Butt joint mechanism for machine tool feeding and discharging robot and conveying line

Abstract

The invention discloses a machine tool feeding and discharging robot and conveying line butt joint mechanism, and relates to the field of conveying line butt joint, the machine tool feeding and discharging robot and conveying line butt joint mechanism comprises a mechanical arm and a butt joint mechanism, two clamping mechanisms are installed at the tail end of the mechanical arm, the conveying line is arranged at the bottom end of the exterior of the mechanical arm, and the butt joint mechanism is arranged at the top of the conveying line; the butt joint mechanism is located between the conveying line and the mechanical arm. The state of the conveying line is monitored in real time through the visual camera, self-adaptive assemblies such as a V-shaped block and a driving wheel are adopted in the clamping mechanism, pipe blanks of different sizes can be stably clamped, the position of a workpiece in a machine tool is finely adjusted through rotation of the driving wheel, the accuracy of butt joint with a chuck is ensured, and the machining efficiency is improved. The butt joint mechanism automatically completes receiving and transferring of blanks through a spring and a sliding block mechanism in the lifting process, opening and closing of an intercepting plate are controlled through linkage of a rack and a gear, workpieces are prevented from falling too early to interfere with a conveying line, and it is guaranteed that the machined work is transferred in order.

Description

Technical Field

[0001] This invention relates to the field of conveyor line docking, specifically to a machine tool loading and unloading robot docking mechanism with a conveyor line. Background Technology

[0002] With the accelerated intelligent upgrading of the manufacturing industry, CNC machine tools, as the core equipment for precision machining, directly affect the competitiveness of enterprises through their production efficiency and automation level. Traditional machine tool loading and unloading mostly rely on manual operation, which has problems such as high labor intensity, low efficiency, and poor consistency. In particular, it is difficult to meet the processing requirements of high precision and high cycle time in mass production scenarios.

[0003] In recent years, industrial robots have gradually replaced manual labor due to their flexibility, becoming the mainstream solution for loading and unloading machine tools. Typically, robots pick up workpieces from the conveyor line and send them directly to the machine tool chuck, or manual labor moves workpieces from the conveyor line to the robot's working area, or a mechanical docking structure of "simple guide grooves and limit blocks" guides the position of the workpiece through preset grooves or baffles.

[0004] In existing technologies, when processing relatively thick and long workpieces, the workflow of using robots is usually to first take out the blank and then put it into the machine tool. After the machine tool finishes processing the workpiece, the robot needs to take out the processed workpiece and then put the workpiece onto the finished output line. Then, the next set of blanks is taken out from the blank conveyor line and then sent into the machine tool for processing. The whole process requires the robot to move the blank or workpiece alone, which cannot achieve rapid loading and unloading of workpieces and blanks. Summary of the Invention

[0005] Based on this, the purpose of this invention is to provide a docking mechanism between a machine tool loading / unloading robot and a conveyor line, in order to solve the technical problem that when processing relatively thick and long workpieces, the robot's workflow usually involves first taking out the blank, then placing it into the machine tool, and after the machine tool finishes processing the workpiece, the robot needs to take out the processed workpiece and place it on the finished output line. Then, the next set of blanks is taken out from the blank conveyor line and then sent into the machine tool for processing. The entire process requires the robot to move with the blank or workpiece alone, which makes it impossible to quickly load and unload workpieces and blanks.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a docking mechanism between a machine tool loading / unloading robot and a conveyor line, comprising a robotic arm and a docking mechanism. Two sets of gripping mechanisms are installed at the end of the robotic arm. A conveyor line is provided at the bottom of the robotic arm, and a docking mechanism is provided at the top of the conveyor line, located between the conveyor line and the robotic arm. The docking mechanism includes a support plate, a blocking plate, a connecting plate, docking components, and an intercepting plate. Two sets of support plates are fixedly installed on the outer sides of the conveyor line. The blocking plate is fixedly installed between the two sets of support plates. The connecting plate is fixedly installed between the two sets of support plates, and the intercepting plate and the connecting plate are rotatably connected. Two sets of docking components are slidably installed between the two sets of support plates, and each docking component is slidably connected to the connecting plate. The docking component is located on one side of the blocking plate, and the top of the docking component is designed with an inclined surface to facilitate the sliding of the machined workpiece. The docking component has an internal cavity, which can carry the blank for movement.

