Built-in multi-station auxiliary feeding and discharging manipulator of machine tool

Abstract

The machine tool built-in multi-station auxiliary feeding and discharging mechanical arm comprises a base, a front-back position adjusting device is arranged on the outer wall of the base, a first organ cover is slidably connected to the inner wall of the base, and the front-back position of a material taking assembly can be adjusted through the arranged front-back position adjusting device; after the front-back position of the material taking assembly is adjusted to a proper position, the arranged height adjusting assembly is controlled to work, the material taking assembly is driven to ascend and descend through the height adjusting assembly, the height of the material taking assembly can be adjusted, and after the height of the material taking assembly is adjusted to be proper, the overturning device is controlled to drive the material taking assembly to rotate, so that the material taking assembly is driven to rotate. The suction cup is rotated to be perpendicular to the surface of the material, then the material is sucked through the suction cup, then the material is conveyed to the corresponding position through the front-back position adjusting device and the height adjusting assembly, the device is small in size, the use and installation space is reduced, the device can be suitable for a machine tool with the small internal space, and the practicability of the device is improved.

Description

Technical Field

[0001] The invention relates to the technical field of loading and unloading manipulators, and in particular to a multi-station auxiliary loading and unloading manipulator built into a machine tool. Background Art

[0002] The multi-station auxiliary loading and unloading robot is an automated device designed for multi-station production lines. It can automatically complete the loading and unloading operations of workpieces between different stations according to the preset program and the information fed back by the sensor. This type of robot is usually equipped with a flexible mechanical arm, a precise drive system and an intelligent control system to ensure the accuracy and efficiency of the loading and unloading operations.

[0003] The existing machine tool built-in multi-station auxiliary loading and unloading manipulator can refer to the Chinese invention patent with the authorization announcement number CN217072919U, which discloses a non-stop material taking and changing manipulator and a machine tool with the same. "The non-stop material taking and changing manipulator includes a gantry suspension drive mechanism and a rotating flap mechanism arranged on the gantry suspension drive mechanism; the rotating flap mechanism includes a horizontal plate connected to the gantry suspension drive mechanism, two side plates connected to both ends of the horizontal plate, a rotating rod connected between the two side plates, and a rotating drive mechanism that drives the rotating rod to rotate; by setting the rotating rod between the two side plates, the stability of the rotating rod is improved to avoid bending and deformation due to unilateral suspension of the rotating rod; the gantry suspension drive mechanism prevents splashing or atomized floating cutting fluid from polluting and corroding the driving mechanism of the equipment and affecting the performance and service life of the equipment. The machine tool with the non-stop material taking and changing manipulator avoids the normal progress of the material taking and changing process due to the deformation of the rotating rod, thereby ensuring the processing efficiency and processing quality."

[0004] When the above device is in use, the rotating rod is set between the two side plates to improve the stability of the rotating rod and avoid bending and deformation due to unilateral suspension of the rotating rod; a gantry suspension drive mechanism is used to drive the rotating flap mechanism, so that the rotating flap mechanism is located above the processing table to avoid splashing or atomized floating cutting fluid from contaminating and corroding its parts and affecting the performance and service life of the equipment. However, the above device is large in size, and due to the large number of internal devices of the machine tool, the internal space is relatively dense, which reduces the scope of application of the above device and reduces the practicability of the device. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes a machine tool built-in multi-station auxiliary loading and unloading robot to more accurately solve the problems raised in the above-mentioned background technology.

