Automatic feeding and discharging robot for CNC machining

Abstract

The invention belongs to the technical field of CNC machining, and particularly relates to a CNC machining automatic feeding and discharging robot which comprises a robot body, a feeding assembly is arranged on one side of the bottom end of the robot body, a material taking assembly is arranged on the other side of the bottom end of the robot body, a connecting table is installed at the bottom end of the robot body, and a supporting plate is arranged below the connecting table. A rotating frame is rotationally connected to one side of the supporting plate, four manipulators are installed on the outer side of the rotating frame at equal intervals, a worm wheel is rotationally connected to the side, away from the rotating frame, of the supporting plate, the worm wheel and the rotating frame are fixedly connected through a connecting shaft, a worm is connected to the upper portion of the worm wheel in an engaged mode, and a servo motor is installed on one side of the supporting plate; when the worm is driven by the servo motor to rotate, the worm wheel can be driven to rotate, at the moment, the worm wheel can drive the rotating frame to rotate, the rotating frame can drive the manipulators to change positions, the four manipulators can take down four materials every time the four manipulators take materials, the material taking frequency of the robot can be reduced, and the loss of the robot and the time consumption are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of CNC machining, and specifically relates to an automatic loading and unloading robot for CNC machining. Background Art

[0002] CNC (Computer Numerical Control Machine Tool) is a commonly used machining equipment. When machining some materials, it can automatically machine the required shape through CNC. When CNC is machining, in order to facilitate machining, an automatic loading and unloading robot is used, and the materials to be machined can be automatically placed on the CNC for machining through the automatic loading and unloading robot.

[0003] A patent application with the publication number of CN110834218A discloses an automatic loading and unloading industrial robot for multiple CNC machines, including an AGV cart, a support platform, a multi-axis robotic arm, a conveying mechanism, and an electric gripper mechanism. Through the AGV cart, the industrial robot can move flexibly, eliminating the need for laying ground rails, thus avoiding damage to the site and enabling the number of CNC machines to be increased or decreased.

[0004] In the above technical solution, during use, it is necessary to grasp the material through the electric gripper and convey the material to the machining position. However, only one material can be grasped each time the material is grasped, resulting in the robot having to travel a certain distance each time it grasps the material, which will cause more energy consumption of the robot and waste more time during the travel.

[0005] Therefore, the present invention provides an automatic loading and unloading robot for CNC machining. Summary of the Invention

[0006] In order to make up for the deficiencies of the prior art and solve at least one of the technical problems proposed in the background art.

[0007] The technical solution adopted by the present invention to solve its technical problems is as follows: An automatic loading and unloading robot for CNC machining according to the present invention includes a robot main body. A feeding component is arranged on one side of the bottom end of the robot main body, and a material taking component is arranged on the other side of the bottom end of the robot main body. Transmission frames are arranged inside both the feeding component and the material taking component. A connecting platform is installed at the bottom end of the robot main body, and a support plate is arranged below the connecting platform. One side of the support plate is rotatably connected to a rotating frame, and four mechanical hands are equidistantly installed on the outside of the rotating frame. One side of the support plate away from the rotating frame is rotatably connected to a worm gear, and the worm gear and the rotating frame are fixedly connected through a connecting shaft. The connecting shaft is rotatably connected inside the support plate. A worm is meshed and connected above the worm gear, and a servo motor is installed on one side of the support plate. The end of the rotating shaft of the servo motor is fixedly connected to the worm.

[0008] Preferably, a top plate is fixedly connected to one side of the rotating frame away from the support plate. An arc-shaped plate is fixed to one side of the top of the feeding assembly near the top plate, and one side of the top plate is closely attached to the arc edge of the arc-shaped plate.

[0009] Preferably, a telescopic block is fixed to the bottom end of the connecting platform. A sliding cavity is formed inside the support plate. The telescopic block is slidably connected inside the sliding cavity of the support plate. A first spring is fixed to the bottom end of the support plate, and the bottom end of the first spring is fixedly connected to the inner wall of the sliding cavity of the support plate.

[0010] Preferably, an air intake assembly is installed on one side of the manipulator. A connector is arranged on one side of the air intake assembly. A moving frame is arranged on one side of the support plate. A docking head is fixed to one side of the moving frame close to the air intake assembly. A moving structure is arranged on one side of the moving frame close to the support plate. The docking head and the connector can be inserted and connected.

