a fastening nut through threaded connection, and every fastening nut bottom all is equipped with a spacing gear, and spacing tooth on the spacing gear is fan-shaped structure, and fastening nut's tightening turns to clockwise.
Optionally, the rear end face of the height adjusting piece is provided with two T-shaped sliding blocks, and the two T-shaped sliding blocks are respectively connected with the two T-shaped sliding grooves on the supporting column in a sliding way; the bottom end surface of the height adjusting piece is provided with a rectangular sliding shell, and a sliding block is connected inside the rectangular sliding shell in a sliding way; the rear end of the sliding block is provided with an inserting rod penetrating through the rear side wall of the rectangular sliding shell, the front end of the sliding block is provided with a T-shaped pull rod penetrating through the front side wall of the rectangular sliding shell, and a spring is sleeved on the T-shaped pull rod and positioned in the rectangular sliding shell; the rear end of the inserted link is inserted into one of the limiting jacks.
Optionally, the front and back moving part comprises a front and back sliding block, a driving motor, a driving screw and a driving nut, wherein the front and back sliding block is connected to the bottoms of the left and right sliding pieces in a sliding way through two sliding rods, the driving motor is arranged on the bottom end surfaces of the left and right sliding pieces, and a rotating shaft on the driving motor is fixedly connected with the driving screw; the middle part of the upper end face of the front sliding block and the rear sliding block is provided with a groove, a driving nut is arranged in the groove, and the driving nut is connected with a driving screw rod through threads.
Optionally, the lifting mechanism comprises a fixed support plate, an electric cylinder, a lifting plate and vertical guide rods, wherein the fixed support plate is fixedly connected to the bottom end surfaces of the front sliding block and the rear sliding block, four corners of the bottom end surface of the fixed support plate are respectively provided with a sliding cylinder, each sliding cylinder is internally and slidably connected with one vertical guide rod, the upper ends of the four vertical guide rods penetrate through the fixed support plate, and the lower ends of the four vertical guide rods are fixedly connected with the lifting plate; the electric cylinder is arranged on the bottom end face of the fixed support plate, and the lower end of the telescopic rod of the electric cylinder is fixedly connected with the upper end face of the lifting plate.
Optionally, fixture includes vertical extension board, centre gripping motor, clamping screw and splint, the quantity of vertical extension board is two, and two vertical extension boards are fixed connection respectively in lifter plate bottom surface left and right sides, be equipped with four support guide arms between two vertical extension boards, a vertical extension board left end face in the left side installs the centre gripping motor, and the pivot right-hand member fixedly connected with clamping screw of clamping motor, the clamping screw rotates to be connected on two vertical extension boards, and the clamping screw outside is bilateral symmetry form and is equipped with two reverse screw threads, clamping screw outside has two splint through two reverse screw thread connections, and two splint and four support guide arm sliding connection.
Optionally, the anti-loosening part comprises a rectangular sliding cylinder, a rectangular sliding block, a stud and a hand-screwed nut, wherein the rectangular sliding cylinder is arranged on the upper end surface of the mounting plate, the rectangular sliding block is connected inside the rectangular sliding cylinder in a sliding manner, a strip-shaped through hole is formed in the middle of the upper end surface of the rectangular sliding cylinder, the stud penetrating through the strip-shaped through hole is arranged on the upper end surface of the rectangular sliding block, and the hand-screwed nut is connected outside the stud through threads; the inside of the rectangular sliding cylinder is provided with a spring at the tail end of the rectangular sliding block, the head end of the rectangular sliding block is provided with a triangular limiting block, and the triangular limiting block is tightly contacted with the peripheral surface of the limiting gear.
Optionally, the chain driving part comprises two rotating shafts, chain wheels, driving plate pieces and driving motors, wherein the two rotating shafts are rotatably connected to the height adjusting piece, the front ends of the two rotating shafts penetrate through the rear side wall of the lubricating oil tank, the front ends of the two rotating shafts are provided with one chain wheel, a chain is connected between the two chain wheels in a transmission way, the driving plate pieces are arranged on the chain, the lower ends of the driving plate pieces are fixedly connected to the left sliding piece and the right sliding piece, and the driving plate pieces penetrate through strip-shaped through openings in the lubricating oil tank; the driving motor is arranged on the rear end face of the lubricating oil tank, the front end of a rotating shaft of the driving motor is fixedly connected with the rear end of a right rotating shaft, and the rear end of a left rotating shaft is provided with a driving belt wheel; the driving motor, the clamping motor, the electric cylinder and the driving motor are all electrically connected with the controller.
