An industrial robot and an automatic loading and unloading system for a numerically controlled machine tool

Abstract

The present invention belongs to the technical field of industrial robots, and specifically relates to an industrial robot and an automatic loading and unloading system for a numerical control machine tool, including a manipulator and a base. The bottom of the manipulator is rotatably connected to the base. A plurality of lead screws are rotatably connected inside the base, and clamping plates are movably connected to the surfaces of the lead screws; sponge pads are fixedly installed on one side of the plurality of clamping plates close to each other, and an air injection pipe is fixedly installed at the center of the bottom of the base. By starting an externally connected air extraction pump, the air extraction pump blows gas through the air injection pipe towards the parts. The gas in the air injection pipe will enter the extension pipe and push open the rotating plates in the air injection pipe and the extension pipe, and then the gas is discharged and blown onto the parts, blowing off the residual cutting fluid on the parts, thereby preventing harm to subsequent workers when the parts are covered with cutting fluid for a long time.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial robots, and specifically relates to an industrial robot and an automatic loading and unloading system for a numerical control machine tool. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power sources and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots include manipulators and are often used in the field of machining. When a numerical control machine tool processes parts, an industrial robot will be used to perform the work of loading and unloading parts.

[0003] A patent of Chinese Patent Application CN202111633747.7 discloses an automatic loading and unloading system for an industrial robot used in a numerical control machine tool. The key points of its technical solution are: including a numerical control machine tool body, and the industrial robot automatic loading and unloading system includes a product circulation mechanism, an industrial robot loading and unloading mechanism, and a quality management module based on visual recognition. This invention realizes the automatic loading and unloading during the gear numerical control machining process and can automatically complete the quality inspection based on vision; it has a high degree of automation, greatly reduces the manual labor, improves the production efficiency, and avoids the waste of production costs for subsequent heat treatment caused by defective products in the intermediate process.

[0004] Regarding the above and existing related technologies, the inventors believe that the following defects often exist: when an industrial robot loads and unloads parts, since a large amount of cutting fluid is sprayed during the machining of parts by a numerical control machine tool to cool the parts and the tool, the surface of the parts will be covered with cutting fluid at this time. Prolonged contact with cutting fluid can cause harm to the human body. When traditional industrial robots load and unload parts, there is no corresponding cleaning mechanism to blow off the cutting fluid, resulting in the cutting fluid remaining on the surface of the parts for a long time. When subsequent quality inspection and other staff come into contact with the cutting fluid on the parts for a long time, the cutting fluid will bring great harm to the staff.

[0005] Therefore, the present invention provides an industrial robot and an automatic loading and unloading system for a numerical control machine tool. Summary of the Invention

[0006] In order to make up for the deficiencies of the prior art and solve at least one of the technical problems proposed in the background art.

[0007] The technical solution adopted by the present invention to solve its technical problems is as follows: An industrial robot for a numerically controlled machine tool according to the present invention includes a manipulator and a base. The bottom of the manipulator is rotatably connected to the base. A plurality of lead screws are rotatably connected inside the base. A clamping plate is movably connected to the surface of the lead screw; on one side of the plurality of clamping plates close to each other, a sponge pad is fixedly installed. At the center of the bottom of the base, an air injection pipe is fixedly installed. One end of the air injection pipe away from the base is externally connected to an air extraction pump. Arc-shaped extension pipes are fixedly communicated on both sides of the air injection pipe. A groove is opened at the bottom of the extension pipe. A rotating plate is rotatably connected to the groove of the extension pipe and the bottom of the air injection pipe through a torsion spring; when the industrial robot is loading and unloading parts, since a large amount of cutting fluid is sprayed during the machining of parts by the numerically controlled machine tool to cool the parts and the tool, at this time, the surface of the parts will be covered with cutting fluid, and long-term contact with the cutting fluid will cause harm to the human body. When the traditional industrial robot is loading and unloading parts, there is no corresponding cleaning mechanism to blow off the cutting fluid, resulting in the cutting fluid remaining on the surface of the parts for a long time. When subsequent quality inspection staff and other personnel come into contact with the cutting fluid on the parts for a long time, the cutting fluid will bring great harm to the staff. When the present invention is working, after the numerically controlled machine tool finishes machining the parts, by starting the driving mechanism inside the manipulator, the servo motor drives the lead screw to rotate, and then drives the clamping plate on the lead screw to move. When the base drives the clamping plate close to the machined parts, start the externally connected air extraction pump, so that the air extraction pump blows the gas through the air injection pipe towards the parts. The gas in the air injection pipe will enter the extension pipe and push open the rotating plates in the air injection pipe and the extension pipe, and then discharge the gas and blow it onto the parts, blowing off the residual cutting fluid on the parts, thereby preventing harm to subsequent staff after the parts are covered with cutting fluid for a long time. When the air injection pipe finishes blowing the parts, the rotating plate automatically resets under the action of the torsion spring, thereby realizing the function of closing the extension pipe and the air injection pipe, reducing the entry of external dust and impurities into the extension pipe and the air injection pipe and causing blockage. At this time, the clamping plate drives the sponge pad to move towards the parts. The sponge pad further wipes the cutting fluid on the surface of the parts. At the same time, the sponge pad also plays a role in increasing friction and buffering to protect the parts, avoiding direct contact between the hard clamping plate and the parts and causing damage.

