A CNC machining automatic feeding and discharging robot

Abstract

The application belongs to the technical field of CNC machining, in particular to an automatic feeding and discharging robot for CNC machining, which comprises a robot main body, a feeding assembly is arranged on one side of the bottom end of the robot main body, a material taking assembly is arranged on the other side of the bottom end of the robot main body, a connecting table is installed at the bottom end of the robot main body, a supporting plate is arranged below the connecting table, a rotating frame is rotatably connected to one side of the supporting plate, four mechanical hands are installed at equal intervals on the outer side of the rotating frame, a worm wheel is rotatably connected to the side of the supporting plate away from the rotating frame, the worm wheel and the rotating frame are fixedly connected through a connecting shaft, a worm is meshingly connected above the worm wheel, and a servo motor is installed on one side of the supporting plate; when the worm is driven to rotate by the servo motor, the worm wheel can be driven to rotate, at this time, the rotating frame can be driven to rotate by the worm wheel, the mechanical hands can be driven to change positions by the rotating frame, four materials can be taken down by the four mechanical hands at each time of taking materials, the frequency of taking materials by the robot can be reduced, and the loss and time consumption of the robot can be reduced.

Description

Technical Field

[0001] This invention belongs to the field of CNC machining technology, specifically a CNC machining automatic loading and unloading robot. Background Technology

[0002] CNC (Cellular Control Machine Tool) is a commonly used processing equipment. When processing some materials, CNC can automatically process them into the required shape. To make the processing more convenient, automatic loading and unloading robots are used. Automatic loading and unloading robots can automatically place the materials to be processed onto the CNC for processing.

[0003] A patent application with publication number CN110834218A discloses an automatic loading and unloading industrial robot for multiple CNC machining operations, including an AGV trolley, a support platform, a multi-axis robotic arm, a conveying mechanism, and an electric gripper mechanism. The AGV trolley enables the industrial robot to move flexibly, eliminating the need for laying ground rails, thereby avoiding damage to the site and allowing for the increase or decrease of the number of CNC machines.

[0004] The above-mentioned technical solution requires the use of electric grippers to grab materials and transport them to the processing position. However, only one material can be grabbed at a time, which means that the robot needs to travel a certain distance each time it grabs a material. This results in high energy consumption for the robot and a significant delay in the process.

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

[0006] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0007] The technical solution adopted by the present invention to solve its technical problem is as follows: The CNC machining automatic loading and unloading robot of the present invention includes a robot body, a feeding component is provided on one side of the bottom of the robot body, and a picking component is provided on the other side of the bottom of the robot body. Both the feeding component and the picking component are equipped with a conveyor frame. A connecting platform is installed at the bottom of the robot body, and a support plate is provided below the connecting platform. A rotating frame is rotatably connected to one side of the support plate. Four robotic arms are installed at equal intervals on the outer side of the rotating frame. A worm gear is rotatably connected to the side of the support plate away from the rotating frame. The worm gear and the rotating frame are fixedly connected by a connecting shaft. The connecting shaft is rotatably connected inside the support plate. A worm is meshed above the worm gear. A servo motor is installed on one side of the support plate, and the end of the servo motor's rotating shaft is fixedly connected to the worm.

[0008] Preferably, a top plate is fixedly connected to the side of the rotating frame away from the support plate via a connecting column, and an arc-shaped plate is fixed to the top of the feeding assembly near the top plate, with one side of the top plate pressed against the arc edge of the arc-shaped plate.

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

[0010] Preferably, an air intake component is installed on one side of the robot arm, a connector is provided on one side of the air intake component, a movable frame is provided on one side of the support plate, a docking head is fixed on the side of the movable frame near the air intake component, and a movable structure is provided on the side of the movable frame near the support plate, and the docking head and the connector can be plugged into each other.

[0011] Preferably, the movable structure includes a connecting frame fixed to the side of the movable frame near the support plate, a support block fixed to the bottom end of the support plate, one side of the connecting frame slidably connected to the inside of the support block, a push tube fixed to the side of the connecting frame away from the support block, a connecting pipe provided on the side of the connecting frame away from the connecting frame, and a rotating component provided on the side of the connecting pipe away from the support block.

[0012] Preferably, multiple push blocks are provided at equal intervals on the outer sides of the connecting pipe and the push pipe, and a sliding groove is formed between the push blocks. The sliding groove of the connecting pipe can engage with the push block of the push pipe, and the sliding groove of the push pipe can engage with the push block of the connecting pipe.