[0007] By adopting the above technical solution, this invention utilizes a vision camera to monitor the conveyor line status in real time, ensuring accurate blank positioning. Then, a rotating shaft and connecting rope enable rapid switching between two sets of clamping mechanisms, effectively shortening the downtime for changing fixtures in traditional operations. The clamping mechanism employs adaptive components such as V-blocks and drive wheels to stably clamp tube blanks of different sizes. The drive wheel rotation fine-tunes the workpiece's position within the machine tool, ensuring accurate docking with the chuck. During lifting, the docking mechanism automatically receives and transfers the blank using a spring and slider mechanism. A rack and pinion linkage controls the opening and closing of the interceptor plate, preventing premature workpiece descent and interference with the conveyor line while ensuring orderly transfer of completed work. The overall workflow reduces manual intervention, achieving full automation from blank conveying and machine tool processing to finished product removal. It is particularly suitable for continuous production of long tube workpieces, enhancing the stability of the production line.

[0008] Furthermore, the gripping mechanism includes a fixed base, a gripping shell, and a gripping assembly. The fixed base is movably mounted at the end of the robotic arm, the gripping shell is fixedly mounted at the bottom of the fixed base, and the gripping assembly is slidably mounted inside the gripping shell. A magnetic head is fixedly mounted on the top of one set of fixed bases, and the magnetic head serves to tightly connect the two sets of gripping mechanisms. A connecting rope is movably mounted on the top of one set of fixed bases. The connecting rope is mounted on the top of the fixed base through a roller and a drive assembly, and the other end of the connecting rope is fixedly mounted on one side of the other set of fixed bases. The two sets of fixed bases are rotatably connected.

[0009] By adopting the above technical solution, two sets of clamping mechanisms are fitted together vertically. The upper set of clamping mechanisms is specifically used to clamp unprocessed blanks, while the lower set is used to clamp processed workpieces. The two sets of clamping mechanisms are rotatably connected by a rotating shaft. A connecting rope is installed on the top of the upper set of clamping mechanisms. The connecting rope itself is made of flexible steel wire rope, with one end fixed and wound around a wire roller, and the other end connected to one side of the lower set of clamping mechanisms. The wire roller is controlled by a drive motor. To clamp and feed the unprocessed blank into the machine tool for processing, the upper set of clamping mechanisms is needed first. Therefore, starting the drive motor of the wire roller can tighten the wire roller, thereby pulling the lower set of clamping mechanisms to rotate nearly 180 degrees, so that it rotates to the side of the upper set of clamping mechanisms, thus facilitating the upper set of clamping mechanisms to clamp the blank.

[0010] Furthermore, the clamping mechanism also includes a control motor, a lead screw, and a lifting plate. The control motor is fixedly installed inside one side of the fixed base. The output end of the top of the control motor is fixedly connected to the lead screw. The outer wall of the top of the lead screw is threadedly connected to the lifting plate. The fixed base serves to guide the lifting plate. The clamping mechanism also includes a compression spring, a V-block, a first spring post, and a drive wheel. The V-block is elastically connected to the lifting plate through the compression spring. The first spring post penetrates the lifting plate, and its bottom is fixedly connected to the drive wheel. A drive assembly is provided inside the drive wheel.

[0011] By adopting the above technical solution, when the motor starts, the lead screw at the top will be rotated and will lead to the inside of the fixed seat on one side of the lifting plate. At the same time, the movement direction of the lifting plate is restricted by the fixed seat. A first spring column and a compression spring are installed at the bottom of one side of the lifting plate. Therefore, after the lead screw rotates, the lifting plate will descend together with the first spring column and the compression spring. A V-block is installed at the bottom of the compression spring, and the first spring column is connected to the drive wheel at the bottom through the V-block. Therefore, after the lifting plate descends, the V-block will be stuck on the outer wall of the blank, and the drive wheel will abut against the blank. With the cooperation of the V-block and the drive wheel, bars of different thicknesses can be clamped.

