Feeding and discharging manipulator for horizontal machining center

Abstract

The feeding and discharging manipulator for the horizontal machining center comprises a forward-backward lead screw walking mechanism, a mounting plate, a counter, a camera and a U-shaped transmission frame, the mounting frame is mounted at the top of a stirring tank, and a shaft column is mounted in the middle of the top of the stirring tank; and a left-right lead screw walking mechanism is installed at the top of a driving block of the front-back lead screw walking mechanism, first air cylinders are installed on the two sides of the outer portion of the mounting frame, mounting arms are connected to the front sides of gears, and pneumatic clamping jaws are installed at the bottoms of the mounting arms. According to the feeding and discharging mechanical arm for the horizontal machining center, a first motor drives a U-shaped transmission frame and a transmission rod to enable a camera to swing at multiple angles, a material tray can be comprehensively observed, a counter, the camera and double pneumatic clamping jaws can take materials respectively, the flexibility and accuracy are improved, a second air cylinder is arranged on a side plate to be connected with an assembling plate and an assembling base, and the assembling base is provided with a first air cylinder. A third motor in the assembling base drives a component to enable the swing arm to swing to clean the camera.

Description

Technical Field

[0001] The present invention relates to the field of horizontal machining centers, and more particularly to a loading and unloading manipulator for a horizontal machining center. Background Art

[0002] With the continuous progress of numerical control technology, the application of numerical control machine tools is becoming more and more extensive. As a numerically controlled machine tool with a relatively high degree of automation, the horizontal machining center can achieve efficient machining of complex parts, so it has developed rapidly. In modern manufacturing, improving production efficiency and product quality is the core competitiveness of enterprises. The horizontal machining center can complete multiple machining processes in one clamping, reducing the number of clamps and machining errors, and improving production efficiency and product quality. With the development of the manufacturing industry, the requirement for production efficiency is getting higher and higher. The traditional manual loading and unloading method has problems such as high labor intensity and low efficiency, and cannot meet the needs of modern production. The loading and unloading manipulator can achieve automated operation, greatly improving production efficiency and reducing the production cycle.

[0003] Common manipulators grasp and transfer workpieces through programming and control systems. However, for the case where there are hole positions on the tray for placing accessories, there is a lack of effective detection means. In the traditional method, it is impossible to accurately distinguish the hole positions with accessories from the hole positions without accessories, and it is easy to grasp the wrong accessories, thus affecting the accuracy of the accessories entering the subsequent machining process and reducing the product quality. Moreover, when planning the accessory conveying path after judging that the tray is full of materials, traditional equipment may not be able to obtain the information that the tray is full of materials in time or the obtained information is not accurate enough. This often leads to a reaction only when the tray is completely full, resulting in a change in the accessory conveying path at the last moment, which is prone to delays and errors, affecting the overall production efficiency and the stability of the process, and cannot meet the working requirements of the horizontal machining center application. Therefore, a loading and unloading manipulator for a horizontal machining center is proposed. Summary of the Invention

[0004] The present invention provides the following technical solution: A loading and unloading manipulator for a horizontal machining center, including a front-to-back lead screw walking mechanism. The top of the driving block of the front-to-back lead screw walking mechanism is provided with a left-to-right lead screw walking mechanism. The top of the driving block of the left-to-right lead screw walking mechanism is provided with a walking seat. The left end of the walking seat is connected to an up-and-down lead screw walking mechanism. The outside of the driving block of the up-and-down lead screw walking mechanism is connected to a mounting frame; A mounting plate is connected to the bottom end of the mounting frame. Both sides of the outside of the mounting frame are provided with first cylinders. The bottom ends of the first cylinders are at the corresponding positions of the mounting plate. Both sides of the bottom of the mounting plate are provided with hinge ears; The gear is inserted inside the hinge ear through a rotating shaft. Mounting arms are connected to the front sides of the gears. Pneumatic chucks are mounted at the bottoms of the mounting arms. A counter is installed at the top of the right mounting arm. The bottom end of the first cylinder is connected to a toothed plate; The connecting plate is installed on the left side of the top of the mounting plate. Side plates are installed on the outer sides of the bottoms of the connecting plates. A first connecting frame is connected to the rear side of the bottom of the side plate. A second connecting frame is connected to the right side of the bottom of the side plate. A first motor is installed on the back of the first connecting frame through a support. A second motor is installed on the back of the second connecting frame through a support. The rotors of the first motor and the second motor penetrate through the corresponding positions of the first connecting frame and the second connecting frame; The U-shaped transmission frame is connected to the outer end of the rotor of the first motor. A camera is inserted through a rotating shaft in the front side of the interior of the U-shaped transmission frame. The outer end of the rotor of the second motor is connected to a first transmission rod.

