Automatic feeding and discharging manipulator of numerically controlled lathe

Abstract

The invention provides an automatic feeding and discharging manipulator of a numerically controlled lathe, and relates to the field of numerically controlled lathes, the automatic feeding and discharging manipulator comprises a base, the lower surface of the base is fixedly connected with a motor, the middle of the upper surface of the base is rotatably connected with a supporting seat through a bearing, the output end of the motor penetrates through the base and is fixedly connected with the supporting seat, and the upper surface of the supporting seat is provided with a steering device; through the arrangement of the base, the supporting base, the clamping device and the like, when a workpiece needs to be fed and discharged, a worker only needs to control the output end of a motor to drive the base to rotate, so that after the device is rotated to the designated direction, the clamping device is located at the position of the workpiece to be fed and discharged by adjusting a steering device; according to the automatic feeding and discharging device, the clamping device is started to clamp a workpiece, and finally the workpiece is conveyed to a designated position by adjusting the steering device, so that the working efficiency of feeding and discharging is effectively improved, time and labor are saved, convenience and rapidness are achieved, the requirements of an automatic production line are met, and the cost of manual feeding and discharging is greatly reduced.

Description

Technical Field

[0001] The invention relates to the field of numerically controlled lathes, and in particular to an automatic loading and unloading manipulator for numerically controlled lathes. Background Art

[0002] In industrial production, lathes are often used to turn rotating workpieces. The lathe uses a chuck to clamp the workpiece, and then drives the chuck to rotate relative to the turning tool to complete the turning of the workpiece. When turning batch workpieces, if the workpieces are picked up and clamped manually, the process of picking up and clamping the workpiece will not only consume a lot of time and energy, but also have low efficiency, which cannot meet the needs of automated production lines, but also requires a large cost and is dangerous.

[0003] Therefore, we made improvements to this and proposed an automatic loading and unloading robot for CNC lathes. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic loading and unloading robot for a CNC lathe, which solves the problem of manually picking up and clamping the workpiece. In the process of picking up and clamping the workpiece, it not only consumes a lot of time and energy, but also has low efficiency and cannot meet the needs of automated production lines. It also requires a large cost and has certain risks.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0006] A robot for automatic loading and unloading of a numerically controlled lathe comprises a base, a motor is fixedly connected to the lower surface of the base, a support seat is rotatably connected to the middle part of the upper surface of the base through a bearing, an output end of the motor passes through the base and is fixedly connected to the support seat, a steering device is provided on the upper surface of the support seat, a connecting rod is fixedly connected to one end of the steering device away from the support seat, a clamping device is provided at one end of the connecting rod, a telescopic rod is provided inside the connecting rod, one end of the telescopic rod passes through the connecting rod and is connected to the clamping device.

[0007] As a preferred technical solution of the present application, the steering device includes a triangular base fixedly connected to the upper surface of the support seat, the top of the triangular base is rotatably connected to a connecting shaft through a bearing, the triangular base is rotatably connected to a primary robotic arm through the connecting shaft, the first-level robotic arm is rotatably connected to a secondary robotic arm at one end away from the triangular base through the connecting shaft, the second-level robotic arm is rotatably connected to a third-level robotic arm at one end away from the first-level robotic arm through the connecting shaft, and the third-level robotic arm is rotatably connected to a mounting seat at one end away from the second-level robotic arm through the connecting shaft.

[0008] As a preferred technical solution of the present application, a first servo motor is fixedly connected to the corresponding connecting shaft on one side of the triangular base, a second servo motor is fixedly connected to the one side of the first-level robotic arm near the second-level robotic arm, a third servo motor is fixedly connected to the one side of the third-level robotic arm near the second-level robotic arm, and a fourth servo motor is fixedly connected to one end of the same side of the third-level robotic arm near the mounting base.

[0009] As a preferred technical solution of the present application, the output ends of the first servo motor, the second servo motor, the third servo motor and the fourth servo motor are respectively fixedly connected to the corresponding connecting shafts, the connecting shaft between the first-level robotic arm and the triangular base is fixedly connected to the first-level robotic arm, the connecting shaft between the second-level robotic arm and the first-level robotic arm is fixedly connected to the second-level robotic arm, the connecting shaft between the second-level robotic arm and the third-level robotic arm is fixedly connected to the second-level robotic arm, and the connecting shaft between the mounting seat and the third-level robotic arm is fixedly connected to the mounting seat.

