End effector of loading and unloading robot of numerically controlled lathe

Abstract

The utility model relates to the technical field of robot end executors, in particular to a numerical control lathe feeding and discharging robot end executor. In order to solve the problems that in the feeding and discharging process of a numerical control lathe feeding and discharging robot, bars are not prone to being clamped firmly, grabbing stability and placing accuracy are difficult to guarantee, the bars are prone to rolling, the surfaces of the bars are prone to being damaged, and the clamping and loosening speed cannot be adjusted, according to the technical scheme, the numerical control lathe feeding and discharging robot comprises a motor and a supporting frame; the motor and the supporting frame are arranged on the working platform, one end of the transmission shaft is connected to an output shaft of the motor, the transmission shaft is arranged on the supporting frame and is a spiral transmission shaft, the other end of the spiral transmission shaft is provided with external threads and is connected with the transmission nut through the external threads to form a spiral transmission pair, and the transmission nut is connected with the mechanical claw through the connecting rod. A partial crawler-type groove is formed in the middle of the inner side face of the lower mechanical claw, and the inner side face of the first upper mechanical claw and the inner side face of the second upper mechanical claw are inclined faces.

Description

Technical Field

[0001] The utility model relates to the technical field of robot end effectors, in particular to an end effector of a loading and unloading robot for a numerically controlled lathe. Background Art

[0002] At present, most CNC turning production lines still rely on manual loading and unloading, which has the problems of low efficiency, high cost, and potential safety hazards for workers, and can no longer meet the requirements of automated production.

[0003] With the continuous development of social intelligence, it is an inevitable trend to use loading and unloading robots to replace manual labor. The loading and unloading robot for CNC lathes is a special industrial robot that controls the power source and end effector through CNC programs and controllers, can provide real-time feedback according to the processing process, and has human intelligence and adaptability. The use of loading and unloading robots in conjunction with CNC lathes can realize continuous turning operations of parts, which is conducive to realizing automated production, reducing labor costs, improving work efficiency, and eliminating the safety hazards caused by manual loading and unloading.

[0004] The loading and unloading robot of CNC lathe has the advantages of good loading accuracy and high efficiency. The end effector is the direct execution unit of loading and unloading. How to achieve fast grasping, stable handling and accurate placement of bars of different diameters is very important. In addition, in order to adapt to the production rhythm, the clamping and releasing speed of the end effector should be adjustable, and rolling and surface damage should be prevented during the handling of bars.

[0005] The application number is "202320710524.4", and the patent name is "A machine tool loading and unloading manipulator". Through the installation of the guide mechanism composed of the horizontal rotating motor on the top of the mounting plate, the first electric guide rail, the vertical rotating motor, the second electric guide rail, and the third electric guide rail, the gripper can be rotated horizontally and vertically during use, and the linear conveying adjustment of the X, Y, and Z axes can be made, which improves the applicability of the device and makes it more practical. However, it still has the following problems:

[0006] 1. The workpiece is grasped by a clamping claw, which may slip during operation and even damage the workpiece.

[0007] 2. It can only serve one lathe and its efficiency is relatively low during use.

[0008] Therefore, the design of the end effector of the loading and unloading robot of CNC lathe has important practical significance. Summary of the invention

[0009] In view of this, the utility model provides a CNC lathe loading and unloading mechanical claw to solve the problems that the bar material is not easy to clamp firmly during the loading and unloading process of the CNC lathe loading and unloading robot, the grasping stability and placement accuracy are difficult to ensure, the bar material is easy to roll and the surface of the bar material is easy to be damaged, and the clamping and releasing speeds cannot be adjusted.

[0010] In order to overcome the problems existing in the prior art, the technical solution adopted by the utility model is a CNC lathe loading and unloading robot end effector, including a working platform, a motor, a transmission shaft, a support frame and a mechanical claw; the motor and the support frame are arranged on the working platform, one end of the transmission shaft is connected to the output shaft of the motor, and the transmission shaft is arranged on the support frame. The transmission shaft is a spiral transmission shaft, and the other end of the spiral transmission shaft is provided with an external thread, and is connected with a transmission nut through the external thread to form a spiral transmission pair, and the transmission nut is connected to the mechanical claw through a connecting rod. The mechanical claw includes an upper mechanical claw 1, an upper mechanical claw 2 and a lower mechanical claw, and a partial crawler groove is provided in the middle part of the inner side surface of the lower mechanical claw, and the inner side surfaces of the upper mechanical claw 1 and the upper mechanical claw 2 are inclined surfaces.

