Automatic feeding and discharging manipulator for CNC (computer numerical control) engraving and milling

Abstract

The invention relates to the technical field of numerical control machining equipment, in particular to a CNC engraving and milling automatic feeding and discharging mechanical arm which aims at solving the problem that chippings left on the upper end face of a part cannot be cleaned in a concentrated mode and comprises a bottom plate, an engraving and milling machine is arranged at the upper end of the bottom plate and comprises an engraving and milling table, and a positioning table is arranged on the engraving and milling table. A clamping device for clamping and fixing a part is arranged on the positioning table; a side plate is arranged at the upper end of the bottom plate, a feeding driving arm and a discharging driving arm which can move synchronously are installed on the side plate, and a feeding carrying frame and a discharging carrying frame which are used for parts are installed on the feeding driving arm and the discharging driving arm correspondingly. When the discharging driving arm moves, a structure that the discharging carrying frame synchronously moves along with the discharging driving arm and then overturns downwards can be formed. Chippings can be intensively cleaned at a specified position during unloading, so that the processing efficiency is further improved.

Description

Technical Field

[0001] The invention relates to the technical field of numerical control processing equipment, in particular to a CNC precision carving automatic loading and unloading manipulator. Background Art

[0002] CNC engraving machine is a kind of CNC machine tool, which is mainly used for precision machining and can perform operations such as engraving and milling. It uses computer numerical control technology to accurately control the tool for cutting, engraving and other processes, and is suitable for parts with high machining precision requirements. CNC engraving machines are usually equipped with small tools, high-power and high-speed spindle motors, suitable for large-scale production, and have a high degree of automation. At present, there are still certain defects in the automatic loading and unloading of CNC engraving machines. For example, after the parts are processed, there are still debris left on the upper end surface after engraving and milling, and the debris cannot be cleaned up during unloading; for this reason, CNC engraving automatic loading and unloading manipulators are designed to solve the above-mentioned problems. Summary of the invention

[0003] In view of the fact that the debris remaining on the upper end surface of the part cannot be cleaned in a centralized manner, the present invention provides a CNC precision carving automatic loading and unloading robot, which can centrally clean the debris at a designated position during unloading, further improving the processing efficiency and effectively solving the problems mentioned in the above background technology.

[0004] In order to solve the above problems, the technical solution adopted by the present invention is:

[0005] The CNC precision engraving automatic loading and unloading robot comprises a base plate, the upper end of which is provided with an engraving and milling machine, the engraving and milling machine comprises an engraving and milling table, the engraving and milling table is provided with a positioning table, the positioning table is provided with a clamping device for clamping and fixing parts; the upper end of the base plate is provided with a side plate, the side plate is provided with a loading drive arm and a unloading drive arm that can move synchronously, the loading drive arm and the unloading drive arm are respectively provided with a loading transport frame and an unloading transport frame for parts, and when the unloading drive arm moves, a structure can be formed in which the unloading transport frame moves synchronously with the unloading drive arm and then flips downward.

[0006] The clamping device includes a plurality of square sleeves slidably connected to the positioning platform, the inner walls of the square sleeves are slidably connected to clamp rods, the inner walls of the lower ends of the clamp rods are fixedly connected to first sliding pins, the left and right ends and the front and rear sides of the lower end surface of the positioning platform are fixedly connected to first guide plates, the first guide plates are respectively provided with first inclined grooves and first transverse grooves matching with the first sliding pins, a first rotatable disc is also provided in the middle of the lower end of the positioning platform, four evenly distributed first connecting rods are hinged at the non-center of the lower end surface of the first disc, and the outer ends of the four first connecting rods are respectively hinged to the corresponding square sleeves.

[0007] The first disc has a first spur gear coaxially fixedly connected to its lower end, a first spur rack meshing on its outer surface, an extension rod fixedly connected to its front end surface, and a second sliding pin capable of moving forward and backward fixedly connected to the extension rod.

[0008] The front end of the side plate is provided with a rotatable long threaded rod, the outer surface of the long threaded rod is threadedly connected with a threaded seat, the inner wall of the side plate is slidably connected with a U-shaped driving plate fixed to the threaded seat, the lower end surface of the U-shaped driving plate is fixed with a second guide plate, and the second guide plate is respectively provided with a V-shaped groove and an extended transverse groove matching with the second sliding pin.

