Front loading manipulator of numerically controlled lathe

Abstract

The invention relates to a front loading manipulator of a numerical control lathe, and relates to the technical field of numerical control machine tools, the loading manipulator comprises a mounting base frame, and a vibration discharging mechanism, a material taking extending mechanism and a material receiving mechanism which are arranged in sequence; the vibration discharging mechanism and the material taking extending mechanism are both arranged on the mounting base frame, and the mounting base frame is used for being mounted on the outer side of a lathe; the material taking extending mechanism comprises a lifting seat and a grabbing manipulator, a lifting driver is arranged between the lifting seat and the mounting base frame, and the lifting driver is used for driving the lifting seat to move in the vertical direction; the grabbing manipulator is vertically arranged, a second pneumatic driver is arranged on the lifting seat, and the grabbing manipulator is rotationally connected with the second pneumatic driver; and a synchronous rotating assembly is arranged between the upper end of the grabbing manipulator and the lifting seat. According to the numerical control lathe, the situation that the feeding manipulator occupies the internal space of the numerical control lathe can be reduced, the feeding manipulator is located outside the numerical control lathe, and therefore the safety when the feeding manipulator is disassembled and assembled is improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of numerical control machine tools, in particular to a front-mounted feeding mechanical arm of a numerical control lathe. BACKGROUND

[0002] The numerical control lathe is a core equipment for realizing precision and high-efficiency machining in modern manufacturing industry. In order to improve production efficiency and reduce labor cost, it has become a mainstream development trend to equip the numerical control lathe with an automatic feeding system.

[0003] At present, the feeding device on the numerical control lathe usually adopts a top feeding mode. The common feeding device mainly comprises a vibrating disc, a vertical material channel and a grabbing mechanical arm. The vibrating disc is installed on the top of the lathe, the vertical material channel is vertically arranged, the upper end of the vertical material channel extends to be communicated with the discharging port of the vibrating disc, and the lower end of the vertical material channel extends to the inside of the lathe. The grabbing mechanical arm is arranged on the tool holder in the inside of the lathe. During feeding, the vibrating disc sorts and inputs workpieces into the vertical material channel, so that the workpieces are sequentially arranged from bottom to top in the vertical material channel. Then, the tool holder drives the grabbing mechanical arm to move to the lower end of the vertical material channel to grab the lowermost workpiece. Then, the tool holder drives the grabbing mechanical arm to move to the position of the main shaft. Finally, the chuck of the main shaft installs and clamps the workpiece on the grabbing mechanical arm, thereby realizing the feeding function.

[0004] For the related technology in the above, the design of feeding in the vertical direction makes the vibrating disc need to be at a high position, and the vertical material channel needs to be installed in the inside of the lathe. Therefore, the vertical material channel will occupy the space in the inside of the lathe, so that when the vertical material channel needs to be installed, debugged, repaired or maintained, the operator needs to put the upper body into the lathe, which may cause the operator to contact the tool, the cutting chips and the cooling liquid in the inside of the lathe and thus cause danger. SUMMARY

[0005] The application provides a front-mounted feeding mechanical arm of a numerical control lathe, which aims to reduce the occupation of the inside space of the numerical control lathe by the feeding mechanical arm, so that the feeding mechanical arm is located outside the numerical control lathe, thereby improving the safety during disassembly and assembly of the feeding mechanical arm.

[0006] The front-mounted feeding mechanical arm of the numerical control lathe provided by the application adopts the following technical scheme: The application discloses a front-loading feeding mechanical arm of a numerical control lathe, which comprises a mounting base frame and sequentially arranged vibration material arranging mechanism, material taking and extending mechanism and material collecting mechanism; the vibration material arranging mechanism and the material taking and extending mechanism are arranged on the mounting base frame, the mounting base frame is used for being mounted to the outside of the lathe, and the material collecting mechanism is used for being mounted to the inside of the lathe; the material taking and extending mechanism comprises a lifting seat and a grabbing mechanical arm, a lifting driver is arranged between the lifting seat and the mounting base frame, and the lifting driver is used for driving the lifting seat to move in the vertical direction; the grabbing mechanical arm is vertically arranged, a second pneumatic driver is arranged on the lifting seat, the grabbing mechanical arm is rotationally connected with the second pneumatic driver, and the second pneumatic driver is used for driving the grabbing mechanical arm to reciprocate between the vibration material arranging mechanism and the material collecting mechanism; a synchronous rotation assembly is arranged between the upper end of the grabbing mechanical arm and the lifting seat, and when the grabbing mechanical arm reciprocates between the vibration material arranging mechanism and the material collecting mechanism, the synchronous rotation assembly is used for driving the grabbing mechanical arm to rotate to the vertical or horizontal state.

[0007] By adopting the technical scheme, the vibration material arranging mechanism and the material taking and extending mechanism are arranged on the mounting base frame outside the lathe, when installation, debugging or maintenance are needed, an operator does not need to enter the inside of the lathe, so that the risk of contacting the cutter and the cuttings in the lathe is avoided, and the operation safety and the maintenance convenience are improved. Meanwhile, through the cooperation of the lifting driver, the second pneumatic driver and the synchronous rotation assembly, the grabbing mechanical arm can grab the workpiece in the vertical direction and automatically rotate to the horizontal state in the process of moving horizontally into the inside of the lathe, workpiece conveying is realized by the way that the grabbing mechanical arm extends into the inside of the lathe, and the space occupation of the feeding mechanical arm in the inside of the lathe is reduced. Therefore, the design makes all the mechanisms of the feeding mechanical arm except the material collecting mechanism which must be arranged in the inside of the lathe located outside the lathe, so that the space occupation in the inside of the lathe is reduced, and the safety of disassembling and assembling the feeding mechanical arm is improved.

[0008] Optionally, the application further discloses a material distributing and feeding mechanism, which is arranged on the mounting base frame, is located between the vibration material arranging mechanism and the material taking and extending mechanism, and is used for sequentially conveying the workpieces output by the vibration material arranging mechanism to the lower side of the grabbing mechanical arm.

[0009] By adopting the technical scheme, the material distributing and feeding mechanism can sequentially separate single workpieces from the workpiece queue continuously output by the vibration material arranging mechanism and convey the single workpieces to the material taking and extending mechanism, so that the number of workpieces supplied to the grabbing mechanical arm is one each time, and problems such as multiple grabbing, missing grabbing or grabbing position deviation are avoided, so that the success rate of subsequent grabbing actions and the stability of the whole feeding process are improved.