[0011] Furthermore, the transmission nut is connected to the three connecting rods through pins, and the other ends of the three connecting rods are connected to the upper mechanical claw one, the upper mechanical claw two and the lower mechanical claw respectively. The pin is provided with a cotter pin hole, and a cotter pin is inserted in the cotter pin hole to prevent the transmission nut and the connecting rod from loosening.

[0012] Furthermore, an angular contact ball bearing is arranged between the support frame and the spiral transmission shaft, the inner ring of the angular contact ball bearing is clamped on the shoulder of the spiral transmission shaft, and the outer ring of the angular contact ball bearing is fixed by a bearing cover.

[0013] Furthermore, the mechanical claw is arranged in a cylindrical mechanical claw housing, and the cylindrical mechanical claw housing is connected to the working platform through a cylindrical head screw.

[0014] Furthermore, a back cover is provided at the open end of the cylindrical mechanical claw housing.

[0015] Furthermore, the output shaft of the motor is connected to one end of the screw transmission shaft through a key and a coupling.

[0016] Furthermore, the bearing cover is fixed to the support frame by means of a first slotted cylindrical head screw.

[0017] Furthermore, an adjustment washer is provided between the bearing cover and the support frame for adjusting the bearing clearance.

[0018] Furthermore, the support frame is welded on the working platform.

[0019] Furthermore, the rear cover is connected to the mechanical claw housing via a second slotted cylindrical head screw.

[0020] Compared with the prior art, the utility model has the following advantages:

[0021] 1) The threaded section of the spiral transmission shaft and the transmission nut of the utility model form a spiral transmission pair, which converts the rotational motion of the transmission shaft into the linear motion of the transmission nut, thereby achieving the effect of controlling the opening and closing of the mechanical claw, which is convenient for realizing the rapid grasping, stable handling and accurate placement of bars of different diameters; and the purpose of adjusting the transmission shaft speed can be achieved by adjusting the motor speed, so that the clamping and loosening speeds of the end effector should be adjustable, which can better adapt to the production rhythm.

[0022] 2) The utility model uses three mechanical claws to grab the bar material. The lower mechanical claw is provided with a crawler-type groove, which is convenient for wrapping the bar material, can limit the rolling of the bar material during loading and unloading, and can also protect the surface of the bar material from damage; in addition, the crawler-type groove can realize adaptive wrapping of bars of different diameters, making it more stable when grabbing bars of different thicknesses; the contact surface between the two upper mechanical claws and the bar material is an inclined plane, which further ensures that the surface of the bar material is not damaged. The three mechanical claws cooperate to realize a firm grasping process and prevent the bar material from sliding during loading and unloading.

[0023] 3) The three mechanical claws involved in the utility model are evenly distributed in the cylindrical mechanical claw housing. The open end of the mechanical claw housing is equipped with a back cover, which is connected to the mechanical claw housing by cylindrical head screws, and can achieve the effect of sealing and dustproof.

[0024] 4) The transmission mode of the end effector of the utility model is simple, the probability of failure during operation is small, and it is easy to maintain.

[0025] 5) The utility model is used in conjunction with a loading and unloading robot, which is conducive to realizing the automated production and continuous turning operation of bar materials, improving work efficiency, reducing labor costs, and eliminating the safety hazards caused by manual loading and unloading.

[0026] 6) The utility model is powered by an electric motor, and the electric motor can be selected according to different application occasions, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is the assembly drawing of the end effector of the loading and unloading robot on the CNC lathe.

[0028] Figure 2 This is the spatial layout diagram of the three mechanical claws of the end effector.

[0029] Figure 3 This is a diagram of the connection between the transmission nut and the three mechanical claws.

[0030] Figure 4 The structure diagram of the upper mechanical claw 1; (a) is the front view of the upper mechanical claw 1; (b) is Figure 4(a) is the AA cross-sectional view of the upper mechanical claw; (c) is the top view of the upper mechanical claw.

[0031] Figure 5 : It is the structural diagram of the lower mechanical claw; (a) is the front view of the lower mechanical claw; (b) is the top view of the lower mechanical claw.

[0032] Figure 6 It is a structural diagram of the transmission nut; (a) is the front view of the transmission nut; (b) is the left view of the transmission nut.