[0011] Preferably, the moving structure includes a connecting frame fixed to one side of the moving frame close to the support plate. A support block is fixed to the bottom end of the support plate. One side of the connecting frame is slidably connected inside the support block. A push tube is fixed to one side of the connecting frame away from the support block. A docking tube is arranged on one side of the connecting frame away from the connecting frame. A rotating assembly is arranged on one side of the docking tube away from the support block.

[0012] Preferably, a plurality of push blocks are evenly arranged at equal intervals on the outer sides of the docking tube and the push tube. A chute is formed between the push blocks, and the chute of the docking tube can be engaged with the push blocks of the push tube, and the chute of the push tube can be engaged with the push blocks of the docking tube.

[0013] Preferably, the rotating assembly is fixed to the rotating block at the end of the rotating shaft of the feeding assembly close to the manipulator. A push rod is fixed to one side of the docking tube away from the push tube. The push rod is rotatably connected to the bottom end of the support plate through a connecting plate. The bottom end of the push rod is slidably connected to a sliding plate. Four dial rods are evenly fixed to the outer side of the rotating block. The dial rods can slide on one side of the sliding plate. A rotating block is also fixed to the end of the rotating shaft of the material taking assembly. A third spring is fixed inside the support block, and the other end of the third spring is fixedly connected to the connecting frame.

[0014] Preferably, a guide air pipe is fixed to the top end of the moving frame. A connecting block is fixed to the top end of the guide air pipe. The connecting block is communicated with the air supply device.

[0015] Preferably, a thimble is fixed inside the docking head. A one-way valve piece is hinged to the top end inside the connector.

[0016] Preferably, a guide rod is fixed to one side of the sliding plate close to the push rod. The guide rod is inserted inside the push rod. A second spring is sleeved on the outside of the guide rod. A guide rod is also fixed to one side of the push rod close to the sliding plate. The guide rod is inserted inside the sliding plate.

[0017] The beneficial effects of the present invention are as follows: 1. For an automatic loading and unloading robot for CNC machining according to the present invention, when the servo motor drives the worm to rotate, the worm can drive the worm wheel to rotate. At this time, the worm wheel can drive the rotating frame to rotate, and the rotating frame can drive the manipulator to change positions. In this way, the four manipulators can pick up four materials each time they pick up materials, which can reduce the number of material picking operations of the robot, reduce the wear and tear of the robot, and reduce the consumption of time.

[0018] 2. For an automatic loading and unloading robot for CNC machining according to the present invention, when the top plate rotates on the surface of the arc-shaped plate, the rotating frame can be lifted once every time the rotating frame rotates 90°. At this time, the rotating frame can drive the manipulator to rise once, preventing the conveyor rack from driving the material to move and interfering with the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] Figure 1 is a perspective view of the present invention; Figure 2 is a schematic structural view of the feeding component in the present invention; Figure 3 is a schematic structural view of the manipulator in the present invention; Figure 4 is a schematic structural view of the rotating frame in the present invention; Figure 5 is a schematic structural view of the connecting table in the present invention; Figure 6 is a schematic structural view of the connecting frame in the present invention; Figure 7 is a schematic structural view of the docking head in the present invention; Figure 8 is a schematic structural view of the push rod in the present invention; Figure 9 is a schematic structural view of the top plate in the present invention; Figure 10 is a schematic view of the internal structure of the support plate in the present invention.

[0021] In the figure: 1. Robot main body; 11. Manipulator; 111. Rotating frame; 112. Top plate; 12. Connecting table; 121. Support plate; 122. Telescopic block; 123. First spring; 13. Servo motor; 131. Worm; 132. Worm wheel; 14. Push rod; 141. Docking pipe; 142. Slide plate; 143. Guide rod; 144. Second spring; 15. Air intake component; 151. Connecting head; 152. Check valve piece; 16. Moving frame; 161. Air duct; 162. Connecting frame; 163. Pushing pipe; 164. Support block; 165. Third spring; 166. Docking head; 167. Thimble; 2. Feeding component; 21. Rotating block; 22. Conveyor rack; 23. Arc-shaped plate; 3. Material picking component. Detailed implementation manners

[0022] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific implementation manners.