[0010] Optionally, the material distribution feeding mechanism further comprises a material distribution plate, the material distribution plate is horizontally arranged, a material distribution groove is formed on one side of the material distribution plate, the material distribution groove penetrates through the upper side of the material distribution plate in the vertical direction, and the material distribution groove is in communication with the discharge port of the vibrating material distribution mechanism; a first pneumatic driver is arranged below the material distribution plate, and the first pneumatic driver is used to drive the material distribution plate to reciprocate between the vibrating material distribution mechanism and the material taking extension mechanism.

[0011] By adopting the above technical scheme, the material distribution feeding mechanism is designed with the material distribution groove on the material distribution plate, so that the workpieces output from the vibrating material distribution mechanism enter the material distribution groove in sequence. Under the action of the first pneumatic driver, the material distribution plate moves, which can transport the workpieces in the material distribution groove towards the direction of the grabbing manipulator, thereby realizing the separation and transportation of single workpieces.

[0012] Optionally, the material distribution feeding mechanism further comprises a laser sensor, the laser sensor is arranged above the material distribution plate, and the detection end of the laser sensor is arranged towards the material distribution groove.

[0013] By adopting the above technical scheme, the laser sensor can detect whether there is a workpiece in the material distribution groove, so that the controller can determine whether to perform the material distribution and grabbing actions according to the detection result of the laser sensor, thereby effectively avoiding the idle running of the equipment caused by the untimely feeding, saving the energy consumption, reducing the unnecessary mechanical wear, and improving the intelligent level and adaptability to abnormal conditions of the whole feeding manipulator.

[0014] Optionally, the material distribution feeding mechanism further comprises a material distribution plate, the material distribution plate is vertically arranged, the material distribution plate is located between the material distribution plate and the vibrating material distribution mechanism, and the material distribution plate and the material distribution plate are in sliding connection; a material distribution groove is formed on the upper side of the material distribution plate, the length direction of the material distribution groove is arranged along the spacing direction between the vibrating material distribution mechanism and the material distribution plate, the material distribution groove penetrates through the material distribution plate along the length direction of the material distribution groove, one end of the material distribution groove along the length direction of the material distribution groove is in communication with the discharge port of the vibrating material distribution mechanism, and the other end of the material distribution groove is in communication with the material distribution groove.

[0015] By adopting the above technical scheme, the material distribution feeding mechanism is designed with the material distribution groove on the material distribution plate, so that the workpieces output from the vibrating material distribution mechanism will be arranged in the material distribution groove in sequence, and the workpieces will enter the material distribution groove in sequence from the material distribution groove as the vibrating material distribution mechanism continuously outputs the workpieces. Therefore, the material distribution groove on the material distribution plate forms a buffer area between the discharge port of the vibrating material distribution mechanism and the material distribution plate. At the same time, when the material distribution plate moves, the plate body of the material distribution plate can close the material distribution groove, and the material distribution plate can close the material distribution groove, which makes the material distribution plate and the material distribution plate cooperate with each other, prevents the workpieces from piling up or being stuck, and further enhances the reliability of the material distribution process.

[0016] Optionally, the material distributing feeding mechanism further comprises a first mounting frame, the first mounting frame is vertically arranged on the mounting base, and the first mounting frame is detachably connected with the mounting base, the discharging plate, the distributing plate and the first pneumatic driver are arranged above the first mounting frame, and the discharging plate and the first pneumatic driver are connected with the first mounting frame.

[0017] By adopting the above technical scheme, since the discharging plate and the first pneumatic driver in the material distributing feeding mechanism are arranged on the first mounting frame, the first mounting frame forms a complete and independent material distributing feeding module. When installation or maintenance is performed, the material distributing feeding mechanism can be quickly installed or replaced as a whole module, thereby facilitating quick recovery of production operation of the numerical control machine tool.

[0018] Optionally, the synchronous rotating assembly comprises a rotating shaft, the rotating shaft is rotatably arranged on the second pneumatic driver, the rotating shaft is horizontally arranged in the axial direction and is located between the lifting seat and the grabbing manipulator in the axial direction, one end of the rotating shaft is connected with the upper end of the grabbing manipulator, and the other end of the rotating shaft is provided with a connecting rod; the connecting rod is provided with a guide wheel, the guide wheel is arranged in the vertical direction and is spaced apart from the rotating shaft; the lifting seat is provided with a guide long hole, the guide wheel is in plug-in cooperation with the guide long hole, the guide wheel is in sliding and rotating connection with the inner wall of the guide long hole along the length direction of the guide long hole, and the guide long hole is upwardly extended in the length direction of the guide long hole towards one end of the vibrating discharging mechanism and is horizontally extended towards the other end of the vibrating discharging mechanism.

[0019] By adopting the above technical scheme, the synchronous rotating assembly is in rotating connection with the second pneumatic driver through the cooperation of the rotating shaft, the connecting rod and the guide wheel.

[0020] On this basis, based on the cooperation of the guide long hole and the guide wheel with the specific shape, when the grabbing manipulator is driven by the second pneumatic driver to reciprocate between the material collecting mechanism and the material distributing feeding mechanism, the guide wheel is synchronously moved in the guide long hole along the length direction of the guide long hole.

[0021] In the process, when the grabbing manipulator is located at one end close to the vibrating discharging mechanism, the guide wheel is located at one end of the upward extending guide long hole, so that the guide wheel is above the grabbing manipulator, and the connecting rod is vertically arranged, and at this time, the grabbing manipulator is also vertically arranged. When the grabbing manipulator moves towards the material collecting mechanism, the guide wheel changes from vertical movement to horizontal movement, and in the process of the change, due to the arrangement of the connecting rod, the guide wheel lags behind the movement of the grabbing manipulator, so that the guide wheel changes from above the grabbing manipulator to the side of the grabbing manipulator away from the material collecting mechanism, which makes the connecting rod rotate from the vertical state to the horizontal state, and then the connecting rod drives the rotating shaft to rotate synchronously by ninety degrees, so that the grabbing manipulator changes from the vertical state to the horizontal state.

[0022] Therefore, by the pure mechanical linkage design, the state switching of the grabbing manipulator is realized, so that no additional rotary driving source and complex control program are needed, which makes the structure of the material taking and extending mechanism more simplified and compact, reduces the manufacturing cost, and at the same time, ensures the synchronization and high reliability of the rotary motion and the linear motion.