[0006] The present invention is achieved through the following technical solutions:

[0007] The present invention proposes a machine tool built-in multi-station auxiliary loading and unloading manipulator, comprising a base, the outer wall of the base is provided with a front and rear position adjustment device, the inner wall of the base is slidably connected with a first accordion cover, the top of the base is provided with a fixing frame, the outer wall of the fixing frame is provided with a mounting frame, the top of the mounting frame is provided with a height adjustment component, the outer wall of the height adjustment component is provided with a mounting box, the inner wall of the mounting box is provided with a flipping device, and the outer wall of the flipping device is provided with a material taking component;

[0008] The front-rear position adjustment device comprises a servo motor and a sliding seat, and the servo motor drives the sliding seat to slide in the inner wall of the base when working;

[0009] The height adjustment assembly includes a driving motor and a lifting seat, and when the driving motor is in operation, the lifting seat is driven to move up and down in the inner wall of the mounting frame;

[0010] The flipping device comprises a flipping motor and a connecting rod, and the flipping motor drives the connecting rod to rotate when working;

[0011] The material taking component comprises a suction cup and material, and the suction cup can be adsorbed on the surface of the material.

[0012] Furthermore, a screw is provided at the output shaft end of the servo motor, one end of the screw is rotatably connected to the inner wall of the base, and the other end of the screw is rotatably sleeved on the outer wall of the base, the bottom of the bearing seat is provided in the inner wall of the base, the outer edge of the screw is threadedly connected to the inner wall of the sliding seat, and the outer wall of the servo motor is provided with a protective shell.

[0013] Furthermore, the interior of the base is a hollow structure, a sliding groove is provided at the position where the inner wall of the base is connected to the sliding seat, and the inner wall of the sliding groove is slidably connected to the outer wall of the sliding seat, a guide rail is provided at the bottom of the inner wall of the base, and the top of the guide rail is slidably connected to the bottom of the sliding seat, and the top of the sliding seat is connected to the bottom of the fixed frame.

[0014] Furthermore, a threaded rod is provided at the output shaft end of the driving motor, both ends of the threaded rod are rotatably connected to the inner wall of the mounting frame, and the outer edge of the threaded rod is threadedly connected to the inner wall of the lifting seat, the outer wall of the lifting seat is slidably connected to the inner wall of the mounting frame, the interior of the mounting frame is a hollow structure, and the inner wall of the mounting frame is provided with a slide rail, the outer wall of the slide rail is slidably connected to the inner wall of the lifting seat, and the outer wall of the lifting seat is connected to the outer wall of the mounting box by setting a connection.

[0015] Furthermore, a second accordion cover is slidably connected to the inner wall of the mounting frame, and the second accordion cover is located on the upper and lower sides of the lifting seat, one end of the second accordion cover is fixedly connected to the inner wall of the mounting frame, and the other end of the second accordion cover is provided with an outer wall of the lifting seat.

[0016] Furthermore, the second accordion cover and the first accordion cover are both in the shape of a retractable accordion, one end of the first accordion cover is disposed on the inner wall of the base, and the other end of the first accordion cover is disposed on the outer wall of the sliding seat.

[0017] Furthermore, the flip motor is arranged in the inner cavity of the installation box, the output shaft end of the flip motor is transmission-connected with a transmission block, and the inner wall of the transmission block is rotationally connected to the outer wall of the connecting rod.

[0018] Furthermore, the material taking component also includes a connecting block, and the outer wall of the connecting block and one end of the suction cup are provided with an adsorption connection between the suction cup and the material.

[0019] Furthermore, the connecting block is slidably sleeved on the outer wall of the connecting rod, and the outer wall of the connecting block is bolted to a gas valve.

[0020] Beneficial effects of the present invention:

[0021] 1. The present invention proposes a machine tool built-in multi-station auxiliary loading and unloading robot. The front and rear positions of the material picking assembly can be adjusted by a front and rear position adjusting device. When the front and rear positions of the material picking assembly are adjusted to a suitable position, the height adjusting assembly is controlled to work, and the material picking assembly is driven to rise and fall by the height adjusting assembly, so that the height of the material picking assembly can be adjusted. When the height of the material picking assembly is adjusted to a suitable level, the flipping device is controlled to drive the material picking assembly to rotate, and the suction cup is rotated to be perpendicular to the surface of the material, and then the suction cup is used to adsorb the material, and the material is sent to the corresponding position through the front and rear position adjusting device and the height adjusting assembly. The device is small in size, reduces the installation space used, can be suitable for machine tools with small internal space, and improves the practicability of the device.

