Pipe cutting machine robot loading mechanism

Abstract

The utility model belongs to the technical field of laser cutting machines, and specifically relates to a pipe cutting machine manipulator loading mechanism, including a base bed, a manipulator base, a manipulator positioning transmission mechanism, a manipulator support plate and a manipulator follower mechanism, wherein the manipulator base is fixed on the base bed, the manipulator positioning transmission mechanism is installed on the manipulator base, and is used to drive the manipulator support plate to move, and the manipulator follower mechanism is installed in the manipulator support plate, and is used to drive the round tube support and the rectangular tube support to reach the height required for the manipulator to rotate different profiles according to the feedback of the CNC control system. The device can not only realize automatic loading, but the system is controlled by a servo motor and driven by a gear rack structure, thereby controlling the manipulator position so that the manipulator position can be accurately positioned at the center of the cutting area.

Description

Technical Field

[0001] The utility model belongs to the technical field of laser cutting machines, and in particular relates to a manipulator loading mechanism for a pipe cutting machine. Background Art

[0002] The robot in the automatic feeding device of the laser tube cutting machine on the market currently only has the function of feeding, that is, after the tube is sent to the center of the chuck, the robot retreats after the follower support supports the tube, completing the feeding function. In the existing technology, the robot does not have the function of sending the tube to the center of the chuck and realizing the automatic height tracking of the tube during the cutting process. Utility Model Content

[0003] The utility model aims to provide a pipe cutting machine manipulator loading mechanism to solve the problems existing in the background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a pipe cutting machine manipulator loading mechanism, including a base bed, a manipulator base, a manipulator positioning transmission mechanism, a manipulator support plate and a manipulator follower mechanism, the manipulator base is fixed on the base bed, the manipulator positioning transmission mechanism is installed on the manipulator base, and is used to drive the manipulator support plate to move, and the manipulator follower mechanism is installed in the manipulator support plate, and is used to drive the round tube support and the rectangular tube support according to the feedback of the CNC control system to reach the height that the manipulator needs to reach for the rotation of different profiles.

[0005] Preferably, the manipulator positioning transmission mechanism includes a first servo motor, a first reducer, a gear, a rack and a motor support plate, the output end of the first servo motor is connected to the input end of the first reducer, the first reducer is installed at the lower part of the motor support plate, the gear is installed at the output end of the first reducer, the rack is fixed on the inner side of the manipulator support plate, the gear is meshed with the rack, a slider is provided on the upper part of the motor support plate, and a slide rail matching the slider is provided at the bottom of the manipulator support plate.

[0006] Preferably, the manipulator follow-up mechanism includes a second servo motor, a second reducer, a lead screw, a lead screw sleeve, a lead screw sleeve slider, a guide rail, a connecting rod, a synchronous rod, a connecting plate, a supporting plate, two first connecting arms, two second connecting arms, a first synchronous shaft and a second synchronous shaft; the second servo motor is connected to the second reducer, and the two are installed on the inner side of the manipulator support plate, one end of the lead screw is connected to the output end of the second reducer, the lead screw sleeve is sleeved on the lead screw, the two ends of the lead screw sleeve are respectively fixed with the lead screw sleeve slider, the lead screw sleeve slider is slidably connected to the guide rail, the guide rail is fixed on the inner side of the manipulator support plate, the two ends of the lead screw sleeve are respectively hinged to one of the connecting rods, the other end of the connecting rod is connected to the two ends of the first synchronous shaft, and one end of the two first connecting arms is respectively hinged to the first synchronous shaft One end of the synchronization rod is hinged to the first synchronization shaft, and the other end of the synchronization rod is hinged to the second synchronization shaft, and both ends of the second synchronization shaft are respectively hinged to one end of the two second connecting arms, and the upper ends of the two first connecting arms are respectively hinged to the connecting plate through the first pin shaft, and the connecting plate is fixed to the upper part of the manipulator support plate, and the upper ends of the two second connecting arms are respectively hinged to the connecting plate through the second pin shaft, and the other ends of the two first connecting arms are hinged to one side of the bottom of the support plate through the third pin shaft, and the other ends of the two second connecting arms are hinged to the other side of the bottom of the support plate through the fourth pin shaft, and a V-shaped groove is provided on one side of the upper part of the support plate, and two roller shafts are installed on the V-shaped groove, and the two roller shafts are arranged in a V shape, and the other side of the upper part of the support plate is horizontal, and a horizontal roller shaft is installed at this position.

[0007] Preferably, the manipulator support plates are comprised of two pieces, which are connected together via a support plate connecting plate.

[0008] Preferably, a drag chain plate is installed between the two manipulator support plates, and the manipulator drag chain is connected to the drag chain plate.