Optionally, the swash plate is installed to the inside lower extreme of lubricating oil tank, and the lubricating oil tank top is equipped with four and waters oil pipe, and four are watered oil pipe upper end and are connected with the pipe fitting that waters, and water the oil inlet of pipe fitting and be connected with the liquid outlet of the pump body through oil pipe, and lubricating oil tank rear end face lower part is equipped with out oil pipe, and goes out oil pipe oil-out and be connected with the inlet of the pump body.
Optionally, a ratchet-shaped groove is formed in the rear end face of the unidirectional disc, a fixed rotating shaft is welded inside the ratchet-shaped groove, a rotating cylinder is connected to the outer portion of the fixed rotating shaft in a rotating mode, a hexagonal plate is arranged at the front end of the rotating cylinder, three pawls are connected to the rear end face of the hexagonal plate in a rotating mode in an annular array mode, and three limiting plates and three limiting blocks are arranged on the rear end face of the hexagonal plate in an annular array mode; the rear end of the outer part of the rotating cylinder is provided with a driven belt pulley which is rotationally connected with the driving belt pulley through a belt, and the diameter of the driving belt pulley is three times to five times of that of the driven belt pulley; and a spring is arranged between each pawl and one limiting plate adjacent to each pawl.
Advantageous effects
According to the manipulator disclosed by the embodiment of the invention, compared with the traditional manipulator, the manipulator is matched with the chain driving part, the lubricating oil tank, the pump body and the one-way disc, and can drive the left chain wheel to rotate in the chain transmission process, so that the left rotating shaft drives the driving belt wheel, the driven belt wheel, the rotating cylinder and the hexagonal plate to rotate clockwise, the three pawls rotate clockwise, and then the ratchet-shaped groove is matched to drive the one-way disc to rotate clockwise, so that the input shaft on the pump body starts to rotate, the suction force is generated at the pump body liquid inlet, lubricating oil in the lubricating oil tank is conveyed into the oil pouring pipe through the oil outlet pipe and the pump body, then the lubricating oil is poured onto the chain through the four oil pouring pipes, and then in the meshing process of the chain and the chain wheel, the chain and the chain wheel can be well lubricated, and the phenomenon of lack of the lubricating oil on the chain and the chain wheel can not occur, so that the stability of the manipulator in the moving position is improved.
In addition, through the setting of anti-loosening portion, because fastening nut's tightening turns to clockwise turn to, and after fastening nut is screwed up, rectangular slider head end triangle-shaped stopper and spacing gear outer peripheral face in close contact to make spacing gear can not anticlockwise rotate, thereby effectively avoided fastening nut to take place not hard up phenomenon, thereby even the support column has produced the vibration, also be difficult to make the nut that is connected between support column and the concrete foundation produce not hard up, thereby improved the stability when this manipulator uses.
In addition, through the setting of altitude mixture control spare, when needs adjustment fixture height, only need through manual forward pulling with T type pull rod, make the sliding block drive the inserted bar and move forward, thereby make the inserted bar extract from spacing jack inside, thereby make altitude mixture control spare lose spacing effect, then with altitude mixture control spare slide up and down adjust can, after adjusting, only need loosen T type pull rod, can make the sliding block drive the inserted bar and remove backward under the spring action, thereby make the inserted bar insert back inside spacing jack, accomplish altitude mixture control, in the whole adjustment process, because need not to carry out loaded down with trivial details adjustment operation through the instrument, thereby the convenience of clamping mechanism when carrying out altitude mixture control has been improved.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
The drawings described below are only for illustration of some embodiments of the invention and are not intended to limit the invention.
In the drawings:
FIG. 1 illustrates a schematic view of a first view of a manipulator according to an embodiment of the invention;
FIG. 2 illustrates a schematic diagram of a second view of a manipulator according to an embodiment of the invention;
fig. 3 shows a schematic view of a manipulator according to an embodiment of the invention in a disassembled state;
FIG. 4 shows a schematic view of a mounting plate and concrete base in accordance with an embodiment of the invention after disassembly;
FIG. 5 shows a schematic top view of a concrete foundation and a locking portion according to an embodiment of the invention;
FIG. 6 shows a schematic view of a height adjustment member according to an embodiment of the invention;
fig. 7 shows a schematic view of a left-right slider and a front-rear moving portion according to an embodiment of the present invention;
FIG. 8 shows a schematic view of a lifting mechanism and a clamping mechanism according to an embodiment of the invention;
FIG. 9 shows a schematic view, partly in section, of a lubrication tank according to an embodiment of the invention;
FIG. 10 shows a schematic view of a chain drive and a one-way disc according to an embodiment of the invention;
fig. 11 shows a schematic view of the stationary shaft, the rotating drum and the driven pulley after being disassembled according to an embodiment of the present invention.