[0023] Optionally, the guide long hole comprises a vertical segment long hole, a connecting segment curved hole and a horizontal segment long hole, the vertical segment long hole is vertically arranged, the length direction of the horizontal segment long hole is arranged along the driving direction of the second pneumatic driver, and the vertical segment long hole, the connecting segment curved hole and the horizontal segment long hole are sequentially communicated; the vertical segment long hole is located at the side of the horizontal segment long hole facing the vibrating discharging mechanism.

[0024] By adopting the above technical scheme, the guide long hole is designed by the cooperation of the vertical segment long hole, the connecting segment curved hole and the horizontal segment long hole, the vertical segment long hole ensures that the grabbing manipulator is kept stable in the vertical state at the material taking position, so as to realize the function of stably grabbing the workpiece; the connecting segment curved hole ensures that the guide wheel smoothly changes from vertical movement to horizontal movement through the smooth curve of itself, so that the grabbing manipulator smoothly changes from the vertical arrangement to the horizontal state; and the horizontal segment long hole makes the grabbing manipulator move in the horizontal state and extend into the numerical control lathe, so as to realize the feeding function. Therefore, based on the structural design of the guide long hole, the seamless connection and linkage of the three actions of material taking, rotating and feeding are realized.

[0025] Optionally, the rotating shaft is detachably connected with the grabbing manipulator.

[0026] By adopting the above technical scheme, since the rotating shaft is detachably connected with the grabbing manipulator, the grabbing manipulator is convenient to replace, so that when different specifications or shapes of workpieces need to be machined, only the corresponding grabbing manipulator needs to be quickly replaced, which can increase the applicability of the material taking and extending mechanism.

[0027] Optionally, the material receiving mechanism comprises a base plate and a material receiving manipulator, the material receiving manipulator is horizontally arranged, the material receiving manipulator is slidingly arranged on the base plate, a third pneumatic driver is arranged between the base plate and the material receiving manipulator, and the third pneumatic driver is used to drive the material receiving manipulator to move towards or away from the grabbing manipulator.

[0028] By adopting the above technical scheme, the material receiving mechanism is cooperatively arranged by the base plate, the material receiving manipulator and the third pneumatic driver, so that the material receiving manipulator can be actively extended and retracted in the lathe, which can be connected with the grabbing manipulator extending from outside the lathe. This design reduces the positioning accuracy requirement of the external grabbing manipulator, makes the workpiece transfer process more flexible and reliable, and improves the workpiece transfer path from the transfer point to the main shaft of the lathe, ensuring the completeness and smoothness of the entire automatic feeding process.

[0029] In summary, the present application has at least one of the following beneficial technical effects: 1. The present application designs the feeding manipulator, so that all the mechanisms except the material receiving mechanism which must be arranged in the lathe are located outside the lathe, which can reduce the occupation of the internal space of the lathe, so that the operator does not need to enter the lathe when installation, debugging or maintenance is required, thereby avoiding the risk of contacting the tool and chips in the lathe, thereby improving the operation safety and maintenance convenience.

[0030] 2. The present application designs the material taking and extending mechanism, which realizes the state switching of the grabbing manipulator through pure mechanical linkage, so that no additional rotary driving source and complex control program are required, which simplifies the structure of the material taking and extending mechanism and makes it more compact, reduces the manufacturing cost, and ensures the synchronization and high reliability of the rotary motion and linear motion.

[0031] 3. The present application cooperatively designs the first pneumatic driver, the second pneumatic driver and the third pneumatic driver, and adopts pneumatic driving mode, so that each link in the feeding process can be quickly positioned and reset, thereby improving the feeding speed and ensuring the machining efficiency of the lathe. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is the overall structure schematic diagram of the feeding manipulator of the present application installed on the lathe.

[0033] Figure 2 is the overall structure schematic diagram of the feeding manipulator of the present application.

[0034] Figure 3 is the overall structure schematic diagram of the vibration material discharging mechanism and the material distributing and feeding mechanism of the present application.

[0035] Figure 4 is the overall structure schematic diagram of the vibration discharging mechanism and the material distribution feeding mechanism of the present application after the dismounting of the top limiting plate.

[0036] Figure 5 is Figure 4 is the local enlarged structure schematic diagram of part A in the present application.

[0037] Figure 6 is the overall structure schematic diagram of the material taking extension mechanism of the present application.

[0038] Figure 7 is the overall structure schematic diagram of the synchronous rotation assembly and the grabbing manipulator of the present application.

[0039] Figure 8 is the overall structure schematic diagram of the material taking extension mechanism of the present application when the grabbing manipulator rotates to the horizontal state.

[0040] Figure 9 is the overall structure schematic diagram of the lifting seat of the present application.

[0041] Figure 10 is the overall structure schematic diagram of the material collecting mechanism of the present application.

[0042] Figure 11 is the overall structure schematic diagram of the material collecting mechanism installed into the lathe of the present application.

[0043] In the figure, 1 is the mounting base frame; 11 is the external plate; 12 is the extension mounting frame; 2 is the vibration discharging mechanism; 3 is the material distribution feeding mechanism; 31 is the discharging plate; 311 is the discharging groove; 312 is the top limiting plate; 32 is the material distribution plate; 321 is the material distribution groove; 33 is the material distribution driving assembly; 331 is the mounting sliding table; 332 is the first pneumatic driver; 34 is the laser sensor; 35 is the first mounting frame; 351 is the vertical plate; 352 is the horizontal plate; 4 is the material taking extension mechanism; 41 is the base; 42 is the lifting seat; 421 is the guide long hole; 4211 is the vertical section long hole; 4212 is the connection section curved hole; 4213 is the horizontal section long hole; 43 is the grabbing manipulator; 431 is the mounting plate; 4311 is the first plate; 4312 is the second plate; 432 is the pneumatic clamp; 44 is the lifting driver; 45 is the second pneumatic driver; 46 is the synchronous rotation assembly; 461 is the linkage sliding table; 462 is the rotation shaft; 463 is the connecting rod; 464 is the guide wheel; 5 is the material collecting mechanism; 51 is the base plate; 52 is the material collecting manipulator; 53 is the third pneumatic driver; 100 is the lathe. DETAILED DESCRIPTION

[0044] The following will be described in detail in combination with the accompanying Figure 1 - the accompanying Figure 11 , the present application will be further described in detail.

[0045] The utility model provides a numerical control lathe front type feeding mechanical arm, refer to Figure 1 And Figure 2 Including installation base frame 1, vibration material arranging mechanism 2, material distributing and feeding mechanism 3, material taking and extending mechanism 4 and material receiving mechanism 5, vibration material arranging mechanism 2, material distributing and feeding mechanism 3 and material taking and extending mechanism 4 are sequentially arranged on installation base frame 1, installation base frame 1 is arranged on the horizontal direction one side of lathe 100, and material receiving mechanism 5 is installed to the tool holder in lathe 100.

