Feeding and discharging manipulator for flexible manufacturing system

Abstract

The invention relates to a feeding and discharging manipulator for a flexible manufacturing system. The feeding and discharging manipulator comprises a rack, a vertical movement shaft, a horizontal telescopic movement shaft and a claw device. The rack is of a gantry frame type structure; the vertical motion shaft is driven by a first driving unit to move up and down; the horizontal telescopic motion shaft is a two-stage synchronous telescopic mechanism, a first-stage arm is driven by a second driving unit to do horizontal reciprocating motion, and the first-stage arm drives a second-stage arm to do horizontal reciprocating motion along with the first-stage arm through a synchronous belt transmission device; the speed of the second-stage arm is twice that of the first-stage arm; the tray is hooked through the claw device, and automatic feeding and discharging of the tray and workpieces of the flexible manufacturing system are completed under driving of the vertical movement shaft and the horizontal telescopic movement shaft. The manipulator has the characteristics of high loading capacity, wide reachable range, stable and efficient loading and unloading, compact structure and small occupied area; the method is used for a flexible manufacturing system, and automatic and flexible production and machining of target workpieces are achieved.

Description

Technical Field

[0001] The present invention belongs to the field of industrial automation, and particularly relates to a loading and unloading manipulator for a flexible manufacturing system. Background Art

[0002] The level of automation and intelligence in industrial production is getting higher and higher. On the one hand, the traditional production mode is upgraded to an automated and intelligent production mode; on the other hand, the large-scale mass production mode in the era of large industry is challenged by the current personalized and differentiated demands. Flexible manufacturing technology and flexible manufacturing systems have been further developed and applied, and gradually become a better production mode. Flexible manufacturing systems can simultaneously meet the requirements of automation, digitization, and intelligence in the production process, reduce manual participation, achieve less human operation, and even unmanned operation. They can realize the rapid change of production of target workpieces and be compatible with the processing of workpieces of different models and types. They can ensure the stability of the production process and the continuity of production, effectively reduce the production management cost and the comprehensive cost of the production process, and improve product quality. They have great advantages in multi-variety and small and medium-batch production and processing.

[0003] The loading and unloading manipulator is a key component in a flexible manufacturing system and is an actuator for material handling and transportation. The size, structure form, motion stroke range, load capacity, operating speed, and loading and unloading method of the loading and unloading manipulator have a great impact on the flexible manufacturing system, and even determine the overall structure form and layout method of the flexible manufacturing system.

[0004] In the prior art, the loading and unloading manipulators for flexible manufacturing systems are mostly six-axis articulated robots and various forms of truss manipulators. Six-axis articulated robots have deficiencies such as high cost, small load capacity, low positioning accuracy, and large floor area. As a general-purpose industrial robot, it is difficult to meet the needs of some flexible manufacturing systems with specific structures. Truss manipulators usually require a relatively high erection height, and the support columns are located below the crossbeam of the main motion axis, which has many restrictions on the layout of the storage device and workpiece loading station of the flexible manufacturing system. And it usually requires the machining machine tool to have enough space for loading and unloading, which has many restrictions on the machine tool structure, and the applicable range of machining machine tools and compatibility are poor. Summary of the Invention