[0009] The left and right sides of the rear end surface of the U-shaped driving plate are respectively fixed with vertical plates, and the loading driving arm and the unloading driving arm are respectively slidably connected to the corresponding inner walls of the vertical plates.

[0010] A first movable pin is fixedly connected to the front end surface of the loading drive arm, and a first upper horizontal groove, a first lower inclined groove and a second lower inclined groove matching with the first movable pin are opened on the inner wall of the right end of the side plate. The loading transport frame is fixedly connected to the loading drive arm, and a feeding platform is provided on the right side of the upper end surface of the positioning platform.

[0011] A second movable pin is fixedly connected to the front end surface of the unloading drive arm, and a second upper horizontal groove, a third lower inclined groove and a fourth lower inclined groove matching with the second movable pin are opened on the inner wall of the left end of the side plate. A unloading platform is provided on the left side of the upper end surface of the bottom plate, and a recycling box is also placed on the upper end surface of the bottom plate.

[0012] The unloading transport frame is rotatably connected to the unloading drive arm, and a second spur gear rotatably connected to the unloading drive arm is coaxially fixed to the middle part of the unloading transport frame, and a connecting plate is slidably connected to the inner wall of the unloading drive arm, one end of the connecting plate is fixedly connected to a second spur rack meshing with the second spur gear, and the other end of the connecting plate is fixedly connected to a driving pin that can move forward and backward.

[0013] The side plates are slidably connected with a transverse rail plate, and the transverse rail plate is provided with a track groove matched with the driving pin.

[0014] A recovery box is placed on the upper surface of the bottom plate.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] During use, through the provided engraving and milling table and positioning table, when processing the parts, the parts are placed on the positioning table, and through the provided clamping device, the parts can be clamped and fixed after being centrally positioned, so that the engraving and milling machine can be more precise during processing; the loading drive arm and the unloading drive arm can move synchronously, so that loading and unloading can be carried out synchronously, further improving work efficiency; when the unloading transport rack transports the parts, the movement of the unloading drive arm can make the unloading transport rack flip downward while moving, that is, the parts on the unloading transport rack can flip downward while moving, and when flipping downward, the debris can fall into the designated position under the action of gravity, so that the debris can be collected centrally. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is the first axonometric view of the CNC precision carving automatic loading and unloading manipulator of the present invention.

[0018] Figure 2 This is the second axonometric view of the CNC precision carving automatic loading and unloading manipulator of the present invention.

[0019] Figure 3 It is a schematic diagram of the installation of the positioning platform of the CNC precision carving automatic loading and unloading manipulator of the present invention.

[0020] Figure 4 This is a schematic diagram of the installation of the first disc of the CNC precision carving automatic loading and unloading robot of the present invention.

[0021] Figure 5 It is a cross-sectional view of the positioning platform of the CNC precision carving automatic loading and unloading manipulator of the present invention.

[0022] Figure 6 This is a schematic diagram of the installation of the first sliding pin of the CNC precision carving automatic loading and unloading robot of the present invention.

[0023] Figure 7 It is a schematic diagram of the installation of the cross rail plate of the CNC precision carving automatic loading and unloading manipulator of the present invention.

[0024] Figure 8 It is a schematic diagram of the installation of the U-shaped drive plate of the CNC precision carving automatic loading and unloading robot of the present invention.

[0025] Fig. 9 It is a schematic diagram of the installation of the vertical plate of the CNC precision carving automatic loading and unloading robot of the present invention.

[0026] Fig.10 This is a schematic diagram of the installation of the second guide plate of the CNC precision carving automatic loading and unloading robot of the present invention.

[0027] Fig.11 It is a cross-sectional view of the unloading drive arm of the CNC precision carving automatic loading and unloading manipulator of the present invention.

[0028] Fig.12This is a schematic diagram of the installation of the first movable pin of the CNC precision carving automatic loading and unloading manipulator of the present invention.

