Automatic feeding and discharging truss mechanical hand numerical control machine tool

Abstract

The present application relates to the technical field of manipulator production and manufacturing, in particular to an automatic feeding and discharging truss manipulator numerical control machine tool, which comprises a machine base, workpieces, a lifting device and a grabbing device, the number of the workpieces is at least two groups and they abut against each other, the lifting device is used to drive the target workpiece to move and make a gap between the target workpiece and its adjacent workpiece after moving, and the grabbing device is used to grab and move the target workpiece, at least part of the grabbing device extends into the gap, through such a setting, the grabbing and moving of the grabbing device are facilitated when clamping the square workpieces made of non-metallic materials, the surfaces of which are uneven and stacked together, the subsequent processing and handling of the workpieces are facilitated, and the work efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm manufacturing technology, and in particular to a CNC machine tool for an automatic loading and unloading gantry robotic arm. Background Technology

[0002] A robotic arm is an automated device that mimics certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its key feature is that it can be programmed to perform various pre-defined tasks. In terms of structure and performance, it combines the advantages of both humans and machines. The robotic arm was the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to achieve mechanization and automation of production. It can operate in hazardous environments to protect human safety, and therefore is widely used in machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy sectors.

[0003] For example, Chinese patent CN214030825U discloses an automatic palletizing gantry robot, which includes a gripping block at one end of the palletizing gantry robot body, a vacuum suction cup on the outer wall of the lower surface of the gripping block, the vacuum suction cup being fixedly connected to the gripping block, and several vacuum suction cups being provided, an air pipe at one end of the gripping block, an air extraction mechanism at one end of the air pipe, an air extraction mechanism being fixedly connected to the gripping block through the air pipe, a fixing strap on the outer wall of the air pipe, and an electromagnet fixedly installed at the middle position of the lower surface of the gripping block, with a connecting wire at one end of the electromagnet.

[0004] However, when existing automated loading and unloading gantry robots cannot use vacuum or electromagnetic chucks to move workpieces, they can only manually remove the workpieces first and then use the robot to grab them, which is time-consuming, labor-intensive, and affects work efficiency. Summary of the Invention

[0005] The applicant found that when handling non-metallic materials, uneven surfaces, and stacked square workpieces, it was impossible to use vacuum chucks or electromagnetic chucks to move the workpieces. The only option was to handle them manually for subsequent processing, which affected work efficiency.

[0006] Therefore, it is necessary to provide an automatic loading and unloading gantry robot CNC machine tool to address the problem that when non-metallic square workpieces with uneven surfaces are stacked together, mechanical grippers are inconvenient to clamp, and manual handling is the only option, which is time-consuming, labor-intensive, and affects work efficiency.

[0007] The above objective is achieved through the following technical solution: a base;

[0008] The number of workpieces is at least two sets and they are in contact with each other;

[0009] A lifting device is used to drive the target workpiece to move, thereby creating a gap between the moved target workpiece and its adjacent workpiece.

[0010] A gripping device for gripping and moving the target workpiece, wherein at least a portion of the gripping device extends into the gap.

[0011] In one embodiment, the gripping device includes a housing, a first driving member, a first moving component, and a second moving component. The first driving member is fixedly disposed on the housing, and the first moving component and the second moving component are slidably disposed on the housing. The first driving member is used to drive the first moving component and the second moving component to move closer to or further away from each other, and the first moving component and the second moving component are used to grip and move the target workpiece.

[0012] In one embodiment, the second moving component includes a first transmission member, a second driving member, and a first moving member, wherein the second driving member is disposed on the first transmission member, the first moving member is slidably disposed on the first transmission member, and the second driving member provides a driving force for the first moving member to move relative to the first transmission member.

[0013] In one embodiment, the first moving component includes a second transmission member, a third driving member, and a second moving member, the third driving member being disposed on the second transmission member, the second moving member being slidably disposed on the second transmission member, and the third driving member providing a driving force for the movement of the second moving member relative to the second transmission member.

[0014] In one embodiment, the lifting device includes a lifting mechanism, a power mechanism, and a connecting mechanism, wherein the power mechanism provides the lifting mechanism and the connecting mechanism with a driving force to move the target workpiece.

[0015] In one embodiment, the second moving member is provided with a fourth driving member and a first connecting channel, the power mechanism includes a first sliding member slidably disposed within the first connecting channel, and the fourth driving member provides a driving force for the first sliding member to slide relative to the second moving member.

