Feeding and discharging truss robot for numerical control machine tool

Abstract

The invention belongs to the technical field of truss robots, particularly relates to a feeding and discharging truss robot for a numerical control machine tool, and aims to solve the problems that most of large-scale production workshops in China still depend on manpower to carry, load and unload workpieces, the working strength is high, the efficiency is low, large potential safety hazards exist, some safety accidents are likely to occur, and casualties are caused. In order to solve the problem that a manual production line cannot meet the requirements of production automation development, the invention provides the following scheme that the device comprises two bottom plates, and two supporting legs are symmetrically and fixedly arranged at the bottoms of the bottom plates. In the using process, servo motors on the X-axis moving assembly, the Y-axis moving assembly and the Z-axis moving assembly are controlled to rotate forwards and backwards through an external control module, so that the mechanical arm assembly freely adjusts the spatial position on the X-axis, the Y-axis and the Z-axis, feeding and discharging carrying of workpieces is achieved, time and labor are saved, the machining efficiency is improved, and the product quality is improved. And safety accidents are avoided, and the requirements of current production automation development are met.

Description

Technical Field

[0001] The present invention relates to the technical field of truss robots, and in particular to a loading and unloading truss robot for numerically controlled machine tools. Background Art

[0002] A CNC machine tool, short for digitally controlled machine tool, is an automated machine tool equipped with a program control system. This control system logically processes programs specified by control codes or other symbolic instructions, decodes them, and represents them as coded numbers, which are then input into the CNC device via an information carrier. After computational processing, the CNC device issues various control signals, controlling the machine's movements and automatically producing parts to the shape and size specified in the drawings.

[0003] A truss-type CNC machine loading and unloading robot is a rectangular coordinate robot manipulator used for automated loading and unloading of CNC machine tools. A truss-type CNC machine tool manipulator is an automated device used in industrial applications that is capable of automatic control, is reprogrammable, multifunctional, has multiple degrees of freedom, and has a spatial right-angle relationship between the degrees of freedom of motion. The truss-type machine tool loading and unloading robot, combined with a CNC machine tool, can automatically grasp, load, unload, clamp, shift and flip workpieces, and process workpieces in all process steps, significantly saving labor costs and improving production efficiency. However, the majority of large-scale production workshops in my country still rely on manual labor for handling and loading and unloading workpieces, which is labor-intensive, inefficient, and presents significant safety hazards. It is prone to accidents that cause casualties. Manual production lines can no longer meet the development requirements of production automation.

[0004] In response to the above problems, the present invention document proposes a loading and unloading truss robot for CNC machine tools to solve the above problems. Summary of the Invention

[0005] The present invention provides a loading and unloading truss robot for CNC machine tools, which solves the shortcomings of the existing technology that most of my country's large-scale production workshops still rely on manual labor to carry and load and unload workpieces, which is labor-intensive, inefficient, and has major safety hazards. It is easy to cause some safety accidents that cause casualties, and the manual production line can no longer meet the requirements of production automation development.

[0006] The present invention provides the following technical solutions:

[0007] A loading and unloading truss robot for a CNC machine tool, comprising:

[0008] Two bottom plates, two supporting legs are symmetrically fixed on the bottom of the bottom plates, a rotating plate for connecting to the CNC machine tool is fixed on the bottom of the supporting legs, and a gasket is fixed on the bottom of the rotating plate;

[0009] An X-axis moving assembly is provided on the top of the base plate, a Y-axis moving assembly is provided on the two X-axis moving assemblies, a Z-axis moving assembly is provided on the Y-axis moving assembly, and a manipulator assembly is provided at the bottom of the Y-axis moving assembly.

[0010] In one possible design, the X-axis moving assembly includes a U-shaped frame fixedly set on the top of the rotating plate, two slide rails are symmetrically fixed in the U-shaped frame, a fixed plate is provided above the U-shaped frame, and the fixed plate is slidably installed on the two slide rails through two rows of concave blocks at the bottom, a first servo motor is fixedly installed on the top of the fixed plate, the output shaft of the first servo motor passes through the bottom of the fixed plate and is fixedly provided with a first gear, a first rack is fixedly provided in the U-shaped frame, the first rack is engaged with the first gear, and limit baffles are fixedly provided at both ends of the U-shaped frame.

[0011] In one possible design, the X-axis moving assembly also includes a U-shaped bar fixedly arranged on the outer wall of the U-shaped frame, a first drag chain is provided in the U-shaped bar, one end of the first drag chain is fixedly connected to one end of the U-shaped bar, and the other end of the first drag chain is fixedly connected to the top of the fixed plate through an L-shaped plate.