[0029] Numbers in the figure: 1-bottom plate, 2-side plate, 3-engraving and milling table, 4-positioning table, 5-first straight rack, 6-first straight gear, 7-first disc, 8-first connecting rod, 9-square sleeve, 10-clamping rod, 11-first sliding pin, 12-first guide plate, 13-first inclined groove, 14-first transverse groove, 15-feeding table, 16-recovery box, 17-unloading table, 18-long threaded rod, 19-threaded seat, 20-U-shaped driving plate, 21-vertical plate, 22-transverse rail plate, 23-second guide plate, 24- Extension rod, 25-second sliding pin, 26-V-shaped groove, 27-extension transverse groove, 29-feeding drive arm, 30-first movable pin, 31-first upper transverse groove, 32-first lower inclined groove, 33-second lower inclined groove, 34-second upper transverse groove, 35-third lower inclined groove, 36-fourth lower inclined groove, 37-feeding transport frame, 38-second movable pin, 39-unloading drive arm, 40-driving pin, 41-connecting plate, 42-second spur rack, 43-second spur gear, 44-unloading transport frame, 45-track groove. DETAILED DESCRIPTION

[0030] The following are specific embodiments of the present invention, and the technical solutions of the present invention are further described in conjunction with the accompanying drawings, but the present invention is not limited to these embodiments.

[0031] like Figure 1-Figure 12 As shown, the present invention provides a CNC precision engraving automatic loading and unloading manipulator, including a base plate 1, an engraving and milling machine is provided at the upper end of the base plate 1, the engraving and milling machine includes an engraving and milling table 3, a positioning table 4 is provided on the engraving and milling table 3, and a clamping device for clamping and fixing parts is provided on the positioning table 4; a side plate 2 is provided at the upper end of the base plate 1, a loading drive arm 29 and a unloading drive arm 39 that can move synchronously are installed on the side plate 2, a loading conveying frame 37 and an unloading conveying frame 44 for parts are respectively installed on the loading drive arm 29 and the unloading drive arm 39, and when the unloading drive arm 39 moves, a structure in which the unloading conveying frame 44 moves synchronously with the unloading drive arm 39 and then flips downward can be formed.

[0032] like Figure 1-Figure 7As shown, the bottom plate 1 is used to support the entire device, and the engraving and milling machine can mill the upper end surface of the part. The engraving and milling machine is a prior art and will not be described in detail. By setting the engraving and milling table 3 and the positioning table 4, when processing the part, the part is placed on the positioning table 4, and the clamping device is set to fix the part after center positioning, so that the engraving and milling machine can be more accurate during processing; the side plate 2 is used to install the loading drive arm 29 and the unloading drive arm 39, and the loading drive arm 29 and the unloading drive arm 39 can move synchronously, so that loading and unloading can be carried out synchronously, further improving the work efficiency; a plurality of suction cups are respectively installed on the loading and unloading transport frame 37 and the unloading transport frame 44. When the material handling rack 37 and the unloading material handling rack 44 move to the specified position, that is, move to the upper end of the part so that the suction cup contacts the part, the suction cup can adsorb and fix the part when it is working, and after fixation, it can move synchronously with the corresponding unloading material handling rack 44 or the loading material handling rack 37 to reach the specified position. The suction cup is a prior art and will not be described in detail. When the unloading material handling rack 44 transports the parts, the movement of the unloading material driving arm 39 can enable the unloading material handling rack 44 to flip downward while moving, that is, the parts on the unloading material handling rack 44 can flip downward while moving, and when flipping downward, the debris can fall into the specified position under the action of gravity, thereby collecting the debris in a centralized manner.

[0033] The clamping device includes a plurality of square sleeves 9 slidably connected to the positioning platform 4, the inner walls of the square sleeves 9 are slidably connected with clamping rods 10, the inner walls of the lower ends of the clamping rods 10 are respectively fixed with first sliding pins 11, the left and right ends of the lower end surface of the positioning platform 4 are respectively fixed with first guide plates 12 on the front and back sides, the first guide plates 12 are respectively provided with first inclined grooves 13 and first transverse grooves 14 that match the first sliding pins 11, a first rotatable disc 7 is also provided in the middle of the lower end of the positioning platform 4, four evenly distributed first connecting rods 8 are hinged at the non-center of the lower end surface of the first disc 7, and the outer ends of the four first connecting rods 8 are respectively hinged on the corresponding square sleeves 9.