[0022] 2. The present invention drives the lead screw to rotate by a servo motor, thereby driving the sliding seat to slide in the inner wall of the base, and while the sliding seat slides, it drives the first accordion cover to shrink and slide in the inner wall of the base, and the first accordion cover can protect the slide groove provided in the base during the sliding process to prevent debris or cutting fluid generated during the processing of the workpiece from entering the interior of the base, and then the threaded rod is driven to rotate by a driving motor to drive the lifting seat connected to the outer edge of the threaded rod to rise and fall in the inner wall of the mounting frame, and while the lifting seat is rising and falling, it drives the second accordion cover to shrink and move in the inner wall of the mounting frame, so that the second accordion cover can protect the mounting frame, prevent debris or cutting fluid from entering the inner wall of the mounting frame, protect the internal parts, and improve the service life of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the front and rear position adjustment structure of the present invention;

[0025] Figure 3 It is a schematic diagram of the height adjustment structure of the present invention;

[0026] Figure 4 It is a schematic diagram of the flip structure of the present invention;

[0027] Figure 5 It is a schematic structural diagram of the material taking device of the present invention.

[0028] The reference numerals are as follows:

[0029] 1. Base; 2. Front and rear position adjustment device; 201. Servo motor; 202. Screw rod; 203. Sliding seat; 204. Bearing seat; 205. Guide rail; 3. First accordion cover; 4. Fixed frame; 5. Mounting frame; 6. Height adjustment assembly; 601. Drive motor; 602. Threaded rod; 603. Lifting seat; 604. Slide rail; 7. Second accordion cover; 8. Mounting box; 9. Flipping device; 901. Flipping motor; 902. Transmission block; 903. Connecting rod; 10. Material taking assembly; 101. Connecting block; 102. Suction cup; 103. Material. DETAILED DESCRIPTION

[0030] In order to more clearly illustrate the overall concept of the present invention, a detailed description is given below in an exemplary manner in conjunction with the accompanying drawings.

[0031] Please refer to Figure 1-Figure 5 The present invention proposes a machine tool built-in multi-station auxiliary loading and unloading manipulator, comprising a base 1, a front and rear position adjustment device 2 is arranged on the outer wall of the base 1, a first accordion cover 3 is slidably connected to the inner wall of the base 1, a fixing frame 4 is arranged on the top of the base 1, a mounting frame 5 is arranged on the outer wall of the fixing frame 4, a height adjustment component 6 is arranged on the top of the mounting frame 5, a mounting box 8 is arranged on the outer wall of the height adjustment component 6, a turning device 9 is arranged on the inner wall of the turning device 8, and a material taking component 10 is arranged on the outer wall of the turning device 9;

[0032] The front and rear position adjustment device 2 includes a servo motor 201 and a sliding seat 203. When the servo motor 201 is working, it drives the sliding seat 203 to slide in the inner wall of the base 1. The output shaft end of the servo motor 201 is provided with a screw rod 202. One end of the screw rod 202 is rotatably connected to the inner wall of the base 1, and the other end of the screw rod 202 is rotatably sleeved with a bearing seat 204 on the outer wall. The bottom of the bearing seat 204 is provided with a screw rod 202 in the inner wall of the base 1. The outer edge of the screw rod 202 is threadedly connected to the inner wall of the sliding seat 203. The outer wall of the servo motor 201 is provided with a protective shell. The servo motor 201 is controlled to drive the screw rod 202 to rotate, driving the sliding seat 203 threadedly connected to the outer edge of the screw rod 202 to slide on the top of the guide rail 205, and at the same time driving the fixed frame 4 arranged on the top of the sliding seat 203 to move, and driving the mounting frame 5 arranged on the outer wall of the fixed frame 4 to move forward and backward, so as to realize the front and rear position adjustment of the material taking component 10 provided on the mounting frame 5.