[0023] As Figures 1 to 5 shown, a CNC machining automatic loading and unloading robot according to an embodiment of the present invention includes a robot main body 1. One side of the bottom end of the robot main body 1 is provided with a feeding component 2, and the other side of the bottom end of the robot main body 1 is provided with a material taking component 3. Transmission frames 22 are arranged inside both the feeding component 2 and the material taking component 3. A connecting platform 12 is installed at the bottom end of the robot main body 1. A support plate 121 is arranged below the connecting platform 12. A rotating frame 111 is rotatably connected to one side of the support plate 121. Four manipulators 11 are equidistantly installed on the outer side of the rotating frame 111. A worm gear 132 is rotatably connected to the side of the support plate 121 away from the rotating frame 111. The worm gear 132 and the rotating frame 111 are fixedly connected through a connecting shaft, and the connecting shaft is rotatably connected inside the support plate 121. A worm 131 is meshed and connected above the worm gear 132. A servo motor 13 is installed on one side of the support plate 121, and the end of the rotating shaft of the servo motor 13 is fixedly connected to the worm 131; During the use of the CNC equipment, materials need to be processed. At this time, the materials need to be placed at the processing position of the equipment. In order to load and unload materials more conveniently, a robot is needed for operation. The robot can grasp the materials, then place the materials at the processing position of the equipment for processing, and remove and collect the materials after processing. When processing, the feeding component 2 is started to run. At this time, the feeding component 2 drives the conveyor frame 22 to roll. At this time, the conveyor frame 22 can transport the materials. At the same time, the robot body 1 is started to move. The robot body 1 drives the manipulator 11 to move in the direction of the feeding component 2. At this time, the manipulator 11 moves above the feeding component 2. At the same time, the manipulator 11 descends to above one end of the feeding component 2. At this time, the feeding component 2 transports the materials to the lower part of the manipulator 11 through the conveyor frame 22. Then the manipulator 11 clamps the materials. At this time, one-time material picking can be completed. While picking up the materials, the servo motor 13 drives the worm 131 to rotate. At this time, the worm 131 drives the worm gear 132 to rotate. The worm gear 132 drives the rotating frame 111 to rotate 90°. At this time, the rotating frame 111 drives the manipulator 11 to rotate 90°. At this time, the manipulator 11 that has picked up the materials will switch to the next position, and the manipulator 11 that has not picked up the materials rotates above the feeding component 2. At the same time, the feeding component 2 drives the conveyor frame 22 to rotate one station. At this time, the materials at the top of the current conveyor frame 22 can be placed under the current manipulator 11. In this way, four materials are clamped each time. After clamping, the robot body 1 is started to drive the manipulator 11 to rise. Then the manipulator 11 is moved above the CNC equipment. Then the robot body 1 lowers the manipulator 11. At this time, the manipulator 11 descends with the materials to the processing position of the CNC equipment. Then the CNC equipment processes the materials clamped by the manipulator 11. At this time, because the worm 131 and the worm gear 132 have a self-locking function, it can prevent the rotating frame 111 from being driven during the processing. After the processing is completed, the servo motor 13 is started to rotate. At this time, the rotating frame 111 drives the manipulator 11 to rotate the processed materials to the next position. In this way, four materials are processed. After the processing is completed, the robot body 1 drives the manipulator 11 to rise. At this time, the robot body 1 drives the manipulator 11 above the picking component 3. The robot body 1 drives the manipulator 11 to descend to the top position of the picking component 3. Then the manipulator 11 places the processed materials on the top of the conveyor frame 22 of the picking component 3, and automatic loading and unloading can be realized.

[0024] As Figures 1 to 9 shown, one side of the rotating frame 111 away from the support plate 121 is fixedly connected with a top plate 112 through a connecting column. One side of the top of the feeding component 2 close to the top plate 112 is fixed with an arc plate 23. One side of the top plate 112 is closely attached to the arc edge of the arc plate 23; During the process of the rotating frame 111 driving the manipulator 11 to rotate for position replacement, interference may occur between the next group of manipulators 11 and the materials at the top of the next group of conveyor frames 22. To solve this problem, a top plate 112 is provided. When the rotating frame 111 rotates, it will drive the top plate 112 to rotate. In the initial state, the side of the top plate 112 will be attached to the arc edge of the arc-shaped plate 23. When the top plate 112 rotates to the corner, the support of the arc-shaped plate 23 on the top plate 112 will push up the top plate 112. At this time, the top plate 112 will push up the rotating frame 111, and the rotating frame 111 can drive the manipulator 11 to rise a certain height. At this time, the manipulator 11 can rise when the conveyor frame 22 drives the materials to move. Subsequently, after the top plate 112 rotates 90°, it returns to the initial state with the arc-shaped plate 23. At this time, the rotating frame 111 drives the manipulator 11 to descend to the initial position, and the automatic height adjustment of the manipulator 11 can be realized.