[0009] The beneficial effects of the utility model are: the device can not only realize automatic material loading, but also the system is controlled by a servo motor and driven by a gear rack structure, thereby controlling the position of the manipulator, so that the manipulator position can be accurately positioned at the center of the cutting area. In order to prevent material deformation during pipe processing, the system has the function of automatically tracking the center height as the pipes of various shapes rotate. The system drives the ball screw through a servo motor, drives through a connecting rod mechanism, and lifts the roller shaft through a support plate, and always supports the outer contour of various pipes in the vertical direction to keep the center position of the material rotation unchanged. The auxiliary support follower used on the machine tool is eliminated, the machine tool structure is simplified, the machine tool space is saved, and the risk of collision is reduced. It is an automated and efficient device. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a three-dimensional diagram of one direction of the utility model;

[0011] Figure 2 Another perspective view of the present invention;

[0012] Figure 3 It is a structural schematic diagram of the manipulator positioning transmission mechanism in the utility model;

[0013] Figure 4 It is a structural schematic diagram of the robot follower mechanism in the utility model;

[0014] Figure 5 This is a schematic diagram of the structure inside the robot follower mechanism of the utility model;

[0015] Figure 6 It is a structural schematic diagram of the first connecting arm in the utility model;

[0016] Figure 7 It is a structural schematic diagram of the second connecting arm in the utility model;

[0017] Figure 8 It is a structural schematic diagram of the middle support plate of the utility model. DETAILED DESCRIPTION

[0018] In the description of the present disclosure, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0019] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0020] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" 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, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0021] The specific implementation of the utility model is described in detail below with reference to the accompanying drawings and preferred embodiments.

[0022] like Figure 1 and Figure 2 As shown, a pipe cutting machine manipulator loading mechanism includes a base bed 1, a manipulator base 2, a manipulator positioning transmission mechanism 3, a manipulator support plate 4 and a manipulator follower mechanism 5. The manipulator base is fixed on the base bed, and the manipulator positioning transmission mechanism is installed on the manipulator base to drive the manipulator support plate to move and send the profile to the cutting area. The manipulator follower mechanism is installed in the manipulator support plate. The manipulator support plate is divided into two pieces, which are connected together by a support plate connecting plate. The manipulator follower mechanism is used to drive the round tube support and the rectangular tube support according to the feedback of the CNC control system to reach the height that the manipulator needs to reach for the rotation of different profiles.

[0023] Specifically, Figure 3 As shown, the manipulator positioning transmission mechanism 3 includes a first servo motor 31, a first reducer 32, a gear 33, a rack 34 and a motor support plate 35, the output end of the first servo motor is connected to the input end of the first reducer, the first reducer is installed at the lower part of the motor support plate, the gear is installed at the output end of the first reducer, the rack is fixed on the inner side of the manipulator support plate, the gear is meshed with the rack, a slider 36 is provided at the upper part of the motor support plate, and a slide rail 37 matched with the slider is provided at the bottom of the manipulator support plate. The system is controlled by the first servo motor and transmitted by the gear rack structure, thereby controlling the position of the manipulator, so that the manipulator position can be accurately positioned at the center of the cutting area.

[0024] Specifically, Figure 5-Figure 8 As shown, the manipulator follower mechanism 5 includes a second servo motor 50, a second reducer 51, a screw 52, ​​a screw sleeve 53, a screw sleeve slider 54, a guide rail 55, a connecting rod 56, a synchronization rod 57, a connecting plate 58, a support plate 59, two first connecting arms 510, two second connecting arms 511, a first synchronization shaft 512 and a second synchronization shaft 513.

[0025] The second servo motor is connected to the second reducer, and the two are installed on the inner side of the manipulator support plate. One end of the lead screw is connected to the output end of the second reducer, and the lead screw sleeve is sleeved on the lead screw. The two ends of the lead screw sleeve are respectively fixed with the lead screw sleeve slider, and the lead screw sleeve slider is slidably connected to the guide rail, and the guide rail is fixed on the inner side of the manipulator support plate. The second servo motor drives the lead screw sleeve slider to move through the second reducer, and the lead screw sleeve slider can only move left and right in the horizontal direction under the guidance of the guide rails on both sides, thereby driving the connecting rod to move left and right.

[0026] The present device is provided with a connecting rod mechanism capable of lifting the pipe up and down. Specifically, the two ends of the screw sleeve are respectively hinged with a connecting rod 56, and the other end of the connecting rod is connected to the two ends of the first synchronization shaft 512, one end of the two first connecting arms is respectively hinged with the first synchronization shaft, one end of the synchronization rod is hinged with the first synchronization shaft, the other end of the synchronization rod is hinged with the second synchronization shaft 513, and the two ends of the second synchronization shaft are respectively hinged with one end of the two second connecting arms, the upper ends of the two first connecting arms are respectively hinged with the connecting plate through the first pin shaft 514, and the connecting plate is fixed to the upper part of the manipulator support plate, the upper ends of the two second connecting arms are respectively hinged with the connecting plate through the second pin shaft 515, the other ends of the two first connecting arms are hinged with one side of the bottom of the support plate through the third pin shaft 516, and the other ends of the two second connecting arms are hinged with the other side of the bottom of the support plate through the fourth pin shaft 517. When the connecting rod is driven by the screw sleeve to move upward Figure 4 When moving in the middle-right direction, the left end of the first connecting arm 510 moves downward, and the right end of the first connecting arm drives the support plate 59 to move upward. Similarly, since the left end of the first connecting arm and the left end of the second connecting arm are connected by the synchronization rod 57, the second connecting arm will also perform the same action as the first connecting arm, and the right end of the second connecting arm will also drive the support plate 59 to move upward. In this way, the pipe can be moved upward. When moving downward, the screw can be rotated in the opposite direction.