[0034] like Figure 4-Figure 6 As shown, there are four square sleeves 9, which are slidably connected to the front and rear sides and the left and right sides of the positioning platform 4 respectively. The inner ends of the first connecting rods 8 are hinged on the first disc 7 respectively. When the first disc 7 rotates, the inner ends of the first connecting rods 8 can be driven to move in a circular manner, and the outer ends of the first connecting rods 8 will drive the square sleeves 9 and the clamping rods 10 to move inward or outward synchronously. The clamping rods 10 can be slidably connected to the inner wall of the square sleeves 9 up and down. Through the provision of the square sleeves 9, the clamping rods 10 can be limited to move up and down and to move inward or outward with the square sleeves 9. The installation and shapes of the first guide plate 12, the first inclined groove 13, the first transverse groove 14, and the first sliding pin 11 are shown in the figure. Figure 5As shown, when the clamping rod 10 moves inwardly, the first sliding pin 11 can move inwardly and upwardly through the engagement of the first sliding pin 11 and the first inclined groove 13, that is, the clamping rod 10 moves inwardly and upwardly. After the clamping rod 10 and the first sliding pin 11 move inwardly to the top position, that is, the first sliding pin 11 moves upwardly to enter the inner wall of the first transverse groove 14, the first sliding pin 11 will move horizontally inwardly when continuing to move inwardly, that is, the clamping rod 10 moves horizontally inwardly; the clamping rod 10 can be in the outermost and lowermost position under normal circumstances, so that the clamping rod 10 is inside the positioning platform 4 under normal circumstances, which effectively protects against collision damage. When clamping, the clamping rod 10 can move inwardly while moving upward to the upper end surface of the positioning platform 4. When the clamping rod 10 moves inwardly, the parts on the upper end surface of the positioning platform 4 can be calibrated and positioned and then clamped and fixed.

[0035] A first spur gear 6 is coaxially fixed to the lower end of the first disc 7 , a first spur gear 6 is meshed with a first spur rack 5 on its outer surface, an extension rod 24 is fixed to the front end surface of the first spur rack 5 , and a second sliding pin 25 that can move forward and backward is fixed to the extension rod 24 .

[0036] like Figure 3-Figure 5 As shown, a rotating shaft is fixed at the center of the first disc 7 and the first spur gear 6, and the rotating shaft is rotatably connected to the lower end surface of the positioning platform 4, limiting the first disc 7 and the first spur gear 6 to rotate; the extension rod 24 can be slidably connected to the inner wall of the lower end of the engraving and milling table 3, limiting the extension rod 24 and the first spur rack 5 to move forward and backward; when the second sliding pin 25 moves forward and backward, it can drive the extension rod 24, the first spur rack 5, etc. to move forward and backward, and when the first spur rack 5 moves forward and backward, it can engage the first spur gear 6 to rotate, and when the first spur gear 6 rotates, it can drive the first disc 7 to rotate, thereby driving the clamping rod 10 to move inward or outward.

[0037] The front end of the side plate 2 is provided with a rotatable long threaded rod 18, and a threaded seat 19 is threadedly connected to the outer surface of the long threaded rod 18. A U-shaped driving plate 20 fixedly connected to the threaded seat 19 is slidably connected to the inner wall of the side plate 2. A second guide plate 23 is fixedly connected to the lower end surface of the U-shaped driving plate 20, and a V-shaped groove 26 and an extended transverse groove 27 that match the second sliding pin 25 are respectively opened on the second guide plate 23.

[0038] like Figure 2 , Figure 8-Figure 10As shown, a motor is also fixedly connected to one side of the side plate 2, and a long threaded rod 18 is fixedly connected to the output end of the motor. The motor is a prior art and will not be described in detail; the left and right ends of the outer surface of the long threaded rod 18 are rotatably connected to bearing seats, and the bottom ends of the bearing seats are respectively fixed to the front end surfaces of the side plates 2, and the limited long threaded rod 18 can only rotate on the side plates 2; the U-shaped driving plate 20 can be slidably connected to the inner wall of the side plate 2, and the limited threaded seat 19, the U-shaped driving plate 20, and the second guide plate 23 can only move left and right. When the long threaded rod 18 rotates, it can drive the threaded seat 19, the U-shaped driving plate 20, and the second guide plate 23 to move left or right; the installation and shape of the second guide plate 23, the V-shaped groove 26, the extended transverse groove 27, and the second sliding pin 25 are as shown in Fig.10 As shown, when the second guide plate 23 moves to the left or right, the second slide pin 25 can be moved forward or backward under the engagement of the V-groove 26 and the second slide pin 25, and the second slide pin 25 can be fixed at the frontmost position under the engagement of the extended transverse groove 27 and the second slide pin 25; when the second guide plate 23 is in the middle position, the second slide pin 25 can be in the rearmost position, that is, the corresponding clamping rod 10 is at the innermost end, and the clamping rod 10 clamps the part; when the second guide plate 23 moves to the left or right, the second slide pin 25 can be moved forward to the top position and stop through the engagement of the V-groove 26 and the extended transverse groove 27, and the corresponding clamping rod 10 is at the lowermost and outermost end, that is, the clamping rod 10 no longer clamps the part.