List of reference numerals
1. A support column; 101. a mounting plate; 102. limiting jack; 2. a concrete base; 201. a threaded column; 202. a fastening nut; 203. a limit gear; 3. a height adjusting member; 301. a rectangular slide case; 302. a sliding block; 303. a T-shaped pull rod; 304. a rod; 4. a left-right slider; 5. a back-and-forth movement part; 501. a front and rear slider; 502. a driving motor; 503. driving a screw; 504. a drive nut; 6. a lifting mechanism; 601. fixing the support plate; 602. an electric cylinder; 603. a lifting plate; 604. a vertical guide rod; 7. a clamping mechanism; 701. a vertical support plate; 702. clamping the motor; 703. clamping a screw; 704. a clamping plate; 8. a loosening prevention part; 801. a rectangular slide cylinder; 802. a rectangular slide block; 803. a stud; 804. screwing the nut by hand; 9. a chain driving part; 901. a rotating shaft; 902. a sprocket; 903. driving the plate; 904. driving a motor; 10. a lubrication oil tank; 1001. a sloping plate; 1002. casting oil pipe fittings; 1003. a pouring pipe; 1004. an oil outlet pipe; 11. a pump body; 12. a controller; 13. a one-way disc; 1301. a ratchet-shaped groove; 1302. fixing the rotating shaft; 1303. a rotating cylinder; 1304. a hexagonal plate; 1305. a pawl; 1306. a limiting plate; 1307. a limiting block; 1308. a passive pulley.
Detailed Description
In order to make the objects, aspects and advantages of the technical solution of the present invention more clear, the technical solution of the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings of the specific embodiment of the present invention. Unless otherwise indicated, terms used herein have the meaning common in the art. Like reference numerals in the drawings denote like parts.
Examples: please refer to fig. 1 to 11:
the invention provides an automatic material taking and discharging manipulator for numerical control machining based on a die precision pin, which comprises the following components: a support column 1; the base of the support column 1 is arranged on the upper end face of the concrete base 2, four mounting plates 101 are arranged on the base of the support column 1, and an anti-loosening part 8 is arranged on the upper end face of each mounting plate 101; the upper part of the front end surface of the support column 1 is provided with two T-shaped sliding grooves, the front end surface of the support column 1 is slidably connected with a height adjusting piece 3 through the two T-shaped sliding grooves, the upper end surface of the height adjusting piece 3 is provided with a lubricating oil tank 10, the inside of the lubricating oil tank 10 is provided with a chain driving part 9, and the rear end surface of the support column 1 is provided with a controller 12; the front end face of the height adjusting piece 3 is provided with two transverse guide rods, the front end face of the height adjusting piece 3 is connected with a left sliding piece 4 and a right sliding piece 4 in a sliding manner through the two transverse guide rods, the bottom of the left sliding piece 4 and the bottom of the right sliding piece 4 are provided with a front moving part 5, the bottom of the front moving part 5 is provided with a lifting mechanism 6, and the bottom of the lifting mechanism 6 is provided with a clamping mechanism 7; the rear end face of the lubricating oil tank 10 is provided with a pump body 11, the rear end of an input shaft on the pump body 11 is fixedly connected with a one-way disc 13, and the front end face of the lubricating oil tank 10 is provided with a strip-shaped through hole; the upper part of the front end surface of the support column 1 is uniformly provided with limiting jacks 102; four threaded columns 201 are arranged on the upper end face of the concrete base 2, and the upper ends of the four threaded columns 201 penetrate through the four mounting plates 101 respectively; each screw column 201 is externally connected with a fastening nut 202 through threads, a limiting gear 203 is arranged at the bottom of each fastening nut 202, limiting teeth on the limiting gears 203 are of a fan-shaped structure, and tightening and steering of the fastening nuts 202 are clockwise and used for fixing the mounting plate 101.