[0016] In one embodiment, the second moving member is provided with a second connecting channel; the power mechanism includes a first telescopic member, which is slidably disposed on the first sliding member; the lifting mechanism includes a friction member, a first connecting member, a first elastic member, and a fixing member, wherein the first connecting member is slidably disposed within the second connecting channel; one end of the first connecting member is fixedly disposed with the friction member, and the other end is fixedly disposed with the fixing member; one end of the first elastic member is fixedly disposed on the second moving member, and the other end is fixedly disposed on the fixing member, wherein the first elastic member always drives the fixing member to move; the first telescopic member restricts the sliding of the first connecting member relative to the second moving member.

[0017] In one embodiment, the friction element is provided with anti-slip protrusions, which are used to increase the friction between the friction element and the workpiece.

[0018] In one embodiment, the second moving member is provided with a third connecting channel; the power mechanism includes a third transmission member and a fourth transmission member, which are fixedly mounted on the first sliding member; the connecting mechanism includes a central member, a fifth transmission member, a sixth transmission member, a second elastic member, a third elastic member, a second sliding member, a second connecting member, a third connecting member, and a pushing member; the central member is disposed within the third connecting channel; the fifth and sixth transmission members are fixedly mounted on the central member; the movement of the third transmission member drives the fifth transmission member to move; the movement of the fourth transmission member drives the sixth transmission member to move; and the movement of the first sliding member drives... The central component moves; the second connecting member is detachably mounted on the central component, one end of the second elastic member is fixedly mounted on the second connecting member, and the other end is fixedly mounted on the fixed member, the second elastic member always drives the fixed member to move; the third connecting member is detachably mounted on the central component, one end of the third elastic member is fixedly mounted on the third connecting member, and the other end is fixedly mounted on the pushing member, the second elastic member always drives the pushing member to move; the movement of the central component drives the second connecting member and the third connecting member to move away from or towards each other; the second sliding member is slidably mounted in the third connecting channel, the second sliding member is used to reset the central component.

[0019] The beneficial effects of this invention are:

[0020] This invention relates to an automatic loading and unloading gantry robot CNC machine tool, comprising a base, workpieces, a lifting device, and a gripping device. The number of workpieces is at least two sets and they abut against each other. The lifting device is used to drive the target workpiece to move, so that a gap is created between the moved target workpiece and its adjacent workpieces. The gripping device is used to grip and move the target workpiece, with at least a portion of the gripping device extending into the gap. This arrangement facilitates the gripping and movement of square workpieces made of non-metallic materials with uneven surfaces and stacked together, thereby facilitating subsequent processing and handling of the workpieces and improving work efficiency. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of an automatic loading and unloading gantry robot CNC machine tool according to an embodiment of the present invention;

[0022] Figure 2 This is an exploded structural diagram of an automatic loading and unloading gantry robot CNC machine tool according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the mechanical gripper of an automatic loading and unloading gantry robot CNC machine tool according to an embodiment of the present invention;

[0024] Figure 4 An exploded view of the mechanical gripper of an automatic loading and unloading gantry robot CNC machine tool according to an embodiment of the present invention;

[0025] Figure 5 for Figure 4 A partially enlarged structural diagram of point A of the mechanical gripper of the automatic loading and unloading gantry robot CNC machine tool;

[0026] Figure 6 This is a schematic diagram of the material lifting device of an automatic loading and unloading gantry robot CNC machine tool according to an embodiment of the present invention;

[0027] Figure 7 An exploded structural diagram of the material lifting device of an automatic loading and unloading gantry robot CNC machine tool according to an embodiment of the present invention;

[0028] Figure 8 for Figure 7 A partially enlarged structural diagram of the material lifting device at point B of the automatic loading and unloading gantry robot CNC machine tool.