[0025] As Figures 1 to 10 shown, a telescopic block 122 is fixed at the bottom end of the connecting table 12. A sliding cavity is formed inside the support plate 121. The telescopic block 122 is slidably connected inside the sliding cavity. A first spring 123 is fixed at the bottom end of the support plate 121, and the bottom end of the first spring 123 is fixedly connected to the inner wall of the sliding cavity of the support plate 121. When the rotating frame 111 rises, it will drive the support plate 121 to rise. At this time, the telescopic block 122 can guide and limit the support plate 121, so that the rotating frame 111 can maintain stability when rising. During the use of the support plate 121, the first spring 123 exerts a thrust on the support plate 121, so that the support plate 121 can quickly return to its original position after the rotating frame 111 loses the upward thrust.

[0026] As Figures 1 to 5 shown, an air intake assembly 15 is installed on one side of the manipulator 11. A connection head 151 is arranged on one side of the air intake assembly 15. A moving frame 16 is arranged on one side of the support plate 121. A docking head 166 is fixed on the side of the moving frame 16 close to the air intake assembly 15. A moving structure is arranged on the side of the moving frame 16 close to the support plate 121. The docking head 166 and the connection head 151 can be plugged and connected. During the operation, the manipulator 11 needs to pick up materials. However, after picking up the materials, the manipulator 11 needs to rotate to a different position. Therefore, when picking up the materials, the moving structure drives the moving frame 16 to move towards the air intake assembly 15. At this time, the moving frame 16 pushes the docking head 166 to dock with the connection head 151, enabling the connection between the moving frame 16 and the air intake assembly 15. At this time, the external air supply device can control the manipulator 11 to pick up the raw materials. After picking up the materials, the manipulator 11 needs to rotate to the next station. At this time, the moving structure drives the moving frame 16 away from the air intake assembly 15. Then the manipulator 11 switches to the next station. Immediately afterwards, the moving structure can drive the moving frame 16 to communicate with the air intake assembly 15 again. In this way, it is possible to automatically control the on-off of the moving frame 16 and the air intake assembly 15 when switching the manipulator 11. During the CNC machining process, the air supply device will keep the air pressure output by the air intake assembly 15 to the manipulator 11 at a stable clamping air pressure. When the manipulator 11 places the materials above the material picking assembly 3 and communicates with the air intake assembly 15 through the moving frame 16, reverse control of the air flow can cause the manipulator 11 to release the materials, thus completing the automatic discharging of the materials and automatically controlling the connection between the moving frame 16 and different air intake assemblies 15 through the moving structure.

[0027] As Figures 5 to 6 shown, the moving structure includes a connecting frame 162 fixed to the side of the moving frame 16 close to the support plate 121. A support block 164 is fixed to the bottom end of the support plate 121. One side of the connecting frame 162 is slidably connected inside the support block 164. A push tube 163 is fixed to the side of the connecting frame 162 away from the support block 164. A docking tube 141 is provided on the side of the connecting frame 162 away from the connecting frame 162. A rotating assembly is provided on the side of the docking tube 141 away from the support block 164. When the moving frame 16 needs to move, the rotating assembly drives the docking tube 141 to rotate. At this time, the docking tube 141 pushes the push tube 163, and the push tube 163 drives the connecting frame 162 to move. The connecting frame 162 can drive the moving frame 16 to move. At the same time, one side of the connecting frame 162 slides inside the support block 164, enabling the moving frame 16 to automatically move towards the position of the air intake assembly 15.

[0028] As Figures 5 to 6 shown, a plurality of push blocks are evenly spaced on the outer sides of the docking tube 141 and the push tube 163. Chutes are formed between the push blocks, and the chute of the docking tube 141 can be engaged with the push block of the push tube 163, and the chute of the push tube 163 can be engaged with the push block of the docking tube 141. When the docking tube 141 is driven to rotate, the arc edge of its push block will push the arc edge of the chute of the push tube 163. At this time, the push tube 163 can be moved away from the docking tube 141. When resetting, the docking tube 141 can be closed with the push tube 163, facilitating the rotating assembly to drive the connecting frame 162 to move.