[0005] Preferably, through holes corresponding to the first cylinder and the toothed plate are respectively formed in the mounting plate. The diameters of the through holes are larger than the width of the toothed plate. The first cylinder and the connecting plate are both installed by bolts. During the operation of the device, the larger diameter of the through holes provides sufficient space for the movement of the toothed plate, avoiding the collision or friction between the toothed plate and the through hole wall during movement, thus ensuring the smooth movement of the toothed plate, reducing the wear of components that may be caused by friction or collision, extending the service life of the toothed plate and related components, and at the same time facilitating the installation and debugging of the device. During the installation process, the larger space allowance makes it easier for the toothed plate to align with its working position, reducing the installation difficulty and improving the installation efficiency.

[0006] Preferably, the lower part of the first transmission rod is connected to a second transmission rod through a bearing. The inner lower part of the second transmission rod is connected to the corresponding position outside the camera through a bearing.

[0007] Preferably, a second cylinder is installed in the middle of the upper surface of the side plate. The outer end of the second cylinder is connected to an assembly plate. The bottom end of the assembly plate is connected to an assembly seat, and a cavity is formed inside the assembly seat.

[0008] Preferably, a third motor is inserted inside the assembly seat. The bottom end of the rotor of the third motor penetrates through the corresponding position at the top of the assembly seat. The top end of the rotor of the third motor is coaxially connected to a driving rod.

[0009] Preferably, a swing arm is installed on the right side of the top of the assembly seat through a bearing. A through groove is formed in the left side of the interior of the swing arm. A plug rod is connected to the outer side of the top of the driving rod, and the plug rod is inserted into the interior of the through groove.

[0010] Preferably, the length of the through groove is one-third of the swing arm, and a cleaning cloth is laid on the right side of the top of the swing arm, and the top of the cleaning cloth is attached to the lens surface of the camera.

[0011] Preferably, the lead screws inside the forward and backward lead screw traveling mechanism, the left and right lead screw traveling mechanism, and the up and down lead screw traveling mechanism are all high-precision ball lead screws, and a shock-absorbing rubber pad is arranged between the driving block and the traveling seat of the left and right lead screw traveling mechanism.

[0012] Preferably, heat dissipation fins are installed on the outsides of the first cylinder and the second cylinder, and triangular reinforcing plates are welded at the joints of the assembly plate and the assembly seat.

[0013] Preferably, the toothed plate meshes with the gear, the length of the toothed plate is three times the diameter length of the gear, and the outside of the gear is subjected to a hardening treatment operation.

[0014] In summary, compared with the prior art, the present invention provides a loading and unloading manipulator for a horizontal machining center, which has the following beneficial effects: A counter is added to the top of the pneumatic chuck in the present invention. Cooperating with the action control module of the pneumatic chuck, it can accurately control the number of accessories taken from the material plate, avoiding errors that may occur in manual counting, and automatically stopping after reaching a certain number, making the entire material taking process more accurate and efficient. At the same time, by adding a camera on the side of the other pneumatic chuck, it can accurately control the number of accessories taken from the material tray, avoiding errors that may occur in manual counting, and automatically stopping after reaching a certain number, making the entire material taking process more accurate and efficient. Moreover, the holes on the material tray can be detected by the camera, skipping the holes without accessories and only grasping the holes with accessories, avoiding grasping the wrong accessories, ensuring the accuracy of the accessories entering the subsequent processing process, thereby improving the product quality. And the design of the double jaws can respectively take the accessories inside the material tray and the processed accessories inside the machine tool chuck, improving the flexibility and applicability of the loading and unloading manipulator, and being able to better meet the complex production requirements of the horizontal machining center; In the present invention, the rotation of the U-shaped transmission frame is driven by the first motor, so that the camera can swing left and right. At the same time, the movement of the first transmission rod and the second transmission rod can be driven by the second motor, and with the cooperation of the U-shaped transmission frame, the camera can perform swing adjustment at multiple angles. As a result, the camera can observe the tray from different directions, ensuring full coverage of all areas of the tray, and enabling the shooting range to reach the corners and recesses of the tray, more accurately judging whether the tray is full. At the same time, through multi-angle adjustment, the camera can quickly find the perspective that best reflects the state of the tray, thus obtaining information about whether the tray is full more quickly. Moreover, when the tray is approaching the full state, the multi-angle camera can detect this trend in advance from a suitable angle, rather than waiting until it is completely full to react, which helps to plan the conveying path of the accessories in advance, avoid changing the path at the last moment, and reduce possible delays and errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of the overall structure of the present invention.