[0029] in:

[0030] 100. Supporting columns;

[0031] 200. Horizontal moving device;

[0032] 300. Vertical moving device;

[0033] 400. CNC machine tools;

[0034] 500. Material pile;

[0035] 600. Mechanical gripper; 610. Gripper housing; 620. First moving plate; 621. First rack; 622. First cylinder; 623. Air pipe hole; 630. First gear; 640. Second moving plate; 641. Second rack; 642. Second cylinder; 650. Second clamping plate; 660. First clamping plate; 661. Third cylinder; 662. Connecting hole; 663. First through slot; 664. Second through slot; 665. Extension plate; 666. Slide groove; 670. Motor;

[0036] 700. Lifting device; 710. Lifting mechanism; 711. Friction plate; 712. Anti-slip protrusion; 713. Connecting shaft; 714. Locking slot; 715. First spring; 716. First connecting rod; 717. Push plate; 720. Gear shaft; 721. Second gear; 722. Third gear; 723. Torsion spring hinge ring; 730. First connecting plate; 731. First threaded shaft; 732. First baffle; 733. Second spring; 740. Top plate; 741. Second connecting rod; 750. Torsion spring slider; 751. Torsion spring; 752. Protrusion; 760. Sliding plate; 761. Third rack; 762. Fourth rack; 763. Stop; 770. Second connecting plate; 771. Second threaded shaft; 772. Second baffle; 773. Third spring. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0038] The serial numbers assigned to components in this document, such as "first," "second," etc., are merely used to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages). In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] like Figures 1-8 As shown, an embodiment of the present invention provides an automatic loading and unloading gantry robot CNC machine tool, including a support column 100, a horizontal moving device 200, a vertical moving device 300, a CNC machine tool 400, a material stack 500, mechanical grippers 600, and a lifting device 700. The support column 100 and the CNC machine tool 400 are both fixedly installed at the planned positions. The horizontal moving device 200 is installed on the support column 100, and the vertical moving device 300 is fixedly installed on the horizontal moving device 200. Mechanical grippers 600 are installed at the bottom of each vertical moving device 300. A material pile 500, consisting of non-metallic square workpieces with uneven surfaces, is stacked between support columns 100. The workpieces are in at least two sets and are in contact with each other. A lifting device 700 is installed on a mechanical gripper 600 to drive the target workpiece to move and create a gap between the target workpiece and its adjacent workpiece. This allows part of the mechanical gripper 600 to penetrate into the gap, facilitating the gripping and movement of the target workpiece. This facilitates subsequent processing and handling of the square workpiece by the CNC machine tool 400, thereby improving work efficiency.

[0041] like Figure 3 , Figure 4 As shown, in some embodiments, the mechanical gripper 600 includes a gripper housing 610, a motor 670, a first gear 630, a first moving component, and a second moving component. The gripper housing 610 is fixedly connected to the bottom of the vertical moving device 300. The motor 670 is fixedly connected to the gripper housing 610. The first gear 630 is fixedly connected to the motor 670. The first moving component includes a first rack 621, and the second moving component includes a second rack 641. Both the first rack 621 and the second rack 641 mesh with the first gear 630. The motor 670 drives the first gear 630 to rotate, thereby driving the first moving component and the second moving component to move towards each other: away from or towards each other. The cooperation between the horizontal moving device 200 and the vertical moving device 300 facilitates the mechanical gripper 600 to clamp and move the workpiece.

[0042] like Figure 3 , Figure 4As shown, in some embodiments, the second moving component includes a second moving plate 640, a second cylinder 642, and a second clamping plate 650. The second cylinder 642 is fixedly connected to the second moving plate 640, and the second clamping plate 650 is slidably connected to the second moving plate 640. The second cylinder 642 drives the second clamping plate 650 to slide up and down relative to the second moving plate 640.

[0043] like Figure 3 , Figure 4 As shown, in some embodiments, the first moving component includes a first moving plate 620, a first cylinder 622, and a first clamping plate 660. The first cylinder 622 is fixedly connected to the first moving plate 620, and the first clamping plate 660 is slidably connected to the first moving plate 620. The first cylinder 622 drives the first clamping plate 660 to slide up and down relative to the first moving plate 620.

[0044] In some embodiments, the lifting device 700 includes a lifting mechanism 710, a power mechanism, and a connecting mechanism, wherein the power mechanism provides the lifting mechanism 710 and the connecting mechanism with the driving force to move the target workpiece.

[0045] like Figure 6 , Figure 7 , Figure 8 As shown, in some embodiments, a third cylinder 661 and a connecting hole 662 are provided on the first clamping plate 660. An external air pipe is connected to the third cylinder 661 through an air pipe hole 623. The third cylinder 661 is fixedly connected to the top of the first clamping plate 660. The power mechanism includes a sliding plate 760, which is slidably installed in the connecting hole 662. Under the drive of the third cylinder 661, the sliding plate 760 can slide up and down in the connecting hole 662.