[0008] Preferably, the inside of the sponge pad is hollow. A chute is opened on the surface of the clamping plate close to the sponge pad. A sliding rod is slidably connected inside the chute. A first spring is fixedly installed inside the chute. The other end of the first spring is fixedly connected to the sliding rod; during operation, by installing the first spring and the sliding rod inside the sponge pad and the clamping plate, when the clamping plate is clamping irregular parts, the sliding rod can adapt to the shape of the irregular parts, so that the sliding rod contacts the irregular parts through the sponge pad, and then there is a supporting force, which is more convenient for clamping the parts and reduces the occurrence of parts slipping and falling.

[0009] Preferably, a rectangular groove is formed inside the air injection pipe. A sliding shaft is slidably connected inside the rectangular groove. A second spring is fixedly connected to the inner wall of the rectangular groove, and the other end of the second spring is fixedly connected to the sliding shaft. A slider is fixedly sleeved on the surface of the sliding shaft. The cross-sections of both sides of the slider are arc-shaped. A roller is rotatably connected to the bottom of the slider. A through groove penetrating through itself is formed at the top of the slider. During operation, by installing the slider inside the air injection pipe, when the gas enters the air injection pipe, it will first come into contact with the slider, and then push the slider to move towards the rotating plate. At this time, since both sides of the slider are arc-shaped, part of the gas will be guided by the arc-shaped slider into the extension pipe, which facilitates the gas to push open the rotating plate inside the extension pipe. The gas continues to push the slider downward. At this time, the roller at the bottom end of the slider will come into contact with the rotating plate at the bottom of the air injection pipe, thereby reducing friction and facilitating the top opening of the rotating plate at the bottom of the air injection pipe. At the same time, part of the gas will be ejected through the through groove inside the slider, thereby realizing the all-round jet cleaning of the components. When there is no gas in the air injection pipe, the second spring inside the rectangular groove will drive the slider to reset through the sliding shaft, which is convenient for the next use.

[0010] Preferably, a hollow elastic block is fixedly installed at the bottom of the rectangular groove. A pipe with a one-way valve is externally connected inside the elastic block. Antirust liquid is pre-loaded inside the elastic block. A shrinkage hole is formed on the surface of the elastic block. A baffle is fixedly installed at the bottom of the sliding shaft. A through hole penetrating through itself is formed on one side of the baffle. During operation, the elastic block is installed at the bottom of the rectangular groove. When the sliding shaft drives the slider to move to the bottom, the sliding shaft will squeeze the elastic block inside the rectangular groove, so that the pre-stored antirust liquid inside the elastic block will be ejected through the shrinkage hole. Since the sliding of the sliding shaft will drive the baffle to move together, when the sliding shaft squeezes the elastic block, the baffle is also on one side of the elastic block. At this time, the baffle plays a role in preventing the elastic block from deforming in all directions, which facilitates the sliding shaft to efficiently squeeze and eject the antirust liquid. The ejected antirust liquid will be sprayed onto the surface of the components through the through hole of the baffle, which plays a role in protecting the components, preventing the surface of the components from rusting after being processed and not used for a long time in the warehouse, and at the same time facilitating the subsequent use of the components.

[0011] Preferably, a rectangular frame is fixedly installed on the top of the base. An electric push rod is fixedly installed inside the rectangular frame. The output end of the electric push rod is fixedly installed with a pressing plate. The pressing plate is located inside the base. A partition is fixedly installed inside the base. The partition is located above the lead screw. A rubber box is fixedly installed on the top of the partition. Lubricating oil is pre-installed inside the rubber box. An oil delivery pipe with a one-way valve is externally connected to the inside of the rubber box. A liquid outlet pipe with a one-way valve is fixedly installed at the bottom of the rubber box. The liquid outlet pipe passes through the partition and is located directly above the lead screw. During operation, when the lead screw has been used for a long time, start the electric push rod inside the rectangular frame. When the output end of the electric push rod drives the pressing plate to squeeze the rubber box on the partition, the partition installed prevents the rubber box from deforming towards the lead screw, thereby affecting the movement of the clamping plate. The partition has a good blocking effect, thus protecting the lead screw from contacting the rubber box. After the rubber box is squeezed, the pre-stored lubricating oil inside will be sprayed out through the liquid outlet pipe, and then sprayed onto the surface of the lead screw, thereby playing a role in lubricating the lead screw, facilitating the sliding of the clamping plate on the lead screw, and reducing the occurrence of rust and increased friction of the lead screw at the same time.

[0012] Preferably, a wavy fixing plate is fixedly installed on the side of the pressing plate away from the electric push rod. A rotating wheel is rotatably connected to the protruding part of the fixing plate away from the pressing plate. During operation, by installing the wavy fixing plate, when the pressing plate moves, it will drive the wavy fixing plate and the rotating wheel to squeeze the rubber box together. The rotating wheel can also block and squeeze the rubber box, thereby achieving a better squeezing effect. The fixing plate is designed to be wavy so that the rubber box can have a deformation space when being squeezed. The deformed rubber box can deform towards the wavy recesses, thereby preventing the rubber box from having no deformation space and resulting in rupture after being squeezed, playing a role in protecting the rubber box.