[0005] The purpose of the present invention is to provide a loading and unloading manipulator for a flexible manufacturing system. The loading and unloading manipulator can be arranged between the storage tray library and the five-axis machining machine tool, and is integrated with the machining machine tool, storage tray library, workpiece loading station, and protection device of the flexible manufacturing system as a whole. It meets the requirements of the flexible manufacturing system for the large load, large handling stroke, and small floor area of the loading and unloading manipulator, and can avoid the obstruction of the five-axis machine tool cradle tailstock without modifying the structure of the five-axis machining machine tool, and quickly and stably realize the loading and unloading of trays and workpieces between the five-axis machine tool workbench and the storage tray library.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A loading and unloading manipulator for a flexible manufacturing system mainly consists of a frame, a vertical motion axis, a horizontal telescopic motion axis, a crank arm, a hook claw device and a tray. The frame adopts a gantry frame structure, and four columns are welded and connected by cross beams; the vertical motion axis includes a transfer mounting seat, a sliding seat, a first linear guide pair, a first servo drive unit, and a first gear-rack transmission device. The transfer mounting seat is designed with a rectangular frame structure, and the sliding seat is designed with a structure with an inverted U-shaped groove in the middle; the transfer mounting seat is nested and installed in the gantry frame of the frame; the sliding seat is connected to the transfer mounting seat through the first linear guide pair and reciprocates vertically along the first linear guide pair under the drive of the first servo drive unit and the first gear-rack transmission device; the first linear guide pair consists of a first linear guide and a first guide slider; the first drive unit consists of a first servo motor and a first planetary reducer, and the first gear of the first gear-rack transmission device is connected and installed on the output shaft of the first planetary reducer; the first servo drive unit is installed and fixed on the left side of the sliding seat, and the first gear passes through the avoidance hole on the left side of the sliding seat and meshes with the first rack for transmission; the first guide of the first linear guide pair and the first rack of the first gear-rack transmission device are installed and fixed on the transfer mounting seat, and the first slider of the first linear guide pair and the first servo drive unit are installed on the sliding seat.

[0007] Furthermore, the horizontal telescopic motion axis includes a first telescopic arm, a second telescopic arm, a second linear guide pair, a second servo drive unit, a second gear-rack transmission device, a third linear guide pair and a synchronous belt transmission device; the first telescopic arm has a U-shaped cross-section structure and forms a large inverted U-shaped groove along the length direction, and the second telescopic arm is a square tube structure with a slider and a crank arm mounting flange; the first telescopic arm is suspended and installed in the inverted U-shaped groove of the sliding seat through the second linear guide pair; the second linear guide pair consists of a second linear guide and a second guide slider, the second linear guide of the second linear guide pair and the second rack of the second gear-rack transmission device are installed and fixed on the top surface of the first telescopic arm, and the second slider of the second linear guide pair is suspended and installed on the top surface of the inverted U-shaped groove of the sliding seat; the second servo drive unit includes a second servo motor and a second planetary reducer, and the second gear of the second gear-rack transmission device is connected and installed on the output shaft of the second planetary reducer; the second servo drive unit is installed and fixed directly above the inverted U-shaped groove of the sliding seat, and the second gear passes through the middle avoidance hole of the inverted U-shaped groove of the sliding seat and meshes with the second rack for transmission; the first telescopic arm reciprocates along the direction of the second linear guide under the drive of the second servo drive unit and the second gear-rack transmission device; the second telescopic arm is suspended and installed on the bottom surface of the first telescopic arm through the third linear guide pair, and the square tube of the second telescopic arm is located in the inverted U-shaped groove of the first telescopic arm.

[0008] Furthermore, the synchronous belt drive device includes a synchronous belt, a synchronous belt idler pulley, a synchronous belt idler pulley mounting seat, a synchronous belt fixing plate, a synchronous belt pressing plate, a synchronous belt connecting block, and a synchronous belt tensioning mechanism; the synchronous belt adopts a free-end synchronous belt, and the synchronous belt idler pulley is installed at both ends of the first telescopic arm through the synchronous belt idler pulley mounting seat. The synchronous belt passes through the synchronous belt idler pulley, and the two free ends are fixed on the sliding seat through the synchronous belt fixing plate and the synchronous belt pressing plate, and are tensioned by the synchronous belt tensioning mechanism; one side of the free end of the synchronous belt is located above the first telescopic arm, and the other side is located in an inverted U-shaped groove below the first telescopic arm. In the inverted U-shaped groove, it is connected and fixed to the second telescopic arm through the synchronous belt pressing plate and the synchronous belt connecting block; when the first telescopic arm moves driven by the second servo drive unit, the synchronous belt idler pulley follows the first telescopic arm to move. The synchronous belt and the synchronous belt idler pulley form a mechanism similar to a movable pulley block. The free end of the synchronous belt is the fixed end of the movable pulley block, and the synchronous belt connecting block connecting the synchronous belt and the second telescopic arm is the moving end. When the first telescopic arm moves, it drives the second telescopic arm to move through the synchronous belt drive device, and the movement speed of the second telescopic arm is twice that of the first telescopic arm; the turning arm is arranged on the front end face of the second-stage telescopic arm to form an inverted L-shaped structure, and the hook claw device is connected directly below the turning arm; the hook claw device of the hook is composed of a hook column with a conical surface and a hook block with a conical hole, and the hook block is installed on the side of the tray; the workpiece to be processed is clamped on the tray. Driven by the motion axis, the hook claw device transports the tray and the workpiece through the cooperation of the hook column and the hook block to realize loading and unloading.