[0012] In one possible design, the Y-axis moving assembly has the same specific structure as the X-axis moving assembly, and the bottom ends of the U-shaped frame on the Y-axis moving assembly are respectively fixedly connected to the top of the corresponding fixed plate on the X-axis moving assembly.

[0013] In one possible design, the Z-axis moving assembly includes a mounting frame fixedly mounted on the top of a fixed plate on the Y-axis moving assembly, a vertical rod being provided inside the mounting frame, the vertical rod being slidably connected to the inner wall of the mounting frame through a sliding rod on the side wall, a second rack being fixedly mounted on one side of the vertical rod, a second servo motor being fixedly mounted on the outer wall of the mounting frame, an output shaft of the second servo motor passing through the inner wall of the mounting frame and being fixedly mounted with a second gear, and the second gear being engaged with the second rack.

[0014] In a possible design, the Z-axis moving assembly further includes a second drag chain fixedly mounted on the top of the vertical rod, and the second drag chain is bent into an inverted U-shape through a first limiting shell and a second limiting shell on the outer wall of the mounting frame.

[0015] In one possible design, the manipulator assembly includes a top plate fixed to the bottom of the vertical rod, a base fixed to the bottom of the top plate, a protective shell fixed between the top plate and the base, two guide rods symmetrically fixed on the inner wall of the top plate, two sliding seats slidably installed on the two guide rods, the two sliding seats are arranged opposite to each other, a connecting frame fixed to the bottom of the sliding seat, a chuck fixed to the other end of the connecting frame, an electric push rod provided on one side of the sliding seat, the telescopic end of the electric push rod fixedly connected to the side wall of the sliding seat, the bottom of the electric push rod fixedly connected to the bottom of the inner wall of the base, and a workpiece detection sensor fixedly provided on the top of the top plate.

[0016] In a possible design, a reinforcement diagonal rod is fixedly provided between one side of the support leg and the bottom of the corresponding base plate, and two reinforcement cross bars are symmetrically fixedly provided between the two base plates.

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the invention.

[0018] The beneficial effects of the present invention are:

[0019] In the present invention, the servo motors on the X-axis moving assembly, Y-axis moving assembly and Z-axis moving assembly are controlled by an external control module for forward and reverse rotation, so that the robot assembly can freely adjust its spatial position on the X, Y and Z axes to realize loading and unloading of workpieces, saving time and effort, helping to improve processing efficiency, and avoiding safety accidents, meeting the requirements of today's production automation development.

[0020] In the present invention, by setting up a drag chain, the cables, pipes and other wiring harnesses of the mobile component are stored and protected to ensure the normal operation of the mobile component, and the drag chain has good ductility and can be bent, rolled or flattened synchronously with the sliding of the mobile component.

[0021] In the present invention, the overall truss structure is reinforced by arranging reinforcing diagonal bars and reinforcing cross bars, thereby improving the stability during loading and unloading of heavier workpieces and avoiding deviations in loading and unloading caused by accidental shaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the three-dimensional structure of a loading and unloading truss robot for a CNC machine tool provided by an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the partial structure of a loading and unloading truss robot for a CNC machine tool provided by an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of the structure of an X-axis moving component of a loading and unloading truss robot for a CNC machine tool provided by an embodiment of the present invention;

[0025] Figure 4 A schematic diagram of the fixed plate structure of a loading and unloading truss robot for a CNC machine tool provided by an embodiment of the present invention;

[0026] Figure 5 A schematic diagram of a U-shaped frame structure of a loading and unloading truss robot for a CNC machine tool provided by an embodiment of the present invention;

[0027] Figure 6 A schematic diagram of the structure of a Z-axis moving component of a loading and unloading truss robot for a CNC machine tool provided by an embodiment of the present invention;

[0028] Figure 7 A schematic structural diagram of a manipulator assembly of a loading and unloading truss robot for a CNC machine tool provided by an embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram of the disassembled structure of a manipulator assembly of a loading and unloading truss robot for a CNC machine tool provided by an embodiment of the present invention.