[0016] Figure 2 is a schematic diagram of the structure of the mounting frame and the mounting plate of the present invention.

[0017] Figure 3 is a schematic diagram of the bottom view of the mounting plate of the present invention.

[0018] Figure 4 is a schematic diagram of the side plate structure of the present invention.

[0019] Figure 5 is a schematic diagram of the structure of the first connecting frame and the second connecting frame of the present invention.

[0020] Figure 6 is a schematic diagram of the structure of the assembly seat of the present invention.

[0021] DESCRIPTION OF REFERENCE NUMERALS: 1. Forward and backward lead screw traveling mechanism; 2. Left and right lead screw traveling mechanism; 3. Traveling seat; 4. Up and down lead screw traveling mechanism; 5. Mounting frame; 6. Mounting plate; 7. First cylinder; 8. Connecting plate; 9. Side plate; 10. Hinge ear; 11. Gear; 12. Mounting arm; 13. Pneumatic chuck; 14. Tooth plate; 15. Counter; 16. Second cylinder; 17. Assembly plate; 18. First connecting frame; 19. Second connecting frame; 20. Assembly seat; 21. First motor; 22. Second motor; 23. U-shaped transmission frame; 24. First transmission rod; 25. Second transmission rod; 26. Camera; 27. Third motor; 28. Swing arm; 29. Driving rod; 30. Insert rod; 31. Through slot; 32. Cleaning cloth. DETAILED DESCRIPTION OF THE INVENTION