[0009] Compared with the prior art, the present invention has the following beneficial effects: The overall structure of the present invention is narrow from left to right and wide from front to back at the lower part, and a nested structure with hanging installation and U-shaped grooves is adopted at multiple places in the upper part. The overall structure is compact, making full use of the space between the storage tray library and the five-axis machining center, and effectively reducing the floor area of the system; The gantry frame type rack of the present invention has a frame structure with good structural rigidity and vibration and shock resistance characteristics, providing a reliable and stable support for the manipulator with large load and high-speed movement; The vertical motion axis of the present invention is arranged inside the gantry frame of the rack, driving the horizontal telescopic motion axis to move. The motion stroke is large, and it does not affect the load of the horizontal telescopic motion axis. The tray and the workpiece can easily cross the cradle tailstock of the five-axis machine tool to reach the workbench between the left and right tailstocks of the machine tool cradle; the large-stroke vertical motion axis can be applied to machining centers with different workbench heights and can be quickly assembled with a variety of machining centers to form a flexible manufacturing system; The cantilever telescopic structure of the horizontal telescopic motion axis of the present invention doubles the horizontal axis motion stroke without increasing the horizontal arm length; the horizontal telescopic motion axis is suspended and installed, and the tray and the workpiece reciprocate below the telescopic arm. When extended, the tray and the workpiece are at the front end of the manipulator, and when retracted, the tray and the workpiece retract to a position close to the rear end below the horizontal telescopic motion axis. The horizontal motion axis has a large stroke, the loading and unloading manipulator can reach a wide range, and the horizontal length of the manipulator is effectively controlled; The synchronous belt drive device of the present invention is arranged on the upper and lower sides of the first telescopic arm and is located at the middle position of the manipulator. It has a simple and compact structure, stable transmission, high precision, and convenient adjustment of the synchronous belt tension; The present invention uses a tray hook device to hook the tray and the workpiece to achieve handling. The hook device has a simple structure, small occupied space, large load capacity, stable and reliable hooking and handling, and very low cost; The present invention realizes feeding and discharging of the tray and the workpiece by extending into the machine tool from the side door of the machine tool. It does not interfere with or affect the machining machine tool in terms of spatial structure, does not require the machining machine tool to be structurally adjusted, does not occupy the front door and the operating surface space of the machine tool, and can be integrated with different types of machining machine tools to quickly form a flexible manufacturing system. Description of the Drawings