[0010] As a preferred technical solution of the present application, the clamping device includes a double-sided rack fixedly connected to one end of the telescopic rod and a protective shell fixedly connected to one end of the connecting rod, and four rotating shafts arranged in a rectangular array are fixedly connected to the surface of the protective shell, and the first gear connecting rod and the second gear connecting rod are respectively meshed on both sides of the double-sided rack, and the first gear connecting rod and the second gear connecting rod are both rotatably connected to the rotating shaft at one end away from the protective shell, and the first gear connecting rod and the second gear connecting rod are respectively rotatably connected to the clamping claws through corresponding rotating shafts.

[0011] As a preferred technical solution of the present application, there are two clamping jaws, and auxiliary rods are rotatably connected between the two clamping jaws and the protective shell respectively. The auxiliary rods and the clamping jaws are rotatably connected through a rotating shaft, and clamping grooves are provided on opposite sides of the two clamping jaws, an arc groove is provided in the middle of the clamping groove, and an anti-slip device is provided inside the arc groove.

[0012] As a preferred technical solution of the present application, the anti-slip device includes a plurality of slide grooves that are evenly and equidistantly arranged inside the arc groove, the inner bottom wall of the slide groove is fixedly connected with a telescopic spring, one end of the telescopic spring is fixedly connected with a slide rod, and the end of the slide rod away from the telescopic spring is fixedly connected with a rubber head.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] In the scheme of this application:

[0015] 1. Through the setting of the base, motor, support seat, steering device and clamping device, when the workpiece needs to be loaded and unloaded, the staff only needs to control the output end of the motor to drive the base to rotate, so as to rotate the device to the specified direction, and then adjust the steering device to make the clamping device located at the workpiece to be loaded and unloaded, and start the clamping device to clamp the workpiece, and finally adjust the steering device to transport it to the specified position, thereby effectively improving the work efficiency of loading and unloading, saving time and effort, and being convenient and fast, thereby meeting the needs of the automated production line and greatly reducing the cost of manual loading and unloading;

[0016] 2. Through the setting of devices such as clamping devices and anti-slip devices, when the clamping claw clamps the workpiece, the workpiece will contact with the rubber head at the top of the sliding rod, and push the sliding rod to slide along the sliding groove to the inside of the clamping claw, and at the same time squeeze the telescopic spring, so that the elastic potential energy generated by the telescopic spring can form a clamping force on the workpiece, and can prevent the workpiece from slipping sideways when the clamping device picks up and clamps the workpiece, thereby effectively improving the stability of the device when picking up and clamping the workpiece, and at the same time, it also improves the adaptability of the device to clamping workpieces with different shapes, thereby effectively improving the practicality and applicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the three-dimensional structure of an automatic loading and unloading manipulator for a CNC lathe provided in this application;

[0018] Figure 2 A schematic diagram of the upward-looking three-dimensional structure of an automatic loading and unloading manipulator of a CNC lathe provided in the present application;

[0019] Figure 3 A schematic diagram of the structure of a clamping device for an automatic loading and unloading manipulator of a CNC lathe provided in this application;

[0020] Figure 4 A schematic cross-sectional structure diagram of a clamping device of an automatic loading and unloading manipulator of a CNC lathe provided in the present application;

[0021] Figure 5 A schematic diagram of the disassembled structure of a clamping device of an automatic loading and unloading manipulator of a CNC lathe provided in this application;

[0022] Figure 6 A schematic diagram of the cross-sectional structure of the clamping jaws of an automatic loading and unloading manipulator for a CNC lathe provided in this application;

[0023] Figure 7 A schematic diagram of the cross-sectional structure of a detection device and a connecting rod of an automatic loading and unloading manipulator of a CNC lathe provided in the present application;

[0024] Indicated in the figure:

[0025] 1. Base; 2. Motor; 3. Support seat; 4. Steering device; 41. Triangular base; 42. Primary robotic arm; 43. Secondary robotic arm; 44. Tertiary robotic arm; 45. Mounting seat; 46. First servo motor; 47. Second servo motor; 48. Third servo motor; 49. Fourth servo motor; 5. Connecting rod; 6. Clamping device; 61. Double-sided rack; 62. Protective shell; 63. First gear connecting rod; 64. Second gear connecting rod; 65. Clamping claw; 66. Auxiliary rod; 67. Clamping groove; 68. Arc groove; 7. Telescopic rod; 8. Anti-slip device; 81. Slide groove; 82. Telescopic spring; 83. Slide rod; 84. Rubber head. DETAILED DESCRIPTION