[0046] When the feeding mechanical arm is installed to lathe 100, installation base frame 1 is installed to the one side of lathe 100, vibration material arranging mechanism 2, material distributing and feeding mechanism 3 and material taking and extending mechanism 4 are sequentially installed to installation base frame 1, and material receiving mechanism 5 is installed to the tool holder in lathe 100. At this time, under the cooperation of each mechanism, vibration material arranging mechanism 2 sorts and orders the unordered workpieces and then exports, material distributing and feeding mechanism 3 receives the workpieces and sequentially transports single workpiece, material taking and extending mechanism 4 grabs single workpiece transported by material distributing and feeding mechanism 3 in vertical posture, then transports single workpiece to the inside of lathe 100 in horizontal posture, and finally material receiving mechanism 5 realizes the reception of workpiece, so that automatic feeding of changing feeding direction once can be realized outside lathe 100.

[0047] Refer to Figure 2 Installation base frame 1 includes external plate 11 and extension mounting frame 12, external plate 11 is horizontally arranged, extension mounting frame 12 is above external plate 11, extension mounting frame 12 is connected with external plate 11 along the length direction of extension mounting frame 12, vibration material arranging mechanism 2 is arranged on external plate 11, material distributing and feeding mechanism 3 and material taking and extending mechanism 4 are arranged above extension mounting frame 12 along extension mounting frame 12, material distributing and feeding mechanism 3 and material taking and extending mechanism 4 are connected with extension mounting frame 12, and vibration material arranging mechanism 2, material distributing and feeding mechanism 3 and material taking and extending mechanism 4 are sequentially arranged along the length direction of extension mounting frame 12.

[0048] Refer to Figure 1 And Figure 2 After the feeding mechanical arm is installed to lathe 100, external plate 11 is arranged on the outside of lathe 100, extension mounting frame 12 extends towards the inside of lathe 100 along the horizontal direction, and extension mounting frame 12 and external plate 11 are connected with lathe 100.

[0049] Therefore, under the design of installation base frame 1, vibration material arranging mechanism 2, material distributing and feeding mechanism 3 and material taking and extending mechanism 4 are connected to form an independent and complete feeding module, and the feeding module is also located outside lathe 100, so that when the feeding module needs to be maintained due to failure, the whole feeding module can be taken down by disassembling installation base frame 1, so that a new feeding module is replaced, which facilitates the rapid recovery of production.

[0050] Meanwhile, since the feeding module is independently arranged outside the lathe 100, when the feeding module is disassembled, the operator has no contact with the internal equipment of the lathe 100, which can improve the safety of installing, debugging, repairing or maintaining the feeding manipulator.

[0051] With reference to Figure 2 and Figure 3 , the vibration feeding mechanism 2 adopts a vibrating disc, the vibrating disc is vertically arranged on the external plate 11, the discharge port of the vibrating disc is arranged in the horizontal direction, and the discharge direction of the discharge port of the vibrating disc is perpendicular to the length direction of the extension mounting frame 12.

[0052] Since the vibration feeding mechanism 2 adopts the vibrating disc, after the workpieces are poured into the vibrating disc, the vibrating disc can orderly arrange and upwardly convey the workpieces along the internal spiral track through high-frequency vibration, until all the workpieces are sequentially discharged from the discharge port of the vibrating disc, which can realize the sorting output function of the workpieces, thereby providing a stable and continuous workpiece source for subsequent distribution and grabbing.

[0053] In another embodiment, the vibration feeding mechanism 2 can also adopt a hopper feeder or a conveyor belt feeder.

[0054] With reference to Figure 2 and Figure 3 , the distribution feeding mechanism 3 includes a distribution plate 31, the distribution plate 31 is located directly above the extension mounting frame 12, and a first mounting frame 35 is arranged between the distribution plate 31 and the extension mounting frame 12, the first mounting frame 35 is vertically arranged, the upper end of the first mounting frame 35 is connected with the distribution plate 31, and the lower end is connected with the extension mounting frame 12.

[0055] With reference to Figure 3 and Figure 4 , the distribution plate 31 is vertically arranged and located at the discharge port of the vibrating disc, the length direction of the distribution plate 31 is arranged in the horizontal direction and along the length direction of the extension mounting frame 12.

[0056] With reference to Figure 4 and Figure 5 , the distribution plate 31 is vertically arranged and located at the discharge port of the vibrating disc, the length direction of the distribution plate 31 is arranged in the horizontal direction and along the length direction of the extension mounting frame 12.

[0057] In this embodiment, the width of the distribution groove 311 is slightly larger than the width of a single workpiece, so that the workpieces entering the distribution groove 311 are sequentially arranged along the length direction of the distribution groove 311.

[0058] Under the design of the discharge plate 31, the discharge groove 311 can receive and constrain the workpieces output by the vibration disc, ensuring that the workpieces can be kept in a single-column alignment state, so as to realize the sequential conveying of the workpieces and prevent the accumulation or disorder of the workpieces.

[0059] With reference to Figure 3 and Figure 5 , the discharge plate 31 is detachably provided with a top limiting plate 312, the top limiting plate 312 is horizontally arranged on the upper side of the discharge plate 31, and the top limiting plate 312 closes the discharge groove 311.

[0060] Under the action of the top limiting plate 312, the top limiting plate 312 can prevent the workpieces in the discharge groove 311 from jumping out of the discharge groove 311 due to the continuous vibration of the vibration disc or external interference, thereby ensuring the stability of the workpiece queue.

[0061] With reference to Figure 3 and Figure 5 , the material distribution feeding mechanism 3 further comprises a distribution plate 32, the distribution plate 32 is horizontally arranged, and the discharge plate 31 is located between the vibration disc and the distribution plate 32 along the thickness direction of the discharge plate 31. The side of the distribution plate 32 facing the discharge plate 31 is provided with a distribution groove 321, the distribution groove 321 penetrates through the upper side of the distribution plate 32 along the vertical direction. The discharge groove 311 is in communication with the discharge port of the vibration disc at one end along the length direction of the discharge groove 311, and is in communication with the distribution groove 321 at the other end.

