An in-machine automatic loading and unloading device for a numerical control machine tool

Abstract

The present invention discloses an in-machine automatic loading and unloading device for a numerically controlled machine tool, which includes a manipulator mechanism, an automatic feeding device, a processing die mechanism, a workpiece, and a control system. The manipulator mechanism, the automatic feeding device, and the processing die mechanism are all connected to the control system for control. The manipulator mechanism includes an X, Y, Z-axis motion mechanism formed by a first lead screw module, a second lead screw module, and a third lead screw module, and a jaw mechanism. The processing die mechanism includes a workpiece pressing mechanism for pressing the workpiece. The in-machine automatic loading and unloading device for the numerically controlled machine tool of the present invention is convenient to operate, can automatically load and unload materials, automatically press the workpiece, and can automatically purge, solving the problem of manual loading and unloading.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical automation, and particularly relates to an in-machine automatic loading and unloading device for a numerical control machine tool. Background Art

[0002] In the in-machine machining of small parts using a numerical control machine tool (CNC), the machining time is short and the accuracy is high. However, during the operation of general in-machine small part machining on a CNC machine, manual loading and unloading operations are required, which consume a large amount of time and labor, are cumbersome to operate, and greatly reduce the production efficiency. Moreover, when the CNC machine processes a workpiece, due to the operation of the machine during the machining process, the parts are prone to jitter and slight deviation, affecting the machining quality. Summary of the Invention

[0003] In order to solve the problems existing in the prior art, the present invention proposes an in-machine automatic loading and unloading device for a numerical control machine tool that can automatically load and unload, automatically clamp the workpiece, and can automatically purge. The present invention is aimed at numerical control machine tools for in-machine small part machining and is applicable to various numerical control machine tools of this type. The technical solution of the present invention is as follows:

[0004] An in-machine automatic loading and unloading device for a numerical control machine tool includes a manipulator mechanism, an automatic feeding device, a processing die mechanism, a workpiece, and a control system; the manipulator mechanism, the automatic feeding device, and the processing die mechanism are all connected to the control system for control; the manipulator mechanism includes a vertically placed rectangular truss, a first lead screw module fixed to the top of the truss, a second lead screw module perpendicular to the first lead screw module, and a third lead screw module perpendicular to the first lead screw module and the second lead screw module respectively; the nut of the first lead screw module is fixedly connected to the nut of the second lead screw module; one end of the second lead screw module is fixedly connected to the nut of the third lead screw module; a horizontally placed connecting plate is vertically fixed to the lower end of the third lead screw module; two rows of two jaw mechanisms are provided at the bottom of the connecting plate; an automatic feeding device is provided on one side of the bottom of the truss; the automatic feeding device includes a connecting frame vertically fixed to one side of the bottom of the truss and vertically placed; two mutually parallel fourth lead screw modules are vertically fixed inside the connecting frame and are respectively opposite to the corresponding jaw mechanisms; a material box with an upward opening and a diameter matching the size of the workpiece is vertically fixed on the nut of each fourth lead screw module; a material position sensor is provided at the top of each material box; a processing die mechanism is provided on the other side of the truss, at a position opposite to the automatic feeding device. The first lead screw module, the second lead screw module, and the third lead screw module form an X, Y, Z axis movement mechanism.

[0005] Furthermore, the processing mold mechanism includes an upper template, a bottom plate arranged below the upper template, a support connecting the upper template and the bottom plate, and a workpiece clamping mechanism; the upper surface of the upper template is provided with a groove matching the workpiece, and the position of the groove is opposite to the corresponding clamping tool; the workpiece clamping mechanism includes a first pressing jaw and a second pressing jaw relatively arranged in one of the grooves, and a third pressing jaw and a fourth pressing jaw relatively arranged in another groove; the upper part of each group of pressing jaws is a comb tooth with the outer end bent toward each other, and each groove of the upper template is provided with a through groove for the comb tooth end of each pressing jaw to extend, and the comb tooth end spacing of the pressing jaws in each groove matches the size of the workpiece ; A dovetail is provided on both sides of each pressing claw, and a groove is provided on the upper template at the through groove for the dovetail of the upper part of each pressing claw to extend and rotate; a first transmission rod and a second transmission rod are respectively provided at the dovetails at the lower part of both sides of each pressing claw under the upper template; a pin is fixed on the first transmission rod at the lower part of the dovetails of the second pressing claw and the fourth pressing claw; a pin is fixed on the second transmission rod at the lower part of the dovetails of the first pressing claw and the third pressing claw; a groove is provided near the pin for the pin to extend and rotate at each pressing claw; a cylinder is provided at the lower middle part of the upper template; the piston ends of the cylinder are respectively connected to the first transmission rod and the second transmission rod on both sides.