[0010] Figure 1 is the overall structural schematic diagram of the present invention; Figure 2 is the overall structural schematic diagram of the moving axis of the present invention; Figure 3 is the structural schematic diagram of the telescopic arm of the present invention; Figure 4 is the rear view of the moving axis structure of the present invention; Figure 5 is the structural schematic diagram of the synchronous belt drive device of the present invention; Wherein: 1 is the frame, 2 is the adapter mounting seat, 3 is the sliding seat, 4 is the first telescopic arm, 5 is the second telescopic arm, 6 is the turning arm, 7 is the workpiece, 8 is the tray, 9 is the hook device, 10 is the first linear guide rail, 11 is the first guide rail slider, 12 is the guide rail pressing plate, 13 is the first rack, 14 is the first gear, 15 is the first planetary reducer, 16 is the first servo motor, 17 is the second linear guide rail, 18 is the second guide rail slider, 19 is the second rack, 20 is the second gear, 21 is the second planetary reducer, 22 is the second servo motor, 23 is the third linear guide rail, 24 is the third guide rail slider, 25 is the synchronous belt idler pulley, 26 is the synchronous belt idler pulley mounting seat, 27 is the synchronous belt, 28 is the synchronous belt pressing plate, 29 is the synchronous belt fixing plate, 30 is the synchronous belt connecting block, 31 is the synchronous belt tensioning mechanism, 32 is the hook post, and 33 is the hook block. Detailed Embodiment

[0011] The technical solutions of the present invention will be further described below in conjunction with the drawings and specific embodiments.

[0012] The present invention provides a loading and unloading manipulator for a flexible manufacturing system, which performs automatic loading and unloading for a machining machine tool to achieve automatic and flexible production and processing of target workpieces. As Figures 1 to 5As shown in the figure, it includes a frame 1, a vertical motion axis, a horizontal telescopic motion axis, a crank arm 6, a hook device, and a tray 8; the frame 1 adopts a gantry frame structure, and the four columns are welded and connected by cross beams.

[0013] The vertical motion axis includes a transfer mounting seat 2, a sliding seat 3, a first linear guide pair, a first servo drive unit, and a first gear-rack transmission device; the transfer mounting seat 2 is designed with a rectangular frame structure, and the first linear guide 10 and the first rack 13 are installed on both sides of the back. The front is the flange of the transfer mounting seat 2, which is nested and installed in the gantry frame of the frame 1 through the flange; the sliding seat 3 has an inverted U-shaped groove structure in the middle, is connected to the transfer mounting seat 2 through the first linear guide pair, is located in the rectangular space in the middle of the transfer mounting seat 2, and reciprocates vertically along the first linear guide under the drive of the first servo drive unit and the first gear-rack transmission device; the first drive unit consists of a first servo motor 16 and a first planetary reducer 15, and the first gear 14 is installed on the output shaft of the first planetary reducer 15; the first servo drive unit is fixedly installed on the left side of the sliding seat 3, and the first gear 14 passes through the avoidance hole on the left side of the sliding seat 3 and meshes with the first rack 13 for transmission; the first linear guide 10 and the first rack 13 of the guide pair are fixedly installed on the transfer mounting seat 2. The pitch of the installation screw holes of the first linear guide 10 is half of the standard linear guide hole pitch, increasing the number of guide installation holes. The side reference surface of the first linear guide 10 abuts against the guide installation abutment surface on the transfer mounting seat 2, and the guide pressure plate 12 presses the other side of the first linear guide 10. The guide installation is fixed stably and reliably, can withstand large vibration shocks, and has good accuracy retention; the first guide slider 11 is installed on the slider installation surface of the sliding seat 3. Driven by the first servo drive unit, the vertical motion axis drives the sliding seat 3, the first servo drive unit, and the second servo drive unit on the motion axis to reciprocate up and down.

[0014] The horizontal telescopic movement axis includes a first telescopic arm 4, a second telescopic arm 5, a second linear guide pair, a second servo drive unit, a second gear-rack transmission device, a third linear guide pair, and a synchronous belt transmission device; the cross-section of the first telescopic arm 4 is an inverted U-shaped structure, forming a large inverted U-shaped groove along the length direction; the second telescopic arm 5 is a square tube structure with a third guide slider 24 and a flange for mounting the crank arm 6; the first telescopic arm 4 is suspended and installed in the inverted U-shaped groove of the slide block 3 through the second linear guide pair, the second linear guide 17 of the second linear guide pair and the second rack 19 of the second gear-rack transmission device are installed and fixed on the top surface of the first telescopic arm 4, and the second guide slider 18 of the second linear guide pair is suspended and installed on the top surface of the inverted U-shaped groove of the slide block 3; the second telescopic arm 5 is suspended and installed on the bottom surface of the first telescopic arm 4 through the third linear guide pair, the third linear guide 23 is installed under the first telescopic arm, and the third guide slider 24 is installed on the flange of the second telescopic arm 5; the square tube of the second telescopic arm 5 is nested in the inverted U-shaped groove of the first telescopic arm 4. The nested structure of the first telescopic arm and the second telescopic arm is very compact, effectively reducing the dimension in the height direction of the horizontal telescopic movement, and thus reducing the overall height of the loading and unloading manipulator.

