Automatic feeding and discharging manipulator device of numerical control machine tool

Abstract

The invention discloses an automatic feeding and discharging manipulator device of a numerical control machine tool, and particularly relates to the field of numerical control machine tool machining. The automatic feeding and discharging manipulator device comprises a manipulator body, a base is installed on one side of the manipulator body, a metal plate body is arranged between the manipulator body and the base, and an automatic door structure is installed on the side, close to the manipulator body, of the metal plate body; a manipulator mounting seat is mounted in the manipulator main body, a robot arm is mounted on the manipulator mounting seat, and a robot paw is mounted at the output end of the robot arm; a first linear guide rail is installed on the base, and a workbench is installed at the output end of the first linear guide rail. The automatic door structure comprises a door frame, a protective door is arranged on the door frame in a sliding mode, a linear driver is installed on the top of the protective door, and a fixing plate is installed on the door frame. According to the invention, the operation of loading, unloading, carrying and the like of the workpiece can be quickly and accurately completed, and the non-cutting time of the numerical control machine tool in the machining process is reduced, so that the utilization rate and the production efficiency of the machine tool can be greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of numerical control machine tool processing, and more specifically, to an automatic loading and unloading manipulator device for numerical control machine tools. Background Art

[0002] Loading and unloading of CNC machine tools refers to the process of loading the raw materials (blanks) to be processed onto the machine tool, and unloading the finished workpiece from the machine tool after processing is completed.

[0003] In existing CNC machine tool processing, manual loading is generally used when clamping and processing products. However, when high-precision, high-efficiency, and large-scale mechanical processing scenarios are required, the manual operation speed is relatively slow, and pauses and delays are prone to occur during the loading and unloading process. It is impossible to quickly and accurately complete the loading, unloading, and handling of workpieces, which increases the non-cutting time of CNC machine tools during the processing process and greatly reduces the utilization rate and production efficiency of machine tools.

[0004] In order to solve the above problems, a CNC machine tool automatic loading and unloading manipulator device is needed that can quickly and accurately complete product clamping. Summary of the invention

[0005] The present invention provides an automatic loading and unloading manipulator device for a CNC machine tool, and aims to solve the problem that in the existing CNC machine tool processing, the manual loading method is difficult to meet the requirements of quickly and accurately completing the loading, unloading and transporting operations of the workpiece.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic loading and unloading manipulator device for a numerically controlled machine tool, comprising a manipulator body, a base is installed on one side of the manipulator body, a sheet metal body is arranged between the manipulator body and the base, and an automatic door structure is installed on one side of the sheet metal body close to the manipulator body; a manipulator mounting seat is installed inside the manipulator body, a robot arm is installed on the manipulator mounting seat, and a robot gripper is installed on the output end of the robot arm; a linear guide rail 1 is installed on the base, and a workbench is installed on the output end of the linear guide rail 1; the automatic door structure comprises a gantry, a protective door is slidably provided on the gantry, a linear drive is installed on the top of the protective door, a fixed plate is installed on the gantry, proximity switches are installed at both ends of the fixed plate, and an operation port is opened at one end of the gantry; the product to be processed on the workbench is processed into a finished product by the processing end of the numerically controlled machine tool, the workbench is driven to one side of the operation port by the linear guide rail 1, the linear drive drives the protective door to move in a direction away from the operation port, the protective door is limited by one group of proximity switches and the operation port is opened, and the robot arm drives the robot gripper to pass through the opened operation port and clamp the finished product on the workbench.

[0007] In a preferred embodiment, a silo tray is installed inside the robot body, and the silo tray includes a finished product tray and a tray to be processed. When the operation port is opened, the finished products on the workbench are transferred to the finished product tray of the silo tray by the robot gripper, and the products to be processed on the tray to be processed on the silo tray are transferred to the workbench.

[0008] In a preferred embodiment, a fence door is installed on one side of the manipulator body, an electric control box is installed on the outside of one end of the manipulator body, and the electric control box is electrically connected to the robot arm.

[0009] In a preferred embodiment, buffers are installed at both ends of the door frame, and the buffers correspond to the positions of the protective doors in a transverse direction and are in active contact with them.

[0010] In a preferred embodiment, the buffer comprises an L-shaped plate, a spring sleeve is fixedly provided on the L-shaped plate, and a limiting sleeve is sleeved on one end of the spring sleeve.