[0006] Furthermore, a grating ruler sensor is fixedly provided under the first transmission rod and on the upper template; a positioning pin telescopic cylinder with its bottom fixed on the bottom plate is provided below each of the two grooves of the upper template; a plurality of positioning pins are fixed on the upper surface of the piston end of the positioning pin telescopic cylinder; the position and size of each positioning pin matches the positioning hole on the workpiece located in the groove of the upper template and accurately determined by the grating ruler sensor; through holes are provided on the two grooves of the upper template for the positioning pin to extend in and out. The grating ruler's optical fiber is E32-C31, and the grating ruler is WTB5-250mm, 2-point bamboo tube.

[0007] Furthermore, the clamping mechanism includes a slide rail type pneumatic clamping jaw fixed to the bottom of the connecting plate; the pistons on both sides of the slide rail type pneumatic clamping jaw are symmetrically provided with comb-tooth-shaped clamping jaws with outer ends bent toward each other, and the comb-tooth ends of each clamping jaw and each pressing jaw are staggered.

[0008] Furthermore, a blowing nozzle is fixed on the lower surface of the connecting plate; the air outlet of the blowing nozzle is oriented toward the processing mold mechanism and inclined downward, forming an angle with the connecting plate, and the air inlet of the blowing nozzle extends into the interior of the connecting plate and is connected to an external air source pipe; a channel for accommodating the air inlet of the blowing nozzle and the connecting pipe is provided in the connecting plate.

[0009] Further, a lifting plate is fixed to the side of the nut of each of the fourth lead screw modules close to the material box; the material box includes a raw material box and a finished product box, and the material box outside the fourth lead screw module is the raw material box; an opening for the lifting plate to extend into and move up and down is provided on the side wall of the raw material box close to the fourth lead screw module; the outside of the raw material box is the finished product box.

[0010] Further, a plurality of grooves are evenly distributed on the upper surface of the upper template.

[0011] Further, a through groove is provided in the middle of the bottom plate.

[0012] The bottom of the truss and the bottom plate of the present invention are both fixed on the working platform inside the CNC machine tool, and the bottom plate is located at the position of the main shaft of the CNC machine tool. The truss is made of heavy-duty high-strength aluminum profiles.

[0013] Based on the above technical solutions, the technical effects that the present invention can achieve are:

[0014] 1. After the in-machine automatic loading and unloading device of the CNC machine tool of the present invention is put into use, the combination of the first lead screw module, the second lead screw module and the third lead screw module can automatically clamp the workpiece from the workpiece material box and send it into the processing die of the CNC machine tool. After the processing is completed, the product is clamped and sent into the product material box, realizing the automation of part processing without manual operation.

[0015] 2. After the in-machine automatic loading and unloading device of the CNC machine tool of the present invention is put into use, when the workpiece is being processed, the air cylinder extends and the clamping claws clamp the workpiece tightly; when the processing is completed, the air cylinder retracts, the clamping claws turn up, and the workpiece is released, making the placement of the workpiece more stable, reducing vibration and displacement, making the processing more accurate and the product quality higher.