[0046] like Figure 6 , Figure 7 , Figure 8 As shown, in some embodiments, a first through groove 663 is provided on the first clamping plate 660; the power mechanism includes a stop 763, which is telescopically disposed on the sliding plate 760; the lifting mechanism 710 includes a friction plate 711, a connecting shaft 713, a first spring 715, and a push plate 717, with the connecting shaft 713 slidably installed in the first through groove 663; a locking groove 714 is fixedly disposed on the connecting shaft 713, with one end of the connecting shaft 713 fixedly connected to the friction plate 711 and the other end fixedly connected to the push plate 717; one end of the first spring 715 is fixedly connected to the first clamping plate 660 and the other end is fixedly connected to the push plate 717, and the first spring 715 always drives the push plate 717 to move; initially, the stop 763 is engaged in the locking groove 714, restricting the axial sliding of the lifting mechanism 710.

[0047] like Figure 8As shown, in some embodiments, anti-slip protrusions 712 are fixedly disposed on the friction plate 711, and the anti-slip protrusions 712 are used to increase the friction between the friction plate 711 and the workpiece.

[0048] like Figure 6 , Figure 7 , Figure 8 As shown, in some embodiments, a second through groove 664 is provided on the first clamping plate 660; the power mechanism includes a third rack 761 and a fourth rack 762, both of which are fixedly connected to the sliding plate 760; the connecting mechanism includes a gear shaft 720, a second gear 721, a third gear 722, a second spring 733, a third spring 773, a torsion spring slider 750, a first baffle 732, a second baffle 772, and a top plate 740. The gear shaft 720 is slidably installed in the second through groove 664, and the gear shaft 720 is provided with a second gear 721, a third gear 722, and a torsion spring hinge ring 723. Initially, the third gear 722 meshes with the fourth rack 762; a first threaded shaft 731, a first baffle 732, and a second spring 733 are provided on the first connecting plate 730. One end of the first baffle 732 is fixedly connected to the first threaded shaft 731, and the other end is fixedly connected to the second spring 733. The first threaded shaft 731 is sleeved inside the gear shaft 720 and is threadedly connected to the gear shaft 720. The second spring 733 is sleeved on the first connecting rod 716, and one end of the second spring 733 is fixedly connected to the push plate 717. The second connecting plate 770 is provided with the second threaded shaft 771, the second baffle 772 and the third spring 773. One end of the second baffle 772 is fixedly connected to the second threaded shaft 771, and the other end is fixedly connected to the third spring 773. A third spring 773 is sleeved inside the gear shaft 720 and threadedly connected to the gear shaft 720. The third spring 773 is sleeved on the second connecting rod 741, and one end of the third spring 773 is fixedly connected to the top plate 740. The torsion spring slider 750 is provided with a torsion spring 751 and a protrusion 752. The torsion spring slider 750 is sleeved on the torsion spring hinge ring 723. When the gear shaft 720 rotates, the torsion spring 751 stores force. The torsion spring slider 750 is slidably mounted on the slide groove 666 through the protrusion 752.

[0049] Based on the above embodiments, the usage principle and working process of the embodiments of the present invention are as follows:

[0050] The automatic loading and unloading gantry robot CNC machine tool includes a support column 100, a horizontal moving device 200, a vertical moving device 300, a CNC machine tool 400, a material stack 500, a mechanical gripper 600, and a lifting device 700.

[0051] First, assemble the working machine, fixing the support column 100 at the planned position. Then, install the horizontal moving device 200 on the support column 100, and fix two sets of vertical moving devices 300 on the horizontal moving device 200. Each set of vertical moving devices 300 has a mechanical gripper 600 connected to its bottom end. Next, install two CNC machine tools 400 at the fixed position, with a material pile 500 consisting of non-metallic, unevenly surfaced square workpieces stacked between the two CNC machine tools 400.