[0012] Furthermore, the clamping mechanism also includes a drive shaft, a bevel gear set, and a first gear. The bevel gear set is movably mounted on the bottom output end of the control motor, and the control motor is movably connected to the drive shaft through the bevel gear set. Two sets of first gears are fixedly mounted on the outer wall of the drive shaft. The clamping assembly has teeth on one side, and the teeth of the clamping assembly mesh with the first gear. Multiple sets of movable balls are movably mounted on the inner side of the clamping assembly, and the movable balls play a role in assisting the blank and the workpiece to move within the clamping mechanism.

[0013] By adopting the above technical solution, the control motor is a bidirectional coaxial motor. Its bottom output end enables the drive shaft to rotate synchronously through a bevel gear set. Two sets of first gears are installed on the outer wall of the drive shaft, and teeth that mesh with the first gears are provided on one side of the clamping assembly. Therefore, after the drive shaft rotates, the first gears will mesh with each other through the teeth to make the clamping assembly rotate out of the clamping shell. When the clamping assembly rotates to the limit position, it forms a closed loop with the clamping shell, thereby wrapping the blank between the clamping assembly and the clamping shell.

[0014] Furthermore, the docking mechanism also includes connecting rods, sliders, sliding grooves, and pressure plates. The sliding groove is fixedly installed on one side of the support plate, and the slider slides inside the sliding groove. Each docking assembly is fixedly connected to the slider via two sets of connecting rods, and the docking assembly is slidably connected to the support plate via the slider. The two sets of docking assemblies are fixedly connected to each other via the pressure plates. The docking mechanism also includes racks, a second gear, and a second spring post. Each rack is fixedly installed on one side of each docking assembly. The second gear is movably installed inside the connecting plate, and the teeth on the surface of the rack mesh with the teeth on the outer wall of the second gear. The second gear is fixedly connected to the intercepting plate via a shaft. The second spring post is fixedly installed on the support plate, and the top of the second spring post is fixedly connected to the slider. The slider is elastically connected to the support plate via the second spring post.

[0015] By adopting the above technical solution, the robotic arm moves the workpiece to the top of the docking mechanism, and then controls the motor to make the workpiece fall to the top of the docking assembly. Since the top of the docking assembly is inclined, the workpiece will slide down the inclined surface of the docking assembly. The distance between the docking assembly and the blocking plate is relatively short, and the workpiece cannot fall to the bottom between the two. A rack is installed on one side of the docking assembly. After the docking assembly descends a certain distance, the distance between the blocking plate and the docking assembly will increase. At this time, the workpiece will enter between the two. During the process of the docking assembly sliding down from inside the connecting plate, the rack will mesh with the second gear, and then the second gear will be rotated. Therefore, the blocking plate will be passively rotated. The second gear will rotate the blocking plate by 90 degrees, thereby blocking the space between the docking assembly and the blocking plate and preventing the workpiece from falling. Then, the docking assembly rises under the action of the second spring column, and the rack will open the blocking plate, allowing the processed workpiece to fall smoothly. At this time, the conveyor on the conveyor line will reach the bottom between the blocking plate and the docking assembly, and the workpiece will fall into the conveyor line and be transported away by the conveyor line.

[0016] In summary, the present invention has the following main beneficial effects: 1. This invention utilizes a vision camera to monitor the status of the conveyor line in real time, ensuring accurate positioning of the blank. Then, it achieves rapid switching between two sets of clamping mechanisms through a rotating shaft and connecting rope, effectively shortening the downtime for changing fixtures in traditional operations. The clamping mechanism uses adaptive components such as V-blocks and drive wheels to stably clamp tube blanks of different sizes, and the position of the workpiece in the machine tool is finely adjusted by rotating the drive wheels to ensure accurate docking with the chuck. 2. This invention automatically completes the receiving and transfer of blanks during the lifting process using a spring and slider mechanism through a docking mechanism. The opening and closing of the intercepting plate is controlled by a rack and pinion linkage, which not only prevents the workpiece from falling too early and interfering with the conveyor line, but also ensures the orderly transfer of the processed work. The overall workflow reduces manual intervention and realizes full automation from blank conveying, machine tool processing to finished product removal. It is particularly suitable for the continuous production of long tube workpieces and enhances the stability of the production line. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 Enlarged view of point A; Figure 3 This is a first-view sectional view of the clamping mechanism of the present invention; Figure 4 This is a second-view sectional view of the clamping mechanism of the present invention; Figure 5 This is an exploded view of the two sets of clamping mechanisms of the present invention; Figure 6 This is a partial cross-sectional view of the docking mechanism of the present invention; Figure 7 For the present invention Figure 6 Enlarged view of point B; Figure 8 For the present invention Figure 6 Enlarged view of point C; Figure 9 This is a side view of a partial part of the present invention; Figure 10 For the present invention Figure 9 Enlarged view of point D.