[0011] In a preferred embodiment, a guide rod is provided inside the limiting sleeve, and a buffer block is fixedly provided on one end of the guide rod away from the spring sleeve.

[0012] In a preferred embodiment, a fixed bottom plate is installed on the door frame, a scraper is installed in the middle of the fixed bottom plate, and the scraper is arranged vertically.

[0013] In a preferred embodiment, a guide plate is installed on the fixed bottom plate, the guide plate and the scraper are perpendicular to each other, a guide groove is opened on one side of the protective door close to the guide plate, and one side edge of the guide plate is slidably arranged inside the guide groove.

[0014] In a preferred embodiment, a linear guide rail 2 is installed on the door frame, a sliding end of the linear guide rail 2 is fixedly connected to the protective door, and the linear guide rail 2 is staggered with the fixed base plate.

[0015] In a preferred embodiment, an inclined plate is installed on one side of the bottom end of the protective door, and the inclined plate is located below the guide groove. The inclined plate is inclined, a collecting seat is provided at the bottom of the fixed bottom plate, and a discharge groove is opened at one end of the collecting seat.

[0016] The beneficial effects of the present invention are: By setting up an automatic door structure, the present invention can quickly and accurately complete operations such as loading, unloading and transporting of workpieces, reducing the non-cutting time of CNC machine tools during the machining process, thereby greatly improving the utilization rate and production efficiency of the machine tools, and is suitable for scenarios that require high-precision, high-efficiency and large-scale mechanical processing.

[0017] The present invention can increase the service life of the protective door and the door frame by arranging a buffer, and at the same time reduce the noise generated by the impact of the protective door on the door frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the main structure of the robot arm of the present invention.

[0020] Figure 3 It is a schematic diagram of the structure of the automatic door of the present invention.

[0021] Figure 4 It is a schematic diagram of the protective door structure of the present invention.

[0022] Figure 5 For the present invention Figure 4 A schematic diagram of the enlarged structure of .

[0023] Figure 6 It is a schematic diagram of the explosion of the automatic door structure of the present invention.

[0024] Figure 7 It is a schematic diagram of the buffer structure of the present invention.

[0025] Figure 8 It is a schematic diagram of the structure of the collecting seat of the present invention.

[0026] The accompanying drawings are marked as follows: 1. robot body; 11. silo tray; 12. fence door; 13. electric control box; 2. base; 21. linear guide rail 1; 22. workbench; 3. sheet metal body; 4. automatic door structure; 41. protective door; 411. tilting plate; 412. guide groove; 42. linear guide rail 2; 43. linear drive; 44. fixed plate; 45. proximity switch; 46. operation port; 47. buffer; 471. L-shaped plate; 472. spring sleeve; 473. limit sleeve; 474. guide rod; 475. buffer block; 48. collection seat; 481. discharge groove; 49. fixed bottom plate; 491. guide plate; 492. scraper; 5. robot mounting seat; 51. robot arm; 52. robot gripper. DETAILED DESCRIPTION

[0027] The present application is further described in detail below in conjunction with the accompanying drawings. It is necessary to point out here that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technical personnel in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0028] Refer to the instruction manual Figures 1 to 4A CNC machine tool automatic loading and unloading manipulator device comprises a manipulator body 1, a base 2 is installed on one side of the manipulator body 1, a sheet metal body 3 is arranged between the manipulator body 1 and the base 2, and an automatic door structure 4 is arranged on the side of the sheet metal body 3 close to the manipulator body 1; a manipulator mounting seat 5 is installed inside the manipulator body 1, a robot arm 51 is installed on the manipulator mounting seat 5, and a robot gripper 52 is installed at the output end of the robot arm 51; a linear guide rail 21 is installed on the base 2, and a workbench 22 is installed at the output end of the linear guide rail 21; the automatic door structure 4 comprises a door frame, a protective door 41 is slidably arranged on the door frame, and the protective door 41 A linear drive 43 is installed on the top, a fixed plate 44 is installed on the gantry, proximity switches 45 are installed at both ends of the fixed plate 44, and an operation port 46 is opened at one end of the gantry; the product to be processed on the workbench 22 is processed into a finished product by the processing end of the CNC machine tool, and the workbench 22 is driven to one side of the operation port 46 through a linear guide rail 21, and the linear drive 43 drives the protective door 41 to move away from the operation port 46, and the protective door 41 is limited by one group of proximity switches 45 to open the operation port 46, and the robot arm 51 drives the robot gripper 52 to pass through the open operation port 46 and clamp the finished product on the workbench 22.