[0052] A mechanical gripper 600 is installed at the bottom of the vertical moving device 300. The mechanical gripper 600 includes a gripper housing 610, a first moving plate 620, a first gear 630, a second moving plate 640, a second clamping plate 650, a first clamping plate 660, and a motor 670. The gripper housing 610 is fixedly connected to the bottom of the vertical moving device 300; the motor 670 is fixedly installed on the gripper housing 610; the first gear 630 is fixedly connected to the motor 670; the first moving plate 620... Both the first and second movable plates 620 and 640 are slidably mounted on the gripper housing 610. The first movable plate 620 is provided with a first rack 621, a first cylinder 622, and an air pipe hole 623. The first rack 621 and the first cylinder 622 are both fixedly connected to the first movable plate 620. The second movable plate 640 is provided with a second rack 641 and a second cylinder 642. The second rack 641 and the second cylinder 642 are both fixedly connected to the second movable plate 640. The first rack 621... Both the first and second racks 641 mesh with the first gear 630. The motor 670 drives the first gear 630 to rotate, which in turn drives the first moving plate 620 and the second moving plate 640 to move towards each other. The first moving plate 620 and the second moving plate 640 move simultaneously towards or away from the first gear 630. The first clamping plate 660 is slidably mounted on the first moving plate 620. The first cylinder 622 drives the first clamping plate 660 to slide up and down relative to the first moving plate 620. The second clamping plate 650 is slidably mounted on the second moving plate 640. The second cylinder 642 drives the second clamping plate 650 to slide up and down relative to the second moving plate 640. The first clamping plate 660 is provided with a third cylinder 661, a connecting hole 662, a first through groove 663, a second through groove 664, an extension plate 665, and a sliding groove 666. An external air pipe is connected to the third cylinder 661 through an air pipe hole 623. The third cylinder 661 is fixedly connected to the top of the first clamping plate 660.

[0053] The lifting device 700 is installed at the lower bottom of the first clamping plate 660. The lifting device 700 includes a lifting mechanism 710, a gear shaft 720, a first connecting plate 730, a top plate 740, a torsion spring slider 750, a sliding plate 760, and a second connecting plate 770. The sliding plate 760 is provided with a third rack 761, a fourth rack 762, and a stop 763. The third rack 761 and the fourth rack 762 are both fixedly connected to the sliding plate 760. The stop 763 is telescopically mounted on the sliding plate 760 and is connected to the sliding plate 760 by a spring. Initially, the stop 763 is engaged in the locking groove 714, restricting the axial sliding of the lifting mechanism 710. The sliding plate 760 is slidably mounted in the connecting hole 662, and under the drive of the third cylinder 661, the sliding plate 760 can slide up and down within the connecting hole 662. The lifting mechanism 710 includes a friction plate 711 and an anti-slip protrusion 71. 2. A connecting shaft 713, a locking slot 714, a first spring 715, a first connecting rod 716, and a push plate 717. The locking slot 714 is fixedly mounted on the connecting shaft 713, which is slidably fitted into the first through slot 663. One end of the connecting shaft 713 is fixedly connected to a friction plate 711, and an anti-slip protrusion 712 is fixedly mounted on the friction plate 711. The other end of the connecting shaft 713 is fixedly connected to the push plate 717. The first spring 715 is fitted onto the connecting shaft 713, with one end fixedly connected to the first clamping plate 660 and the other end slidably fitted onto the push plate 717. The first spring 715 is used for resetting the lifting device 700. One end of the first connecting rod 716 is fixedly connected to the push plate 717, and the other end is fixedly connected to the first baffle 732. One end of the second connecting rod 741 is fixedly connected to the second baffle 772, and the other end slidably fitted onto the top plate 740.

[0054] The gear shaft 720 is slidably mounted in the second through slot 664. The gear shaft 720 is equipped with a second gear 721, a third gear 722, and a torsion spring hinge ring 723. Initially, the third gear 722 meshes with the fourth rack 762. The first connecting plate 730 is equipped with a first threaded shaft 731, a first baffle 732, and a second spring 733. One end of the first baffle 732 is fixedly connected to the first threaded shaft 731, and the other end is fixedly connected to the second spring 733. The first threaded shaft 731 is sleeved within the gear shaft 720 and is threadedly connected to it. The second spring 733 is sleeved on the first connecting rod 716, and one end of the second spring 733 is fixedly connected to the push plate 717. The second connecting plate 716... The gear 70 is provided with a second threaded shaft 771, a second baffle 772 and a third spring 773. One end of the second baffle 772 is fixedly connected to the second threaded shaft 771 and the other end is fixedly connected to the third spring 773. The second threaded shaft 771 is sleeved inside the gear shaft 720 and is threadedly connected to the gear shaft 720. The third spring 773 is sleeved on the second connecting rod 741 and one end of the third spring 773 is fixedly connected to the top plate 740. The torsion spring slider 750 is provided with a torsion spring 751 and a protrusion 752. The torsion spring slider 750 is sleeved on the torsion spring hinge ring 723. When the gear shaft 720 rotates, the torsion spring 751 stores force. The torsion spring slider 750 is slidably mounted on the slide groove 666 through the protrusion 752.