[0013] Preferably, an atomizing nozzle is fixedly installed at the bottom of the liquid outlet pipe. A square groove is formed on the side wall of the air spray pipe. The square groove communicates with the atomizing nozzle. An inclined connecting plate is rotatably connected to the inside of the square groove through a torsion spring. A circular hole penetrating through itself is formed on one side of the connecting plate. A top plate is rotatably connected to the bottom of the square groove through a torsion spring. During operation, by installing the atomizing nozzle, the sprayed lubricating oil is in a mist form. At this time, increase the power of the air pump, so that the gas pushes the connecting plate in the square groove, causing the connecting plate to rotate away from the slider. At this time, the connecting plate will push open the top plate, so that the top plate no longer closes the circular hole of the connecting plate, enabling the gas in the air spray pipe to be ejected through the circular hole of the connecting plate, and then the gas is sprayed onto the atomizing nozzle, so that the atomized lubricating oil sprayed by the atomizing nozzle will be blown far away by the gas, thereby making the coverage area of the lubricating oil wider, enabling the surface of the lead screw to fully contact the lubricating oil, and thus achieving a better lubricating effect and facilitating the movement of the clamping plate.

[0014] Preferably, a corrugated pipe is provided inside the base. The two ends of the corrugated pipe are fixedly connected to the base and the clamping plate respectively. The two sides of the corrugated pipe are hermetically and slidably connected to the inner wall of the base. A hollow multi-stage telescopic plate is clamped on the side of the clamping plate away from the corrugated pipe. The end of the multi-stage telescopic plate away from the clamping plate is clamped to the base. A liquid inlet hole is opened at the top of the multi-stage telescopic plate. During operation, by installing the corrugated pipe and the multi-stage telescopic plate in the base, when the clamping plate moves, it will drive the corrugated pipe and the multi-stage telescopic plate to move together. Through the mutual cooperation of the corrugated pipe and the multi-stage telescopic plate, the base is closed, so that the lubricating oil dripping on the lead screw will fall on the multi-stage telescopic plate. Since the multi-stage telescopic plate is arc-shaped and has a low middle shape, the dripping lubricating oil will flow into the liquid inlet hole, and then the multi-stage telescopic plate will collect the dripping lubricating oil. When the collected lubricating oil is too much, it will overflow the multi-stage telescopic plate. At this time, the lubricating oil will drip to prompt the staff to remove the multi-stage telescopic plate from the clamping plate, so as to facilitate pouring the collected lubricating oil and make the lubricating oil reusable, thus reducing waste.

[0015] An automatic loading and unloading system for a numerically controlled machine tool, which is applicable to controlling the above-mentioned industrial robot for a numerically controlled machine tool, includes an information receiving module, a central processing module and an execution module:

[0016] Information receiving module: Send the commands that need to be executed by the manipulator to the information receiving module, so that the information receiving module receives the information, identifies and screens it, and after waiting for confirmation, transmits the received information to the central processing module;

[0017] Central processing module: After receiving the information, the central processing module will screen the information again, delete the irrelevant information, finally determine the information to be sent, and transmit the information to the execution module;

[0018] Execution module: After receiving the information, the execution module will start the manipulator, let the manipulator clamp the parts to be processed and enter the numerically controlled machine tool to start the processing operation.

[0019] Among them, a simulation unit is provided in the central processing module. After receiving the information, the central processing module will send it to the simulation unit to let the simulation unit start simulating the commands issued by the information.

[0020] The beneficial effects of the present invention are as follows:

[0021] 1. The present invention provides an industrial robot and an automatic loading and unloading system for a numerical control machine tool. By starting an external air extraction pump, the air extraction pump blows gas through a jet pipe towards the component. The gas in the jet pipe enters the extension pipe and flushes open the rotating plate in the jet pipe and the extension pipe, and then discharges the gas and blows it onto the component, blowing off the residual cutting fluid on the component, thereby preventing harm to subsequent workers when the component is covered with cutting fluid for a long time. When the jet pipe finishes blowing the component, the rotating plate automatically resets under the action of the torsion spring, thus realizing the function of closing the extension pipe and the jet pipe, reducing the entry of external dust and impurities into the extension pipe and the jet pipe and preventing blockage. At this time, the clamping plate drives the sponge pad to move towards the component. The sponge pad further wipes the cutting fluid on the surface of the component, and at the same time, the sponge pad also plays a role in increasing friction and buffering to protect the component, avoiding direct contact between the hard clamping plate and the component and preventing damage.

[0022] 2. The present invention provides an industrial robot and an automatic loading and unloading system for a numerical control machine tool. By installing a first spring and a sliding rod in the sponge pad and the clamping plate, when the clamping plate clamps an irregular component, the sliding rod can adapt to the shape of the irregular component, so that the sliding rod contacts the irregular component through the sponge pad, and then there is a supporting force, which is more convenient for clamping the component and reduces the occurrence of component slipping and falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] The present invention will be further described below with reference to the drawings.