[0033] 1-working platform, 2-motor, 3-hexagon socket head screw, 4-key, 5-coupling, 6-screw drive shaft, 7-first slotted cylindrical head screw, 8-bearing cover, 9-adjusting washer, 10-angular contact ball bearing, 11-support frame, 12-rear cover, 13-second slotted cylindrical head screw, 14-drive nut, 15-connecting rod, 16-mechanical claw housing, 17-upper mechanical claw one, 18-lower mechanical claw, 19-upper mechanical claw two, 20-cylinder head screw, 21-pin shaft, 22-cotter pin, 23-crawler groove. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0036] The present embodiment provides an end effector of a loading and unloading robot for a numerically controlled lathe, comprising a working platform 1, a motor 2, a hexagon socket head screw 3, a key 4, a coupling 5, a spiral transmission shaft 6, a first slotted cylindrical head screw 7, a bearing cover 8, an adjusting washer 9, an angular contact ball bearing 10, a support frame 11, a rear cover 12, a second slotted cylindrical head screw 13, a transmission nut 14, a connecting rod 15, a mechanical claw housing 16, a mechanical claw (the mechanical claw includes an upper mechanical claw 17, a lower mechanical claw 18, and an upper mechanical claw 2 19), a cylindrical head screw 20, a pin 21, and a cotter pin 22; the motor 2 and the support frame 11 are arranged on the working platform 1, one end of the transmission shaft is connected to the output shaft of the motor 2, and the transmission shaft is arranged on the support frame 11, such as Figure 1-Figure 6 shown.

[0037] As an implementation method in this embodiment, the motor 2 is connected to the working platform 1 through the hexagon socket head screw 3, and the output shaft of the motor 2 is connected to the left end of the spiral transmission shaft 6 through the key 4 and the coupling 5. The spiral transmission shaft 6 is installed on the support frame 11 of the working platform 1, and the support frame 11 is welded to the working platform 1.

[0038] As an implementation method in this embodiment, an angular contact ball bearing 10 is installed between the support frame 11 on the working platform 1 and the spiral transmission shaft 6, the inner ring of the angular contact ball bearing 10 is clamped on the shoulder of the spiral transmission shaft 6, and the outer ring of the angular contact ball bearing 10 is fixed by a bearing cover 8, and the bearing cover 8 is fixedly installed on the support frame 11 by a first slotted cylindrical head screw 7, and an adjustment washer 9 is arranged between the bearing cover 8 and the support frame 11 for adjusting the bearing clearance.

[0039] As an implementation method in this embodiment, the right end shaft portion of the spiral transmission shaft 6 is provided with an external thread, and the right end shaft of the spiral transmission shaft 6 is connected to the transmission nut 14 through a threaded connection to form a spiral transmission pair.

[0040] As an implementation method in this embodiment, the transmission nut 14 is connected to the three connecting rods 15 respectively through the pin shaft 21, and the other ends of the three connecting rods 15 are respectively connected to the upper mechanical claw 17, the upper mechanical claw 2 19 and the lower mechanical claw 18. The pin shaft 21 is provided with a cotter pin hole, and a cotter pin 22 is inserted into the cotter pin hole to prevent the transmission nut 14 and the connecting rod 15 from loosening.

[0041] As an implementation method in this embodiment, each mechanical claw is a separate four-bar linkage, in which the lower mechanical claw 18 is the main load-bearing part. When loading and unloading, the bar material first contacts the lower mechanical claw 18. In order to ensure that the bar material does not roll arbitrarily after entering the lower mechanical claw 18, a crawler groove is set on the lower mechanical claw 18 to wrap the bar material. The crawler groove does not damage the surface of the bar material while limiting the rolling of the bar material; the upper mechanical claw 17 and the upper mechanical claw 2 19 have the same structure and mainly play the role of clamping and fixing. In order to ensure that the two upper mechanical claws do not damage the surface of the bar material, the contact surface between the two upper mechanical claws and the bar material is designed to be an inclined plane, such as Figure 4-5 shown.

[0042] As an implementation method in this embodiment, three mechanical claws are evenly distributed in a cylindrical mechanical claw housing 16, and the cylindrical mechanical claw housing 16 is connected to the working platform through a cylindrical head screw 20. In order to achieve the effect of sealing and dustproof, the open end of the cylindrical mechanical claw housing 16 is provided with a rear cover 12, and the rear cover 12 is connected to the mechanical claw housing 16 through a second slotted cylindrical head screw 13.