In addition, according to the embodiment of the present invention, as shown in fig. 3 and 6, the rear end surface of the height adjusting member 3 is provided with two T-shaped sliding blocks, and the two T-shaped sliding blocks are respectively slidably connected with two T-shaped sliding grooves on the support column 1; a rectangular sliding shell 301 is arranged on the bottom end surface of the height adjusting piece 3, and a sliding block 302 is connected inside the rectangular sliding shell 301 in a sliding manner; the rear end of the sliding block 302 is provided with a plug rod 304 penetrating through the rear side wall of the rectangular sliding shell 301, the front end of the sliding block 302 is provided with a T-shaped pull rod 303 penetrating through the front side wall of the rectangular sliding shell 301, and a spring is sleeved on the T-shaped pull rod 303 and positioned inside the rectangular sliding shell 301; the rear end of the inserted link 304 is inserted into one of the limiting jacks 102, and through the arrangement of the height adjusting piece 3, complicated adjusting operation is not required to be carried out through a tool when the height of the clamping mechanism 7 is adjusted, so that the convenience of the clamping mechanism 7 in height adjustment is improved;
as shown in fig. 7 and 8, the front-back moving part 5 includes a front-back sliding block 501, a driving motor 502, a driving screw 503 and a driving nut 504, the front-back sliding block 501 is slidably connected to the bottom of the left-right sliding piece 4 through two sliding rods, the driving motor 502 is installed on the bottom end surface of the left-right sliding piece 4, and a rotating shaft on the driving motor 502 is fixedly connected with the driving screw 503; a groove is formed in the middle of the upper end surface of the front and rear sliding block 501, a driving nut 504 is installed in the groove, the driving nut 504 is connected with a driving screw 503 through threads, and the driving nut 504 is used for driving the lifting mechanism 6 and the clamping mechanism 7 to move forwards and backwards through the arrangement of the front and rear moving part 5;
as shown in fig. 1 and 8, the lifting mechanism 6 comprises a fixed support plate 601, an electric cylinder 602, a lifting plate 603 and vertical guide rods 604, wherein the fixed support plate 601 is fixedly connected to the bottom end surfaces of the front and rear sliding blocks 501, four corners of the bottom end surfaces of the fixed support plate 601 are respectively provided with a sliding cylinder, each sliding cylinder is internally and slidably connected with one vertical guide rod 604, the upper ends of the four vertical guide rods 604 penetrate through the fixed support plate 601, and the lower ends of the four vertical guide rods 604 are fixedly connected with the lifting plate 603; the electric cylinder 602 is arranged on the bottom end surface of the fixed support plate 601, the lower end of a telescopic rod of the electric cylinder 602 is fixedly connected with the upper end surface of the lifting plate 603, and the electric cylinder is used for driving the clamping mechanism 7 to move up and down through the arrangement of the lifting mechanism 6;
as shown in fig. 1 and 8, the clamping mechanism 7 comprises two vertical support plates 701, a clamping motor 702, clamping screws 703 and clamping plates 704, wherein the two vertical support plates 701 are respectively and fixedly connected to the left side and the right side of the bottom end surface of the lifting plate 603, four supporting guide rods are arranged between the two vertical support plates 701, the clamping motor 702 is mounted on the left end surface of one vertical support plate 701 on the left side, the clamping screw 703 is fixedly connected to the right end of a rotating shaft of the clamping motor 702, the clamping screw 703 is rotationally connected to the two vertical support plates 701, two opposite threads are symmetrically arranged outside the clamping screw 703, the two clamping plates 704 are connected to the outside of the clamping screw 703 through the two opposite threads, and the two clamping plates 704 are in sliding connection with the four supporting guide rods, so that the clamping plates 704 are more stable when moving leftwards and rightwards;