[0062] With reference to Figure 3 , the distribution plate 32 is arranged along the length direction of the discharge plate 31, and the distribution plate 32 is slidably connected with the discharge plate 31 along the length direction of the distribution plate 32. The distribution plate 32 is provided below with a distribution driving assembly 33, the distribution driving assembly 33 comprises a mounting sliding table 331 and a first pneumatic driver 332, the first pneumatic driver 332 is a rodless cylinder, the first pneumatic driver 332 is arranged on a first mounting frame 35, the length direction of the first pneumatic driver 332 is arranged along the length direction of the distribution plate 32, the mounting sliding table 331 is located between the first pneumatic driver 332 and the distribution plate 32 along the vertical direction, and the moving sliding blocks of the distribution plate 32 and the first pneumatic driver 332 are detachably connected with the mounting sliding table 331.

[0063] With reference to Figure 3 and Figure 5Under the cooperation of the distributing plate 32 and the distributing driving assembly 33, the workpiece arranged in the distributing groove 311 can be pushed into the distributing groove 321, and then the first pneumatic driver 332 drives the distributing plate 32 to move, at this time, the workpiece in the distributing groove 321 is conveyed to the taking-out extension mechanism 4. Since the first pneumatic driver 332 can drive the distributing plate 32 to reciprocate, the workpiece can be continuously conveyed to the taking-out extension mechanism 4. Meanwhile, during the reciprocating movement of the distributing plate 32 driven by the first pneumatic driver 332, the distributing plate 31 cooperates with the distributing plate 32, so that the distributing plate 31 closes the distributing groove 321 and the distributing plate 32 closes the distributing groove 311, which can prevent the workpiece from being stuck or lost during the conveying process.

[0064] With reference to Figure 5 In the embodiment, the width of the distributing groove 321 is the same as the width of the distributing groove 311, and the length of the distributing groove 321 is slightly larger than the length of a single workpiece, so that the size of the distributing groove 321 can only accommodate a single workpiece at the same time. Specifically, since the workpiece is cylindrical in the embodiment, the width and length of the distributing groove 321 are slightly larger than the diameter of a single workpiece, so as to ensure that a single workpiece can enter the distributing groove 321, and the distributing groove 321 can only accommodate a single workpiece at the same time. Therefore, such design enables the distributing plate 32 to realize the functions of distributing and conveying a single workpiece.

[0065] With reference to Figure 5 In the embodiment, the depth of the distributing groove 321 in the vertical direction is less than the height of the workpiece, which ensures that when the workpiece enters the distributing groove 321, the upper end of the workpiece can protrude from the top surface of the distributing plate 32. Under such design, the subsequent taking-out extension mechanism 4 can grasp the workpiece in the distributing groove 321.

[0066] With reference to Figure 4 And Figure 5 The distributing and feeding mechanism 3 further comprises a laser sensor 34, which is arranged on the first pneumatic driver 332, and the axial direction of the laser sensor 34 is arranged along the length direction of the distributing groove 311. The laser sensor 34 is located on the side of the distributing plate 32 away from the distributing plate 31, and the laser sensor 34 is located above the distributing plate 32, and the detection end of the laser sensor 34 is arranged opposite to the distributing groove 321.

[0067] The laser sensor 34 realizes the workpiece detection function in the distributing groove 321, and the controller starts the first pneumatic driver 332 to perform corresponding actions according to the detection result of the laser sensor 34, so as to avoid the equipment idling.

[0068] With reference to Figure 2 And Figure 3In the material distribution feeding mechanism 3, based on the arrangement of the first mounting frame 35, the material distribution plate 31, the material distribution plate 32, and the material distribution driving assembly 33 in the material distribution feeding mechanism 3 are arranged on the first mounting frame 35, so that the material distribution feeding mechanism 3 forms a complete material distribution feeding module. When the material distribution feeding module needs to be maintained, the old material distribution feeding module can be disassembled by disassembling the first mounting frame 35, and then the new material distribution feeding module can be installed by installing a new first mounting frame 35, which facilitates quick replacement of the material distribution feeding module and quick recovery of production.

[0069] With reference to Figure 2 and Figure 3 Specifically, the first mounting frame 35 includes a vertical plate 351 and a horizontal plate 352. The horizontal plate 352 is arranged horizontally and directly above the extension mounting frame 12. The first pneumatic driver 332 and the material distribution plate 31 are mounted on the horizontal plate 352. The vertical plate 351 is arranged vertically. The vertical plate 351 is located on one side of the extension mounting frame 12 in the width direction and is located below the horizontal plate 352. The upper end of the vertical plate 351 is connected to the horizontal plate 352. A plurality of long sliding holes are formed in the vertical plate 351. The length direction of the long sliding holes is arranged in the vertical direction. The plurality of long sliding holes are arranged at intervals along the length direction of the extension mounting frame 12. A plurality of screw holes are formed in the side of the extension mounting frame 12 facing the vertical plate 351. The screw holes are arranged one-to-one corresponding to the long sliding holes and are in communication with the corresponding long sliding holes. After the installation of the bolts, the bolts are inserted and matched with the corresponding screw holes, and at this time the bolts are inserted and matched with the corresponding long sliding holes. When the bolts are tightened to the point where the nuts are tightly pressed against the vertical plate 351, the bolts fix the vertical plate 351. When the bolts are loosened to the point where the nuts are separated from the vertical plate 351, the vertical plate 351 can be adjusted in height in the vertical direction.

[0070] The first mounting frame 35 has fine adjustment capability in the vertical direction through the design of the long sliding holes on the vertical plate 351, so that the material distribution feeding module can quickly match other structures, thereby increasing the debugging speed of the feeding robot.

[0071] With reference to Figure 2 and Figure 6, the taking-out mechanism 4 comprises a base 41, a lifting seat 42 and a grabbing manipulator 43, the base 41 is located on the extension mounting frame 12, the bottom of the base 41 is connected with the extension mounting frame 12, and the base 41 and the first mounting frame 35 are arranged at intervals along the length direction of the extension mounting frame 12. The lifting seat 42 is vertically arranged and located above the base 41, and the lifting seat 42 is slidably connected with the base 41 in the vertical direction. The base 41 is provided with a lifting driver 44, which is a pneumatic cylinder, and the driving end of the lifting driver 44 is connected with the lifting seat 42. The grabbing manipulator 43 is vertically arranged on the lifting seat 42, and a second pneumatic driver 45 is arranged between the grabbing manipulator 43 and the lifting seat 42, which is a rodless cylinder. The length direction of the second pneumatic driver 45 is arranged along the length direction of the extension mounting frame 12, and the grabbing manipulator 43 is connected with the second pneumatic driver 45.