[0030] Figure 1: 1. Base plate; 2. Support legs; 3. Rotating plate; 4. Gasket; 5. X-axis moving assembly; 6. Y-axis moving assembly; 7. Z-axis moving assembly; 8. Manipulator assembly; 9. U-shaped frame; 10. Slide rail; 11. Fixed plate; 12. Inner concave block; 13. First rack; 14. First servo motor; 15. First gear; 16. Limit stopper; 17. U-shaped bar; 18. First drag chain; 19. L-shaped plate; 20. Add 1. Reinforced diagonal rod; 21. Reinforced horizontal rod; 22. Mounting frame; 23. Vertical rod; 24. Sliding rod; 25. Second rack; 26. Second servo motor; 27. Second gear; 28. Second drag chain; 29. ​​First limit shell; 30. Second limit shell; 31. Top plate; 32. Base; 33. Guide rod; 34. Sliding seat; 35. Electric push rod; 36. Connecting frame; 37. Chuck; 38. Protective shell; 39. Workpiece detection sensor. DETAILED DESCRIPTION

[0031] The embodiments of the present invention are described below with reference to the accompanying drawings.

[0032] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms, "connection", and "installation" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. In addition, "communication" can be a direct connection or an indirect connection through an intermediate medium. Here, "fixed" means that the two are connected to each other and the relative position relationship after connection remains unchanged. The directional terms mentioned in the embodiments of the present invention, such as "inside", "outside", "top", "bottom", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present invention, rather than indicating or implying that the referred to or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present invention.

[0033] In the embodiments of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0034] In the embodiments of the present invention, "and / or" is simply a description of the association relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0035] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of the present invention. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in yet other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0036] Example 1

[0037] A loading and unloading truss robot for a CNC machine tool, comprising:

[0038] Please refer to Figure 1-2 , two bottom plates 1, the bottom of the bottom plate 1 is symmetrically fixed with two supporting legs 2, the bottom of the supporting legs 2 is fixed with a rotating plate 3 for connecting to the CNC machine tool, the rotating plate 3 is fixed to the CNC machine tool by bolts, and the bottom of the rotating plate 3 is fixed with a gasket 4, which is preferably made of rubber material to improve the friction between the rotating plate 3 and the CNC machine tool, making it difficult to slide, and at the same time preventing the bottom of the rotating plate 3 from rusting and corroding the surface of the CNC machine tool;

[0039] An X-axis moving component 5 is provided on the top of the base plate 1, the same Y-axis moving component 6 is provided on the two X-axis moving components 5, a Z-axis moving component 7 is provided on the Y-axis moving component 6, and a manipulator component 8 is provided at the bottom of the Y-axis moving component 6. Through the coordinated use of the X-axis moving component 5, the Y-axis moving component 6, the Z-axis moving component 7 and the manipulator component 8, it is convenient to automatically clamp the workpiece for loading and unloading.

[0040] Please refer to Figure 2-5The U-shaped frame 9 is provided with a fixed plate 11 on the top of the rotating plate 3. Two slide rails 10 are symmetrically fixed in the U-shaped frame 9. A fixed plate 11 is provided above the U-shaped frame 9. The fixed plate 11 is slidably mounted on the two slide rails 10 through two rows of inner concave blocks 12 at the bottom to limit the moving direction of the U-shaped frame 9. A first servo motor 14 is fixedly installed on the top of the fixed plate 11. The output shaft of the first servo motor 14 passes through the bottom of the fixed plate 11 and is fixedly provided with a first gear 15. A first rack 13 is fixedly provided in the U-shaped frame 9. The first rack 13 is meshed with the first gear 15. Limit stoppers 16 are fixedly provided at both ends of the U-shaped frame 9 to prevent the fixed plate 11 from separating from the U-shaped frame 9. The first rack 13 is driven to rotate by the forward and reverse rotation of the first servo motor 14, and under the limiting and guiding action of the inner concave blocks 12 and the slide rails 10, the first rack 13 prompts the fixed plate 11 to slide on the U-shaped frame 9, thereby realizing the linear motion of the X-axis.

[0041] The X-axis moving assembly 5 also includes a U-shaped bar 17 fixedly arranged on the outer wall of the U-shaped frame 9. A first drag chain 18 is provided in the U-shaped bar 17 for wrapping cables. One end of the first drag chain 18 is fixedly connected to one end of the U-shaped bar 17, and the other end of the first drag chain 18 is fixedly connected to the top of the fixed plate 11 through an L-shaped plate 19. By providing the first drag chain 18, the organized cables, pipes and other wiring harnesses of the X-axis moving assembly 5 are stored and protected to ensure the normal operation of the X-axis moving assembly 5, and as the fixed plate 11 moves, the first drag chain 18 is synchronously bent, rolled or flattened.