[0016] 3. When the clamping jaws of the in-machine automatic loading and unloading device of the CNC machine tool of the present invention go to pick up the workpiece, the air blowing nozzle starts to blow air when it is close to the upper template, and comprehensively blows the cutting chips above the upper template. The scanning blowing makes the blowing cleaner. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the in-machine automatic loading and unloading device of the CNC machine tool of the present invention;

[0018] Figure 2 It is a schematic structural diagram of the processing die mechanism of the in-machine automatic loading and unloading device of the CNC machine tool of the present invention;

[0019] Figure 3 It is a schematic structural diagram of the workpiece clamping mechanism of the in-machine automatic loading and unloading device of the CNC machine tool of the present invention;

[0020] Figure 4 It is a top view schematic diagram of the workpiece clamping mechanism of the in-machine automatic loading and unloading device of the CNC machine tool of the present invention;

[0021] Figure 5 This is a schematic structural diagram of the jaw mechanism of the in-machine automatic loading and unloading device for a numerically controlled machine tool according to the present invention;

[0022] Figure 6 This is a schematic diagram of the position of the air nozzle of the in-machine automatic loading and unloading device for a numerically controlled machine tool according to the present invention;

[0023] In the figure: 1 - manipulator mechanism; 11 - first lead screw module; 12 - second lead screw module; 13 - third lead screw module; 14 - truss; 15 - connecting plate; 16 - jaw mechanism; 161 - slide rail type pneumatic jaw; 162 - comb-shaped jaw; 17 - lifting plate; 18 - air nozzle; 2 - automatic feeding device; 21 - fourth lead screw module; 22 - connecting frame; 23 - material box; 3 - processing die mechanism; 31 - upper template; 32 - bottom plate; 33 - positioning pin telescopic cylinder; 34 - workpiece pressing mechanism; 341 - first pressing jaw; 342 - second pressing jaw; 343 - third pressing jaw; 344 - fourth pressing jaw; 345 - first transmission rod; 346 - second transmission rod; 347 - cylinder; 35 - support column; 36 - grating scale sensor; 37 - positioning pin; 4 - workpiece. Specific embodiments

[0024] The content of the present invention will be further described below with reference to the accompanying drawings of the specification. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0025] Such as Figure 1-6As shown in the figure, this embodiment provides an in-machine automatic loading and unloading device for a numerically controlled machine tool, including a manipulator mechanism 1, an automatic feeding device 2, a processing die mechanism 3, a workpiece 4, and a control system. The manipulator mechanism 1, the automatic feeding device 2, and the processing die mechanism 3 are all connected to the control system for control. The manipulator mechanism 1 includes a vertically placed rectangular truss 14, a first lead screw module 11 fixed to the top of the truss 14, a second lead screw module 12 perpendicular to the first lead screw module 11, and a third lead screw module 13 perpendicular to the first lead screw module 11 and the second lead screw module 12 respectively. The nut of the first lead screw module 11 is fixedly connected to the nut of the second lead screw module 12, one end of the second lead screw module 12 is fixedly connected to the nut of the third lead screw module 13, and a horizontally placed connecting plate 15 is vertically fixed to the lower end of the third lead screw module 13. Two rows of two jaw mechanisms 16 are provided at the bottom of the connecting plate 15. An automatic feeding device 2 is provided on one side of the bottom of the truss 14. The automatic feeding device 2 includes a connecting frame 22 vertically fixed to one side of the bottom of the truss 14 and vertically placed. Two mutually parallel fourth lead screw modules 21 are vertically fixed inside the connecting frame 22 and are respectively opposite to the corresponding jaw mechanisms 16. A material box 23 with an upward opening and a diameter matching the size of the workpiece 4 is vertically fixed on the nut of each fourth lead screw module 21. A material position sensor is provided at the top of each material box 23. A processing die mechanism 3 is provided on the other side of the truss 14, at a position opposite to the automatic feeding device 2.

[0026] Preferably, the processing die mechanism 3 includes an upper template 31, a bottom plate 32 provided below the upper template 31, columns 35 connecting the upper template 31 and the bottom plate 32, and a workpiece pressing mechanism 34. A groove matching the workpiece 4 is provided on the upper surface of the upper template 31, and the position of the groove is opposite to the corresponding jaw tool 16. The workpiece pressing mechanism 34 includes a first jaw 341 and a second jaw 342 oppositely arranged in one groove, and a third jaw 343 and a fourth jaw 344 oppositely arranged in another groove. The upper parts of each group of jaws are combs with the outer ends bent towards each other. Through grooves for the comb ends of each jaw to extend are provided in each groove of the upper template 31, and the distance between the comb ends of the jaws in each groove matches the size of the workpiece 4. A dovetail is provided on both sides of each jaw, and a groove for the dovetail at the upper part of each jaw to extend into and rotate is provided on the upper template 31 at the through groove. First transmission rods 345 and second transmission rods 346 are respectively provided below the upper template 31 and at the lower parts of both sides of each jaw. A pin shaft is fixed on the first transmission rod 345 at the lower position of the dovetail of the second jaw 342 and the fourth jaw 344, and a pin shaft is fixed on the second transmission rod 346 at the lower position of the dovetail of the first jaw 341 and the third jaw 343. Grooves for the pin shaft to extend into and rotate are provided near the pin shaft of each jaw. A cylinder 347 is provided at the lower part of the middle of the upper template 31, and both sides of the piston end of the cylinder 347 are respectively connected to the first transmission rod 345 and the second transmission rod 346.