as shown in fig. 4 and 5, the anti-loosening portion 8 includes a rectangular sliding cylinder 801, a rectangular sliding block 802, a stud 803 and a hand-screwed nut 804, the rectangular sliding cylinder 801 is mounted on the upper end surface of the mounting plate 101, the rectangular sliding block 802 is slidably connected inside the rectangular sliding cylinder 801, a strip-shaped through hole is formed in the middle of the upper end surface of the rectangular sliding cylinder 801, the stud 803 penetrating through the strip-shaped through hole is formed in the upper end surface of the rectangular sliding block 802, and the hand-screwed nut 804 is connected outside the stud 803 through threads; a spring is arranged at the tail end of the rectangular sliding block 802 inside the rectangular sliding cylinder 801, a triangular limiting block is arranged at the head end of the rectangular sliding block 802, and the triangular limiting block is tightly contacted with the peripheral surface of the limiting gear 203, so that the phenomenon that the fastening nut 202 is loosened is effectively avoided;
as shown in fig. 9 and 10, the chain driving part 9 includes two rotation shafts 901, chain wheels 902, driving plate 903 and driving motor 904, the number of the rotation shafts 901 is two, the two rotation shafts 901 are rotatably connected to the height adjusting member 3, the front ends of the two rotation shafts 901 penetrate through the rear side wall of the lubricating oil tank 10, the front ends of the two rotation shafts 901 are respectively provided with one chain wheel 902, a chain is connected between the two chain wheels 902 in a driving way, the driving plate 903 is arranged on the chain, the lower end of the driving plate 903 is fixedly connected to the left and right sliding members 4, and the driving plate 903 penetrates through a strip-shaped through opening on the lubricating oil tank 10; the driving motor 904 is arranged on the rear end face of the lubricating oil tank 10, the front end of a rotating shaft of the driving motor 904 is fixedly connected with the rear end of a right rotating shaft 901, and the rear end of the left rotating shaft 901 is provided with a driving belt pulley; the driving motor 904, the clamping motor 702, the electric cylinder 602 and the driving motor 502 are electrically connected with the controller 12, and are used for driving the left and right sliding piece 4, the front and back moving part 5, the lifting mechanism 6 and the clamping mechanism 7 to move left and right through the arrangement of the chain driving part 9;
as shown in fig. 9, a sloping plate 1001 is mounted at the lower end of the interior of the lubricating oil tank 10, four oil pouring pipes 1003 are arranged at the top of the lubricating oil tank 10 and used for pouring lubricating oil onto a chain, oil pouring pipes 1002 are connected at the upper ends of the four oil pouring pipes 1003, oil inlets of the oil pouring pipes 1002 are connected with a liquid outlet of the pump body 11 through oil pipes, an oil outlet pipe 1004 is arranged at the lower part of the rear end surface of the lubricating oil tank 10, and oil outlets of the oil outlet pipes 1004 are connected with a liquid inlet of the pump body 11 and used for storing lubricating oil through the arrangement of the lubricating oil tank 10;
as shown in fig. 10 and 11, a ratchet-shaped groove 1301 is formed in the rear end surface of the unidirectional disc 13, a fixed rotating shaft 1302 is welded inside the ratchet-shaped groove 1301, a rotating cylinder 1303 is connected to the outer portion of the fixed rotating shaft 1302 in a rotating mode, a hexagonal plate 1304 is arranged at the front end of the rotating cylinder 1303, three pawls 1305 are connected to the rear end surface of the hexagonal plate 1304 in a ring-shaped array mode in a rotating mode, and three limiting plates 1306 and three limiting blocks 1307 are arranged on the rear end surface of the hexagonal plate 1304 in a ring-shaped array mode; the rear end of the outer part of the rotary barrel 1303 is provided with a driven pulley 1308, the driven pulley 1308 is rotationally connected with a driving pulley through a belt, and the diameter of the driving pulley is three times to five times of that of the driven pulley 1308; a spring is arranged between each pawl 1305 and one of the adjacent limiting plates 1306, and the pawl 1305 is matched with the ratchet-shaped groove 1301, so that the one-way disc 13 can only rotate clockwise but not anticlockwise, and the input shaft on the pump body 11 can only be driven to rotate clockwise, and the reliability of the pump body 11 in operation is improved.