[0039] The left and right sides of the rear end surface of the U-shaped driving plate 20 are respectively fixed with vertical plates 21 , and the loading driving arm 29 and the unloading driving arm 39 are respectively slidably connected to the corresponding inner walls of the vertical plates 21 .

[0040] like Fig. 9 As shown, when the U-shaped driving plate 20 moves left and right, it can drive the vertical plate 21, the loading driving arm 29 and the unloading driving arm 39 to move left and right synchronously. The loading driving arm 29 and the unloading driving arm 39 can be slidably connected to the vertical plate 21 up and down, that is, the loading driving arm 29 and the unloading driving arm 39 can move up and down while following the U-shaped driving plate 20 to move left and right, and the movements of the two do not affect each other.

[0041] A first movable pin 30 is fixedly connected to the front end surface of the loading drive arm 29, and a first upper horizontal groove 31, a first lower inclined groove 32 and a second lower inclined groove 33 matching with the first movable pin 30 are formed on the inner wall of the right end of the side plate 2. The loading transport frame 37 is fixedly connected to the loading drive arm 29, and a feeding platform 15 is provided on the right side of the upper end surface of the positioning platform 4.

[0042] like Figure 7-Figure 12As shown, a lifting rod is provided at the lower end of the feeding table 15, so that the feeding table 15 can be lifted and lowered. The feeding table 15 is used to support the parts to be processed, and can drive the parts to be processed to be lifted and lowered when the feeding table 15 is lifted and lowered, so that the parts to be processed can reach a specified height to facilitate the loading and transporting rack 37 to transport the parts to be processed; when the first movable pin 30 is engaged with the first upper transverse groove 31, when the loading drive arm 29 moves to the left or right, the first movable pin 30, the loading drive arm 29, and the loading and transporting rack 37 can be moved to the right or left. 7 is at the uppermost position and moves to the left or right. When the first movable pin 30 is engaged with the first lower inclined groove 32 or the second lower inclined groove 33, the loading drive arm 29 moves to the left or right, which can make the first movable pin 30, the loading drive arm 29, and the loading transport frame 37 move to the left or right while moving upward or downward; that is, when the U-shaped driving plate 20, the vertical plate 21, etc. move to the right, the loading drive arm 29, the loading transport frame 37, the first movable pin 30, etc. can be driven to move to the right synchronously. When the second movable pin 30 is engaged with the first lower inclined groove 32 or the second lower inclined groove 33, the loading drive arm 29 moves to the left or right, which can make the first movable pin 30, the loading drive arm 29, and the loading transport frame 37 move to the left or right while moving upward or downward; that is, when the U-shaped driving plate 20, the vertical plate 21, etc. move to the right, the loading drive arm 29, the loading transport frame 37, the first movable pin 30, etc. can be driven to move to the right synchronously. When a live pin 30 moves to the right and enters the inner wall of the first lower chute 32, the loading and transporting frame 37 moves to the right and downward at the same time, so that the loading and transporting frame 37 can contact the part to be processed at the upper end of the feeding table 15. After the suction cup adsorbs and fixes the part to be processed, the U-shaped driving plate 20, the vertical plate 21, etc. move to the left, so that the loading driving arm 29, the first live pin 30, the loading and transporting frame 37, etc. can move to the left synchronously. When the first live pin 30 moves to the left and enters the second lower chute 33 inner wall, the first movable pin 30 and the loading and transporting rack 37 will move downward and leftward at the same time, so that the part to be processed at the lower end of the loading and transporting rack 37 can be placed on the positioning table 4, and when the U-shaped driving plate 20 moves to the right and resets to the middle, the second sliding pin 25 can make the clamping rod 10 at the innermost end under the engagement of the V-shaped groove 26, that is, the part to be processed is clamped and fixed, and the loading and transporting rack 37 will move to the right and away from the engraving and milling table 3, which will not affect the normal operation of the engraving and milling machine.