[0026] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0027] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention claimed for protection, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0029] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0030] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invention product is usually placed when in use, or the orientation or positional relationship commonly understood by those skilled in the art. Such terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0031] See also Figures 1 to 7 The present invention provides a technical solution: an automatic loading and unloading manipulator for a CNC lathe,

[0032] Embodiment 1:

[0033] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, this embodiment proposes an automatic loading and unloading manipulator for a CNC lathe, including a base 1, a motor 2 is fixedly connected to the lower surface of the base 1, a support seat 3 is rotatably connected to the middle part of the upper surface of the base 1 through a bearing, the output end of the motor 2 passes through the base 1 and is fixedly connected to the support seat 3, the output end of the motor 2 is rotatably connected to the base 1 through a bearing, a steering device 4 is provided on the upper surface of the support seat 3, a connecting rod 5 is fixedly connected to the end of the steering device 4 away from the support seat 3, a clamping device 6 is provided at one end of the connecting rod 5, a telescopic rod 7 is provided inside the connecting rod 5, and one end of the telescopic rod 7 passes through The connecting rod 5 is connected to the clamping device 6. When the workpiece needs to be loaded and unloaded, the staff only needs to control the output end of the motor 2 to drive the base 1 to rotate, so as to rotate the device to the specified direction, and then adjust the steering device 4 so that the clamping device 6 is located at the workpiece to be loaded and unloaded, and start the clamping device 6 to clamp the workpiece, and finally transport it to the specified position by adjusting the steering device 4, thereby effectively improving the work efficiency of loading and unloading, saving time and effort, and being convenient and fast, thereby meeting the needs of the automated production line and greatly reducing the cost of manual loading and unloading.

[0034] Embodiment 2:

[0035] The solution in Example 1 is further introduced below in combination with a specific working method, as described below:

[0036] like Figure 1 and Figure 2 As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, the steering device 4 includes a triangular base 41 fixedly connected to the upper surface of the support base 3, the top of the triangular base 41 is rotatably connected to a connecting shaft through a bearing, the triangular base 41 is rotatably connected to a first-level mechanical arm 42 through the connecting shaft, the first-level mechanical arm 42 is rotatably connected to a second-level mechanical arm 43 at one end away from the triangular base 41 through the connecting shaft, the second-level mechanical arm 43 is rotatably connected to a third-level mechanical arm 44 at one end away from the first-level mechanical arm 42 through the connecting shaft, and the third-level mechanical arm 44 is rotatably connected to a mounting seat 45 at one end away from the second-level mechanical arm 43 through the connecting shaft, and through the arrangement of the first-level mechanical arm 42, the second-level mechanical arm 43, the third-level mechanical arm 44 and the mounting seat 45, when it is necessary to load and unload the workpiece, the clamping device 6 at the mounting seat 45 can be accurately adjusted to the workpiece to be clamped for loading and unloading processing, thereby effectively improving the efficiency and accuracy of the device in picking up and clamping the workpiece.

[0037] like Figure 1 and Figure 2 As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, a first servo motor 46 is fixedly connected to the corresponding connecting shaft on one side of the triangular base 41, a second servo motor 47 is fixedly connected to the one side of the first-level robot arm 42 near the second-level robot arm 43, a third servo motor 48 is fixedly connected to the one side of the third-level robot arm 44 near the second-level robot arm 43, and a fourth servo motor 49 is fixedly connected to one end of the same side of the third-level robot arm 44 near the mounting seat 45. Through the arrangement of the first servo motor 46, the second servo motor 47, the third servo motor 48 and the fourth servo motor 49, it is possible to fine-tune the workpiece when picking up and clamping it, so that it can be more precise and efficient when turning.