[0025] Figure 1 It is a three-dimensional structural schematic diagram of the manipulator in the present invention;

[0026] Figure 2 It is a structural schematic diagram of the base in the present invention;

[0027] Figure 3 It is a sectional structural schematic diagram of the sponge pad in the present invention;

[0028] Figure 4 It is a structural schematic diagram of the jet pipe in the present invention;

[0029] Figure 5 It is a sectional structural schematic diagram of the slider in the present invention;

[0030] Figure 6 is the schematic structural diagram of part A in the present invention Figure 5 ;

[0031] Figure 7 is the schematic structural diagram of the sliding shaft in the present invention

[0032] Figure 8 is the schematic structural diagram of the clamping plate in the present invention

[0033] Figure 9 is the part of the present invention Figure 8 schematic structural diagram of part B

[0034] Figure 10 is the part of the present invention Figure 8 schematic structural diagram of part C

[0035] Figure 11 is the schematic structural diagram of the pressing plate in the second embodiment of the present invention

[0036] Figure 12 is the schematic structural diagram of the multi-stage telescopic plate in the second embodiment of the present invention

[0037] Figure 13 is the system block diagram of the present invention

[0038] In the figure: 1, manipulator; 2, base; 3, lead screw; 4, clamping plate; 5, sponge pad; 6, air jet pipe; 7, rotating plate; 8, extension pipe; 9, chute; 10, first spring; 11, sliding rod; 12, rectangular groove; 13, sliding shaft; 14, second spring; 15, slider; 16, through groove; 17, roller; 18, elastic block; 19, baffle; 20, through hole; 21, rectangular frame; 22, electric push rod; 23, pressing plate; 24, rubber box; 25, partition; 26, liquid outlet pipe; 27, fixing plate; 28, rotating wheel; 29, atomizing nozzle; 30, square groove; 31, connecting plate; 32, round hole; 33, top plate; 34, corrugated pipe; 35, multi-stage telescopic plate; 36, liquid inlet hole Detailed implementation manners

[0039] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific implementation manners. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention

[0040] Embodiment 1:

[0041] Please refer to Figures 1 - 11As shown in the figure, an industrial robot for a numerically controlled machine tool according to an embodiment of the present invention includes a manipulator 1 and a base 2. The bottom of the manipulator 1 is rotatably connected to the base 2. A plurality of lead screws 3 are rotatably connected inside the base 2, and a clamping plate 4 is movably connected to the surface of the lead screw 3; a sponge pad 5 is fixedly installed on one side of the plurality of clamping plates 4 close to each other. A gas injection pipe 6 is fixedly installed at the center of the bottom of the base 2. One end of the gas injection pipe 6 away from the base 2 is externally connected to an air extraction pump. Arc-shaped extension pipes 8 are fixedly communicated on both sides of the gas injection pipe 6. A groove is formed at the bottom of the extension pipe 8. Rotating plates 7 are rotatably connected to the groove of the extension pipe 8 and the bottom of the gas injection pipe 6 through torsion springs; when the industrial robot loads and unloads parts, since a large amount of cutting fluid is sprayed during the machining of parts by the numerically controlled machine tool to cool the parts and the tool, at this time, the surface of the parts will be covered with cutting fluid, and long-term contact with the cutting fluid will cause harm to the human body. When traditional industrial robots load and unload parts, there is no corresponding cleaning mechanism to blow off the cutting fluid, resulting in the cutting fluid remaining on the surface of the parts for a long time. When subsequent quality inspection and other staff come into contact with the cutting fluid on the parts for a long time, the cutting fluid will bring great harm to the staff. When the present invention is working, after the numerically controlled machine tool finishes machining the parts, by starting the driving mechanism in the manipulator 1, the servo motor drives the lead screw 3 to rotate, and then drives the clamping plate 4 on the lead screw to move. When the base 2 drives the clamping plate 4 close to the machined parts, start the externally connected air extraction pump, so that the air extraction pump blows the gas through the gas injection pipe 6 towards the parts. The gas in the gas injection pipe 6 will enter the extension pipe 8 and push open the rotating plates 7 in the gas injection pipe 6 and the extension pipe 8, and then discharge the gas and blow it onto the parts to blow off the residual cutting fluid on the parts, thereby preventing harm to subsequent staff after the parts are covered with cutting fluid for a long time. When the gas injection pipe 6 finishes blowing the parts, the rotating plate 7 automatically resets under the action of the torsion spring, so as to achieve the function of closing the extension pipe 8 and the gas injection pipe 6 and reduce the entry of external dust and impurities into the extension pipe 8 and the gas injection pipe 6, preventing blockage. At this time, the clamping plate 4 drives the sponge pad 5 to move towards the parts. The sponge pad 5 further wipes the cutting fluid on the surface of the parts, and at the same time, the sponge pad 5 also plays a role in increasing friction and buffering to protect the parts, avoiding direct contact between the clamping plate 4 made of hard material and the parts, thus preventing the situation of clamping damage.

[0042] The interior of the sponge pad 5 is hollow. A chute 9 is formed on one side of the clamping plate 4 close to the sponge pad 5. A sliding rod 11 is slidably connected inside the chute 9. A first spring 10 is fixedly installed inside the chute 9, and the other end of the first spring 10 is fixedly connected to the sliding rod 11. During operation, by installing the first spring 10 and the sliding rod 11 in the sponge pad 5 and the clamping plate 4, when the clamping plate 4 clamps irregular parts, the sliding rod 11 can adapt to the shape of the irregular parts, so that the sliding rod 11 contacts the irregular parts through the sponge pad 5, and thus there is a supporting force, which is more convenient for clamping the parts and reduces the occurrence of the parts slipping and falling.