[0013] Preferably, the rotating component is fixed to the rotating block near the end of the robot arm's rotating shaft of the feeding component. A push rod is fixed on the side of the connecting pipe away from the push tube. The push rod is rotatably connected to the bottom end of the support plate through the connecting plate. A sliding plate is slidably connected to the bottom end of the push rod. Four levers are fixed at equal intervals on the outer side of the rotating block. The levers can slide on one side of the sliding plate. A rotating block is also fixed at the end of the rotating shaft of the picking component. A third spring is fixed inside the support block. The other end of the third spring is fixedly connected to the connecting frame.

[0014] Preferably, an air guide pipe is fixed to the top of the mobile frame, and a connecting block is fixed to the top of the air guide pipe, which is connected to the air supply equipment.

[0015] Preferably, a pin is fixed inside the connector, and a one-way valve plate is hinged to the top of the connector.

[0016] Preferably, a guide rod is fixed on the side of the slide plate near the push rod, the guide rod is inserted inside the push rod, and a second spring is sleeved on the outside of the guide rod. A guide rod is also fixed on the side of the push rod near the slide plate, and the guide rod is inserted inside the slide plate.

[0017] The beneficial effects of this invention are as follows: 1. The CNC machining automatic loading and unloading robot of the present invention uses a servo motor to drive the worm gear to rotate, which in turn drives the rotating frame to rotate. The rotating frame can then drive the robotic arms to change positions. In this way, the four robotic arms can pick up four materials each time, which can reduce the number of times the robot picks up materials, reduce robot wear and tear, and reduce time consumption.

[0018] 2. The CNC machining automatic loading and unloading robot of the present invention can lift the rotating frame once every time the rotating frame rotates 90° by rotating the top plate on the surface of the arc plate. At this time, the rotating frame can drive the robot arm to rise once, so as to prevent the material movement driven by the conveyor frame from interfering with the robot arm. Attached Figure Description

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

[0020] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the feeding component structure in this invention; Figure 3 This is a schematic diagram of the robotic arm structure in this invention; Figure 4 This is a schematic diagram of the rotating frame structure in this invention; Figure 5 This is a schematic diagram of the connecting platform structure in this invention; Figure 6 This is a schematic diagram of the connecting frame structure in this invention; Figure 7 This is a schematic diagram of the butt joint structure in this invention; Figure 8 This is a schematic diagram of the push rod structure in this invention; Figure 9 This is a schematic diagram of the top plate structure in this invention; Figure 10 This is a schematic diagram of the internal structure of the support plate in this invention.

[0021] In the diagram: 1. Robot body; 11. Manipulator; 111. Rotating frame; 112. Top plate; 12. Connecting platform; 121. Support plate; 122. Telescopic block; 123. First spring; 13. Servo motor; 131. Worm gear; 132. Worm wheel; 14. Push rod; 141. Connecting pipe; 142. Slide plate; 143. Guide rod; 144. Second spring; 15. Air intake assembly; 151. Connector; 152. One-way valve; 16. Moving frame; 161. Air duct; 162. Connecting frame; 163. Push pipe; 164. Support block; 165. Third spring; 166. Connecting joint; 167. Ejector pin; 2. Feeding assembly; 21. Rotating block; 22. Conveying frame; 23. Arc plate; 3. Picking assembly. Detailed Implementation