[0042] Please refer to Figure 2-5 The specific structure of the Y-axis moving assembly 6 is consistent with that of the X-axis moving assembly 5. Based on the transmission principle of the X-axis moving assembly 5, the Y-axis moving assembly 6 can realize the linear motion of the Y-axis. The bottom ends of the U-shaped frame 9 on the Y-axis moving assembly 6 are respectively fixedly connected to the top of the corresponding fixed plate 11 on the X-axis moving assembly 5. During the sliding process of the two fixed plates 11 on the X-axis moving assembly 5, the U-shaped frame 9 on the Y-axis moving assembly 6 is driven to move synchronously.

[0043] Please refer to Figure 2 and Figure 6, the Z-axis moving assembly 7 includes a mounting frame 22 fixedly arranged on the top of the fixed plate 11 on the Y-axis moving assembly 6, a vertical rod 23 is provided in the mounting frame 22, and the vertical rod 23 is slidably connected to the inner wall of the mounting frame 22 through a slide bar 24 on the side wall, and a second rack 25 is fixedly provided on one side of the vertical rod 23, and a second servo motor 26 is fixedly installed on the outer wall of the mounting frame 22. The output shaft of the second servo motor 26 passes through the inner wall of the mounting frame 22 and is fixedly provided with a second gear 27, the second gear 27 is meshed with the second rack 25, and the second gear 27 is driven to rotate by the forward and reverse rotation of the second servo motor 26, and because the slide bar 24 is slidably connected to the inner wall of the mounting frame 22, the second rack 25 prompts the vertical rod 23 to slide in the mounting frame 22, thereby realizing the linear motion of the Z axis;

[0044] The Z-axis moving assembly 7 also includes a second drag chain 28 fixedly arranged on the top of the vertical rod 23. The second drag chain 28 is bent into an inverted U shape through the first limit shell 29 and the second limit shell 30 on the outer wall of the mounting frame 22. By setting the second drag chain 28, the cables, pipes and other wiring harnesses of the Z-axis moving assembly 7 are stored and protected to ensure the normal operation of the Z-axis moving assembly 7, and as the vertical rod 23 moves, the second drag chain 28 is synchronously bent, rolled or flattened.

[0045] Please refer to Figure 2 and Figure 7-8 The lifting mechanism 31 is a kind of lifting mechanism that is used for lifting and lowering the lifting mechanism 31, and the lifting mechanism 31, a kind of lifting mechanism that is used for lifting and lowering the lifting mechanism 31, is a kind of lifting mechanism that is used for lifting and lowering the lifting mechanism 31.

[0046] Example 2

[0047] Improvements based on Example 1:

[0048] Please refer to Figure 1A reinforcing diagonal rod 20 is fixed between one side of the supporting leg 2 and the bottom of the corresponding base plate 1, and two reinforcing cross bars 21 are symmetrically fixed between the two base plates 1. By setting the reinforcing diagonal rod 20 and the reinforcing cross bar 21, the overall truss structure is reinforced to improve the stability during loading and unloading of heavier workpieces and avoid deviations in loading and unloading caused by accidental shaking.

[0049] However, as is well known to those skilled in the art, the working principles and wiring methods of the first servo motor 14, the second servo motor 26 and the electric push rod 35 are commonplace, and are conventional means or common knowledge, so they will not be elaborated here. Those skilled in the art can make any selections according to their needs or convenience.

[0050] The working principle and usage process of this technical solution are as follows:

[0051] The workpiece detection sensor 39 senses the workpiece position to realize automatic operation of the electric push rod 35, and the two electric push rods 35 are used to push the corresponding sliding seats 34 to slide, so that the two connecting frames 36 are moved closer to or away from each other, thereby prompting the two chucks 37 to clamp and release the material. The servo motors on the X-axis moving component 5, the Y-axis moving component 6 and the Z-axis moving component 7 are controlled by the external control module to rotate forward and reverse, so that the robot component 8 can freely adjust the spatial position on the X, Y and Z axes to realize the loading and unloading of the workpiece.

[0052] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. The embodiments of the present invention and the features therein can be combined with each other unless there is a conflict. Therefore, the scope of protection of the present invention shall be based on the scope of protection of the claims.