[0043] A rectangular groove 12 is formed inside the air injection pipe 6. A sliding shaft 13 is slidably connected inside the rectangular groove 12. The inner wall of the rectangular groove 12 is fixedly connected with a second spring 14, and the other end of the second spring 14 is fixedly connected to the sliding shaft 13. A slider 15 is fixedly sleeved on the surface of the sliding shaft 13. The cross-sections of both sides of the slider 15 are arc-shaped. A roller 17 is rotatably connected to the bottom of the slider 15. A through groove 16 penetrating itself is formed at the top of the slider 15. During operation, by installing the slider 15 in the air injection pipe 6, after the gas enters the air injection pipe 6, it will first contact the slider 15, and then push the slider 15 to move towards the rotating plate 7. At this time, since both sides of the slider 15 are arc-shaped, part of the gas will be guided by the arc-shaped slider 15 into the extension pipe 8, which is convenient for the gas to push open the rotating plate 7 in the extension pipe 8. The gas continues to push the slider 15 to move downward. At this time, the roller 17 at the bottom end of the slider 15 will contact the rotating plate 7 at the bottom of the air injection pipe 6, which reduces the friction and is convenient for pushing open the rotating plate 7 at the bottom of the air injection pipe 6. At the same time, part of the gas will be ejected through the through groove 16 in the slider 15, so as to realize jet cleaning of the parts in all directions. When there is no gas in the air injection pipe 6, the second spring 14 in the rectangular groove 12 will drive the slider 15 to reset through the sliding shaft 13, which is convenient for the next use.

[0044] A hollow elastic block 18 is fixedly installed at the bottom of the rectangular groove 12. A pipe with a one-way valve is externally connected and installed inside the elastic block 18. Antirust liquid is pre-installed inside the elastic block 18. Shrink holes are formed on the surface of the elastic block 18. A baffle 19 is fixedly installed at the bottom of the sliding shaft 13. A through hole 20 penetrating through itself is formed on one side of the baffle 19. During operation, the elastic block 18 is installed at the bottom of the rectangular groove 12. When the sliding shaft 13 drives the slider 15 to move to the bottom, the sliding shaft 13 will squeeze the elastic block 18 inside the rectangular groove 12, so that the pre-stored antirust liquid in the elastic block 18 will be sprayed out through the shrink holes. Since the sliding of the sliding shaft 13 will drive the baffle 19 to move together, when the sliding shaft 13 squeezes the elastic block 18, the baffle 19 is also on one side of the elastic block 18. At this time, the baffle 19 plays a role in preventing the elastic block 18 from deforming in all directions, thereby facilitating the sliding shaft 13 to efficiently squeeze and spray out the antirust liquid. The sprayed antirust liquid will be sprayed onto the surface of the component through the through hole 20 of the baffle 19, thereby playing a role in protecting the component, preventing the surface of the component from rusting after being processed and not used for a long time in the warehouse, and at the same time facilitating the subsequent use of the component.

[0045] A rectangular frame 21 is fixedly installed at the top of the base 2. An electric push rod 22 is fixedly installed inside the rectangular frame 21. The output end of the electric push rod 22 is fixedly installed with a pressing plate 23. The pressing plate 23 is inside the base 2. A partition plate 25 is fixedly installed inside the base 2. The partition plate 25 is above the lead screw 3. A rubber box 24 is fixedly installed at the top of the partition plate 25. Lubricating oil is pre-installed inside the rubber box 24. An oil delivery pipe with a one-way valve is externally connected and installed inside the rubber box 24. A liquid outlet pipe 26 with a one-way valve is fixedly installed at the bottom of the rubber box 24. The liquid outlet pipe 26 passes through the partition plate 25 and is directly above the lead screw 3. During operation, when the lead screw 3 is used for a long time, the electric push rod 22 inside the rectangular frame 21 is started. When the output end of the electric push rod 22 drives the pressing plate 23 to squeeze the rubber box 24 on the partition plate 25, the installation of the partition plate 25 plays a role in preventing the rubber box 24 from deforming in the direction of the lead screw 3, thereby affecting the movement of the clamping plate 4. The partition plate 25 plays a very good blocking effect, thereby protecting the lead screw 3 from contacting the rubber box 24. After the rubber box 24 is squeezed, the pre-stored lubricating oil inside will be sprayed out through the liquid outlet pipe 26, and then sprayed onto the surface of the lead screw 3, thereby playing a role in lubricating the lead screw 3, facilitating the sliding of the clamping plate 4 on the lead screw 3, and at the same time reducing the occurrence of rusting and increased friction of the lead screw 3.

[0046] On the side of the pressing plate 23 away from the electric push rod 22, a wavy fixing plate 27 is fixedly installed. At the protruding part of the fixing plate 27 away from the pressing plate 23, a rotating wheel 28 is rotatably connected. During operation, by installing the wavy fixing plate 27, when the pressing plate 23 moves, it will drive the wavy fixing plate 27 and the rotating wheel 28 to squeeze the rubber box 24 together. The rotating wheel 28 can also block the extrusion of the rubber box 24, so as to achieve a better extrusion effect. The fixing plate 27 is designed to be wavy so that the rubber box 24 can have a deformation space when being extruded. The deformed rubber box 24 can deform towards the wavy recesses, thus preventing the situation that the rubber box 24 has no deformation space and then breaks after being extruded, playing a role in protecting the rubber box 24.