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] The present invention provides a technical solution, a loading and unloading manipulator for a horizontal machining center, including a front-back lead screw traveling mechanism 1, a left-right lead screw traveling mechanism 2, a traveling seat 3, an up-down lead screw traveling mechanism 4, a mounting frame 5, a mounting plate 6, a first cylinder 7, a connecting plate 8, a side plate 9, a hinge ear 10, a gear 11, a mounting arm 12, a pneumatic chuck 13, a toothed plate 14, a counter 15, a second cylinder 16, an assembly plate 17, a first connecting frame 18, a second connecting frame 19, an assembly seat 20, a first motor 21, a second motor 22, a U-shaped transmission frame 23, a first transmission rod 24, a second transmission rod 25, a camera 26, a third motor 27, a swing arm 28, a driving rod 29, a plug rod 30, a through groove 31 and a cleaning cloth 32: Please refer to Figure 1 , the top of the driving block of the front-back lead screw traveling mechanism 1 is installed with the left-right lead screw traveling mechanism 2, the top of the driving block of the left-right lead screw traveling mechanism 2 is provided with a traveling seat 3, the left end of the traveling seat 3 is connected with the up-down lead screw traveling mechanism 4, the outside of the driving block of the up-down lead screw traveling mechanism 4 is connected with a mounting frame 5. The lead screws inside the front-back lead screw traveling mechanism 1, the left-right lead screw traveling mechanism 2 and the up-down lead screw traveling mechanism 4 all adopt high-precision ball screws. A shock-absorbing rubber pad is arranged between the driving block of the left-right lead screw traveling mechanism 2 and the traveling seat 3; Please refer to Figure 2 , the mounting plate 6 is connected to the bottom end of the mounting frame 5. First cylinders 7 are installed on both outer sides of the mounting frame 5. The bottom ends of the first cylinders 7 are at the corresponding positions of the mounting plate 6. Please refer to Figure 3 , hinge ears 10 are installed on both sides of the bottom of the mounting plate 6; The gears 11 are inserted inside the hinge ears 10 through rotating shafts. Mounting arms 12 are connected to the front sides of the gears 11. Pneumatic chucks 13 are installed at the bottoms of the mounting arms 12. Please refer to Figure 2, a counter 15 is installed at the top of the right mounting arm 12. The counter 15 is connected to the action control module of the pneumatic chuck 13. Whenever the chuck completes a grasping action, the counter 15 increments by 1. When the counter 15 reaches the set value, it sends a signal to the control system. The control system stops the further descent of the pneumatic chuck 13 and restricts it to stop at a certain height. At the same time, it can also send a prompt signal to remind the staff to replace the material plate. The bottom end of the first cylinder 7 is connected to a toothed plate 14. The toothed plate 14 meshes with the gear 11. The length of the toothed plate 14 is three times the diameter of the gear 11. The exterior of the gear 11 is all subjected to a hardening treatment operation; The connecting plate 8 is installed on the top left side of the mounting plate 6. Side plates 9 are installed on the outer sides of the bottom of the connecting plate 8. The installed connecting plate 8 serves to connect the mounting plate 6 and the side plates 9. Since the connecting plate 8 is installed at this position on the top left side of the mounting plate 6, it is conducive to a reasonable layout in space with other components, facilitating the installation and coordinated operation of subsequent components, making the entire structure more compact and orderly. Please refer to Figure 4 and Figure 5 , the rear side of the bottom of the side plate 9 is connected to a first connecting frame 18, and the right side of the bottom of the side plate 9 is connected to a second connecting frame 19. The back of the first connecting frame 18 is installed with a first motor 21 through a support, and the back of the second connecting frame 19 is installed with a second motor 22 through a support. The rotors of the first motor 21 and the second motor 22 penetrate through the corresponding positions of the first connecting frame 18 and the second connecting frame 19. Through holes corresponding to the first cylinder 7 and the toothed plate 14 are opened at corresponding positions inside the mounting plate 6. The diameters of the through holes are all larger than the width of the toothed plate 14. The first cylinder 7 and the connecting plate 8 are both installed by bolts. The method of installing the first cylinder 7 and the connecting plate 8 by bolts not only provides a high connection strength, can effectively resist various external forces during the operation of the device, prevent connection loosening, and ensure the firm connection between the two. Moreover, bolt connection is convenient for disassembly and maintenance. If the first cylinder 7 or the connecting plate 8 fails during the use of the device and needs to be repaired or replaced, using bolt connection can quickly disassemble it, perform corresponding operations and then reinstall it, greatly reducing the maintenance time and cost of the device. At the same time, the cost of bolts is low and they are easy to obtain, which helps to control the manufacturing cost of the entire device. The added first connecting frame 18 can stabilize its own position by relying on the support of the side plate 9, and the added first connecting frame 18 provides an installation basis for the first motor 21, enabling the first motor 21 to be installed on it through a support. And this connection position is conducive to the layout of the first motor 21 and other components in space, facilitating power transmission and the coordinated operation of the entire device. The second connecting frame 19 is connected to the right side of the bottom of the side plate 9, and also relies on the side plate 9 to maintain stability and provides an installation position for the second motor 22; The U-shaped drive frame 23 is connected to the outer end of the rotor of the first motor 21. The front side inside the U-shaped drive frame 23 is equipped with a camera 26 through a rotating shaft. The outer end of the rotor of the second motor 22 is connected to a first transmission rod 24. The lower part of the first transmission rod 24 is connected to a second transmission rod 25 through a bearing. The lower inner side of the second transmission rod 25 is connected to the corresponding position outside the camera 26 through a bearing. When judging and controlling the manipulator through the camera 26, first, the camera 26 collects the image data of the hole positions on the material plate, then converts the collected data into digital signals through an image sensor, and then transmits them to the image processing software. The image processing software analyzes the image, extracts the information on whether there are accessories at the hole positions. During the feeding process, the camera 26 collects the image data of the material tray, also converts it into digital signals and transmits them to the image processing software. The image processing software analyzes the occupancy of the material tray. Secondly, for the situation of taking accessories from the material tray, the image processing software transmits the information on whether there are accessories at the hole positions to the control system. The control system determines the movement path of the gripper based on this information, that is, whether to skip a certain hole position. During the feeding process, the image processing software transmits the information on whether the material tray is full to the control system. The control system determines based on this information whether the gripper should place the accessory in the current material tray or change the path to place it in the next empty material tray. Finally, the control system sends instructions to the drive motor of the gripper according to the decision result. When taking accessories from the material tray, the instructions include the translation, rotation, and grasping actions of the gripper. When feeding, the instructions include the movement of the gripper to the specified material tray and the action of releasing the accessory.