[0029] It should be noted that the linear guide rail 21 drives the workbench 22 to move to both ends, and its moving direction is the same as the moving direction of the protective door 41. The manipulator body 1 and the base 2 are connected through the sheet metal body 3. The automatic door structure 4 is fixed inside the sheet metal body 3 and part of the automatic door structure 4 is located outside one side of the sheet metal body 3. The protective door 41 is used to close the operating port 46. The end of the door frame away from the operating port 46 is a closed design. The linear drive 43 is installed horizontally, and the output end of the linear drive 43 is fixed to the protective door 41, and the output end of the linear drive 43 is in active contact with two sets of proximity switches 45.

[0030] Furthermore, a silo tray 11 is installed inside the robot body 1, and the silo tray 11 includes a finished product tray and a tray to be processed. When the operation port 46 is opened, the finished products on the workbench 22 are transferred to the finished product tray of the silo tray 11 by the robot gripper 52, and the products to be processed on the tray to be processed of the silo tray 11 are transferred to the workbench 22.

[0031] It should be noted that each time the protective door 41 is opened, a product exchange between the silo tray 11 and the workbench 22 is completed. The product exchange process is as follows: the finished products on the workbench 22 are transferred to the finished product tray of the silo tray 11, and the products to be processed on the tray to be processed of the silo tray 11 are transferred to the workbench 22.

[0032] Furthermore, a fence door 12 is installed on one side of the manipulator body 1 , an electric control box 13 is installed on the outside of one end of the manipulator body 1 , and the electric control box 13 is electrically connected to the robot arm 51 .

[0033] It should be noted that the fence door 12 is used to observe the remaining material in the silo tray 11. The fence door 12 is detachably installed to facilitate the placement of products on the finished product tray and the tray to be processed in the silo tray 11. The electrical control box 13 is used to control the operation of the robot arm 51 and the robot gripper 52.

[0034] In this embodiment, the implementation scenario is specifically as follows: the protection door 41 is driven by the linear drive 43 to open the operation port 46, the robot gripper 52 is controlled by the electric control box 13 to clamp the product to be processed on the material tray to be processed of the bin tray 11, the robot arm 51 drives the robot gripper 52 to place the product to be processed on the workbench 22, and the workbench 22 is driven by the linear guide rail 21 to move to the processing position of the CNC machine tool and perform processing. In order to prevent processing waste from entering the interior of the manipulator body 1 through the open operation port 46 and causing contamination, the operation port 46 is closed during processing. After the product on the workbench 22 is processed, the workbench 22 and the finished product above it are moved to the processing position of the CNC machine tool through the linear guide rail 21. On one side of the operating port 46, the above-mentioned product exchange process is started, that is, the finished product on the workbench 22 is transferred to the finished material tray of the silo tray 11, and the unprocessed product on the unprocessed material tray of the silo tray 11 is transferred to the workbench 22, and the conditions of the finished material tray and the unprocessed material tray are observed through the fence door 12. The finished material tray and the unprocessed material tray can be replaced by removing the fence door 12. The whole can quickly and accurately complete the loading, unloading, and handling of the workpiece, reducing the non-cutting time of the CNC machine tool during the processing process, thereby greatly improving the utilization rate and production efficiency of the machine tool, and effectively reducing the product processing time by quickly and accurately completing the product replacement process, thereby improving production efficiency.

[0035] In the above embodiment, in order to ensure the complete closure of the operating port 46, the protective door 41 needs to be tightly abutted against both ends of the door frame. However, after several times of opening and closing, frequent impacts between the protective door 41 and both ends of the door frame can easily cause deformation and damage.

[0036] Refer to the instruction manual Figure 6 and Figure 7 In order to solve this problem, the following technical solution is also provided: buffers 47 are installed at both ends of the door frame, and the buffers 47 correspond to the positions of the protective door 41 in the horizontal direction and are in active contact with each other.

[0037] It should be noted that the buffer 47 is an elastic element such as a simple spring or an elastic sheet, which is used to offset the impact force of the protective door 41.

[0038] Furthermore, the buffer 47 includes an L-shaped plate 471 , on which a spring sleeve 472 is fixedly provided, and one end of the spring sleeve 472 is sleeved with a limiting sleeve 473 .