[0047] At the bottom of the liquid outlet pipe 26, an atomizing nozzle 29 is fixedly installed. A square groove 30 is formed in the side wall of the air injection pipe 6. The square groove 30 communicates with the atomizing nozzle 29. Inside the square groove 30, an inclined connecting plate 31 is rotatably connected through a torsion spring. A round hole 32 penetrating through itself is formed in one side of the connecting plate 31. At the bottom of the square groove 30, a top plate 33 is rotatably connected through a torsion spring. During operation, by installing the atomizing nozzle 29, the sprayed lubricating oil is in a mist shape. At this time, if the pumping force of the air pump is increased, the gas will push the connecting plate 31 in the square groove 30, causing the connecting plate 31 to rotate away from the slider 15. At this time, the connecting plate 31 will push open the top plate 33, so that the top plate 33 no longer closes the round hole 32 of the connecting plate 31, enabling the gas in the air injection pipe 6 to be ejected through the round hole 32 of the connecting plate 31, and then the gas is ejected to the atomizing nozzle 29, so that the atomized lubricating oil ejected by the atomizing nozzle 29 will be blown far away by the gas, thus making the coverage area of the lubricating oil wider, enabling the surface of the lead screw 3 to fully contact with the lubricating oil, and further achieving a better lubrication effect and facilitating the movement of the clamping plate 4.

[0048] An automatic loading and unloading system for a numerical control machine tool, which is applicable to controlling the above-mentioned industrial robot for a numerical control machine tool, includes an information receiving module, a central processing module and an execution module:

[0049] Information receiving module: Send the commands that the manipulator 1 needs to execute to the information receiving module, so that the information receiving module receives the information, identifies and filters it, and after waiting for confirmation, transmits the received information to the central processing module;

[0050] Central processing module: After receiving the information, the central processing module will screen the information again, delete the irrelevant information, finally determine the information to be sent, and transmit the information to the execution module;

[0051] Execution module: After receiving the information, the execution module will start the manipulator 1, let the manipulator 1 clamp the parts to be processed and enter the numerical control machine tool to start the processing operation.

[0052] An analog unit is provided inside the central processing module. After receiving information, the central processing module will send it to the analog unit to make the analog unit start simulating the command issued by the information.

[0053] Embodiment 2:

[0054] As Figure 12 shown, compared with Embodiment 1, another implementation manner of the present invention is:

[0055] A corrugated pipe 34 is provided inside the base 2. The two ends of the corrugated pipe 34 are respectively fixedly connected to the base 2 and the clamping plate 4. The two sides of the corrugated pipe 34 are hermetically and slidably connected to the inner wall of the base 2. A hollow multi-stage telescopic plate 35 is clamped on the side of the clamping plate 4 away from the corrugated pipe 34. One end of the multi-stage telescopic plate 35 away from the clamping plate 4 is clamped to the base 2. A liquid inlet hole 36 is opened at the top of the multi-stage telescopic plate 35; during operation, by installing the corrugated pipe 34 and the multi-stage telescopic plate 35 inside the base 2, when the clamping plate 4 moves, it will drive the corrugated pipe 34 and the multi-stage telescopic plate 35 to move together. Through the mutual cooperation of the corrugated pipe 34 and the multi-stage telescopic plate 35, the base 2 is closed, so that the lubricating oil dripping on the lead screw 3 will fall on the multi-stage telescopic plate 35. Since the multi-stage telescopic plate 35 is arc-shaped and has a low middle shape, the dripping lubricating oil will flow into the liquid inlet hole 36, so that the multi-stage telescopic plate 35 collects the dripping lubricating oil. When the collected lubricating oil is too much, it will overflow from the multi-stage telescopic plate 35. At this time, the lubricating oil will drip to prompt the staff to remove the multi-stage telescopic plate 35 from the clamping plate 4, so as to facilitate pouring the collected lubricating oil and make the lubricating oil reusable, thus reducing waste.

[0056] Working principle: After the numerical control machine tool finishes machining the parts, the drive mechanism inside the manipulator 1 is started, the servo motor drives the lead screw 3 to rotate, and then drives the clamping plate 4 on the lead screw to move. When the base 2 drives the clamping plate 4 close to the machined parts, the externally connected air extraction pump is started, so that the air extraction pump blows the gas through the air injection pipe 6 to the parts. The gas in the air injection pipe 6 will enter the extension pipe 8 and push open the rotating plate 7 in the air injection pipe 6 and the extension pipe 8, and then discharge the gas and blow it onto the parts, blowing off the residual cutting fluid on the parts, thereby preventing harm to subsequent workers after the parts are covered with cutting fluid for a long time. When the air injection pipe 6 finishes blowing the parts, the rotating plate 7 automatically resets under the action of the torsion spring, thus realizing the function of closing the extension pipe 8 and the air injection pipe 6, reducing the entry of external dust and impurities into the extension pipe 8 and the air injection pipe 6 and causing blockage. At this time, the clamping plate 4 drives the sponge pad 5 to move towards the parts. The sponge pad 5 further wipes the cutting fluid on the surface of the parts. At the same time, the sponge pad 5 also plays a role in increasing friction and buffering to protect the parts, avoiding direct contact between the clamping plate 4 made of hard material and the parts, thus preventing the parts from being clamped and damaged.