[0029] As shown in Figures 1 to 6 the figure, the rotating assembly is fixed to the rotating block 21 at the end of the rotating shaft of the feeding assembly 2 near the manipulator 11. A push rod 14 is fixed to the side of the docking pipe 141 away from the pushing pipe 163. The push rod 14 is rotatably connected to the bottom end of the support plate 121 through a connecting plate. A sliding plate 142 is slidably connected to the bottom end of the push rod 14. Four dial rods are equidistantly fixed to the outside of the rotating block 21. The dial rods can slide on one side of the sliding plate 142. The end of the rotating shaft of the material taking assembly 3 is also fixed with a rotating block 21. A third spring 165 is fixed inside the support block 164. The other end of the third spring 165 is fixedly connected to the connecting frame 162; When the conveyor frame 22 needs to move forward for feeding, it will be driven by the rotating shaft of the feeding assembly 2. At this time, the rotating shaft will drive the rotating block 21 to rotate at the same time. Whenever a conveyor frame 22 moves below the manipulator 11, the rotating shaft will drive the rotating block 21 to rotate 90°. At this time, the rotating block 21 pushes the sliding plate 142 once through the external dial rod. The sliding plate 142 drives the push rod 14 to rotate. At this time, the push rod 14 drives the docking pipe 141 to rotate, so that the moving frame 16 can be pushed to move. When the moving frame 16 is pushed to be connected to the air inlet assembly 15, the end of the dial rod of the rotating block 21 contacts the sliding plate 142. After the manipulator 11 completes clamping, the feeding assembly 2 continues to rotate. At this time, the rotating block 21 drives the dial rod to continue to rotate. At this time, the dial rod will separate from the sliding plate 142. At this time, the sliding plate 142 and the push rod 14 lose the thrust and automatically reset due to gravity, which can realize the automatic reset of the push rod 14. At the same time, the thrust of the third spring 165 will push the connecting frame 162 to push the docking pipe 141 to reset through the pushing pipe 163. The docking pipe 141 can assist the push rod 14 to reset, and can realize that the push rod 14 can automatically reset and wait for the next use every time the manipulator 11 is switched.

[0030] As shown in Figures 1 to 5 the figure, a gas guide pipe 161 is fixed to the top end of the moving frame 16. The top end of the gas guide pipe 161 is fixedly connected with a connecting block, and the connecting block is communicated with the gas supply device; During the movement of the moving frame 16 and the lifting and lowering of the support plate 121, the gas guide pipe 161 will deform due to the change in the distance between the moving frame 16 and the connecting block. At this time, it can be ensured that the moving frame 16 can be in a ventilated state in real time.

[0031] As shown in Figures 1 to 7 the figure, a thimble 167 is fixed inside the docking head 166, and a one-way valve piece 152 is hinged to the top end inside the connecting head 151; When the docking head 166 is docked with the connection head 151, the front end of the connection head 151 is inserted into the front end of the docking head 166. At this time, the ejector pin 167 will push open the one-way valve piece 152, and the interiors of the docking head 166 and the connection head 151 are connected. When the docking head 166 and the connection head 151 need to be separated, the ejector pin 167 moves away from one side of the one-way valve piece 152 along with the docking head 166. At this time, under the action of gravity and the internal air pressure of the air intake assembly 15, the one-way valve piece 152 will block the air intake port of the connection head 151, which can prevent air leakage of the connection head 151. At the same time, after the docking head 166 is disconnected, the external air supply device will automatically cut off the air supply.