Specific use and action of the embodiment: in the invention, when the device is used, firstly, lubricating oil is filled in a lubricating oil tank 10, then the rotating shaft of a driving motor 904 is controlled to positively and negatively rotate through a controller 12, so that a right side chain wheel 902 is driven to positively and negatively rotate, then a plate 903, a left and right sliding piece 4, a front and rear moving part 5, a lifting mechanism 6 and a clamping mechanism 7 are driven to leftwards and rightwards move through a chain, then the rotating shaft of a driving motor 502 is controlled to positively and negatively rotate through the controller 12, so that a driving screw 503 positively and negatively rotates, then a driving nut 504 drives a front and rear sliding block 501, the lifting mechanism 6 and the clamping mechanism 7 to positively and negatively move under the action of threads, so that the clamping mechanism 7 moves to above a workpiece, then a telescopic rod of an electric cylinder 602 is controlled to downwards extend through the controller 12, so that a lifting plate 603 drives the clamping mechanism 7 to downwards move, then the clamping motor 702 is started through the controller 12, so that the clamping screw 703 starts to rotate, then two clamping plates 704 simultaneously move towards opposite directions under the action of two reverse threads outside the clamping screw 703, and then the telescopic rod 603 of the electric cylinder 602 is controlled to upwards retract through the controller 12, so that the workpiece taking material is completed;
in the chain transmission process, the left sprocket 902 is driven to rotate, so that the left rotating shaft 901 drives the driving pulley to rotate, then the belt drives the driven pulley 1308 to rotate, when the driven pulley 1308 rotates clockwise (seen from back to front), the rotating cylinder 1303 drives the hexagonal plate 1304 and the three pawls 1305 to rotate clockwise, then the ratchet-shaped groove 1301 is matched with the ratchet-shaped groove 1301 to drive the one-way disc 13 to rotate clockwise, the input shaft on the pump body 11 starts to rotate, the liquid inlet of the pump body 11 generates suction, lubricating oil in the lubricating oil tank 10 is conveyed into the oil pouring pipe 1002 through the oil outlet pipe 1004 and the pump body 11, and then the lubricating oil is poured onto the chain through the four oil pouring pipes 1003;
when the height of the clamping mechanism 7 needs to be adjusted, the T-shaped pull rod 303 is pulled forward manually, the sliding block 302 drives the inserting rod 304 to move forward, the inserting rod 304 is pulled out of the limiting jack 102, the height adjusting piece 3 loses the limiting function, then the height adjusting piece 3 is adjusted in a sliding mode up and down, after the height adjusting piece is adjusted, the sliding block 302 can drive the inserting rod 304 to move backward under the action of a spring only by loosening the T-shaped pull rod 303, and therefore the inserting rod 304 is inserted into the limiting jack 102, and the height adjusting is completed.
Finally, it should be noted that the present invention is generally described in terms of a/a pair of components, such as the location of each component and the mating relationship therebetween, however, those skilled in the art will appreciate that such location, mating relationship, etc. are equally applicable to other components/other pairs of components.
The foregoing is merely exemplary embodiments of the present invention and is not intended to limit the scope of the invention, which is defined by the appended claims.
Claims (1)
1. An automatic material taking and discharging manipulator for numerical control machining based on a die precise pin is characterized in that,
comprising the following steps:
a support column (1); the base of the support column (1) is arranged on the upper end face of the concrete base (2), four mounting plates (101) are arranged on the base of the support column (1), and an anti-loosening part (8) is arranged on the upper end face of each mounting plate (101); two T-shaped sliding grooves are formed in the upper portion of the front end face of the support column (1), the front end face of the support column (1) is connected with a height adjusting piece (3) in a sliding mode through the two T-shaped sliding grooves, a lubricating oil tank (10) is arranged on the upper end face of the height adjusting piece (3), a chain driving portion (9) is arranged in the lubricating oil tank (10), and a controller (12) is arranged on the rear end face of the support column (1); the front end face of the height adjusting piece (3) is provided with two transverse guide rods, the front end face of the height adjusting piece (3) is connected with a left sliding piece and a right sliding piece (4) in a sliding manner through the two transverse guide rods, the bottom of the left sliding piece and the bottom of the right sliding piece (4) are provided with a front moving part (5), the bottom of the front moving part (5) is provided with a lifting mechanism (6), and the bottom of the lifting mechanism (6) is provided with a clamping mechanism (7); the rear end face of the lubricating oil tank (10) is provided with a pump body (11), the rear end of an input shaft on the pump body (11) is connected with a one-way disc (13), and the front end face of the lubricating oil tank (10) is provided with a strip-shaped through hole; the upper part of the front end surface of the support column (1) is uniformly provided with limiting jacks (102),