[0055] During the preparation phase, the mechanical gripper 600 is placed above the material pile 500 and near the center line of the long side of the target workpiece by moving the horizontal moving device 200 and the vertical moving device 300.

[0056] During the clamping stage, the first clamping plate 660 extends downwards via the first cylinder 622, positioning the friction plate 711 at the gap between the target workpiece and the next layer of workpieces (due to the uneven surface of the workpieces, gaps exist when the workpieces are stacked together). Simultaneously, the top plate 740 is near the side wall of the next layer of workpieces. Then, the motor 670 drives the first moving plate 620 and the second moving plate 640 to move closer simultaneously. At this point, because the stop block 763 is in the locking slot 714, the friction plate 711 cannot move axially, causing it to be pressed into the gap between the two workpieces, resulting in the side of the target workpiece closest to the first clamping plate 660 lifting up. Next, the third cylinder 661 drives the sliding plate 760 to move downwards. Since the third gear 722 meshes with the fourth rack 762, the downward movement of the sliding plate 760 causes the third gear 722 to rotate. This rotation drives the gear shaft 720 to rotate, causing the torsion spring 751 to store force. The downward movement of the sliding plate 760 causes the stop block 763 to be pressed into the groove in the middle of the sliding plate 760, thus not affecting the downward movement of the sliding plate 760. Simultaneously, since both the first threaded shaft 731 and the second threaded shaft 771 are threadedly engaged with the gear shaft 720, the first threaded shaft 731 and the second threaded shaft 771 move synchronously away from the gear shaft 720, causing the second spring 733 and the third spring 773 to store force. The second spring 733 applies force to the top plate 740, pressing against the side wall of the lower workpiece, ensuring that the movement of the target workpiece does not cause the movement of the lower workpiece. The third spring 773 applies force... The push plate 717 exerts an outward force; the sliding plate 760 continues to move downward until the force exerted by the third spring 773 on the push plate 717 is greater than the sum of the frictional force between the target workpiece and the lower workpiece and the elastic force of the first spring 715. At this point, the gear shaft 720, the first connecting plate 730, and the second connecting plate 770 move as a whole a certain distance outward from the gripper, causing the third gear 722 to disengage from the fourth rack 762 and the second gear 721 to mesh with the third rack 761. The transmission ratio between the third gear 722 and the fourth rack 762 is greater than the transmission ratio between the second gear 721 and the third rack 761. This allows the third spring 773 to quickly accumulate power at the beginning with a large transmission ratio, driving the target workpiece to move. When the force exerted by the third spring 773 on the push plate 717 is sufficient to drag the target workpiece, the third spring 773 slowly accumulates power with a small transmission ratio, slowly dragging the target workpiece, thereby preventing the target workpiece from falling. As the sliding plate 760 moves downward, it causes the first connecting plate 730 to move outward, causing the gear shaft 720 to gradually move towards the outside of the gripper. The lifting mechanism 710 is also moved towards the outside of the gripper, and the friction generated by the anti-slip protrusions 712 on the friction plate 711 drives the target workpiece to move. When the gear shaft 720 has moved half the thickness of the second clamping plate 650, the lifting mechanism 710 has moved the thickness of the second clamping plate 650. The second gear 721 disengages from the third rack 761, and at this time there is no engagement between the sliding plate 760 and the gear shaft 720.

[0057] A sufficient gap exists between the target workpiece and the adjacent workpiece to allow the second clamping plate 650 to insert. The second cylinder 642 drives the second clamping plate 650 to extend downwards and insert into the gap. The motor 670 drives the first moving plate 620 and the second moving plate 640 to move closer simultaneously, thus clamping the target workpiece. Because the target workpiece is clamped, the push plate 717 cannot move, and there is no engagement between the gear shaft 720 and the sliding plate 760. At this time, the torsion spring 751 releases its stored force, causing the gear shaft 720 to reverse, driving the first connecting plate 730 and the second connecting plate 770 closer together. The second spring 733 and the third spring 773 gradually return to their original lengths. Since the push plate 717 remains fixed and offsets outwards from its initial position relative to the gripper, the entire assembly of the gear shaft 720, the first connecting plate 730, and the second connecting plate 770 also deflects relative to its initial position. Because there is no engagement between the sliding plate 760 and the gear shaft 720 at this time, the upward retraction of the sliding plate 760 by the third cylinder 661 does not affect the operation of the lifting device 700.