[0015] The second servo drive unit includes a second servo motor 22 and a second planetary reducer 21, and the second gear 20 of the second gear-rack transmission device is installed on the output shaft of the second planetary reducer 21; the second servo drive unit is installed and fixed directly above the inverted U-shaped groove of the slide block 3, and the second gear 20 passes through the middle avoidance hole of the inverted U-shaped groove of the slide block 3 and meshes with the second rack 19 for transmission; the first telescopic arm 4 moves horizontally back and forth along the second linear guide 17 under the drive of the second servo drive unit and the second gear-rack transmission device.

[0016] The synchronous belt drive device includes a synchronous belt 27, a synchronous belt idler pulley 25, a synchronous belt idler pulley mounting seat 26, a synchronous belt fixing plate 28, a synchronous belt pressing plate 29, a synchronous belt connecting block 30, and a synchronous belt tensioning mechanism 31; the synchronous belt 27 uses a free-end synchronous belt and is in a strip structure; the synchronous belt idler pulley 25 is installed at both ends of the first telescopic arm 4 through the synchronous belt idler pulley mounting seat 26, the synchronous belt 27 passes through the synchronous belt idler pulley 25, and the two free ends are fixed on the slide base 3 through the synchronous belt fixing plate 28 and the synchronous belt pressing plate 29 and are tensioned by the synchronous belt tensioning mechanism 31; one side of the free end of the synchronous belt is located above the first telescopic arm 4, and the other side is located in an inverted U-shaped groove below the first telescopic arm 4, and is connected and fixed to the second telescopic arm 5 through the synchronous belt pressing plate 29 and the synchronous belt connecting block 30 in the inverted U-shaped groove; when the first telescopic arm 4 moves driven by the second servo drive unit, the synchronous belt idler pulley 25 moves with the first telescopic arm 4, and the synchronous belt 27 and the synchronous belt idler pulley 25 form a mechanism similar to a movable pulley group. The two ends of the synchronous belt 27 are the fixed ends of the movable pulley group, and the synchronous belt connecting block 30 where the synchronous belt 27 is connected to the second telescopic arm 5 is the moving end of the movable pulley group; when the first telescopic arm 4 moves horizontally, it drives the synchronous belt idler pulley 25 to move horizontally and rotate simultaneously, and drives the second telescopic arm 5 to move horizontally through the synchronous belt 27, and the moving speed of the second telescopic arm 5 is twice that of the first telescopic arm 4.

[0017] The crank arm 6 is connected to the end of the second telescopic arm 5 to form an inverted L-shaped structure. The hook claw device is connected directly below the crank arm 6 and can cross the obstruction of the cradle tailstock of the five-axis machining center to place the pallet 8 and the workpiece on the machine tool workbench; the hook of the hook device is composed of a hook post 32 with a conical surface and a hook block 33 with a conical hole. The hook block 33 is connected to the side of the pallet, and the workpiece 7 to be machined is clamped on the pallet 8; the hook claw device is driven by the moving axis and transports the pallet 8 and the workpiece 7 through the cooperation of the hook post 32 and the hook block 33 to realize loading and unloading. The combined structure of the inverted L-shaped second telescopic arm 5 and the crank arm 6, as well as the hook claw device, has a compact structure and a small overall size. In the case of limited space around the machine tool workbench, it can well realize the rapid loading and unloading of the pallet 8 and the workpiece 7. The hook claw device has a simple structure, low cost, and convenient maintenance.