[0072] With reference to Figure 3 and Figure 6 , the lifting seat 42 is arranged in parallel and at intervals with the discharging plate 31, the grabbing manipulator 43 and the distributing plate 32 are located between the lifting seat 42 and the discharging plate 31, and the grabbing manipulator 43 is located above the distributing plate 32. When the first pneumatic driver 332 drives the distributing plate 32 to move to the position directly below the grabbing manipulator 43, the grabbing manipulator 43 is arranged opposite to the distributing groove 321.

[0073] With reference to Figure 2 and Figure 6 , under the cooperation of the base 41, the lifting seat 42, the lifting driver 44 and the second pneumatic driver 45, the grabbing manipulator 43 can be lifted in the vertical direction and can reciprocate horizontally between the distributing and feeding mechanism 3 and the collecting mechanism 5.

[0074] On this basis, when the distributing plate 32 transports a single workpiece to the position directly below the grabbing manipulator 43, the grabbing manipulator 43 is lowered to grab the corresponding workpiece, and then the grabbing manipulator 43 is lifted and moves horizontally towards the collecting mechanism 5, so that the workpiece can be transported between the collecting mechanism 5 and the distributing and feeding mechanism 3.

[0075] With reference to Figure 6 and Figure 7, the taking-out mechanism 4 further comprises a synchronous rotating assembly 46, the synchronous rotating assembly 46 comprises a linkage sliding table 461, the linkage sliding table 461 is arranged above the second pneumatic driver 45, and the linkage sliding table 461 is connected with the moving block of the second pneumatic driver 45. A rotating shaft 462 is rotatably arranged on the linkage sliding table 461, the rotating shaft 462 is arranged in the horizontal direction of the axis and along the width direction of the extension mounting frame 12, and the rotating shaft 462 is located between the lifting seat 42 and the grabbing manipulator 43 along the axis direction of the rotating shaft 462, one end of the rotating shaft 462 is connected with the upper end of the grabbing manipulator 43, and the other end is provided with a connecting rod 463.

[0076] With reference to Figure 6 and Figure 7 , the connecting rod 463 is arranged in the vertical direction along the length direction of the connecting rod 463, the lower end of the connecting rod 463 is connected with the rotating shaft 462, and the upper end of the connecting rod 463 is provided with a guide wheel 464, and the guide wheel 464 is located on the side of the connecting rod 463 towards the lifting seat 42.

[0077] With reference to Figure 2 and Figure 6 , the lifting seat 42 is provided with a guide long hole 421, the guide long hole 421 is arranged in the vertical upward direction along the length direction of the guide long hole 421 towards one end of the vibrating disc, and the other end is arranged in the horizontal direction towards the material collecting mechanism 5.

[0078] With reference to Figure 6 and Figure 7 , the guide wheel 464 is inserted and matched with the guide long hole 421, and the guide wheel 464 is slidably and rotatably connected with the inner wall of the guide long hole 421 along the length direction of the guide long hole 421.

[0079] Under the cooperation of the rotating shaft 462, the connecting rod 463, the guide wheel 464 and the guide long hole 421, when the second pneumatic driver 45 drives the linkage sliding table 461 to reciprocate between the material collecting mechanism 5 and the material distributing and feeding mechanism 3, the guide wheel 464 is synchronously slid in the length direction of the guide long hole 421 in the guide long hole 421.

[0080] Under such design, with reference to Figure 6 and Figure 7 , when the grabbing manipulator 43 is located directly above the material distributing plate 32, the guide wheel 464 is located at one end of the guide long hole 421 towards the vibrating disc, at this time, the connecting rod 463 is arranged vertically, so that the grabbing manipulator 43 is also arranged vertically.

[0081] With reference to Figure 6 and Figure 8When the second pneumatic driver 45 drives the linkage sliding table 461 to linearly translate, the guide long hole 421 fixed on the lifting seat 42 provides an absolute motion trajectory constraint for the guide wheel 464. Since the guide long hole 421 transitions from the vertical section to the horizontal section, the vertical coordinate of the guide wheel 464 must change relative to the linkage sliding table 461. This forced change in relative position is directly translated into a rotational torque on the rotating shaft 462 through the connecting rod 463, thereby necessarily and synchronously driving the grabbing manipulator 43 to achieve a ninety-degree rotation. The essence of this process is to decompose the linear displacement of the driver into two sub-motions of the linear motion of the linkage sliding table 461 and the rotational motion of the grabbing manipulator 43 through a nonlinear sliding groove trajectory.

[0082] Specifically, referring to Figure 6 and Figure 8 , when the grabbing manipulator 43 moves towards the material collecting mechanism 5, the guide wheel 464 moves along the length direction of the guide long hole 421, thereby causing the guide wheel 464 to change from vertical motion to horizontal motion. During this change, based on the arrangement of the connecting rod 463, the guide wheel 464 lags behind the motion of the grabbing manipulator 43, thereby causing the guide wheel 464 to change from being above the grabbing manipulator 43 to being on the side of the grabbing manipulator 43 away from the material collecting mechanism 5, which causes the connecting rod 463 to rotate from a vertical state to a horizontal state, and in turn causes the connecting rod 463 to synchronously rotate the rotating shaft 462 by ninety degrees, causing the grabbing manipulator 43 to change from a vertical state to a horizontal state.

[0083] Referring to Figure 7 and Figure 8 , the grabbing manipulator 43 is in a horizontal state, and at this time the guide wheel 464 enters the horizontal section of the guide long hole 421, so that the second pneumatic driver 45 can drive the grabbing manipulator 43 to continue moving towards the material collecting mechanism 5 in a horizontal state, which can realize the extension function of the grabbing manipulator 43, so that the workpiece can be sent into the lathe 100 from outside the lathe 100.

[0084] Similarly, referring to Figure 6 and Figure 8 , when the grabbing manipulator 43 moves in the reverse direction, under the cooperation of the guide wheel 464 and the guide long hole 421, the grabbing manipulator 43 can change from a horizontal state to a vertical state, thereby realizing the workpiece taking.

[0085] In another embodiment, the synchronous rotating assembly 46 can also use a motor or a rotary cylinder, but such a design, although it can realize the function of the present application, has a higher equipment cost and a slower working speed.