[0024] Please refer to Figure 4 , a second cylinder 16 is installed in the middle of the upper surface of the side plate 9. The side plate 9 serves as the support component of the second cylinder 16, ensuring the stable installation of the second cylinder 16 and being able to effectively disperse the stress generated by each component during the working process, ensuring the stability of the entire device. The outer end of the second cylinder 16 is connected to an assembly plate 17. The bottom end of the assembly plate 17 is connected to an assembly seat 20. Heat dissipation fins are installed on the outside of both the first cylinder 7 and the second cylinder 16. The added heat dissipation fins can effectively dissipate the heat generated by the first cylinder 7 and the second cylinder 16 during the working process. And because the gas compression and expansion inside the first cylinder 7 and the second cylinder 16 will generate heat during operation, the heat dissipation fins increase the heat dissipation area, reduce the temperature of the cylinders, ensure the stable performance of the cylinders, extend the service life of the first cylinder 7 and the second cylinder 16, and reduce the risk of failures that may be caused by overheating. Triangular reinforcement plates are welded at the connection between the assembly plate 17 and the assembly seat 20. The added triangular reinforcement plates increase the structural strength of the connection between the assembly plate 17 and the assembly seat 20. During the operation of the entire device, the triangular reinforcement plates can effectively resist the vibration force, prevent deformation or fracture at the connection, and improve the reliability and stability of the entire structure. Please refer to Figure 6, a cavity is formed inside the assembly base 20. A third motor 27 is inserted into the interior of the assembly base 20. The bottom end of the rotor of the third motor 27 penetrates through the corresponding position at the top of the assembly base 20. The top end of the rotor of the third motor 27 is coaxially connected to a driving rod 29. The right side of the top of the assembly base 20 is provided with a swing arm 28 through a bearing. A through groove 31 is formed on the left side inside the swing arm 28. The outer side of the top of the driving rod 29 is connected with a plug rod 30. The plug rod 30 is inserted into the interior of the through groove 31. The length of the through groove 31 is one-third of that of the swing arm 28. A cleaning cloth 32 is laid on the right side of the top of the swing arm 28. By driving the rotation of the driving rod 29 and the plug rod 30 through the third motor 27, the swing arm 28 can be driven to swing left and right repeatedly through the through groove 31, so that the lens of the camera 26 can be wiped by the cleaning cloth 32 on the top of the swing arm 28. This avoids the coolant from adhering to the lens surface when grasping the workpiece inside the machine tool chuck, improving the recognition accuracy of the camera 26. The top of the cleaning cloth 32 is in contact with the lens surface of the camera 26. Since the cleaning cloth 32 is laid on the swing arm 28, when the swing arm 28 swings, the cleaning cloth 32 can wipe the lens of the camera 26 along with the movement of the swing arm 28. And because the cleaning cloth 32 has a soft property, it can effectively remove stains such as coolant on the lens surface without scratching the lens of the camera 26. And the movement of the assembly plate 17 and the assembly base 20 can be driven by the second cylinder 16, avoiding interference with the swing arm 28 during the process of adjusting the angle of the camera 26.

[0025] In this solution, the counter 15 added on the top of the pneumatic chuck 13 on one side can accurately control the number of accessories taken from the material plate, avoiding possible errors in manual counting and automatically stopping after reaching a certain number, making the entire material taking process more accurate and efficient. At the same time, the camera 26 added on the side of the pneumatic chuck 13 on the other side can accurately control the number of accessories taken from the material tray, avoiding possible errors in manual counting and automatically stopping after reaching a certain number, making the entire material taking process more accurate and efficient. Furthermore, the camera 26 can detect the hole positions on the material tray, skip the holes without accessories, and only grasp the holes with accessories, which helps to avoid grasping incorrect accessories and ensures the accuracy of the accessories entering the subsequent processing procedures, thus improving the product quality. And the design of the double grippers can separately take the accessories inside the material tray and the processed accessories inside the machine tool chuck, improving the flexibility and applicability of the loading and unloading manipulator and being able to better meet the complex production requirements of the horizontal machining center.