[0033] The interior of the base 1 is a hollow structure, and a slide groove is provided at the position where the inner wall of the base 1 is connected to the sliding seat 203, and the inner wall of the slide groove is slidably connected to the outer wall of the sliding seat 203, and a guide rail 205 is provided at the bottom of the inner wall of the base 1, and the top of the guide rail 205 is slidably connected to the bottom of the sliding seat 203, and the top of the sliding seat 203 is connected to the bottom of the fixed frame 4, and the first accordion cover 3 is located on both sides of the sliding seat 203, which is convenient for the sliding seat 203 to slide in the base 1, so as to adjust the position of the sliding seat 203, and then can drive the fixed frame 4 provided on the top of the sliding seat 203 to move, so as to adjust the position of the fixed frame 4, reduce the friction resistance and friction loss between the sliding seat 203 and the base 1 when sliding, and improve the service life of the device.

[0034] The height adjustment component 6 includes a driving motor 601 and a lifting seat 603. When the driving motor 601 is working, the lifting seat 603 is driven to rise and fall in the inner wall of the mounting frame 5. The output shaft end of the driving motor 601 is provided with a threaded rod 602. The two ends of the threaded rod 602 are rotatably connected to the inner wall of the mounting frame 5, and the outer edge of the threaded rod 602 is threadedly connected to the inner wall of the lifting seat 603. The outer wall of the lifting seat 603 is slidably connected to the inner wall of the mounting frame 5. The interior of the mounting frame 5 is a hollow structure, and the inner wall of the mounting frame 5 is provided with a slide rail 604. The outer wall of the slide rail 604 is slidably connected to the inner wall of the lifting seat 603, and the outer wall of the lifting seat 603 is connected to the outer wall of the mounting box 8 by a connection. The driving motor 601 is controlled to drive the threaded rod 602 to rotate, drive the lifting seat 603 threadedly connected to the outer edge of the threaded rod 602 to rise and fall on the outer wall of the slide rail 604, and drive the material picking component 10 to rise and fall, so as to realize the height adjustment of the suction cup 102.

[0035] The inner wall of the mounting frame 5 is slidably connected with a second accordion cover 7, and the second accordion cover 7 is located at the upper and lower sides of the lifting seat 603, one end of the second accordion cover 7 is fixedly connected to the inner wall of the mounting frame 5, and the other end of the second accordion cover 7 is provided with an outer wall of the lifting seat 603, the second accordion cover 7 and the first accordion cover 3 are both in the shape of a retractable accordion, the servo motor 201 drives the screw rod 202 to rotate, drives the sliding seat 203 to slide in the inner wall of the base 1, and the sliding seat 203 slides while driving the first accordion cover 3 to retract and slide in the inner wall of the base 1, and the first accordion cover 3 is used to retract and slide in the inner wall of the base 1. During the sliding process, the accordion cover 3 can protect the slide groove opened on the base 1 to prevent debris or cutting fluid generated during the processing of the workpiece from entering the inside of the base 1, and then use the provided driving motor 601 to drive the threaded rod 602 to rotate, driving the lifting seat 603 connected to the outer edge of the threaded rod 602 to lift and lower in the inner wall of the mounting frame 5, and while the lifting seat 603 is lifted and lowered, it drives the second accordion cover 7 to shrink and move in the inner wall of the mounting frame 5, so that the second accordion cover 7 can protect the mounting frame 5 to prevent debris or cutting fluid from entering the inner wall of the mounting frame 5.