four threaded columns (201) are arranged on the upper end face of the concrete base (2), and the upper ends of the four threaded columns (201) respectively penetrate through the four mounting plates (101); each screw column (201) is externally connected with a fastening nut (202) through threads, a limiting gear (203) is arranged at the bottom of each fastening nut (202), limiting teeth on the limiting gears (203) are of a fan-shaped structure, the tightening and turning of the fastening nuts (202) is clockwise,
the rear end face of the height adjusting piece (3) is provided with two T-shaped sliding blocks which are respectively connected with the two T-shaped sliding grooves on the support column (1) in a sliding manner; a rectangular sliding shell (301) is arranged at the bottom end surface of the height adjusting piece (3), and a sliding block (302) is connected inside the rectangular sliding shell (301) in a sliding manner; the rear end of the sliding block (302) is provided with a plug rod (304) penetrating through the rear side wall of the rectangular sliding shell (301), the front end of the sliding block (302) is provided with a T-shaped pull rod (303) penetrating through the front side wall of the rectangular sliding shell (301), and a spring is sleeved on the T-shaped pull rod (303) and positioned in the rectangular sliding shell (301); the rear end of the inserted link (304) is inserted into one of the limiting jacks (102),
the front-back moving part (5) comprises a front-back sliding block (501), a driving motor (502), a driving screw rod (503) and a driving nut (504), wherein the front-back sliding block (501) is connected to the bottom of the left-right sliding piece (4) in a sliding manner through two sliding rods, the driving motor (502) is arranged on the bottom end face of the left-right sliding piece (4), and a rotating shaft on the driving motor (502) is fixedly connected with the driving screw rod (503); a groove is arranged in the middle of the upper end surface of the front sliding block (501), a driving nut (504) is arranged in the groove, the driving nut (504) is connected with a driving screw rod (503) through threads,
the lifting mechanism (6) comprises a fixed support plate (601), an electric cylinder (602), lifting plates (603) and vertical guide rods (604), wherein the fixed support plate (601) is fixedly connected to the bottom end surfaces of the front sliding block (501) and the rear sliding block, sliding drums are arranged at four corners of the bottom end surfaces of the fixed support plate (601), each sliding drum is internally and slidably connected with one vertical guide rod (604), the upper ends of the four vertical guide rods (604) penetrate through the fixed support plate (601), and the lower ends of the four vertical guide rods (604) are fixedly connected with the lifting plates (603); the electric cylinder (602) is arranged on the bottom end surface of the fixed support plate (601), the lower end of the telescopic rod of the electric cylinder (602) is fixedly connected with the upper end surface of the lifting plate (603),
the clamping mechanism (7) comprises two vertical support plates (701), a clamping motor (702), clamping screws (703) and clamping plates (704), wherein the two vertical support plates (701) are respectively and fixedly connected to the left side and the right side of the bottom end face of the lifting plate (603), four supporting guide rods are arranged between the two vertical support plates (701), the clamping motor (702) is mounted on the left end face of one vertical support plate (701) on the left side, the clamping screws (703) are fixedly connected with the right end of a rotating shaft of the clamping motor (702), the clamping screws (703) are rotationally connected to the two vertical support plates (701), two reverse threads are arranged outside the clamping screws (703) in a bilateral symmetry mode, the two clamping plates (704) are connected with the left side and the right side of the bottom end face of the lifting plate (603) through the two reverse threads, the two clamping plates (704) are in sliding connection with the four supporting guide rods, the anti-loosening part (8) comprises a rectangular sliding cylinder (801), a rectangular sliding block (802), a stud (803) and a hand screw nut (804), the rectangular sliding cylinder (801) is mounted on the rectangular end face, the rectangular sliding cylinder (801) is provided with a rectangular sliding cylinder (802), the rectangular sliding cylinder (802) and is provided with a strip-shaped sliding opening (801), the outside of the stud (803) is connected with a hand-screwed nut (804) through threads; a spring is arranged at the tail end of the rectangular sliding block (802) inside the rectangular sliding cylinder (801), a triangular limiting block is arranged at the head end of the rectangular sliding block (802), the triangular limiting block is tightly contacted with the peripheral surface of the limiting gear (203),