[0026] Secondly, the rotation of the U-shaped transmission frame 23 is driven by the first motor 21, so that the camera 26 can swing left and right. At the same time, the movement of the first transmission rod 24 and the second transmission rod 25 can be driven by the second motor 22, and with the cooperation of the U-shaped transmission frame 23, the camera 26 can be adjusted to swing at multiple angles. Furthermore, the camera 26 can observe the tray from different directions, ensuring full coverage of all areas of the tray. And the shooting range can reach the corners and recessed parts of the tray, more accurately judging whether the tray is full. At the same time, through multi-angle adjustment, the camera 26 can quickly find the perspective that best reflects the state of the tray, so as to obtain the information of whether the tray is full more quickly. And when the tray is approaching the full state, this trend can be detected in advance from a suitable angle, rather than waiting until it is completely full to react. This helps to plan the conveying path of the accessories in advance, avoid changing the path at the last moment, and reduce possible delays and errors.

[0027] Therefore, in this solution, a counter 15 is designed on the top of one pneumatic chuck 13, and a camera 26 is installed on the side of the other pneumatic chuck 13 to count the number of parts taken. This design avoids the errors that may occur in manual counting and is not easily affected by factors such as fatigue and inattention during manual counting. These automated counting methods can accurately control the number of parts taken and automatically stop the material taking process after reaching the predetermined quantity. This not only improves the accuracy of material taking but also greatly enhances the efficiency of the entire material taking process. Moreover, the function of the camera 26 to detect the holes on the tray enables the manipulator to skip the holes without parts and only grab the holes with parts. This function effectively avoids grabbing the wrong parts and ensures the accuracy of the parts entering the subsequent processing procedures. The design of the double pneumatic chucks 13 can be used to take the parts inside the tray and the processed parts inside the machine tool chuck respectively. This design enables the loading and unloading manipulator to adapt to the complex production requirements of the horizontal machining center. At different production stages, parts in different positions and states need to be processed. The double-jaw design can flexibly handle these situations and improve the adaptability of the manipulator in the entire production process. At the same time, the multi-angle swing adjustment ability enables the camera 26 to observe the tray from different directions, ensuring full coverage of all areas of the tray, including corners and recessed parts. During the production process of the horizontal machining center, parts may be stored in various areas of the tray. The comprehensive observation ability helps to accurately judge whether the tray is full, and different angles can quickly find the perspective that best reflects the state of the tray, so as to obtain the information about whether the tray is full more quickly and avoid production delays caused by a full tray. Finally, the addition of the swing arm 28 and the cleaning cloth 32 can wipe the lens of the camera 26, enabling the cleaned camera 26 to accurately identify the tray, parts, etc., which is of great significance for the accuracy of the entire loading and unloading process. Therefore, the manipulator has been significantly improved in terms of counting accuracy, part selection, observation range, production path planning, and performance maintenance of the camera 26. These effects cooperate with each other to jointly improve the overall performance of the loading and unloading manipulator, enabling it to better adapt to the complex production environment of the horizontal machining center, improve product quality, reduce production delays and errors, and enhance production efficiency.