[0018] The working process of the present invention is as follows: When the loading and unloading manipulator of the flexible manufacturing system is working, there is a storage pallet library on one side of the loading and unloading manipulator, and a processing machine tool on the other side. The loading and unloading manipulator transports the pallet with the workpiece clamped between the storage pallet library and the processing machine tool to complete the automatic loading and unloading process of the processing machine tool. Take the flexible manufacturing system composed of a six-station rotary storage pallet library, a five-axis machining center, and a loading and unloading manipulator as an example. Among them, the six-station rotary pallet library stores six pallets. Fixtures suitable for different workpieces are installed on the pallets through standard threaded holes, and the rapid replacement of the fixtures can be realized. The workpiece is clamped and fixed on the pallet through the fixture. Under the control of the flexible manufacturing system, the storage pallet library rotates and positions in accordance with the loading and unloading requirements, and rotates and positions the pallet with the workpiece clamped to the loading position of the storage pallet library.

[0019] The first servo motor of the loading and unloading manipulator starts. After being decelerated by the first planetary reducer, the driving force is transmitted to the first gear. The first gear rotates and meshes with the first rack to drive the slide to move downward along the first linear guide rail. The slide drives the telescopic arm, the elbow arm and the hook device to move downward together until the hook column of the hook device is at a certain distance below the hook block. The first servo motor stops rotating to maintain the relative height between the hook column and the hook block. At this time, the hook column is on one side of the tray hook block and is offset from the hook block by a certain distance. The second servo motor drives the second planetary reducer to drive the second gear to rotate. The second gear meshes with the second rack to drive the first telescopic arm to move horizontally along the second linear guide rail pair. The second guide rail slider of the second linear guide rail pair is stationary, and the second linear guide rail installed on the first telescopic arm moves relative to the slide and the second guide rail slider. The movement of the first telescopic arm drives the synchronous belt idler wheel installed on the first telescopic arm to move horizontally. At the same time, the synchronous belt idler wheel moves horizontally relative to the fixed end of the synchronous belt, and the fixed end of the synchronous belt drives the synchronous belt idler wheel to rotate on one side. The synchronous belt idler wheel moves horizontally and rotates, driving the second telescopic arm connected to the other side of the synchronous belt to move horizontally at a speed twice that of the first telescopic arm. The second telescopic arm drives the elbow arm and the hook column to move forward to directly below the hook block. Subsequently, the first servo motor drives the slide to move upward, driving the hook column to move upward relative to the hook block. During the movement, the conical surface of the hook column enters the conical hole of the hook block. The cone and the conical hole cooperate and squeeze each other to lock, hook the hook block and drive the tray and the workpiece to move upward together to a certain height. The second servo motor drives the first telescopic arm, driving the second telescopic arm, the elbow arm, the hook column, the hook block, the tray and the workpiece to move forward and enter the interior of the processing machine tool. The tray and the workpiece cross the cradle tailstock of the five-axis machining center and reach directly above the quick-change worktable of the machine tool. The second servo motor stops rotating. The first servo motor drives the moving axis as a whole to move downward, places the tray and the workpiece on the quick-change worktable of the machine tool, and continues to move downward for a certain distance. The hook column and the hook block are automatically separated, and the hook column is located directly below the hook block. At the current position, the second telescopic arm is above the cradle tailstock of the five-axis machine tool, and the elbow arm is between the cradle tailstock and the worktable, avoiding the space limitation of the cradle tailstock. The horizontal telescopic moving axis retreats a certain distance, and the hook column deviates from directly below the hook block. The vertical moving axis and the horizontal moving axis perform an interpolation movement, and the elbow arm and the hook column move obliquely upward to the left along the left inclined surface of the cradle, leaving the cradle tailstock and the hook block to reach a safe height. The horizontal moving axis continues to move and retracts above the storage tray library to complete the tray loading process.