[0036] The flipping device 9 includes a flipping motor 901 and a connecting rod 903. When the flipping motor 901 is working, it drives the connecting rod 903 to rotate. The flipping motor 901 is arranged in the inner cavity of the installation box 8. The output shaft end of the flipping motor 901 is connected to the transmission block 902. The inner wall of the transmission block 902 is rotatably connected to the outer wall of the connecting rod 903. The material picking component 10 includes a suction cup 102 and a material 103. The suction cup 102 can be adsorbed on the surface of the material 103. The material picking component 10 also includes a connecting block 101. The outer wall of the connecting block 101 is provided with one end of the suction cup 102. The suction cup 102 and the material 103 are adsorbed and connected. The connecting block 101 is slidably sleeved on the outer wall of the connecting rod 903, and the outer wall bolts of the connecting block 101 are connected with an air valve, which controls the flipping motor 901 to drive the connecting rod 903 to rotate, and at the same time drives the suction cup 102 to rotate, and adjusts the suction cup 102 to be perpendicular to the surface of the material 103. Finally, the suction cup 102 is adsorbed on the surface of the material 103 to fix the material 103, and then the connecting rod 903 is driven to rotate by the flipping motor 901, which drives the suction cup 102 to rotate, and at the same time drives the material 103 adsorbed by the suction cup 102 to rotate, and flips the material 103, which is convenient for adjusting the material 103 and then facilitating the placement of the material 103.

[0037] Working principle: When in use, first, control the servo motor 201 to drive the screw rod 202 to rotate, drive the sliding seat 203 connected to the outer edge of the screw rod 202 with a thread to slide on the top of the guide rail 205, and at the same time drive the fixed frame 4 arranged on the top of the sliding seat 203 to move, and drive the mounting frame 5 arranged on the outer wall of the fixed frame 4 to move forward and backward, so as to adjust the front and rear position of the material picking component 10 arranged on the mounting frame 5, and adjust the position of the material picking component 10 to a suitable position, and then control the driving motor 601 to drive the threaded rod 602 to rotate, drive the lifting seat 603 connected to the outer edge of the threaded rod 602 to lift and lower on the outer wall of the slide rail 604, and drive the material picking component 10 to lift and lower, so as to adjust the height of the suction cup 102, and then control the flip motor 901 to drive the connecting rod 903 to rotate, and at the same time drive the suction cup 102 to rotate, and adjust the suction cup 102 to be perpendicular to the surface of the material 103, and finally, the suction cup 102 is adsorbed on the surface of the material 103 to fix the material 103, and the material 103 is fixed by the front suction cup 102. The rear position adjustment device 2 and the height adjustment component 6 drive the material 103 to move, realize the loading and unloading of the material 103, and improve the working efficiency of the device. The servo motor 201 drives the screw rod 202 to rotate, drives the sliding seat 203 to slide in the inner wall of the base 1, and drives the first accordion cover 3 to shrink and slide in the inner wall of the base 1 while the sliding seat 203 slides. The first accordion cover 3 can protect the slide groove opened in the base 1 during the sliding process to prevent the debris or cutting fluid generated during the workpiece processing from entering the base 1. Then, the provided driving motor 601 is used to drive the threaded rod 602 to rotate, drive the lifting seat 603 connected to the outer edge of the threaded rod 602 to rise and fall in the inner wall of the mounting frame 5, and drives the lifting seat 603 to shrink and move in the inner wall of the mounting frame 5 while the lifting seat 603 rises and falls, so that the second accordion cover 7 can protect the mounting frame 5 to prevent the debris or cutting fluid from entering the inner wall of the mounting frame 5, protect the internal parts, and improve the service life of the device.