[0038] like Figure 1 and Figure 2 As shown, as a preferred embodiment, on the basis of the above-mentioned manner, further, the output ends of the first servo motor 46, the second servo motor 47, the third servo motor 48 and the fourth servo motor 49 are respectively fixedly connected to the corresponding connecting shafts, the connecting shaft between the first-level robotic arm 42 and the triangular base 41 is fixedly connected to the first-level robotic arm 42, the connecting shaft between the second-level robotic arm 43 and the first-level robotic arm 42 is fixedly connected to the second-level robotic arm 43, the connecting shaft between the second-level robotic arm 43 and the tertiary robotic arm 44 is fixedly connected to the second-level robotic arm 43, and the connecting shaft between the mounting seat 45 and the tertiary robotic arm 44 is fixedly connected to the mounting seat 45.

[0039] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, as a preferred embodiment, on the basis of the above-mentioned manner, further, the clamping device 6 includes a double-sided rack 61 fixedly connected to one end of the telescopic rod 7 and a protective shell 62 fixedly connected to one end of the connecting rod 5, and the surface of the protective shell 62 is fixedly connected with four rotating shafts arranged in a rectangular array, and the two sides of the double-sided rack 61 are respectively meshed with a first gear connecting rod 63 and a second gear connecting rod 64, and the first gear connecting rod 63 and the second gear connecting rod 64 are both rotatably connected to the protective shell 62 through corresponding rotating shafts, and the first gear connecting rod 63 and the second gear connecting rod 64 are rotatably connected to the ends away from the protective shell 62. The first gear link 63 and the second gear link 64 are respectively connected with the clamping claw 65 through the corresponding rotating shaft. When the workpiece needs to be picked up and clamped, it is only necessary to move the clamping device 6 to the workpiece through the steering device 4, and retract the telescopic rod 7, so that the telescopic rod 7 drives the double-sided rack 61 to move, thereby driving the first gear link 63 and the second gear link 64 to rotate synchronously, and driving the two clamping claws 65 to move relative to each other, so as to clamp the workpiece, pick up and clamp the workpiece to the specified position, thereby effectively improving the work efficiency of loading and unloading, and greatly reducing the danger of the staff.

[0040] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, as a preferred embodiment, on the basis of the above-mentioned manner, further, the number of the clamping jaws 65 is two, and the two clamping jaws 65 are rotatably connected to the protective shell 62 respectively by a sub-rod 66, and the sub-rod 66 and the clamping jaws 65 are rotatably connected by a rotating shaft, and a clamping groove 67 is provided on the opposite side of the two clamping jaws 65. Through the setting of the clamping groove 67, the stability of the clamping jaws 65 when clamping the workpiece can be effectively improved, and an arc groove 68 is provided in the middle of the clamping groove 67. The interior of the arc groove 68 is provided with an anti-slip device 8. Through the setting of the anti-slip device 8, when the clamping device 6 clamps the workpiece, the anti-slip device 8 can prevent the side slip from occurring during the clamping process of the workpiece, thereby effectively improving the practicality and applicability of the device, and through the setting of the sub-rod 66, when the first gear connecting rod 63 and the second gear connecting rod 64 drive the clamping jaws 65 to move, the sub-rod 66 moves synchronously with the first gear connecting rod 63 and the second gear connecting rod 64, and always maintains a parallel state with the relative first gear connecting rod 63 and the second gear connecting rod 64.

[0041] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, as a preferred embodiment, on the basis of the above-mentioned method, the anti-slip device 8 further includes a plurality of slide grooves 81 opened inside the arc groove 68 and arranged evenly and equidistantly, the inner bottom wall of the slide groove 81 is fixedly connected with a telescopic spring 82, one end of the telescopic spring 82 is fixedly connected with a slide rod 83, and the end of the slide rod 83 away from the telescopic spring 82 is fixedly connected with a rubber head 84. When the clamp 65 clamps the workpiece, the workpiece will conflict with the rubber head 84 at the top of the slide rod 83, and push the slide rod 83 to slide along the slide groove 81 to the inside of the clamp 65, and at the same time squeeze the telescopic spring 82, thereby effectively improving the stability of the device when picking up and clamping the workpiece, and at the same time, it also improves the adaptability of the device to clamping workpieces with different sexes, thereby effectively improving the practicality and applicability of the device.

[0042] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.

Claims

1. An automatic loading and unloading manipulator for a CNC lathe, characterized in that: The invention comprises a base (1), the lower surface of the base (1) is fixedly connected to a motor (2), the middle part of the upper surface of the base (1) is rotatably connected to a support seat (3) via a bearing, the output end of the motor (2) passes through the base (1) and is fixedly connected to the support seat (3), the upper surface of the support seat (3) is provided with a steering device (4), the end of the steering device (4) away from the support seat (3) is fixedly connected to a connecting rod (5), one end of the connecting rod (5) is provided with a clamping device (6), a telescopic rod (7) is provided inside the connecting rod (5), one end of the telescopic rod (7) passes through the connecting rod (5) and is connected to the clamping device (6).