[0018] In the diagram: 1. Robotic arm; 2. Gripping mechanism; 201. Fixed base; 202. Control motor; 203. Lead screw; 204. Drive shaft; 205. Gripping shell; 206. Bevel gear set; 207. First gear; 208. Lifting plate; 209. Compression spring; 210. V-block; 211. First spring column; 212. Gripping assembly; 213. Movable ball; 214. Drive wheel; 215. Magnetic head; 3. Docking mechanism; 301. Support plate; 302. Blocking plate; 303. Connecting plate; 304. Docking assembly; 305. Connecting rod; 306. Slider; 307. Slide groove; 308. Lower pressure plate; 309. Rack; 310. Second gear; 311. Interceptor plate; 312. Second spring column; 4. Conveyor line; 5. Connecting rope. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0020] The embodiments of the present invention will now be described.

[0021] A docking mechanism between a machine tool loading / unloading robot and a conveyor line, such as Figure 1-10 As shown, the system includes a robotic arm 1 and a docking mechanism 3. Two sets of gripping mechanisms 2 are installed at the end of the robotic arm 1. A conveyor line 4 is set at the bottom of the robotic arm 1, and the docking mechanism 3 is set at the top of the conveyor line 4. The docking mechanism 3 is located between the conveyor line 4 and the robotic arm 1. The operator can set the operating program in advance in the robotic arm 1 so that the robotic arm 1 can run according to the program. The gripping mechanism 2 is installed at the end of the robotic arm 1 so as to grip blanks of different thicknesses. At the same time, a vision camera is installed at the end of the robotic arm 1. The initial position of the robotic arm 1 is at the top of the docking mechanism 3. The vision camera can be aimed at the surface of the conveyor line 4 so as to monitor the conveying of blanks on the conveyor line 4. Most of the blanks are hollow tubes. Furthermore, the docking mechanism 3 includes a support plate 301, a blocking plate 302, a connecting plate 303, docking components 304, and an intercepting plate 311. Two sets of support plates 301 are fixedly installed on the outside of both sides of the conveyor line 4. The blocking plate 302 is fixedly installed between the two sets of support plates 301. The connecting plate 303 is fixedly installed between the two sets of support plates 301. The intercepting plate 311 and the connecting plate 303 are rotatably connected. Two sets of docking components 304 are slidably installed between the two sets of support plates 301. Each set of docking components 304 is slidably connected to the connecting plate 303. The docking components 304 are located on one side of the blocking plate 302. The top of the docking components 304 is designed with an inclined surface to facilitate the sliding of the processed workpiece. The docking components 304 have a cavity inside, which can carry the blank for movement. The robotic arm 1 descends with the gripping mechanism 2. A downward-pressing protrusion is located on one side of the upper gripping mechanism 2, allowing it to contact the lower pressure plate 308 during descent, thus lowering the lower pressure plate 308 along with it. Simultaneously, the docking components 304 mounted on both sides of the lower pressure plate 308 descend together until they reach the inside of the conveyor line 4. This aligns the internal space of the docking components 304 with the conveyed blank. As the conveyor line 4 moves, the blank enters the docking components 304. A vision camera on the robotic arm 1 detects this entry of the blank. Upon reaching the docking assembly 304, the assembly will be raised, while the slider 306 will slide up and down inside the slide groove 307. A second spring column 312 is installed at the bottom of the slider 306. The release of the elastic potential energy of the second spring column 312 will cause the slider 306 to rise, thereby raising the docking assembly 304 and the blank together until it moves to the top of the conveyor line 4 without affecting the continuous operation of the conveyor line 4. At this time, the robotic arm 1 will bring the gripping mechanism 2 to grip the blank from one side of the docking assembly 304. First, the robotic arm 1, with the gripping shell 205, will insert into the outside of the blank. In the example, the gripping mechanism 2 includes a fixed base 201, a gripping shell 205, and a gripping assembly 212. The fixed base 201 is movably mounted at the end of the robotic arm 1, the gripping shell 205 is fixedly mounted at the