[0086] Referring to Figure 2 and Figure 9In this embodiment, the guide long hole 421 includes a vertical section long hole 4211, a connecting section curved hole 4212, and a horizontal section long hole 4213, which are sequentially arranged along the length direction of the extension mounting frame 12, and the vertical section long hole 4211 is located on the side of the horizontal section long hole 4213 facing the vibration disc. The length direction of the vertical section long hole 4211 is arranged in the vertical direction, the length direction of the horizontal section long hole 4213 is arranged in the horizontal direction, the connecting section curved hole 4212 is located between the vertical section long hole 4211 and the horizontal section long hole 4213, and one end of the connecting section curved hole 4212 communicates with the horizontal section long hole 4213, and the other end communicates with the vertical section long hole 4211.

[0087] The guide long hole 421 is designed by the cooperation of the vertical section long hole 4211, the connecting section curved hole 4212, and the horizontal section long hole 4213. The vertical section long hole 4211 ensures that the grabbing manipulator 43 is kept stable in a vertical state at the material taking position, thereby realizing the function of stably grabbing the workpiece. The connecting section curved hole 4212 ensures that the guide wheel 464 smoothly changes from vertical motion to horizontal motion through its own smooth curve, so that the grabbing manipulator 43 smoothly changes from a vertical arrangement to a horizontal state. The horizontal section long hole 4213 enables the grabbing manipulator 43 to move in a horizontal state and extend into the inside of the lathe 100, thereby realizing the feeding function. Therefore, based on the structural design of the guide long hole 421, seamless connection and linkage of the three actions of material taking, rotating, and feeding are realized.

[0088] Referring to Figure 7 The grabbing manipulator 43 includes a mounting plate 431 and a pneumatic clamp 432. One end of the rotating shaft 462 is detachably connected with the mounting plate 431, and the pneumatic clamp 432 is arranged on the mounting plate 431. The pneumatic clamp 432 is detachably connected with the mounting plate 431. In this embodiment, the pneumatic clamp 432 adopts a three-jaw chuck. In another embodiment, the pneumatic clamp 432 can also adopt a pneumatic finger or a vacuum suction cup or an electromagnetic suction cup.

[0089] The grabbing manipulator 43 realizes reliable clamping and releasing of the workpiece through the pneumatic clamp 432. The detachable connection design of the grabbing manipulator 43 and the mounting plate 431 improves the versatility and flexibility of the grabbing manipulator 43, allowing different types of pneumatic clamps 432 to be quickly replaced according to the shape, size, and material of the workpiece, to adapt to diversified production needs.

[0090] Referring to Figure 6 and Figure 7The mounting plate 431 comprises a first plate 4311 and a second plate 4312, the first plate 4311 is vertically arranged, the second plate 4312 is horizontally arranged, and the lower end of the first plate 4311 is fixedly connected with the second plate 4312, so that the first plate 4311 and the second plate 4312 form an L-shaped plate. The first plate 4311 is arranged in parallel with the lifting seat 42, the linkage sliding table 461 is located between the lifting seat 42 and the first plate 4311, and one end of the rotating shaft 462 is connected with the first plate 4311 in a clamping manner. The pneumatic clamp 432 is located below the second plate 4312, and the upper end of the pneumatic clamp 432 is connected with the second plate 4312 through a plurality of bolts.

[0091] The L-shaped structure of the mounting plate 431 is designed, the first plate 4311 is connected with the rotating shaft 462 as a force arm, thereby realizing the function of transmitting the rotating torque, and the second plate 4312 provides a standard mounting platform for the pneumatic clamp 432, thereby ensuring the firm installation and accurate positioning of the pneumatic clamp 432.

[0092] Referring to Figure 6 and Figure 10 The material collecting mechanism 5 comprises a base plate 51, the base plate 51 is horizontally arranged, the base plate 51 is installed on the tool holder inside the lathe 100, the length direction of the base plate 51 is arranged along the length direction of the second pneumatic driver 45, and the base plate 51 is arranged in parallel with the second pneumatic driver 45 along the length direction of the base plate 51. A material collecting manipulator 52 is arranged on the base plate 51, the material collecting manipulator 52 has the same structure as the grabbing manipulator 43, the material collecting manipulator 52 is horizontally arranged and arranged along the length direction of the base plate 51, and the material collecting manipulator 52 is arranged towards the grabbing manipulator 43. The material collecting manipulator 52 is slidably connected with the base plate 51 along the length direction of the base plate 51, and a third pneumatic driver 53 is arranged on the base plate 51, the third pneumatic driver 53 is a pneumatic cylinder, the length direction of the third pneumatic driver 53 is arranged along the length direction of the base plate 51, and the driving end of the third pneumatic driver 53 is connected with the material collecting manipulator 52.

[0093] Referring to Figure 10 and Figure 11 When the grabbing manipulator 43 rotates to the horizontal state, the grabbing manipulator 43 is coaxially arranged opposite to the material collecting manipulator 52. At this time, the grabbing manipulator 43 sends the workpiece to the handover position of the material collecting manipulator 52, the third pneumatic driver 53 drives the material collecting manipulator 52 to move forward and take over the workpiece from the grabbing manipulator 43, and then the material collecting manipulator 52 retreats, and then under the driving of the lathe seat in the lathe 100, the material collecting manipulator 52 delivers the workpiece to the spindle chuck of the lathe 100 for clamping processing, thereby realizing seamless transfer of the workpiece from the feeding system to the machining station.

[0094] The implementation principle of the embodiment of the application is as follows: when the lathe 100 processes workpieces, first, the workpieces are sorted and arranged in the vibration disc, enter the material arranging groove 311 of the material arranging plate 31, and the foremost workpiece is sent into the material distributing groove 321 of the material distributing plate 32. Second, when the laser sensor 34 detects that the workpiece is in place, the first pneumatic driver 332 starts to send the single workpiece to the position directly below the grabbing manipulator 43 through the material distributing plate 32. Then, the lifting driver 44 drives the grabbing manipulator 43 to descend and clamps the workpiece in a vertical state. After the workpiece is clamped, the lifting driver 44 drives the grabbing manipulator 43 to ascend. Subsequently, the second pneumatic driver 45 drives the grabbing manipulator 43 to move along the horizontal direction towards the inside of the lathe 100. Under the action of the synchronous rotating assembly 46, the grabbing manipulator 43 is automatically rotated from the vertical state to the horizontal state during the movement. After the grabbing manipulator 43 extends into the inside of the lathe 100, the material collecting manipulator 52 performs workpiece handover with the grabbing manipulator 43. Finally, the grabbing manipulator 43 is reset, and the grabbing manipulator 43 is automatically rotated back to the vertical state during the resetting.