[0022] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0023] like Figures 1 to 5 As shown in the figure, an automatic loading and unloading robot for CNC machining according to an embodiment of the present invention includes a robot body 1, a feeding component 2 is provided on one side of the bottom end of the robot body 1, and a picking component 3 is provided on the other side of the bottom end of the robot body 1. Both the feeding component 2 and the picking component 3 are provided with a conveyor frame 22. A connecting platform 12 is installed at the bottom end of the robot body 1, and a support plate 121 is provided below the connecting platform 12. A rotating frame 111 is rotatably connected to one side of the support plate 121. Four robotic arms 11 are installed at equal intervals 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 by a connecting shaft. The connecting shaft is rotatably connected inside the support plate 121. A worm 131 is meshed above the worm gear 132. A servo motor 13 is installed on one side of the support plate 121. The end of the rotating shaft of the servo motor 13 is fixedly connected to the worm 131. During the use of CNC equipment, materials need to be processed. This requires placing the materials onto the processing position of the equipment. To facilitate loading and unloading, a robot is used. The robot can grab the materials, place them at the processing position, process them, and then remove and collect them. During processing, the feeding assembly 2 is activated, causing the conveyor frame 22 to rotate. The conveyor frame 22 transports the materials. Simultaneously, the robot body 1 moves, driving the robotic arm 11 towards the feeding assembly 2. The robotic arm 11 moves above the feeding assembly 2, and simultaneously descends to above one end of the feeding assembly 2. At this time, the feeding assembly 2 conveys the material to the area below the robotic arm 11 via the conveyor frame 22. The robotic arm 11 then grips the material, completing one material retrieval operation. Simultaneously, the servo motor 13 drives the worm gear 131 to rotate, which in turn drives the worm wheel 132 to rotate. The worm wheel 132 then drives the rotating frame 111 to rotate 90°, which in turn drives the robotic arm 11 to rotate 90°. The robotic arm 11, having already retrieved material, then switches to the next position, while the robotic arm 11, which has not yet retrieved material, moves to the next position. The robotic arm 11 rotates above the feeding assembly 2, while the feeding assembly 2 drives the conveyor frame 22 to rotate one workstation. At this time, the material at the top of the current conveyor frame 22 is placed below the current robotic arm 11. In this way, four materials are gripped at a time. After gripping, the robot body 1 starts to lift the robotic arm 11, and then moves the robotic arm 11 above the CNC equipment. Then, the robot body 1 lowers the robotic arm 11, and the robotic arm 11, carrying the materials, lands on the processing position of the CNC equipment. Then, the CNC equipment processes the materials gripped by the robotic arm 11. At this time, because of the worm gear 131 and worm wheel 13... The two parts have a self-locking function to prevent the rotating frame 111 from being driven during processing. After processing is completed, the servo motor 13 is started to rotate. At this time, the rotating frame 111 drives the robot arm 11 to rotate the processed material to the next position. This is done to process four materials. After processing is completed, the robot body 1 drives the robot arm 11 to rise. At this time, the robot body 1 drives the robot arm 11 to the top of the picking component 3. The robot body 1 drives the robot arm 11 to descend to the top position of the picking component 3. Then the robot arm 11 places the processed material on the top of the conveyor frame 22 of the picking component 3, which can realize automatic loading and unloading.

[0024] like Figures 1 to 9 As shown, the rotating frame 111 is fixedly connected to the top plate 112 on the side away from the support plate 121 by a connecting column, and the top of the feeding assembly 2 is fixed to the side of the top plate 112 near the top plate 112, with one side of the top plate 112 pressed against the arc edge of the arc plate 23. During the rotation of the rotating frame 111 and the rotation of the robotic arm 11 for repositioning, interference may occur between the next set of robotic arms 11 and the material at the top of the next set of conveyor frames 22. To solve this problem, a top plate 112 is set up. 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 plate 23. When the top plate 112 rotates to the corner, the support of the arc plate 23 on the top plate 112 will push the top plate 112 up. At this time, the top plate 112 pushes the rotating frame 111 up, and the rotating frame 111 can drive the robotic arm 11 to rise to a certain height. At this time, the robotic arm 11 can be raised when the conveyor frame 22 moves the material. Afterwards, the top plate 112 rotates 90° and returns to the initial state with the arc plate 23. At this time, the rotating frame 111 drives the robotic arm 11 to fall down to the initial position, which can realize the automatic adjustment of the height of the robotic arm 11.

[0025] like Figures 1 to 10 As shown, a telescopic block 122 is fixed at the bottom of the connecting platform 12, and a sliding cavity is provided 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 of the support plate 121, and the bottom 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 is raised, 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 remain stable when it rises. During the use of the support plate 121, the first spring 123 applies a pushing force to 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 pushing force.

[0026] like Figures 1 to 5 As shown, an air intake assembly 15 is installed on one side of the robotic arm 11, a connector 151 is provided on one side of the air intake assembly 15, a movable frame 16 is provided on one side of the support plate 121, a connector 166 is fixed on the side of the movable frame 16 near the air intake assembly 15, and a movable structure is provided on the side of the movable frame 16 near the support plate 121. The connector 166 and the connector 151 can be plugged into each other. During operation, the robotic arm 11 needs to grip materials. After gripping, the robotic arm 11 needs to rotate. Therefore, during gripping, 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 connector 166 and the connector 151 to align, allowing the moving frame 16 and the air intake assembly 15 to connect. The external air supply equipment can then control the robotic arm 11 to grip the raw material. After gripping, the robotic arm 11 needs to rotate to the next workstation. The moving structure then drives the moving frame 16 away from the air intake assembly 15, and the robotic arm 11 moves to the next workstation. The moving structure can drive the movable frame 16 to reconnect with the air intake component 15. In this way, the connection and disconnection of the movable frame 16 and the air intake component 15 can be automatically controlled when switching the robot arm 11. During the CNC machining process, the air supply equipment will maintain the air pressure output by the air intake component 15 to the robot arm 11 at a stable clamping air pressure. When the robot arm 11 places the material above the picking component 3, it connects with the air intake component 15 through the movable frame 16. Reverse control of the airflow can make the robot arm 11 release the material, thereby completing the automatic unloading of the material. The movable structure automatically controls the movable frame 16 to connect with different air intake components 15.