[0027] Furthermore, in order to hold up pipes of different shapes, a V-shaped groove is provided on one side of the upper part of the support plate, and two rollers 518 are installed on the V-shaped groove. The two rollers are arranged in a V shape, and the two rollers in the V-shaped groove are used to place round pipes. The other side of the upper part of the support plate is horizontal, and a horizontal roller 519 is installed at this position, and the horizontal roller is used to place square pipes. Through the second servo motor, the first connecting arm, the second connecting arm and the support plate, the support plate can hold up the roller and the plane roller, and always hold up and support the outer contours of various pipes in the vertical direction while keeping the center of rotation of the material unchanged. The auxiliary support follower used on the machine tool is eliminated, the machine tool structure is simplified, the machine tool space is saved, and the risk of collision is reduced. It is an automated and efficient device.

[0028] Furthermore, a drag chain plate 41 is installed between the two robot support plates, and a robot drag chain 42 is connected to the drag chain plate.

[0029] This mechanism can be combined arbitrarily according to the different lengths of the pipes, and different groups of robot arms can be selected. N number of robot arms can be placed on the base bed as needed and installed side by side.

[0030] It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the utility model, and these improvements and modifications should also be regarded as the protection scope of the utility model.

Claims

1. A pipe cutting machine manipulator loading mechanism, characterized in that: It includes a base bed, a manipulator base, a manipulator positioning transmission mechanism, a manipulator support plate and a manipulator follower mechanism. The manipulator base is fixed on the base bed, the manipulator positioning transmission mechanism is installed on the manipulator base, and is used to drive the manipulator support plate to move. The manipulator follower mechanism is installed in the manipulator support plate, and is used to drive the round tube support and the rectangular tube support to reach the height required for the manipulator to rotate different profiles according to the feedback of the CNC control system.

2. According to claim 1, the pipe cutting machine manipulator loading mechanism is characterized in that: The manipulator positioning transmission mechanism includes a first servo motor, a first reducer, a gear, a rack and a motor support plate. The output end of the first servo motor is connected to the input end of the first reducer. The first reducer is installed at the lower part of the motor support plate. The gear is installed at the output end of the first reducer. The rack is fixed on the inner side of the manipulator support plate. The gear is meshed with the rack. A slider is provided on the upper part of the motor support plate, and a slide rail matching the slider is provided at the bottom of the manipulator support plate.

3. The pipe cutting machine manipulator loading mechanism according to claim 2 is characterized in that: The manipulator follow-up mechanism includes a second servo motor, a second reducer, a lead screw, a lead screw sleeve, a lead screw sleeve slider, a guide rail, a connecting rod, a synchronous rod, a connecting plate, a supporting plate, two first connecting arms, two second connecting arms, a first synchronous shaft and a second synchronous shaft; the second servo motor is connected to the second reducer, and the two are installed on the inner side of the manipulator support plate, one end of the lead screw is connected to the output end of the second reducer, the lead screw sleeve is sleeved on the lead screw, the two ends of the lead screw sleeve are respectively fixed with the lead screw sleeve slider, the lead screw sleeve slider is slidably connected to the guide rail, the guide rail is fixed on the inner side of the manipulator support plate, the two ends of the lead screw sleeve are respectively hinged to one of the connecting rods, the other end of the connecting rod is connected to the two ends of the first synchronous shaft, one end of the two first connecting arms is respectively hinged to the first synchronous shaft, One end of the synchronization rod is hinged to the first synchronization shaft, and the other end of the synchronization rod is hinged to the second synchronization shaft. Both ends of the second synchronization shaft are respectively hinged to one end of the two second connecting arms, and the upper ends of the two first connecting arms are respectively hinged to the connecting plate through the first pin shaft, and the connecting plate is fixed to the upper part of the manipulator support plate, and the upper ends of the two second connecting arms are respectively hinged to the connecting plate through the second pin shaft, and the other ends of the two first connecting arms are hinged to one side of the bottom of the support plate through the third pin shaft, and the other ends of the two second connecting arms are hinged to the other side of the bottom of the support plate through the fourth pin shaft. A V-shaped groove is provided on one side of the upper part of the support plate, and two rollers are installed on the V-shaped groove. The two rollers are arranged in a V shape, and the other side of the upper part of the support plate is horizontal, and a horizontal roller is installed at this position.

4. The pipe cutting machine manipulator loading mechanism according to claim 2 is characterized in that: The manipulator support plates are composed of two pieces, which are connected together via a support plate connecting plate.

5. The pipe cutting machine manipulator loading mechanism according to claim 3 is characterized in that: A drag chain plate is installed between the two robot support plates, and the robot drag chain is connected to the drag chain plate.

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