2. The automatic loading and unloading manipulator for a CNC lathe according to claim 1 is characterized in that: The steering device (4) comprises a triangular base (41) fixedly connected to the upper surface of the support seat (3); the top of the triangular base (41) is rotatably connected to a connecting shaft via a bearing; the triangular base (41) is rotatably connected to a primary mechanical arm (42) via the connecting shaft; an end of the primary mechanical arm (42) away from the triangular base (41) is rotatably connected to a secondary mechanical arm (43) via the connecting shaft; an end of the secondary mechanical arm (43) away from the primary mechanical arm (42) is rotatably connected to a tertiary mechanical arm (44) via the connecting shaft; and an end of the tertiary mechanical arm (44) away from the secondary mechanical arm (43) is rotatably connected to a mounting seat (45) via the connecting shaft.

3. The automatic loading and unloading manipulator for a CNC lathe according to claim 2 is characterized in that: A first servo motor (46) is fixedly connected to a portion corresponding to the connecting shaft on one side of the triangular base (41); a second servo motor (47) is fixedly connected to a portion close to the secondary mechanical arm (43) on one side of the primary mechanical arm (42); a third servo motor (48) is fixedly connected to a portion close to the secondary mechanical arm (43) on one side of the tertiary mechanical arm (44); and a fourth servo motor (49) is fixedly connected to one end of the same side of the tertiary mechanical arm (44) close to the mounting seat (45).

4. The automatic loading and unloading manipulator for a CNC lathe according to claim 3 is characterized in that: The output ends of the first servo motor (46), the second servo motor (47), the third servo motor (48) and the fourth servo motor (49) are respectively fixedly connected to the corresponding connecting shafts; the connecting shaft between the first-level mechanical arm (42) and the triangular base (41) is fixedly connected to the first-level mechanical arm (42); the connecting shaft between the second-level mechanical arm (43) and the first-level mechanical arm (42) is fixedly connected to the second-level mechanical arm (43); the connecting shaft between the second-level mechanical arm (43) and the third-level mechanical arm (44) is fixedly connected to the second-level mechanical arm (43); and the connecting shaft between the mounting seat (45) and the third-level mechanical arm (44) is fixedly connected to the mounting seat (45).

5. The automatic loading and unloading manipulator for a CNC lathe according to claim 1 is characterized in that: The clamping device (6) comprises a double-sided rack (61) fixedly connected to one end of the telescopic rod (7) and a protective shell (62) fixedly connected to one end of the connecting rod (5); four rotating shafts arranged in a rectangular array are fixedly connected to the surface of the protective shell (62); a first gear connecting rod (63) and a second gear connecting rod (64) are respectively meshed on both sides of the double-sided rack (61); the ends of the first gear connecting rod (63) and the second gear connecting rod (64) away from the protective shell (62) are both rotatably connected to the rotating shaft; the first gear connecting rod (63) and the second gear connecting rod (64) are respectively rotatably connected to the clamping claw (65) via corresponding rotating shafts.

6. The automatic loading and unloading manipulator for a CNC lathe according to claim 5, characterized in that: There are two clamping jaws (65), and auxiliary rods (66) are rotatably connected between the two clamping jaws (65) and the protective shell (62). The auxiliary rod (66) and the clamping jaws (65) are rotatably connected via a rotating shaft. A clamping groove (67) is provided on opposite sides of the two clamping jaws (65), and an arc groove (68) is provided in the middle of the clamping groove (67). An anti-slip device (8) is provided inside the arc groove (68).

7. The automatic loading and unloading manipulator for a CNC lathe according to claim 6, characterized in that: The anti-slip device (8) comprises a plurality of slide grooves (81) arranged evenly and equidistantly inside the arc groove (68); a telescopic spring (82) is fixedly connected to the inner bottom wall of the slide groove (81); one end of the telescopic spring (82) is fixedly connected to a slide rod (83); and one end of the slide rod (83) away from the telescopic spring (82) is fixedly connected to a rubber head (84).

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