[0038] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0039] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A machine tool built-in multi-station auxiliary loading and unloading manipulator, characterized in that: It includes a base, the outer wall of the base is provided with a front and rear position adjustment device, the top of the base is provided with a fixed frame, the outer wall of the fixed frame is provided with a mounting frame, the top of the mounting frame is provided with a height adjustment component, the inner wall of the mounting box is provided with a flipping device, and the outer wall of the flipping device is provided with a material picking component; the front and rear position adjustment device includes a servo motor and a sliding seat, and the servo motor drives the sliding seat to slide in the inner wall of the base when working; the height adjustment component includes a driving motor and a lifting seat, and the driving motor drives the lifting seat to rise and fall in the inner wall of the mounting frame when working; the flipping device includes a flipping motor and a connecting rod, a transmission device is provided between the flipping motor and the connecting rod, and the flipping motor drives the connecting rod to rotate through the transmission device when working; the material picking component includes a suction cup and material, and the suction cup can be adsorbed on the surface of the material.

2. The machine tool built-in multi-station auxiliary loading and unloading manipulator according to claim 1 is characterized in that: The inner wall of the base is slidably connected to a first accordion cover, the output shaft end of the servo motor is provided with a screw, the outer wall of the other end of the screw is rotatably sleeved with a bearing seat, the bottom of the bearing seat is provided in the inner wall of the base, the outer edge of the screw is threadedly connected to the inner wall of the sliding seat, and the outer wall of the servo motor is provided with a protective shell.

3. The machine tool built-in multi-station auxiliary loading and unloading manipulator according to claim 2 is characterized in that: The interior of the base is a hollow structure, a slide groove is provided at the position where the inner wall of the base is connected to the sliding seat, and the inner wall of the slide groove is slidably connected to the outer wall of the sliding seat, a guide rail is provided at the bottom of the inner wall of the base, and the top of the guide rail is slidably connected to the bottom of the sliding seat, and the top of the sliding seat is connected to the bottom of the fixed frame.

4. The machine tool built-in multi-station auxiliary loading and unloading manipulator according to claim 1 is characterized in that: The output shaft end of the driving motor is provided with a threaded rod, both ends of the threaded rod are rotatably connected to the inner wall of the mounting frame, and the outer edge of the threaded rod is threadedly connected to the inner wall of the lifting seat, the outer wall of the lifting seat is slidably connected to the inner wall of the mounting frame, the interior of the mounting frame is a hollow structure, and the inner wall of the mounting frame is provided with a slide rail, the outer wall of the slide rail is slidably connected to the inner wall of the lifting seat, and the outer wall of the lifting seat is connected to the outer wall of the mounting box by setting a connection.

5. The machine tool built-in multi-station auxiliary loading and unloading manipulator according to claim 1 is characterized in that: The inner wall of the mounting frame is slidably connected with a second accordion cover, and the second accordion cover is located at the upper and lower sides of the lifting seat, one end of the second accordion cover is fixedly connected to the inner wall of the mounting frame, and the other end of the second accordion cover is provided with an outer wall of the lifting seat.

6. The machine tool built-in multi-station auxiliary loading and unloading manipulator according to claim 5 is characterized in that: The second accordion cover and the first accordion cover are both in the shape of a retractable accordion, one end of the first accordion cover is arranged on the inner wall of the base, and the other end of the first accordion cover is arranged on the outer wall of the sliding seat.

7. The machine tool built-in multi-station auxiliary loading and unloading manipulator according to claim 1 is characterized in that: The outer wall of the height adjustment component is provided with a mounting box, the flip motor is provided in the inner cavity of the mounting box, the output shaft end of the flip motor is transmission-connected with a transmission block, and the inner wall of the transmission block is rotationally connected to the outer wall of the connecting rod.

8. The machine tool built-in multi-station auxiliary loading and unloading manipulator according to claim 1 is characterized in that: The material taking component also includes a connecting block, and the outer wall of the connecting block and one end of the suction cup are provided with a suction connection between the suction cup and the material.

9. The machine tool built-in multi-station auxiliary loading and unloading manipulator according to claim 8 is characterized in that: The connecting block is slidably sleeved on the outer wall of the connecting rod, and the outer wall of the connecting block is bolted with an air valve.

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