[0039] It should be noted that the spring sleeve 472 is installed on the door frame through the L-shaped plate 471, and includes an inner column and an outer spring column. The outer spring column is sleeved on the outer periphery of the inner column, one end of the outer spring column is fixed to the L-shaped plate 471, and the other end of the outer spring column is fixed to the surface of the inner column, and the inner column moves through the interior of the L-shaped plate 471.

[0040] Furthermore, a guide rod 474 is provided inside the limiting sleeve 473 , and a buffer block 475 is fixedly provided at one end of the guide rod 474 away from the spring sleeve 472 .

[0041] It should be noted that a spring is fixed between one end of the guide rod 474 and the interior of the limiting sleeve 473 , and the buffer block 475 is in movably contact with the protective door 41 .

[0042] In this embodiment, the implementation scenario is specifically as follows: when the protective door 41 moves toward one end, one end of the protective door 41 contacts the corresponding buffer block 475 and has an impact force. The guide rod 474 and the spring at one end thereof are buffered inside the limiting sleeve 473, so that the impact force of the protective door 41 can be buffered at the first level. The inner column of the spring sleeve 472 is pushed to move toward one end by the limiting sleeve 473, and the outer spring on the outer periphery of the inner column performs secondary buffering, which further weakens the impact force of the protective door 41, thereby increasing the service life of the protective door 41 and the door frame, and at the same time reducing the noise generated by the impact of the protective door 41 on the door frame.

[0043] In the above embodiment, since the main function of the protective door 41 is to isolate the robot body 1 and the base 2 to prevent processing debris at the base 2 from splashing into the robot body 1, the splashed processing debris will remain on the side of the protective door 41 close to the base 2. If it is not cleaned for a long time, it will cause the protective door 41 to move stuck and the door will not be smooth when opened and closed.

[0044] Refer to the instruction manual Figure 4 , Figure 5 and Figure 8 In order to solve this problem, the following technical solution is also provided: a fixed bottom plate 49 is installed on the door frame, a scraper 492 is installed in the middle of the fixed bottom plate 49, and the scraper 492 is vertically arranged.

[0045] It should be noted that the scraper 492 is arranged in an L shape, and one side edge of the scraper 492 is in contact with the surface of the protective door 41 . The protective door 41 slides along one side edge of the scraper 492 when it is opened or closed.

[0046] Furthermore, a guide plate 491 is installed on the fixed bottom plate 49 , and the guide plate 491 and the scraper plate 492 are perpendicular to each other. A guide groove 412 is opened on one side of the protective door 41 close to the guide plate 491 , and one side edge of the guide plate 491 is slidably arranged inside the guide groove 412 .

[0047] It should be noted that the guide plate 491 is composed of a straight plate and an inclined plate, the straight plate and the inclined plate are connected at an obtuse angle, the guide groove 412 is inclined, and the guide groove 412 and the inclined plate are slidably matched.

[0048] Furthermore, a second linear guide rail 42 is installed on the door frame, a sliding end of the second linear guide rail 42 is fixedly connected to the protective door 41 , and the second linear guide rail 42 and the fixed bottom plate 49 are offset.

[0049] It should be noted that the second linear guide rail 42 plays a guiding role when the protective door 41 moves.

[0050] Furthermore, an inclined plate 411 is installed on one side of the bottom end of the protective door 41, and the inclined plate 411 is located below the guide groove 412. The inclined plate 411 is inclined, and a collecting seat 48 is provided at the bottom of the fixed bottom plate 49, and a discharge groove 481 is opened at one end of the collecting seat 48.

[0051] It should be noted that the inclined plate 411 allows the machining debris on the surface of the protection door 41 to slide into the interior of the collecting seat 48 for collection.

[0052] In this embodiment, the implementation scenario is specifically as follows: through the guidance of the linear guide rail 42, the protective door 41 maintains lateral sliding, and through the sliding cooperation of the guide plate 491 and the guide groove 412, the protective door 41 further maintains lateral movement, so that the edge of the scraper 492 is in close contact with the surface of the protective door 41, and the processing debris on the surface of the protective door 41 is scraped off by the scraper 492, and the scraped processing debris is introduced into the collection seat 48 through the guidance of the inclined plate 411, and finally the processing debris is discharged through the discharge groove 481. By scraping off the processing debris on the surface of the protective door 41 and collecting it, the cleanliness of the surface of the protective door 41 can be ensured, the movement of the protective door 41 can be avoided, and the door opening and closing can be smoother.