[0043] The working process of the utility model is as follows:

[0044] The end effector of the utility model is installed on the loading and unloading robot. When in use, the speed of the motor 2 is set, and then the motor 2 is started. After the motor 2 starts working, its output shaft transmits the rotational motion to the spiral transmission shaft 6 through the key 4 and the coupling 5. The middle section of the spiral transmission shaft 6 is installed with an angular contact ball bearing 10, which can reduce the friction of the spiral transmission shaft 6 when working. The right end shaft of the spiral transmission shaft 6 is connected to the transmission nut 14 through a threaded connection to form a spiral transmission pair, which can convert the rotational motion of the transmission shaft 6 into the linear motion of the transmission nut 14. When grabbing the bar material, the bar material rolls into the crawler of the lower mechanical claw 18. The groove wraps the bar material, and the linear motion of the transmission nut 14 drives the connecting rod 15 to move, and then drives the lower mechanical claw 18, the upper mechanical claw 17, and the upper mechanical claw 2 19 to clamp the bar material; when unloading, the motor 2 reverses, and converts the reverse rotational motion of the transmission shaft 6 into the reverse linear motion of the transmission nut 14. The reverse linear motion of the transmission nut 14 drives the connecting rod 15 to move, and then drives the lower mechanical claw 18, the upper mechanical claw 17, and the upper mechanical claw 2 19 to release the bar material. By controlling the opening and closing of the mechanical claws, the function of raising and lowering the bar material is achieved.

[0045] By adjusting the rotation speed of the motor 2, the clamping and releasing speed of the mechanical claw can be changed, so that the clamping and releasing speed of the end effector should be adjustable and can better adapt to the production rhythm.

[0046] In the above description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0047] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A CNC lathe loading and unloading robot end effector, comprising a working platform (1), a motor (2), a transmission shaft, a support frame (11) and a mechanical claw; the motor (2) and the support frame (11) are arranged on the working platform (1), one end of the transmission shaft is connected to the output shaft of the motor (2), and the transmission shaft is arranged on the support frame (11), characterized in that: The transmission shaft is a spiral transmission shaft (6), the other end of which is provided with an external thread and connected to a transmission nut (14) via the external thread to form a spiral transmission pair, the transmission nut (14) is connected to a mechanical claw via a connecting rod (15), the mechanical claw comprises an upper mechanical claw 1 (17), an upper mechanical claw 2 (19) and a lower mechanical claw (18), the middle part of the inner side surface of the lower mechanical claw (18) is provided with a partial crawler groove, and the inner side surfaces of the upper mechanical claw 1 (17) and the upper mechanical claw 2 (19) are inclined surfaces.

2. The end effector of a CNC lathe loading and unloading robot according to claim 1, characterized in that: The transmission nut (14) is connected to the three connecting rods (15) respectively through a pin shaft (21); the other ends of the three connecting rods (15) are connected to the upper mechanical claw 1 (17), the upper mechanical claw 2 (19) and the lower mechanical claw (18) respectively; the pin shaft (21) is provided with a cotter pin hole, in which a cotter pin (22) is inserted, so as to prevent the transmission nut (14) and the connecting rod (15) from loosening.

3. The end effector of a CNC lathe loading and unloading robot according to claim 1 or 2, characterized in that: An angular contact ball bearing (10) is arranged between the support frame (11) and the spiral transmission shaft (6); the inner ring of the angular contact ball bearing (10) is clamped on the shaft shoulder of the spiral transmission shaft (6); and the outer ring of the angular contact ball bearing (10) is fixed via a bearing cover (8).

4. The end effector of a CNC lathe loading and unloading robot according to claim 3, characterized in that: The mechanical claw is arranged in a cylindrical mechanical claw housing (16), and the cylindrical mechanical claw housing (16) is connected to the working platform (1) via a cylindrical head screw (20).

5. The end effector of a CNC lathe loading and unloading robot according to claim 4, characterized in that: The open end of the cylindrical mechanical claw housing (16) is provided with a rear cover (12).

6. The end effector of a CNC lathe loading and unloading robot according to claim 5, characterized in that: The output shaft of the motor (2) is connected to one end of the screw transmission shaft (6) via a key (4) and a coupling (5).

7. The end effector of a CNC lathe loading and unloading robot according to claim 6, characterized in that: The bearing cover (8) is fixed to the support frame (11) via a first slotted cylindrical head screw (7).

8. The end effector of a CNC lathe loading and unloading robot according to claim 7, characterized in that: An adjustment washer (9) is provided between the bearing cover (8) and the support frame (11) for adjusting the bearing clearance.

9. The end effector of a CNC lathe loading and unloading robot according to claim 8, characterized in that: The support frame (11) is welded to the working platform (1).

10. The end effector of a CNC lathe loading and unloading robot according to claim 9, characterized in that: The rear cover (12) is connected to the mechanical claw housing (16) via a second slotted cylindrical head screw (13).

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