[0027] Preferably, grating scale sensors 36 are fixedly arranged on the lower and upper templates 31 of the first transmission rod 345. Positioning pin telescopic cylinders 33 with the bottoms fixed on the bottom plate 32 are arranged at the positions below the two grooves of the upper template 31. A plurality of positioning pins 37 are fixedly arranged on the upper surface of the piston end of the positioning pin telescopic cylinder 33. The positions and sizes of the positioning pins 37 match the positioning holes on the workpiece 4 whose position is accurately determined by the grating scale sensor 36 in the groove of the upper template 31. Through holes for the positioning pins 37 to extend in and out are arranged on the two grooves of the upper template 31.

[0028] Preferably, the jaw mechanism 16 includes a slide rail type pneumatic jaw 161 fixed to the bottom of the connecting plate 15. Comb-shaped jaws 162 with the outer ends bent towards each other are symmetrically arranged on both sides of the piston of the slide rail type pneumatic jaw 161, and the comb-shaped jaws 162 and the comb-shaped ends of the pressing jaws are arranged in a staggered manner.

[0029] Preferably, a blowing nozzle 18 is fixedly arranged on the lower surface of the connecting plate 15; the air outlet of the blowing nozzle 18 faces the processing die mechanism 3 and is inclined downward, forming an angle with the connecting plate 15, and the air inlet of the blowing nozzle 18 extends into the inside of the connecting plate 15 and is connected to an external air source pipe. A channel for accommodating the air inlet of the blowing nozzle 18 and the connecting pipe is arranged inside the connecting plate 15.

[0030] Preferably, a lifting plate 17 is fixedly arranged on the nut of each of the fourth lead screw modules 21 close to the side of the material box. The material box 23 includes a raw material box and a finished product box. The material box 23 outside the fourth lead screw module 21 is the raw material box. An opening for the lifting plate 17 to extend in and move up and down is arranged on the side wall of the raw material box close to the fourth lead screw module 21. The outside of the raw material box is the finished product box. Preferably, a plurality of grooves are evenly distributed on the upper surface of the upper template 31. Preferably, a through groove is arranged in the middle of the bottom plate 32.

[0031] Based on the above structure, for the in-machine automatic loading and unloading device of the numerical control machine tool of the present invention, the first lead screw module 11, the second lead screw module 12, and the third lead screw module 13 that are perpendicular to each other form an X, Y, Z-axis motion mechanism. The gripper manipulator is installed on the Z-axis servo module of the three-axis motion mechanism. Two rows of gripper mechanisms 16 are arranged at the bottom of the connecting plate 15. One row of gripper mechanisms 16 is responsible for gripping the workpiece 4 to be processed, and the other row is responsible for gripping the finished product. Driven by the pistons on both sides of the slide rail type pneumatic gripper 161, the comb-shaped grippers 162 symmetrically arranged under each gripper mechanism 16 can perform clamping and loosening actions. The manipulator mechanism 1 moves the gripper mechanism 16 responsible for gripping the workpiece 4 to be processed above the raw material box 23. The fourth lead screw module 21 controls the lifting of the lifting plate 17, lifting the workpiece 4 to be processed to the top opening position of the raw material box 23. When the material position sensor at the top of the material box 23 detects that the workpiece 4 to be processed has been lifted to a position where it can be grabbed by the comb-shaped gripper 162, the lifting plate 17 stops. The slide rail type pneumatic gripper 161 controls the comb-shaped gripper 162 to clamp the workpiece 4. The manipulator mechanism 1 moves the gripper mechanism 16 towards the processing die mechanism 2. When the gripper mechanism 16 approaches the processing die, the air source supplies air to the blowing nozzle 18. The blowing nozzle 18 blows air upwards on the upper template 31 to perform a scanning purge on the cutting chips above the upper template 31 until it moves above the upper template 31 and is opposite to the groove. After the grating scale sensor 36 determines that the position of the workpiece 4 is accurate, it stops. If there is no workpiece 4 on the upper template 31, the comb-shaped gripper 162 loosens, and the workpiece 4 to be processed is placed on the groove. If there is a processed workpiece 4 on the upper template 31, the manipulator mechanism 1 moves, moving the gripper mechanism 16 responsible for gripping the finished product to the groove on the upper template 31. The comb-shaped gripper 162 clamps the finished workpiece 4 below, and then moves the gripper mechanism 16 holding the workpiece 4 to be processed above the groove and puts down the workpiece 4 to be processed.