[0043] A second movable pin 38 is fixedly connected to the front end surface of the unloading driving arm 39, and a second upper horizontal groove 34, a third lower inclined groove 35 and a fourth lower inclined groove 36 matching with the second movable pin 38 are opened on the inner wall of the left end of the side plate 2. A unloading platform 17 is provided on the left side of the upper end surface of the bottom plate 1, and a recovery box 16 is also placed on the upper end surface of the bottom plate 1.

[0044] like Figure 7-Figure 11As shown, a lifting rod is provided at the bottom of the unloading platform 17, which can drive the unloading platform 17 to move up and down. The unloading platform 17 is used to support the processed parts, that is, the unloading and transporting frame 44 can transport the processed parts to the unloading platform 17, and the unloading platform 17 can be lifted and moved up and down, so that the processed parts can reach a specified height to facilitate the unloading and transporting frame 44 to unload the processed parts; when the second movable pin 38 is engaged with the second upper transverse groove 34, when the unloading driving arm 39 moves to the left or right, the second movable pin 38, the unloading driving arm 39, and the unloading transporting frame 44 are at the uppermost position and move to the left or right. When the second movable pin 38 is engaged with the third lower inclined groove 35 or the fourth lower inclined groove 36, the unloading driving arm 39 is engaged with the third lower inclined groove 35 or the fourth lower inclined groove 36. The arm 39 moves leftward or rightward, which can make the second live pin 38, the material unloading drive arm 39, and the material unloading transport frame 44 move leftward or rightward while moving upward or downward; that is, when the U-shaped drive plate 20, the vertical plate 21, etc. move rightward, the material unloading drive arm 39, the material unloading transport frame 44, the second live pin 38, etc. can be driven to move rightward synchronously. When the second live pin 38 moves rightward and enters the inner wall of the third lower chute 35, the material unloading transport frame 44 can move rightward and downward at the same time, so that the material unloading transport frame 44 can contact the processed parts at the upper end of the positioning table 4. After the suction cup adsorbs and fixes the processed parts, the U-shaped drive plate 20, the vertical plate 21, etc. move leftward, which can make the material unloading drive arm 39, the second live pin 38, etc. move leftward. 8. The unloading and transporting frame 44 moves synchronously to the left. When the second movable pin 38 moves to the left to enter the inner wall of the third lower inclined groove 35, the second movable pin 38 and the unloading and transporting frame 44 will move downward and to the left at the same time, so that the processed parts at the lower end of the unloading and transporting frame 44 can be placed on the unloading platform 17. When the U-shaped driving plate 20 continues to move in the opposite direction to the right and reset to the middle, the second sliding pin 25 can make the clamping rod 10 at the innermost end under the engagement of the V-shaped groove 26, that is, the parts to be processed are clamped and fixed, and the unloading and transporting frame 44 will move away from the engraving and milling table 3, which will not affect the normal operation of the engraving and milling machine; when the U-shaped driving plate 20 moves, the loading and unloading driving arms 29 and 39 can work synchronously. That is, loading and unloading can be carried out synchronously, further improving work efficiency; the first lower inclined groove 32 is parallel to the third lower inclined groove 35, and the second lower inclined groove 33 is parallel to the fourth lower inclined groove 36. When the U-shaped driving plate 20 moves to the left or right to the top end, under the engagement of the first movable pin 30 with the first lower inclined groove 32 and the second lower inclined groove 33, and the engagement of the second movable pin 38 with the third lower inclined groove 35 and the fourth lower inclined groove 36, the loading drive arm 29, the loading conveying frame 37 and the unloading drive arm 39, and the unloading conveying frame 44 can keep moving upward or downward synchronously, that is, the loading drive arm 29, the loading conveying frame 37 and the unloading drive arm 39, and the unloading conveying frame 44 always maintain the same height.

[0045] The unloading transport frame 44 is rotatably connected to the unloading drive arm 39, and a second spur gear 43 rotatably connected to the unloading drive arm 39 is coaxially fixed to the middle part of the unloading transport frame 44, and a connecting plate 41 is slidably connected to the inner wall of the unloading drive arm 39, and one end of the connecting plate 41 is fixedly connected to a second spur rack 42 meshing with the second spur gear 43, and the other end of the connecting plate 41 is fixedly connected to a driving pin 40 that can move forward and backward.