[0095] The application realizes automatic sorting, conveying and posture adjustment of the workpieces outside the lathe 100, and realizes workpiece feeding by extending into the inside of the lathe 100 from outside the lathe 100, so that the occupation of the space in the inside of the lathe 100 is reduced, and the problems of space occupation and safety hazards of the existing vertical feeding mode are solved.

[0096] The embodiments of the specific embodiment are the preferred embodiments of the application, and do not limit the protection scope of the application. The same parts are indicated by the same reference numerals. Therefore, equivalent changes made according to the structure, shape and principle of the application should be covered in the protection scope of the application.

Claims

1. A front-mounted loading robot for CNC lathes, characterized in that, include: The mounting base (1) and the vibration discharge mechanism (2), the material taking out and extending mechanism (4) and the material receiving mechanism (5) are arranged in sequence. The vibrating discharge mechanism (2) and the material taking out mechanism (4) are both mounted on the mounting base (1). The mounting base (1) is used to be mounted to the outside of the lathe (100), and the material taking out mechanism (5) is used to be mounted inside the lathe (100). The material handling extension mechanism (4) includes a lifting seat (42) and a gripping robot (43). A lifting driver (44) is provided between the lifting seat (42) and the mounting base (1). The lifting driver (44) is used to drive the lifting seat (42) to move in the vertical direction. The gripping robot (43) is vertically arranged, and a second pneumatic driver (45) is provided on the lifting seat (42). The gripping robot (43) is rotatably connected to the second pneumatic driver (45). The second pneumatic driver (45) is used to drive the gripping robot (43) to reciprocate between the vibrating discharge mechanism (2) and the receiving mechanism (5). A synchronous rotation component (46) is provided between the upper end of the gripping robot (43) and the lifting seat (42). When the gripping robot (43) reciprocates between the vibrating discharge mechanism (2) and the receiving mechanism (5), the synchronous rotation component (46) is used to drive the gripping robot (43) to rotate to a vertical or horizontal state.

2. The CNC lathe front-mounted loading robot according to claim 1, characterized in that, It also includes a material feeding mechanism (3), which is set on the mounting base (1). The material feeding mechanism (3) is located between the vibration discharge mechanism (2) and the material picking extension mechanism (4). The material feeding mechanism (3) is used to sequentially transport the workpieces output by the vibration discharge mechanism (2) to the bottom of the gripping robot (43).

3. The CNC lathe front-mounted loading robot according to claim 2, characterized in that, The material feeding mechanism (3) also includes a material distribution plate (32), which is horizontally arranged. A material distribution groove (321) is provided on one side of the material distribution plate (32). The material distribution groove (321) passes through the upper side of the material distribution plate (32) in a vertical direction, and the material distribution groove (321) is directly connected to the discharge port of the vibrating discharge mechanism (2). A first pneumatic actuator (332) is provided below the material distribution plate (32). The first pneumatic actuator (332) is used to drive the material distribution plate (32) to reciprocate between the vibrating discharge mechanism (2) and the material taking extension mechanism (4).

4. A front-mounted loading robot for a CNC lathe according to claim 3, characterized in that, The material feeding mechanism (3) also includes a laser sensor (34), which is located above the material distribution plate (32) and the detection end of the laser sensor (34) is set towards the material distribution trough (321).

5. A front-mounted loading robot for a CNC lathe according to claim 3, characterized in that, The material feeding mechanism (3) further includes a discharge plate (31), which is vertically arranged and located between the material distribution plate (32) and the vibrating discharge mechanism (2), and the material distribution plate (32) is slidably connected to the discharge plate (31). The upper side of the discharge plate (31) is provided with a discharge groove (311). The length direction of the discharge groove (311) is arranged along the interval direction between the vibrating discharge mechanism (2) and the dividing plate (32). The discharge groove (311) passes through the discharge plate (31) along its own length direction. One end of the discharge groove (311) is connected to the discharge port of the vibrating discharge mechanism (2) along its own length direction, and the other end is connected to the dividing groove (321).

6. A front-mounted loading robot for a CNC lathe according to claim 5, characterized in that, The material feeding mechanism (3) further includes a first mounting frame (35), which is vertically mounted on the mounting base (1) and is detachably connected to the mounting base (1). The discharge plate (31), the material distribution plate (32), and the first pneumatic driver (332) are all mounted above the first mounting frame (35) and are connected to the first mounting frame (35).

7. A front-mounted loading robot for a CNC lathe according to claim 1, characterized in that, The synchronous rotation assembly (46) includes a rotating shaft (462), which is rotatably mounted on the second pneumatic drive (45). The axial direction of the rotating shaft (462) is horizontal, and the rotating shaft (462) is located between the lifting seat (42) and the gripping robot (43) along its own axial direction. One end of the rotating shaft (462) is connected to the upper end of the gripping robot (43), and the other end is provided with a connecting rod (463). The connecting rod (463) is provided with a guide wheel (464), and the guide wheel (464) and the rotating shaft (462) are spaced apart in the vertical direction; The lifting seat (42) is provided with a guide hole (421). The guide wheel (464) is inserted into the guide hole (421). The guide wheel (464) slides and rotates along the length direction of the guide hole (421) and is connected to the inner wall of the guide hole (421). The guide hole (421) extends upward towards one end of the vibrating discharge mechanism (2) along its own length direction, and extends horizontally towards the receiving mechanism (5) at the other end.

8. A front-mounted loading robot for a CNC lathe according to claim 7, characterized in that, The guide elongated hole (421) includes a vertical elongated hole (4211), a connecting section bend hole (4212), and a horizontal elongated hole (4213). The vertical elongated hole (4211) is vertically arranged, and the length direction of the horizontal elongated hole (4213) is arranged along the driving direction of the second pneumatic actuator (45). The vertical elongated hole (4211), the connecting section bend hole (4212), and the horizontal elongated hole (4213) are connected in sequence. The vertical elongated hole (4211) is located on the side of the horizontal elongated hole (4213) facing the vibrating discharge mechanism (2).

9. A front-mounted loading robot for a CNC lathe according to claim 7, characterized in that, The rotating shaft (462) is detachably connected to the gripping robot (43).

10. A front-mounted loading robot for a CNC lathe according to claim 1, characterized in that, The receiving mechanism (5) includes a base plate (51) and a receiving robot (52). The receiving robot (52) is horizontally arranged and slidably arranged on the base plate (51). A third pneumatic actuator (53) is arranged between the base plate (51) and the receiving robot (52). The third pneumatic actuator (53) is used to drive the receiving robot (52) to move toward or away from the gripping robot (43).

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