[0058] The target workpiece is moved above the CNC machine tool 400 by moving the horizontal moving device 200 and the vertical moving device 300. The first moving plate 620 and the second moving plate 640 are driven away from each other by the motor 670, so that the target workpiece is released and the CNC machine tool 400 can process the target workpiece.

[0059] After the target workpiece is unloaded, the compressed first spring 715 releases its elasticity, causing the lifting device 700 to reset. At the same time, the third gear 722 meshes with the fourth rack 762 for the next clamping.

[0060] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A CNC machine tool for automatically loading and unloading gantry robots, characterized in that, include: Base; The number of workpieces is at least two sets and they are in contact with each other; A lifting device is used to drive the target workpiece to move, thereby creating a gap between the moved target workpiece and its adjacent workpiece. A gripping device for gripping and moving the target workpiece, wherein at least a portion of the gripping device extends into the gap; The gripping device includes a housing, a first driving member, a first moving component, and a second moving component. The first driving member is fixedly mounted on the housing, and the first moving component and the second moving component are slidably mounted on the housing. The first driving member is used to drive the first moving component and the second moving component to move closer to or further away from each other, and the first moving component and the second moving component are used to clamp and move the target workpiece. The second moving component includes a first transmission member, a second driving member, and a first moving member. The second driving member is disposed on the first transmission member, and the first moving member is slidably disposed on the first transmission member. The second driving member provides a driving force for the first moving member to move relative to the first transmission member. The first moving component includes a second transmission member, a third driving member, and a second moving member. The third driving member is disposed on the second transmission member, and the second moving member is slidably disposed on the second transmission member. The third driving member provides a driving force for the movement of the second moving member relative to the second transmission member. The lifting device includes a lifting mechanism, a power mechanism, and a connecting mechanism. The power mechanism provides the lifting mechanism and the connecting mechanism with the driving force to move the target workpiece. The second moving member is provided with a fourth driving member and a first connecting channel. The power mechanism includes a first sliding member, which is slidably disposed in the first connecting channel. The fourth driving member provides a driving force for the first sliding member to slide relative to the second moving member. The second moving member is provided with a second connecting channel; the power mechanism includes a first telescopic member, which is slidably disposed on the first sliding member; the lifting mechanism includes a friction member, a first connecting member, a first elastic member, and a fixing member, wherein the first connecting member is slidably disposed within the second connecting channel; the friction member is fixedly disposed at one end of the first connecting member, and the fixing member is fixedly disposed at the other end; one end of the first elastic member is fixedly disposed on the second moving member, and the other end is fixedly disposed on the fixing member, wherein the first elastic member always drives the fixing member to move; the first telescopic member restricts the sliding of the first connecting member relative to the second moving member; The friction element is provided with anti-slip protrusions, which are used to increase the friction between the friction element and the workpiece; The second moving member is provided with a third connecting channel; the power mechanism includes a third transmission member and a fourth transmission member, which are fixedly mounted on the first sliding member; the connecting mechanism includes a central member, a fifth transmission member, a sixth transmission member, a second elastic member, a third elastic member, a second sliding member, a second connecting member, a third connecting member, and a pushing member; the central member is disposed within the third connecting channel; the fifth and sixth transmission members are fixedly mounted on the central member; the movement of the third transmission member drives the fifth transmission member to move; the movement of the fourth transmission member drives the sixth transmission member to move; and the movement of the first sliding member drives the central member to move. The movement of the components; the second connecting member is detachably disposed on the central member, one end of the second elastic member is fixedly disposed on the second connecting member, and the other end is fixedly disposed on the fixed member, the second elastic member always drives the fixed member to move; the third connecting member is detachably disposed on the central member, one end of the third elastic member is fixedly disposed on the third connecting member, and the other end is fixedly disposed on the pushing member, the second elastic member always drives the pushing member to move; the movement of the central member drives the second connecting member and the third connecting member to move away from or towards each other; the second sliding member is slidably disposed in the third connecting channel, the second sliding member is used to reset the central member.

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