[0028] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0029] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A loading and unloading manipulator for a horizontal machining center, characterized in that, Including: A front-back lead screw walking mechanism (1), on the top of the driving block of the front-back lead screw walking mechanism (1), a left-right lead screw walking mechanism (2) is installed, on the top of the driving block of the left-right lead screw walking mechanism (2), a walking seat (3) is installed, on the left end of the walking seat (3), an up-down lead screw walking mechanism (4) is connected, and on the outside of the driving block of the up-down lead screw walking mechanism (4), a mounting frame (5) is connected; A mounting plate (6), connected to the bottom end of the mounting frame (5), on both outer sides of the mounting frame (5), first cylinders (7) are installed, at the corresponding positions of the bottom end of the first cylinders (7) and the mounting plate (6), on both bottom sides of the mounting plate (6), hinge ears (10) are installed; Gears (11), inserted into the inside of the hinge ears (10) through rotating shafts, on the front sides of the gears (11), mounting arms (12) are connected, on the bottoms of the mounting arms (12), pneumatic chucks (13) are installed, on the top of the right-side mounting arm (12), a counter (15) is installed, and at the bottom end of the first cylinder (7), a toothed plate (14) is connected; A connecting plate (8), installed on the left side of the top of the mounting plate (6), on the outer sides of the bottoms of the connecting plate (8), side plates (9) are installed, on the rear side of the bottom of the side plates (9), a first connecting frame (18) is connected, on the right side of the bottom of the side plates (9), a second connecting frame (19) is connected, on the back of the first connecting frame (18), a first motor (21) is installed through a footrest, on the back of the second connecting frame (19), a second motor (22) is installed through a footrest, and the rotors of the first motor (21) and the second motor (22) penetrate through the corresponding positions of the first connecting frame (18) and the second connecting frame (19); A U-shaped transmission frame (23), connected to the outer end of the rotor of the first motor (21), inside the front side of the U-shaped transmission frame (23), a camera (26) is inserted through a rotating shaft, and the outer end of the rotor of the second motor (22) is connected to a first transmission rod (24).

2. The loading and unloading manipulator for a horizontal machining center according to claim 1, wherein: At the positions corresponding to the first cylinders (7) and the toothed plates (14) inside the mounting plate (6), through holes are opened, the diameters of the through holes are all larger than the widths of the toothed plates (14), and the first cylinders (7) and the connecting plate (8) are all installed through bolts.

3. The loading and unloading manipulator for a horizontal machining center according to claim 1, wherein: The lower part of the first transmission rod (24) is connected to a second transmission rod (25) through a bearing, and the lower inner side of the second transmission rod (25) is connected to the corresponding position outside the camera (26) through a bearing.

4. The loading and unloading manipulator for a horizontal machining center according to claim 1, characterized in that: In the middle of the upper surface of the side plate (9), a second cylinder (16) is installed, the outer end of the second cylinder (16) is connected to an assembly plate (17), the bottom end of the assembly plate (17) is connected to an assembly seat (20), and a cavity is opened inside the assembly seat (20).

5. The loading and unloading manipulator for a horizontal machining center according to claim 4, characterized in that: Inside the assembly seat (20), a third motor (27) is inserted, the bottom end of the rotor of the third motor (27) penetrates through the corresponding position of the top of the assembly seat (20), and the top end of the rotor of the third motor (27) is coaxially connected to a driving rod (29).

6. The loading and unloading manipulator for a horizontal machining center according to claim 5, characterized in that: A swing arm (28) is mounted on the top right side of the assembly seat (20) through a bearing. A through groove (31) is formed in the left side inside the swing arm (28). A plug rod (30) is connected to the outer side of the top of the driving rod (29), and the plug rod (30) is inserted into the through groove (31).

7. The loading and unloading manipulator for a horizontal machining center according to claim 6, characterized in that: The length of the through groove (31) is one-third of that of the swing arm (28). A cleaning cloth (32) is laid on the top right side of the swing arm (28), and the top of the cleaning cloth (32) is attached to the lens surface of the camera (26).

8. A loading and unloading manipulator for a horizontal machining center according to claim 1, characterized in that: The lead screws inside the front-to-back lead screw traveling mechanism (1), left-to-right lead screw traveling mechanism (2), and up-and-down lead screw traveling mechanism (4) are all high-precision ball lead screws. A shock-absorbing rubber pad is provided between the driving block of the left-to-right lead screw traveling mechanism (2) and the traveling seat (3).

9. The loading and unloading manipulator for a horizontal machining center according to claim 4, characterized in that: Radiating fins are installed on the outsides of the first cylinder (7) and the second cylinder (16). Triangular reinforcing plates are welded at the joints between the assembly plate (17) and the assembly seat (20).

10. The loading and unloading manipulator for a horizontal machining center according to claim 1, wherein: The toothed plate (14) meshes with the gear (11). The length of the toothed plate (14) is three times the diameter length of the gear (11). The outside of the gear (11) is subjected to a hardening treatment operation.

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