[0053] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A CNC machine tool automatic loading and unloading manipulator device, characterized in that: It comprises a manipulator body (1), a base (2) being installed on one side of the manipulator body (1), a sheet metal body (3) being provided between the manipulator body (1) and the base (2), and an automatic door structure (4) being installed on a side of the sheet metal body (3) close to the manipulator body (1); A manipulator mounting seat (5) is installed inside the manipulator body (1), a robot arm (51) is installed on the manipulator mounting seat (5), and a robot gripper (52) is installed at the output end of the robot arm (51); A linear guide rail 1 (21) is installed on the base (2), and a workbench (22) is installed at the output end of the linear guide rail 1 (21); The automatic door structure (4) comprises a door frame, a protective door (41) is slidably provided on the door frame, a linear drive (43) is installed on the top of the protective door (41), a fixing plate (44) is installed on the door frame, proximity switches (45) are installed at both ends of the fixing plate (44), and an operating port (46) is opened at one end of the door frame; The product to be processed on the workbench (22) is processed into a finished product by the processing end of the CNC machine tool, the workbench (22) is driven to one side of the operating opening (46) by a linear guide rail (21), the linear drive (43) drives the protective door (41) to move in a direction away from the operating opening (46), the protective door (41) is limited by one group of proximity switches (45) and the operating opening (46) is opened, and the robot arm (51) drives the robot gripper (52) to pass through the opened operating opening (46) and clamp the finished product on the workbench (22).

2. The automatic loading and unloading manipulator device for CNC machine tools according to claim 1 is characterized in that: A silo tray (11) is installed inside the robot body (1), and the silo tray (11) includes a finished product tray and a to-be-processed tray. When the operation port (46) is opened, the robot gripper (52) transfers the finished product on the workbench (22) to the finished product tray of the silo tray (11), and transfers the to-be-processed product on the to-be-processed tray of the silo tray (11) to the workbench (22).

3. The automatic loading and unloading manipulator device for CNC machine tools according to claim 2 is characterized in that: A fence door (12) is installed on one side of the manipulator body (1), an electric control box (13) is installed on the outside of one end of the manipulator body (1), and the electric control box (13) is electrically connected to the robot arm (51).

4. The automatic loading and unloading manipulator device for CNC machine tools according to claim 3 is characterized in that: Buffers (47) are installed at both ends of the door frame, and the buffers (47) correspond to the protective door (41) in transverse position and are in active contact with each other.

5. The automatic loading and unloading manipulator device for CNC machine tools according to claim 4 is characterized in that: The buffer (47) comprises an L-shaped plate (471), a spring sleeve (472) is fixedly provided on the L-shaped plate (471), and a limiting sleeve (473) is sleeved on one end of the spring sleeve (472).

6. The automatic loading and unloading manipulator device for CNC machine tools according to claim 5 is characterized in that: A guide rod (474) is provided inside the limiting sleeve (473), and a buffer block (475) is fixedly provided at one end of the guide rod (474) away from the spring sleeve (472).

7. The automatic loading and unloading manipulator device for CNC machine tools according to claim 6 is characterized in that: A fixed bottom plate (49) is installed on the door frame, a scraper (492) is installed in the middle of the fixed bottom plate (49), and the scraper (492) is arranged vertically.

8. The automatic loading and unloading manipulator device for CNC machine tools according to claim 7 is characterized in that: A guide plate (491) is mounted on the fixed bottom plate (49), the guide plate (491) and the scraper plate (492) being perpendicular to each other, a guide groove (412) is provided on a side of the protective door (41) close to the guide plate (491), and an edge of one side of the guide plate (491) is slidably disposed inside the guide groove (412).

9. The automatic loading and unloading manipulator device for CNC machine tools according to claim 8, characterized in that: A second linear guide rail (42) is installed on the door frame, a sliding end of the second linear guide rail (42) is fixedly connected to the protective door (41), and the second linear guide rail (42) is staggered with the fixed base plate (49).

10. The automatic loading and unloading manipulator device for CNC machine tools according to claim 9, characterized in that: An inclined plate (411) is installed on one side of the bottom end of the protective door (41), and the inclined plate (411) is located below the guide groove (412). The inclined plate (411) is arranged in an inclined manner. A collecting seat (48) is provided at the bottom of the fixed bottom plate (49), and a discharge groove (481) is provided at one end of the collecting seat (48).

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