[0027] like Figures 5 to 6 As shown, the movable structure includes a connecting frame 162 fixed to the side of the movable frame 16 near 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 to the inside of 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 connecting tube 141 is provided on the side of the connecting frame 162 away from the connecting frame 162. A rotating component is provided on the side of the connecting tube 141 away from the support block 164. When the movable frame 16 needs to be moved, the rotating component will drive the connecting pipe 141 to rotate. At this time, the connecting pipe 141 pushes the push pipe 163, and the push pipe 163 pushes and drives the connecting frame 162 to move. The connecting frame 162 can drive the movable frame 16 to move. At the same time, one side of the connecting frame 162 slides inside the support block 164, which allows the movable frame 16 to automatically move towards the position of the air intake component 15.

[0028] like Figures 5 to 6 As shown, multiple push blocks are evenly spaced on the outer sides of the connecting pipe 141 and the push pipe 163, forming a sliding groove between the push blocks. The sliding groove of the connecting pipe 141 can engage with the push block of the push pipe 163, and the sliding groove of the push pipe 163 can engage with the push block of the connecting pipe 141. When the connecting tube 141 is driven to rotate, the arc edge of its push block will push the arc edge of the sliding groove of the push tube 163. At this time, the push tube 163 can move away from the connecting tube 141. When resetting, the connecting tube 141 can close with the push tube 163, which facilitates the rotation component to drive the connecting frame 162 to move.

[0029] like Figures 1 to 6 As shown, the rotating component is fixed to the rotating block 21 near the end of the rotating shaft of the feeding component 2, and a push rod 14 is fixed on the side of the connecting pipe 141 away from the push pipe 163. The push rod 14 is rotatably connected to the bottom end of the support plate 121 through the connecting plate. The bottom end of the push rod 14 is slidably connected to the slide plate 142. Four levers are fixed at equal intervals on the outer side of the rotating block 21. The levers can slide on one side of the slide plate 142. The rotating block 21 is also fixed to the end of the rotating shaft of the picking component 3. 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 22 needs to move forward to feed material, it is driven by the rotating shaft of the feeding assembly 2. At this time, the rotating shaft will simultaneously drive the rotating block 21 to rotate. Whenever a conveyor 22 moves under the robot arm 11, the rotating shaft will drive the rotating block 21 to rotate 90°. At this time, the rotating block 21 pushes the slide plate 142 once through the external lever. The slide plate 142 drives the push rod 14 to rotate. At this time, the push rod 14 drives the connecting pipe 141 to rotate, which can push the moving frame 16 to move. When the moving frame 16 is pushed to connect with the air intake assembly 15, the end of the lever of the rotating block 21 and the slide plate 142 are connected. 42 Contact. After the robot arm 11 completes the gripping, the feeding assembly 2 continues to rotate. At this time, the rotating block 21 drives the lever to continue rotating. The lever will then separate from the slide plate 142. At this time, the slide plate 142 and the push rod 14 lose the pushing force and automatically reset due to gravity, which can realize the automatic reset of the push rod 14. At the same time, the pushing force of the third spring 165 will push the connecting frame 162 to push the connecting tube 141 to reset through the pushing tube 163. The connecting tube 141 can assist the push rod 14 in resetting, so that the push rod 14 can automatically reset and wait for the next use every time the robot arm 11 is switched.

[0030] like Figures 1 to 5 As shown, an air guide pipe 161 is fixed to the top of the mobile frame 16, and a connecting block is fixed to the top of the air guide pipe 161. The connecting block is connected to the air supply equipment. During the movement of the movable frame 16 and the lifting and lowering of the support plate 121, the air duct 161 will deform due to the change in the distance between the movable frame 16 and the connecting block, which ensures that the movable frame 16 can be in a state of ventilation in real time.