[0032] After the workpiece 4 to be processed is placed on the upper template 31, the piston of the cylinder 347 extends upwards, driving the first transmission rod 345 and the second transmission rod 346 to lift. Under the combined action of the dovetail of the first clamping jaw 341 and the third clamping jaw 343 extending into the upper template 31 and the second transmission rod 346, the tails simultaneously lift upwards to one side, and the comb-shaped parts press downwards. Under the combined action of the dovetail of the second clamping jaw 342 and the fourth clamping jaw 344 extending into the upper template 31 and the first transmission rod 345, the tails simultaneously lift upwards to the other side, and the comb-shaped parts press downwards. Thus, the first clamping jaw 341 and the second clamping jaw 342, the third clamping jaw 343 and the fourth clamping jaw 344 are each in a group to press the workpiece 4 to be processed.

[0033] After the workpiece 4 to be processed is fixed, the piston end of the positioning pin telescopic cylinder 33 lifts upwards, so that the positioning pin 37 moves upwards and extends into the positioning hole of the workpiece 4, further fixing the workpiece 4 to be processed and waiting for processing.

[0034] When the workpiece 4 is processed, the piston end of the positioning pin telescopic cylinder 33 retracts, the positioning pin 37 retracts from the positioning hole, the piston of the cylinder 347 retracts, each clamping jaw opens, the workpiece is released, and the clamping jaw mechanism 16 responsible for clamping the finished product takes away the completed workpiece 4 and places it in the finished product box 23. By repeating the above operations, the numerical control machine tool completes the automatic processing of small parts. The whole process does not require manual operation, saving time and effort and improving the processing accuracy.

[0035] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those of ordinary skill in the art.