[0046] like Fig.11 As shown, a rotating shaft is fixedly connected to the inner wall of the unloading and transporting frame 44 and the second spur gear 43, and the rotating shaft is rotatably connected to the unloading driving arm 39. The unloading and transporting frame 44 and the second spur gear 43 can only rotate on the unloading driving arm 39 through the rotating shaft limiter; the connecting plate 41 can be slidably connected to the unloading driving arm 39 forward and backward, and the driving pin 40 can drive the connecting plate 41 and the second spur rack 42 to move forward and backward when moving forward and backward. When the second spur rack 42 moves forward and backward, it can drive the second spur gear 43 to rotate by meshing with the second spur gear 43. When the second spur gear 43 rotates, it can drive the unloading and transporting frame 44 to flip, and can flip the unloading and transporting frame 44 180 degrees so that the processed end surface of the part faces downward, thereby pouring out the debris at the specified position.

[0047] The side plate 2 is slidably connected with a transverse rail plate 22 , and the transverse rail plate 22 is provided with a track groove 45 matched with the driving pin 40 .

[0048] like Fig.10 As shown, the cross-rail plate 22 can be slidably connected to the side plate 2 up and down, the interior of the cross-rail plate 22 is hollow, and the loading drive arm 29 and the unloading drive arm 39 are respectively inserted into the inner wall of the cross-rail plate 22, that is, when the loading drive arm 29 and the unloading drive arm 39 move up and down synchronously, the cross-rail plate 22 can be driven to move up and down, that is, the driving pin 40 can always be engaged with the track groove 45, and the loading drive arm 29 and the unloading drive arm 39 can move left and right on the inner wall of the cross-rail plate 22, and the two do not affect each other; through the engagement of the driving pin 40 with the track groove 45, when the unloading drive arm 39 moves to the right to the upper end position of the positioning platform 4, at this time, the driving pin 40 can keep the unloading transport frame 44 in a vertical downward state under the engagement of the track groove 45 After the unloading and conveying rack 44 has adsorbed and fixed the processed parts, when the unloading and conveying rack 44 moves to the left, that is, when the unloading and conveying rack 44 and the processed parts move to the upper end position of the recycling box 16, the engagement of the driving pin 40 and the track groove 45 can drive the unloading and conveying rack 44 and the processed parts to flip over, and flip to 180 degrees, so that the debris can be poured into the recycling box 16. When the unloading and conveying rack 44 continues to move to the left and moves to the upper end position of the unloading platform 17, the engagement of the driving pin 40 and the track groove 45 can make the unloading and conveying rack 44 and the processed parts flip back and reset, that is, the processed parts can be flipped to a vertical downward and horizontal state, which is convenient for placing the processed parts on the unloading platform 17.

[0049] A recovery box 16 is placed on the upper surface of the bottom plate 1 .

[0050] like Figure 7 As shown, the recovery box 16 can be used to receive the debris from the processed parts, that is, to collect the debris centrally for recycling.

[0051] When the present invention is in use, by providing the engraving and milling table 3 and the positioning table 4, when processing the parts, the parts are placed on the positioning table 4, and by providing the clamping device, the parts can be clamped and fixed after being centrally positioned, so that the engraving and milling machine can be more accurate during processing; the loading drive arm 29 and the unloading drive arm 39 can move synchronously, so that loading and unloading can be carried out synchronously, further improving the working efficiency; when the unloading transport frame 44 transports the parts, the movement of the unloading drive arm 39 can enable the unloading transport frame 44 to flip downward while moving, that is, the parts on the unloading transport frame 44 can flip downward while moving, and when flipping downward, the debris can fall into the designated position under the action of gravity, so that the debris can be collected in a centralized manner.

[0052] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A CNC precision engraving automatic loading and unloading manipulator, comprising a base plate (1), characterized in that: The upper end of the base plate (1) is provided with a milling machine, the milling machine comprising a milling table (3), a positioning table (4) is provided on the milling table (3), and a clamping device for clamping and fixing parts is provided on the positioning table (4); the upper end of the base plate (1) is provided with a side plate (2), a loading drive arm (29) and a unloading drive arm (39) capable of synchronous movement are installed on the side plate (2), a loading transport frame (37) and an unloading transport frame (44) for parts are respectively installed on the loading drive arm (29) and the unloading drive arm (39), and when the unloading drive arm (39) moves, a structure is formed in which the unloading transport frame (44) follows the unloading drive arm (39) to synchronously move and then flip downward.