[0020] After the loading is completed, the quick-change worktable of the machine tool automatically locks and clamps the tray with the workpiece to be processed. The automatic door on the left side of the machine tool closes, and the machine tool starts to process the workpiece. The machine tool automatically completes the processing of the workpiece, the in-machine inspection of the workpiece quality, and the cleaning of the workpiece and the tray. The quick-change worktable releases the tray, the automatic door of the machine tool opens, and the automatic processing process of the workpiece is completed.

[0021] After the workpiece machining is completed, the blanking process of the machined workpiece pallet in the machine tool is executed. The storage pallet library rotates to the pallet blanking position and positions itself; the loading and unloading manipulator's horizontal telescopic movement axis moves forward and extends into the machine tool, and the vertical movement axis and the horizontal movement axis perform interpolation movement, driving the crank arm and the hook column to move obliquely downward to the right along the inclined plane of the machine tool's cradle tailstock until the hook column is at a certain distance to the left of the hook block and the hook column is lower than the hook block by a certain distance. The horizontal telescopic movement axis moves forward a certain distance until the hook column reaches directly below the hook block; the vertical movement axis moves upward, and the hook column cooperates with the hook block to squeeze and lock, driving the pallet and the workpiece upward to the set height; the horizontal telescopic movement axis retracts backward, driving the pallet to the position directly above the blanking position of the storage pallet library; the vertical movement axis moves downward, the pallet reaches the pallet position in the storage pallet library, the hook column separates from the pallet hook block and reaches a position a certain distance directly below the hook block; the horizontal telescopic arm movement axis retracts backward a certain distance until the hook column is completely staggered from the hook block and moves along the vertical movement axis to the set safe height, completing the blanking process of the pallet and the workpiece.

[0022] Under the control of the workpiece processing sequence and internal operation logic set in the flexible manufacturing system, the automated production and processing of each workpiece to be processed are completed in sequence. During the automatic machining stage of the machine tool, the workpiece that has been machined and completed in the storage pallet library can be replaced with a new workpiece and the fixture can be replaced; after the fixture replacement is completed and the workpiece replacement is completed, the processing status and processing program of the workpiece are set through system operations, and the automatic operation is started, and the loading and unloading manipulator cycles through the loading and unloading processes of each pallet and workpiece. Thus, the flexible manufacturing system can continuously cycle through the machining of the same or different target workpieces under the condition of not shutting down the machine, realizing automated, flexible, and intelligent production and processing.

[0023] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention is subject to the claims in the specification, and any substitutions, deformations, and improvements that are easily conceivable by those skilled in the art to this technology fall within the protection scope of the present invention.

Claims

1. A loading and unloading manipulator for a flexible manufacturing system, characterized in that: The invention comprises a frame (1), a vertical motion axis, a horizontal telescopic motion axis, a crank arm (6), a hook device (9), and a tray (8); the frame (1) is a gantry frame structure; the vertical motion axis comprises a transfer mounting seat (2), a slide seat (3), a first linear guide pair, a first gear rack transmission device, and a first servo drive unit; the vertical motion axis is mounted on the frame (1) via the transfer mounting seat (2); the transfer mounting seat (2) is provided with a first linear guide (10) and a first rack (13) The first guide rail slider (11) is installed on the slide (3); the horizontal telescopic motion axis includes a first telescopic arm (4) and a second telescopic arm (5), the first telescopic arm (4) is suspended and installed on the slide (3) through the second guide rail slider (18); the second telescopic arm (5) is suspended and installed on the third linear guide rail (23) below the first telescopic arm (4) through the third guide rail slider (24); the crank arm (6) is arranged on the front end surface of the second telescopic arm (5) and forms an inverted L-shaped structure with the second telescopic arm (5); the hook claw device (9) is installed on the bottom surface of the crank arm (6) and hooks the pallet (8) through the hook column (32) and the hook block (33) arranged on the pallet (8).