Claims

1. An in-machine automatic loading and unloading device for a numerically controlled machine tool, characterized in that, it comprises a manipulator mechanism (1), an automatic feeding device (2), a processing die mechanism (3), a workpiece (4) and a control system; the manipulator mechanism (1), the automatic feeding device (2), and the processing die mechanism (3) are all controlled and connected to the control system; the manipulator mechanism (1) includes a vertically placed rectangular truss (14), a first lead screw module (11) fixed to the top of the truss (14), a second lead screw module (12) perpendicular to the first lead screw module (11), and a third lead screw module (13) perpendicular to the first lead screw module (11) and the second lead screw module (12) respectively; the nut of the first lead screw module (11) is fixedly connected to the nut of the second lead screw module (12); one end of the second lead screw module (12) is fixedly connected to the nut of the third lead screw module (13); a horizontally placed connecting plate (15) is vertically fixed to the lower end of the third lead screw module (13); two rows of gripper mechanisms (16), two in each row, are provided at the bottom of the connecting plate (15); an automatic feeding device (2) is provided on one side of the bottom of the truss (14); the automatic feeding device (2) includes a connecting frame (22) vertically fixed to one side of the bottom of the truss (14) and vertically placed; two mutually parallel fourth lead screw modules (21) respectively opposite to the corresponding gripper mechanisms (16) are vertically fixed inside the connecting frame (22); a material box (23) with an upward opening and a diameter matching the size of the workpiece (4) is vertically provided on the nut of each fourth lead screw module (21); a material position sensor is provided at the top of each material box (23); a processing die mechanism (3) is provided on the other side of the truss (14), at a position opposite to the automatic feeding device (2); The processing die mechanism (3) includes an upper template (31), a bottom plate (32) disposed below the upper template (31), struts (35) connecting the upper template (31) and the bottom plate (32), and a workpiece pressing mechanism (34); a groove matching the workpiece (4) is provided on the upper surface of the upper template (31), and the position of the groove corresponds to the corresponding jaw mechanism (16); the workpiece pressing mechanism (34) includes a first jaw (341) and a second jaw (342) oppositely disposed in one groove, and a third jaw (343) and a fourth jaw (344) oppositely disposed in another groove; the upper parts of each group of jaws are comb teeth with the outer ends bent towards each other, and through grooves for the comb tooth ends of each jaw to extend out are provided in each groove of the upper template (31), and the distance between the comb tooth ends of the jaws in each groove matches the size of the workpiece (4); a dovetail is provided on both sides of each jaw, and a groove for the dovetail at the upper part of each jaw to extend into and rotate is provided on the upper template (31) at the through groove; a first transmission rod (345) and a second transmission rod (346) are respectively provided below the upper template (31) and at the lower parts of both sides of each jaw; a pin shaft is fixed on the first transmission rod (345) at the lower position of the dovetail of the second jaw (342) and the fourth jaw (344); a pin shaft is fixed on the second transmission rod (346) at the lower position of the dovetail of the first jaw (341) and the third jaw (343); a groove for the pin shaft to extend into and rotate is provided at the position near the pin shaft of each jaw; a cylinder (347) is provided at the lower part in the middle of the upper template (31); both sides of the piston end of the cylinder (347) are respectively connected with the first transmission rod (345) and the second transmission rod (346); A through groove is provided in the middle of the bottom plate (32); A plurality of grooves are evenly distributed on the upper surface of the upper template (31).

2. An in-machine automatic loading and unloading device for a numerical control machine tool according to claim 1, characterized in that, A grating scale sensor (36) is fixedly provided on the upper template (31) under the first transmission rod (345); a positioning pin telescopic cylinder (33) with the bottom fixed on the bottom plate (32) is provided at each of the positions below the two grooves of the upper template (31); a plurality of positioning pins (37) are fixedly provided on the upper surface of the piston end of the positioning pin telescopic cylinder (33); the positions and sizes of the positioning pins (37) match the positioning holes on the workpiece (4) which is located in the groove of the upper template (31) and has its position accurately determined by the grating scale sensor (36); through holes for the positioning pins (37) to extend into and out of are provided on the two grooves of the upper template (31).

3. An in-machine automatic loading and unloading device for a numerical control machine tool according to claim 1, characterized in that, The jaw mechanism (16) includes a slide rail type pneumatic jaw (161) fixed to the bottom of the connecting plate (15); comb-shaped jaws (162) with the outer ends bent towards each other are symmetrically provided on both sides of the pistons of the slide rail type pneumatic jaw (161), and the comb-shaped jaws (162) are arranged in a staggered manner with the comb tooth ends of each jaw.

4. An in-machine automatic loading and unloading device for a numerical control machine tool according to claim 1, characterized in that, a blowing nozzle (18) is fixed on the lower surface of the connecting plate (15); the air outlet of the blowing nozzle (18) faces the processing die mechanism (3) and is inclined downward, forming an angle with the connecting plate (15), and the air inlet of the blowing nozzle (18) extends into the inside of the connecting plate (15) and is connected to an external air source pipe; a channel for accommodating the air inlet of the blowing nozzle (18) and the connecting pipe is provided inside the connecting plate (15).

5. An in-machine automatic loading and unloading device for a numerical control machine tool according to claim 1, characterized in that, a lifting plate (17) is fixed on the side of the nut of each fourth lead screw module (21) close to the material box; the material box (23) includes a raw material box and a finished product box, and the material box (23) outside the fourth lead screw module (21) is the raw material box; an opening for the lifting plate (17) to extend into and move up and down is provided on the side wall of the raw material box close to the fourth lead screw module (21); the outside of the raw material box is the finished product box.

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