[0057] By installing the first spring 10 and the sliding rod 11 inside the sponge pad 5 and the clamping plate 4, when the clamping plate 4 clamps irregular parts, the sliding rod 11 can adapt to the shape of the irregular parts, so that the sliding rod 11 contacts the irregular parts through the sponge pad 5, and then there is a supporting force, which is more convenient for clamping the parts and reduces the occurrence of the parts slipping and falling. By installing the slider 15 inside the air injection pipe 6, when the gas enters the air injection pipe 6, it will first contact the slider 15, and then push the slider 15 to move in the direction of the rotating plate 7. At this time, since both sides of the slider 15 are arc-shaped, part of the gas will be guided by the arc-shaped slider 15 into the extension pipe 8, which is convenient for the gas to push open the rotating plate 7 inside the extension pipe 8. The gas continues to push the slider 15 to move downward. At this time, the roller 17 at the bottom of the slider 15 will contact the rotating plate 7 at the bottom of the air injection pipe 6, which reduces the friction and is convenient for pushing open the rotating plate 7 at the bottom of the air injection pipe 6. At the same time, part of the gas will be ejected through the through groove 16 inside the slider 15, so as to realize the all-round jet cleaning of the parts. When there is no gas in the air injection pipe 6, the second spring 14 inside the rectangular groove 12 will drive the slider 15 to reset through the sliding shaft 13, which is convenient for the next use. An elastic block 18 is installed at the bottom of the rectangular groove 12. When the sliding shaft 13 drives the slider 15 to move to the bottom, the sliding shaft 13 will squeeze the elastic block 18 inside the rectangular groove 12, so that the pre-stored anti-rust liquid in the elastic block 18 will be ejected through the shrinkage hole. Since the sliding of the sliding shaft 13 will drive the baffle 19 to move together, when the sliding shaft 13 squeezes the elastic block 18, the baffle 19 is also on one side of the elastic block 18. At this time, the baffle 19 plays a role in preventing the elastic block 18 from deforming in all directions, which is convenient for the sliding shaft 13 to efficiently squeeze and eject the anti-rust liquid. The ejected anti-rust liquid will be sprayed onto the surface of the parts through the through hole 20 of the baffle 19, which plays a role in protecting the parts, prevents the surface of the parts from rusting after being stored in the warehouse for a long time without use after processing, and is convenient for the subsequent use of the parts. After the lead screw 3 is used for a long time, the electric push rod 22 inside the rectangular frame 21 is started. When the output end of the electric push rod 22 drives the pressing plate 23 to squeeze the rubber box 24 on the partition plate 25, by installing the partition plate 25, it plays a role in preventing the rubber box 24 from deforming in the direction of the lead screw 3, which affects the movement of the clamping plate 4. The partition plate 25 has a good blocking effect, which protects the lead screw 3 from contacting the rubber box 24. After the rubber box 24 is squeezed, the pre-stored lubricating oil inside will be ejected through the liquid outlet pipe 26, and then sprayed onto the surface of the lead screw 3, so as to play a role in lubricating the lead screw 3, which is convenient for the clamping plate 4 on the lead screw 3 to slide, and at the same time reduces the occurrence of the lead screw 3 rusting and the friction increasing.By installing the wavy fixing plate 27, when the pressing plate 23 moves, it will drive the wavy fixing plate 27 and the rotating wheel 28 to squeeze the rubber box 24 together. The rotating wheel 28 can also block and squeeze the rubber box 24, so as to achieve a better squeezing effect. The fixing plate 27 is designed to be wavy so that the rubber box 24 can have a deformation space when being squeezed. The deformed rubber box 24 can deform towards the wavy recesses, thus preventing the situation that the rubber box 24 has no deformation space and then breaks after being squeezed, playing a role in protecting the rubber box 24. By installing the atomizing nozzle 29, the sprayed lubricating oil is in a mist state. At this time, increase the intensity of the air pump, so that the gas pushes the connecting plate 31 in the square groove 30, making the connecting plate 31 rotate away from the slider 15. At this time, the connecting plate 31 will push open the top plate 33, so that the top plate 33 no longer closes the circular hole 32 of the connecting plate 31, and the gas in the air injection pipe 6 is ejected through the circular hole 32 of the connecting plate 31, and then the gas is sprayed to the atomizing nozzle 29, so that the atomized lubricating oil sprayed by the atomizing nozzle 29 will be blown far away by the gas, thus making the coverage area of the lubricating oil wider, enabling the surface of the lead screw 3 to fully contact with the lubricating oil, and then achieving a better lubricating effect and facilitating the movement of the clamping plate 4.