2. The CNC precision engraving automatic loading and unloading manipulator according to claim 1, characterized in that: The clamping device comprises a plurality of square sleeves (9) slidably connected to the positioning platform (4), the inner walls of the square sleeves (9) are slidably connected with clamping rods (10), the inner walls of the lower ends of the clamping rods (10) are fixedly connected with first sliding pins (11), the left and right ends and the front and rear sides of the lower end surface of the positioning platform (4) are fixedly connected with first guide plates (12), the first guide plates (12) are respectively provided with first inclined grooves (13) and first transverse grooves (14) matching with the first sliding pins (11), the middle part of the lower end of the positioning platform (4) is also provided with a rotatable first disc (7), four evenly distributed first connecting rods (8) are hinged at non-center positions of the lower end surface of the first disc (7), and the outer ends of the four first connecting rods (8) are respectively hinged on the corresponding square sleeves (9).

3. The CNC precision engraving automatic loading and unloading manipulator according to claim 2, characterized in that: A first spur gear (6) is coaxially fixedly connected to the lower end of the first disc (7); a first spur gear (5) is meshed on the outer surface of the first spur gear (6); an extension rod (24) is fixedly connected to the front end surface of the first spur gear (5); and a second sliding pin (25) capable of moving forward and backward is fixedly connected to the extension rod (24).

4. The CNC precision engraving automatic loading and unloading manipulator according to claim 3, characterized in that: The front end of the side plate (2) is provided with a rotatable long threaded rod (18), the outer surface of the long threaded rod (18) is threadedly connected with a threaded seat (19), the inner wall of the side plate (2) is slidably connected with a U-shaped driving plate (20) fixedly connected to the threaded seat (19), the lower end surface of the U-shaped driving plate (20) is fixedly connected with a second guide plate (23), and the second guide plate (23) is respectively provided with a V-shaped groove (26) and an extended transverse groove (27) matched with a second sliding pin (25).

5. The CNC precision engraving automatic loading and unloading manipulator according to claim 4, characterized in that: The left and right sides of the rear end surface of the U-shaped driving plate (20) are respectively fixedly connected with vertical plates (21), and the loading driving arm (29) and the unloading driving arm (39) are respectively slidably connected to the inner walls of the corresponding vertical plates (21).

6. The CNC precision engraving automatic loading and unloading manipulator according to claim 1, characterized in that: The front end surface of the loading drive arm (29) is fixedly connected with a first movable pin (30), the inner wall of the right end of the side plate (2) is provided with a first upper transverse groove (31), a first lower inclined groove (32) and a second lower inclined groove (33) which are matched with the first movable pin (30), the loading transport frame (37) is fixedly connected to the loading drive arm (29), and a feeding platform (15) is provided on the right side of the upper end surface of the positioning platform (4).

7. The CNC precision engraving automatic loading and unloading manipulator according to claim 1, characterized in that: A second movable pin (38) is fixedly connected to the front end surface of the unloading driving arm (39); a second upper transverse groove (34), a third lower inclined groove (35) and a fourth lower inclined groove (36) matching with the second movable pin (38) are formed on the inner wall of the left end of the side plate (2); a unloading platform (17) is provided on the left side of the upper end surface of the bottom plate (1); and a recovery box (16) is also placed on the upper end surface of the bottom plate (1).

8. The CNC precision engraving automatic loading and unloading manipulator according to claim 7, characterized in that: The material unloading transport frame (44) is rotatably connected to the material unloading drive arm (39); a second spur gear (43) rotatably connected to the material unloading drive arm (39) is coaxially fixed to the middle of the material unloading transport frame (44); a connecting plate (41) is slidably connected to the inner wall of the material unloading drive arm (39); a second spur rack (42) meshing with the second spur gear (43) is fixed to one end of the connecting plate (41); and a driving pin (40) capable of moving forward and backward is fixed to the other end of the connecting plate (41).

9. The CNC precision engraving automatic loading and unloading manipulator according to claim 8, characterized in that: A transverse rail plate (22) is slidably connected to the side plate (2), and a track groove (45) matching with the driving pin (40) is provided on the transverse rail plate (22).

10. The CNC precision engraving automatic loading and unloading manipulator according to claim 1, characterized in that: A recovery box (16) is placed on the upper surface of the bottom plate (1).

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