Claims

1. A loading and unloading truss robot for CNC machine tools, characterized in that: include: Two base plates 1, two supporting legs 2 are symmetrically fixed on the bottom of the base plate 1, a rotating plate 3 for connecting to a CNC machine tool is fixed on the bottom of the supporting legs 2, and a gasket 4 is fixed on the bottom of the rotating plate 3; An X-axis moving assembly 5 is provided on the top of the base plate 1 , the same Y-axis moving assembly 6 is provided on the two X-axis moving assemblies 5 , a Z-axis moving assembly 7 is provided on the Y-axis moving assembly 6 , and a manipulator assembly 8 is provided at the bottom of the Y-axis moving assembly 6 .

2. A loading and unloading truss robot for a CNC machine tool according to claim 1, characterized in that: The X-axis moving assembly 5 includes a U-shaped frame 9 fixedly set on the top of the rotating plate 3, and two slide rails 10 are symmetrically fixedly set in the U-shaped frame 9. A fixed plate 11 is provided above the U-shaped frame 9, and the fixed plate 11 is slidably installed on the two slide rails 10 through two rows of concave blocks 12 at the bottom. A first servo motor 14 is fixedly installed on the top of the fixed plate 11, and the output shaft of the first servo motor 14 passes through the bottom of the fixed plate 11 and is fixedly provided with a first gear 15. A first rack 13 is fixedly provided in the U-shaped frame 9, and the first rack 13 is engaged with the first gear 15. Limit baffles 16 are fixedly provided at both ends of the U-shaped frame 9.

3. A loading and unloading truss robot for a CNC machine tool according to claim 2, characterized in that: The X-axis moving assembly 5 also includes a U-shaped bar 17 fixedly arranged on the outer wall of the U-shaped frame 9, and a first drag chain 18 is provided in the U-shaped bar 17. One end of the first drag chain 18 is fixedly connected to one end of the U-shaped bar 17, and the other end of the first drag chain 18 is fixedly connected to the top of the fixed plate 11 through an L-shaped plate 19.

4. A loading and unloading truss robot for a CNC machine tool according to claim 3, characterized in that: The Y-axis moving assembly 6 has the same specific structure as the X-axis moving assembly 5 , and the bottom ends of the U-shaped frame 9 on the Y-axis moving assembly 6 are respectively fixedly connected to the top of the corresponding fixed plate 11 on the X-axis moving assembly 5 .

5. A loading and unloading truss robot for a CNC machine tool according to claim 4, characterized in that: The Z-axis moving assembly 7 includes a mounting frame 22 fixedly set on the top of the fixed plate 11 on the Y-axis moving assembly 6. A vertical rod 23 is provided in the mounting frame 22. The vertical rod 23 is slidably connected to the inner wall of the mounting frame 22 through a sliding rod 24 on the side wall. A second rack 25 is fixedly set on one side of the vertical rod 23. A second servo motor 26 is fixedly installed on the outer wall of the mounting frame 22. The output shaft of the second servo motor 26 passes through the inner wall of the mounting frame 22 and is fixedly provided with a second gear 27. The second gear 27 is engaged with the second rack 25.

6. A loading and unloading truss robot for a CNC machine tool according to claim 5, characterized in that: The Z-axis moving assembly 7 further includes a second drag chain 28 fixedly disposed on the top of the vertical rod 23 . The second drag chain 28 is bent into an inverted U-shape through a first limiting shell 29 and a second limiting shell 30 on the outer wall of the mounting frame 22 .

7. A loading and unloading truss robot for a CNC machine tool according to claim 6, characterized in that: The manipulator assembly 8 includes a top plate 31 fixed to the bottom of the vertical rod 23, a base 32 fixed to the bottom of the top plate 31, a protective shell 38 fixed between the top plate 31 and the base 32, two guide rods 33 symmetrically fixed on the inner wall of the top plate 31, two sliding seats 34 slidably mounted on the two guide rods 33, the two sliding seats 34 are arranged opposite to each other, a connecting frame 36 is fixed to the bottom of the sliding seat 34, a chuck 37 is fixed to the other end of the connecting frame 36, an electric push rod 35 is provided on one side of the sliding seat 34, the telescopic end of the electric push rod 35 is fixedly connected to the side wall of the sliding seat 34, the bottom of the electric push rod 35 is fixedly connected to the bottom of the inner wall of the base 32, and a workpiece detection sensor 39 is fixed on the top of the top plate 31.

8. A loading and unloading truss robot for a CNC machine tool according to claim 1, characterized in that: A reinforcement diagonal rod 20 is fixedly provided between one side of the support leg 2 and the bottom of the corresponding base plate 1 , and two reinforcement cross bars 21 are fixedly provided symmetrically between the two base plates 1 .

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