[0058] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The descriptions in the above embodiments and the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial robot for a numerically controlled machine tool, comprising a manipulator (1) and a base (2), wherein the bottom of the manipulator (1) is rotatably connected to the base (2), and a plurality of lead screws (3) are rotatably connected inside the base (2), and a clamping plate (4) is movably connected to the surface of the lead screw (3); characterized in that: Sponge pads (5) are fixedly installed on one side of multiple said clamping plates (4) close to each other. A jet pipe (6) is fixedly installed at the center of the bottom of the base (2). One end of the jet pipe (6) far from the base (2) is externally connected to an air extraction pump. Arc-shaped extension pipes (8) are fixedly communicated on both sides of the jet pipe (6). Grooves are formed at the bottoms of the extension pipes (8). Rotating plates (7) are rotatably connected to the grooves of the extension pipes (8) and the bottom of the jet pipe (6) through torsion springs; A rectangular groove (12) is formed inside the jet pipe (6). A sliding shaft (13) is slidably connected inside the rectangular groove (12). A second spring (14) is fixedly connected to the inner wall of the rectangular groove (12). The other end of the second spring (14) is fixedly connected to the sliding shaft (13). A slider (15) is fixedly sleeved on the surface of the sliding shaft (13). The cross-sections of both sides of the slider (15) are arc-shaped. A roller (17) is rotatably connected to the bottom of the slider (15). A through groove (16) penetrating through itself is formed at the top of the slider (15).

2. An industrial robot for a numerical control machine tool according to claim 1, characterized in that: The inside of the sponge pad (5) is hollow. A sliding groove (9) is formed on the surface of the clamping plate (4) close to the sponge pad (5). A sliding rod (11) is slidably connected inside the sliding groove (9). A first spring (10) is fixedly installed inside the sliding groove (9). The other end of the first spring (10) is fixedly connected to the sliding rod (11).

3. An industrial robot for a numerical control machine tool according to claim 1, characterized in that: A hollow elastic block (18) is fixedly installed at the bottom of the rectangular groove (12). A pipeline with a one-way valve is externally connected to the inside of the elastic block (18). Antirust liquid is pre-installed inside the elastic block (18). A shrinkage hole is formed on the surface of the elastic block (18). A baffle (19) is fixedly installed at the bottom of the sliding shaft (13). A through hole (20) penetrating through itself is formed on one side of the baffle (19).

4. An industrial robot for a numerical control machine tool according to claim 1, characterized in that: A rectangular frame (21) is fixedly installed on the top of the base (2). An electric push rod (22) is fixedly installed inside the rectangular frame (21). An output end of the electric push rod (22) is fixedly installed with a pressing plate (23). The pressing plate (23) is located inside the base (2). A partition plate (25) is fixedly installed inside the base (2). The partition plate (25) is located above the lead screw (3). A rubber box (24) is fixedly installed on the top of the partition plate (25). Lubricating oil is pre-installed inside the rubber box (24). An oil delivery pipe with a one-way valve is externally connected to the inside of the rubber box (24). A liquid outlet pipe (26) with a one-way valve is fixedly installed at the bottom of the rubber box (24). The liquid outlet pipe (26) penetrates through the partition plate (25) and is located directly above the lead screw (3).

5. An industrial robot for a numerically controlled machine tool according to claim 4, characterized in that: A wavy fixing plate (27) is fixedly installed on the side of the pressing plate (23) far from the electric push rod (22). A rotating wheel (28) is rotatably connected to the protruding part of the fixing plate (27) far from the pressing plate (23).

6. An industrial robot for a numerically controlled machine tool according to claim 4, characterized in that: A spray head (29) is fixedly installed at the bottom of the liquid outlet pipe (26). A square groove (30) is formed in the side wall of the air injection pipe (6). The square groove (30) communicates with the spray head (29). An inclined connecting plate (31) is rotatably connected to the inside of the square groove (30) through a torsion spring. A round hole (32) penetrating through itself is formed in one side of the connecting plate (31). A top plate (33) is rotatably connected to the bottom of the square groove (30) through a torsion spring.

7. An industrial robot for a numerically controlled machine tool according to claim 1, characterized in that: A corrugated pipe (34) is arranged inside the base (2). Two ends of the corrugated pipe (34) are respectively fixedly connected to the base (2) and the clamping plate (4). Two sides of the corrugated pipe (34) are hermetically and slidably connected to the inner wall of the base (2). A hollow multi-stage telescopic plate (35) is clamped on the side of the clamping plate (4) away from the corrugated pipe (34). One end of the multi-stage telescopic plate (35) away from the clamping plate (4) is clamped to the base (2). A liquid inlet hole (36) is formed in the top of the multi-stage telescopic plate (35).

8. An automatic loading and unloading system for a numerical control machine tool, which is applicable to controlling an industrial robot for a numerical control machine tool as claimed in claims 1-7 above, characterized in that: It includes an information receiving module, a central processing module and an execution module: Information receiving module: Send the commands that need to be executed by the manipulator (1) to the information receiving module, so that the information receiving module receives the information, identifies and filters it, and transmits the received information to the central processing module after waiting for confirmation; Central processing module: After receiving the information, the central processing module will screen the information again, delete the irrelevant information, finally determine the information to be sent, and transmit the information to the execution module; Execution module: After receiving the information, the execution module will start the manipulator (1), let the manipulator (1) clamp the parts to be processed and enter the numerical control machine tool to start the processing operation.

9. The automatic loading and unloading system for a numerically controlled machine tool according to claim 8, wherein: A simulation unit is arranged inside the central processing module. After receiving the information, the central processing module will send it to the simulation unit to let the simulation unit start simulating the commands issued by the information.

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