[0032] As Figure 8 shown, a guide rod 143 is fixed to one side of the slide plate 142 close to the push rod 14. The guide rod 143 is inserted into the interior of the push rod 14. A second spring 144 is sleeved outside the guide rod 143. A guide rod 143 is also fixed to one side of the push rod 14 close to the slide plate 142. The guide rod 143 is inserted into the interior of the slide plate 142; When the manipulator 11 moves to the machining position of the CNC device, the push rod 14 and the slide plate 142 will interfere with the machining position of the CNC. At this time, the slide plate 142 can be pushed. When the slide plate 142 is pushed, it will retract towards the position of the push rod 14. After machining, the second spring 144 pushes the slide plate 142 to extend and automatically reset.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A CNC machining automatic loading and unloading robot, characterized in that: The robot body comprises a robot main body, a feeding assembly is arranged on one side of the bottom end of the robot main body, a picking assembly is arranged on the other side of the bottom end of the robot main body, conveying racks are arranged inside the feeding assembly and the picking assembly, a connecting platform is installed at the bottom end of the robot main body, a supporting plate is arranged below the connecting platform, a rotating rack is rotatably connected to one side of the supporting plate, four manipulators are equidistantly installed on the outside of the rotating rack, a worm gear is rotatably connected to the side of the supporting plate away from the rotating rack, the worm gear and the rotating rack are fixedly connected by a connecting shaft, the connecting shaft is rotatably connected to the inside of the supporting plate, a worm is meshingly connected to the top of the worm gear, a servo motor is installed on one side of the supporting plate, and the end of the rotating shaft of the servo motor is fixedly connected to the worm gear.

2. A CNC machining automatic loading and unloading robot according to claim 1, characterized in that: The side of the rotating frame away from the supporting plate is fixedly connected to the top plate through a connecting column, and the side of the top of the feeding assembly close to the top plate is fixed with an arc plate, and one side of the top plate is closely attached to the arc edge of the arc plate.

3. A CNC machining automatic loading and unloading robot according to claim 2, characterized in that: A telescopic block is fixed at the bottom end of the connecting platform, a sliding cavity is opened inside the support plate, the telescopic block is slidably connected inside the sliding cavity, a first spring is fixed at the bottom end of the support plate, and the bottom end of the first spring is fixedly connected to the inner wall of the sliding cavity of the support plate.

4. The CNC machining automatic loading and unloading robot according to claim 1, characterized in that: An air intake assembly is installed on one side of the manipulator, a connecting head is provided on one side of the air intake assembly, a movable frame is provided on one side of the support plate, a docking head is fixed on the side of the movable frame close to the air intake assembly, a movable structure is provided on the side of the movable frame close to the support plate, and the docking head and the connecting head can be plugged and connected.

5. The CNC machining automatic loading and unloading robot according to claim 4, characterized in that: The mobile structure includes a connecting frame fixed on the side of the mobile frame close to the support plate, a support block is fixed at the bottom end of the support plate, one side of the connecting frame is slidably connected to the inside of the support block, a pushing tube is fixed on the side of the connecting frame away from the support block, a docking tube is provided on the side of the connecting frame away from the connecting frame, and a rotating component is provided on the side of the docking tube away from the support block.

6. The CNC machining automatic loading and unloading robot according to claim 5, characterized in that: A plurality of push blocks are evenly spaced outside the butt-joint tube and the push tube, and slide grooves are formed between the push blocks. The slide grooves of the butt-joint tube can be engaged with the push blocks of the push tube, and the slide grooves of the push tube can be engaged with the push blocks of the butt-joint tube.

7. The CNC machining automatic loading and unloading robot according to claim 5, characterized in that: The rotating assembly is fixed to a rotating block of the feeding assembly close to the end of the manipulator shaft, a push rod is fixed to the side of the docking tube away from the pushing tube, the push rod is rotatably connected to the bottom end of the support plate through a connecting plate, the bottom end of the push rod is slidably connected to a slide plate, four levers are fixed at equal intervals on the outside of the rotating block, the levers can slide on one side of the slide plate, a rotating block is also fixed to the end of the shaft of the material picking assembly, a third spring is fixed inside the support block, and the other end of the third spring is fixedly connected to the connecting frame.

8. The CNC machining automatic loading and unloading robot according to claim 4, characterized in that: An air guide pipe is fixed on the top of the mobile frame, a connecting block is fixed on the top of the air guide pipe, and the connecting block is connected with the air supply equipment.

9. The CNC machining automatic loading and unloading robot according to claim 4, characterized in that: A thimble is fixed inside the joint, and a one-way valve plate is hinged at the top end inside the connecting head.

10. The CNC machining automatic loading and unloading robot according to claim 7, characterized in that: A guide rod is fixed on one side of the slide plate close to the push rod, the guide rod is inserted inside the push rod, a second spring is sleeved outside the guide rod, and a guide rod is also fixed on one side of the push rod close to the slide plate, the guide rod is inserted inside the slide plate.

Images