2. The loading and unloading manipulator for a flexible manufacturing system according to claim 1, characterized in that: The slide (3) moves up and down along the first linear guide pair under the drive of the first servo motor (16); the horizontal telescopic motion axis also comprises a second linear guide pair, a second gear rack transmission device, a second servo drive unit, a third linear guide pair, and a synchronous belt transmission device.

3. The loading and unloading manipulator for a flexible manufacturing system according to claim 1, characterized in that: The first telescopic arm (4) is provided with a second linear guide rail (17) and a second rack (19) on the upper side, and a third linear guide rail (23) on the lower side; the synchronous belt transmission device is provided on the first telescopic arm (4); the second servo motor (22) drives the first telescopic arm (4) to move horizontally along the second linear guide rail (17) via the second rack (19) and the second gear (20); the first telescopic arm (4) drives the second telescopic arm (5) to move horizontally along the third linear guide rail (23) via the synchronous belt transmission device; the second telescopic arm (5) moves synchronously with the first telescopic arm (4) and in the same direction; the movement speed of the second telescopic arm (5) is twice that of the first telescopic arm (4).

4. The loading and unloading manipulator for a flexible manufacturing system according to claim 1, characterized in that: The transfer mounting seat (2) is nested and installed in the gantry frame of the frame (1).

5. The loading and unloading manipulator for a flexible manufacturing system according to claim 1, characterized in that: The horizontal telescopic motion axis can be fully retracted to the left side of the frame (1), and the tray (8) and the workpiece (7) are located directly below the horizontal telescopic motion axis and close to the left end of the first telescopic arm (4).

6. The loading and unloading manipulator for a flexible manufacturing system according to claim 1, characterized in that: A guide rail pressing plate (12) is provided on the transfer mounting seat (2), and the guide rail pressing plate (12) is pressed onto the side of the first linear guide rail (10) by means of screws.

7. The loading and unloading manipulator for a flexible manufacturing system according to claim 1, characterized in that: The first servo drive unit comprises a first planetary reducer (15) and a first servo motor (16), and the second servo drive unit comprises a second planetary reducer (21) and a second servo motor (22), and the first servo drive unit and the second servo drive unit are both arranged on the slide seat (3).

8. The loading and unloading manipulator for a flexible manufacturing system according to claim 1, characterized in that: The slide seat (3) and the first telescopic arm (4) have an inverted U-shaped groove structure; the first telescopic arm (4) is nested in the inverted U-shaped groove of the slide seat (3); and the second telescopic arm (5) is nested in the inverted U-shaped groove of the first telescopic arm (4).

9. The loading and unloading manipulator for a flexible manufacturing system according to claim 1, characterized in that: The synchronous belt transmission device comprises a synchronous belt idler wheel (25), a synchronous belt idler wheel mounting seat (26), a synchronous belt (27), a synchronous belt pressure plate (28), a synchronous belt fixing plate (29), a synchronous belt connecting block (30), and a synchronous belt tensioning mechanism (31); the synchronous belt idler wheel (25) is arranged at both ends of the first telescopic arm (4); the synchronous belt (27) passes through the top surface of the inverted U-shaped groove of the first telescopic arm (4) of the two synchronous belt idler wheels (25); the two ends of the opening of the synchronous belt (27) are fixed on the top surface of the inverted U-shaped groove of the slide seat (3) through the synchronous belt pressure plate (28) and the synchronous belt fixing plate (29); and the middle position of the other side is fixed on the second telescopic arm (5) through the synchronous belt pressure plate (28).

10. The loading and unloading robot for a flexible manufacturing system according to claim 9, characterized in that: The synchronous belt transmission device is provided with a synchronous belt tensioning mechanism (31), and the left synchronous belt idler wheel (25) is pulled by the tensioning adjustment screw of the synchronous belt tensioning mechanism (31) to move horizontally to adjust the tensioning force of the synchronous belt (27).

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