[0031] like Figures 1 to 7 As shown, a pin 167 is fixed inside the connector 166, and a one-way valve plate 152 is hinged to the top of the connector 151. When the connector 166 and the connector 151 are mated, the front end of the connector 151 is inserted into the front end of the connector 166. At this time, the ejector pin 167 will push open the one-way valve plate 152, and the connector 166 and the connector 151 are internally connected. When the connector 166 and the connector 151 need to be separated, the ejector pin 167 moves away from the one-way valve plate 152 side along with the connector 166. At this time, under the action of gravity and the air pressure inside the air intake assembly 15, the one-way valve plate 152 will block the air inlet of the connector 151, which can prevent the connector 151 from leaking air. At the same time, after the connector 166 is disconnected, the external air supply equipment will automatically cut off the air supply.

[0032] like Figure 8 As shown, a guide rod 143 is fixed on the side of the slide plate 142 near the push rod 14. The guide rod 143 is inserted inside the push rod 14. A second spring 144 is sleeved on the outside of the guide rod 143. A guide rod 143 is also fixed on the side of the push rod 14 near the slide plate 142. The guide rod 143 is inserted inside the slide plate 142. When the robot arm 11 moves to the machining position of the CNC equipment, 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. After the slide plate 142 is pushed, it will retract to 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 foregoing has shown and described 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 to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of 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 includes a main body, a feeding component on one side of the bottom of the main body, and a picking component on the other side of the bottom of the main body. Both the feeding and picking components have conveyor frames inside. A connecting platform is installed at the bottom of the main body, and a support plate is installed below the connecting platform. A rotating frame is rotatably connected to one side of the support plate. Four robotic arms are installed at equal intervals on the outer side of the rotating frame. A worm gear is rotatably connected to the side of the support plate away from the rotating frame. The worm gear and the rotating frame are fixedly connected by a connecting shaft, which is rotatably connected inside the support plate. A worm is meshed above the worm gear. A servo motor is installed on one side of the support plate, and the end of the servo motor's shaft is fixedly connected to the worm. An air intake assembly is installed on one side of the robotic arm, a connector 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 near the air intake assembly, and a movable structure is provided on the side of the movable frame near the support plate. The docking head and the connector can be plugged into each other. The movable structure includes a connecting frame fixed to the side of the movable frame near the support plate, a support block fixed to the bottom end of the support plate, one side of the connecting frame slidably connected to the inside of the support block, a push tube fixed to the side of the connecting frame away from the support block, a connecting pipe provided on the side of the connecting frame away from the connecting frame, and a rotating component provided on the side of the connecting pipe away from the support block. The rotating assembly includes a rotating block fixed to the end of the feeding assembly near the end of the robot arm's rotating shaft. A push rod is fixed to the side of the connecting pipe away from the push tube. The push rod is rotatably connected to the bottom end of the support plate through a connecting plate. A sliding plate is slidably connected to the bottom end of the push rod. Four levers are fixed at equal intervals on the outer side of the rotating block. The levers can slide on one side of the sliding plate. A rotating block is also fixed to the end of the rotating shaft of the picking assembly. A third spring is fixed inside the support block. The other end of the third spring is fixedly connected to the connecting frame.

2. The CNC machining automatic loading and unloading robot according to claim 1, characterized in that: The rotating frame is fixedly connected to a top plate via a connecting column on the side away from the support plate. An arc-shaped plate is fixed to the top of the feeding assembly near the top plate, and one side of the top plate is pressed against the arc edge of the arc-shaped plate.

3. The CNC machining automatic loading and unloading robot according to claim 2, characterized in that: A telescopic block is fixed at the bottom of the connecting platform, and 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 of the support plate, and the bottom 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: Multiple push blocks are evenly spaced on the outer sides of the connecting pipe and the push tube, forming a sliding groove between the push blocks. The sliding groove of the connecting pipe can engage with the push block of the push tube, and the sliding groove of the push tube can engage with the push block of the connecting pipe.

5. The CNC machining automatic loading and unloading robot according to claim 1, characterized in that: An air duct is fixed to the top of the mobile frame, and a connecting block is fixed to the top of the air duct. The connecting block is connected to the air supply equipment.

6. The CNC machining automatic loading and unloading robot according to claim 1, characterized in that: The connector has a pin fixed inside, and a one-way valve plate is hinged to the top inside the connector.

7. The CNC machining automatic loading and unloading robot according to claim 1, characterized in that: A guide rod is fixed to the side of the skateboard near the push rod, and 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 the side of the push rod near the skateboard, and the guide rod is inserted inside the skateboard.

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