the chain driving part (9) comprises two rotating shafts (901), chain wheels (902), driving plate members (903) and driving motors (904), wherein the two rotating shafts (901) are rotatably connected to the height adjusting piece (3), the front ends of the two rotating shafts (901) penetrate through the rear side wall of the lubricating oil tank (10), the front ends of the two rotating shafts (901) are provided with one chain wheel (902), a chain is connected between the two chain wheels (902) in a transmission manner, the driving plate members (903) are arranged on the chain, the lower ends of the driving plate members (903) are fixedly connected to the left sliding piece and the right sliding piece (4), and the driving plate members (903) penetrate through strip-shaped through openings in the lubricating oil tank (10); the driving motor (904) is arranged on the rear end face of the lubricating oil tank (10), the front end of a rotating shaft of the driving motor (904) is fixedly connected with the rear end of a rotating shaft (901) on the right side, and a driving belt pulley is arranged at the rear end of the rotating shaft (901) on the left side; the driving motor (904), the clamping motor (702), the electric cylinder (602) and the driving motor (502) are electrically connected with the controller (12),
the inclined plate (1001) is arranged at the lower end of the inner part of the lubricating oil tank (10), four oil pouring pipes (1003) are arranged at the top of the lubricating oil tank (10), the upper ends of the four oil pouring pipes (1003) are connected with oil pouring pipes (1002), oil inlets of the oil pouring pipes (1002) are connected with a liquid outlet of the pump body (11) through oil pipes, an oil outlet pipe (1004) is arranged at the lower part of the rear end surface of the lubricating oil tank (10), an oil outlet of the oil outlet pipe (1004) is connected with a liquid inlet of the pump body (11),
a ratchet-shaped groove (1301) is formed in the rear end face of the one-way disc (13), a fixed rotating shaft (1302) is welded inside the ratchet-shaped groove (1301), a rotating cylinder (1303) is connected to the outer portion of the fixed rotating shaft (1302) in a rotating mode, a hexagonal plate (1304) is arranged at the front end of the rotating cylinder (1303), three pawls (1305) are connected to the rear end face of the hexagonal plate (1304) in a ring-shaped array mode in a rotating mode, and three limiting plates (1306) and three limiting blocks (1307) are arranged on the rear end face of the hexagonal plate (1304) in a ring-shaped array mode; the rear end of the outer part of the rotary barrel (1303) is provided with a driven belt pulley (1308), the driven belt pulley (1308) is rotationally connected with a driving belt pulley through a belt, and the diameter of the driving belt pulley is three times to five times of that of the driven belt pulley (1308); each pawl (1305) and one adjacent limiting plate (1306) are respectively provided with a spring, in the chain transmission process, a left sprocket (902) is driven to rotate, so that a left rotating shaft (901) drives a driving pulley to rotate, then a belt drives a driven pulley (1308) to rotate, when the driven pulley (1308) rotates clockwise, a rotating drum (1303) drives a hexagonal plate (1304) and three pawls (1305) to rotate clockwise, then a ratchet-shaped groove (1301) is matched to drive a one-way disc (13) to rotate clockwise, an input shaft on a pump body (11) starts to rotate, a liquid inlet of the pump body (11) generates suction, lubricating oil in a lubricating oil tank (10) is conveyed into a pouring pipe fitting (1002) through an oil outlet pipe (1004) and the pump body (11), and then the lubricating oil is poured onto a chain through four oil pipes (1003).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210470227.7A CN114800434B (en) | 2022-04-28 | 2022-04-28 | Automatic material taking and discharging manipulator for numerical control machining based on precise pins of die |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210470227.7A CN114800434B (en) | 2022-04-28 | 2022-04-28 | Automatic material taking and discharging manipulator for numerical control machining based on precise pins of die |
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| CN114800434A CN114800434A (en) | 2022-07-29 |
| CN114800434B true CN114800434B (en) | 2023-12-08 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115771160A (en) * | 2022-11-15 | 2023-03-10 | 广东天太机器人有限公司 | Rotary self-locking joint and mechanical arm |
| CN116533286B (en) * | 2023-07-06 | 2023-09-08 | 江苏润鼎智能装备科技有限公司 | Truss manipulator for stacking aerated concrete |
| CN118418099B (en) * | 2024-07-04 | 2024-09-06 | 广东天功自动化科技有限公司 | Slider guide rail assembly suitable for precision movement manipulator |
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| CN114274128A (en) * | 2022-01-12 | 2022-04-05 | 潘治文 | Automatic feeding and discharging mechanical arm for polyethylene production and processing |
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| US5216932A (en) * | 1990-11-30 | 1993-06-08 | Nippon Thompson Co., Ltd. | X-y drive apparatus |
| CN207697123U (en) * | 2017-11-28 | 2018-08-07 | 襄阳科利尔光学材料科技有限公司 | A kind of die mould press convenient for adjusting |
| CN214834325U (en) * | 2021-01-28 | 2021-11-23 | 南京林业大学 | Television wall mounting structure based on indoor design optional installation mode |
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