bottom of the fixed base 201, and the gripping assembly 212 is slidably mounted inside the gripping shell 205. A connecting rope 5 is movably mounted on the top of one set of fixed bases 201. The connecting rope 5 is mounted on the top of the fixed bases 201 through a wire roller and a drive assembly, and the other end of the connecting rope 5 is fixedly mounted on one side of another set of fixed bases 201. The two sets of fixed bases 201 are rotatably connected. A magnetic head 215 is fixedly mounted on the top of one set of fixed bases 201, and the magnetic head 215 serves to tightly connect the two sets of gripping mechanisms 2. Two sets of clamping mechanisms 2 are fitted together vertically. The upper set of clamping mechanisms 2 is specifically used to clamp unprocessed blanks, while the lower set of clamping mechanisms 2 is used to clamp processed workpieces. The two sets of clamping mechanisms 2 are rotatably connected by a rotating shaft. A connecting rope 5 is installed on the top of the upper set of clamping mechanisms 2. The connecting rope 5 is made of flexible steel wire rope, with one end fixed and wound around the wire roller, and the other end connected to one side of the lower set of clamping mechanisms 2. The wire roller is controlled by a drive motor. In order to clamp and send the unprocessed blank into the machine tool for processing, the upper set of clamping mechanisms 2 is used first. Therefore, the drive motor that controls the wire roller is started, which can tighten the wire roller, thereby pulling the lower set of clamping mechanisms 2 to rotate nearly 180 degrees, so that it rotates to the side of the upper set of clamping mechanisms 2, thus facilitating the upper set of clamping mechanisms 2 to clamp the blank. In the example, the clamping mechanism 2 also includes a control motor 202, a lead screw 203, and a lifting plate 208. The control motor 202 is fixedly installed inside one side of the fixed base 201. The output end of the top of the control motor 202 is fixedly connected to the lead screw 203. The outer wall of the top of the lead screw 203 is threadedly connected to the lifting plate 208. The fixed base 201 serves to guide the lifting plate 208. The clamping mechanism 2 also includes a compression spring 209, a V-block 210, a first spring post 211, and a drive wheel 214. The V-block 210 is elastically connected to the lifting plate 208 through the compression spring 209. The first spring post 211 passes through the lifting plate 208, and the bottom of the first spring post 211 is fixedly connected to the drive wheel 214. The drive wheel 214 is provided with a drive assembly inside. When the control motor 202 starts, the lead screw 203 at its top will rotate and extend to the inside of the fixed seat 201 on one side of the lifting plate 208. At the same time, the movement direction of the lifting plate 208 is restricted by the fixed seat 201. A first spring column 211 and a compression spring 209 are installed at the bottom of one side of the lifting plate 208. Therefore, after the lead screw 203 rotates, the lifting plate 208 will descend together with the first spring column 211 and the compression spring 209. A V-block 210 is installed at the bottom of the compression spring 209. The first spring column 211 passes through the V-block 210 and is connected to the drive wheel 214 at the bottom. Therefore, after the lifting plate 208 descends, the V-block 210 will be stuck on the outer wall of the blank, and the drive wheel 214 will abut against the blank. With the cooperation of the V-block 210 and the drive wheel 214, bars of different thicknesses can be clamped. In the example, the clamping mechanism 2 also includes a drive shaft 204, a bevel gear set 206 and a first gear 207. The bevel gear set 206 is movably mounted on the bottom output end of the control motor 202, and the control motor 202 is movably connected to the drive shaft 204 through the bevel gear set 206. Two sets of first gears 207 are fixedly mounted on the outer wall of the drive shaft 204. The clamping component 212 has teeth on one side, and the teeth of the clamping component 212 mesh with the first gears 207. Multiple sets of movable balls 213 are movably mounted on the inner side of the clamping component 212, and the movable balls 213 play a role in assisting the blank and the workpiece to move within the clamping mechanism 2. The control motor 202 is a bidirectional coaxial motor. Its bottom output end drives the drive shaft 204 to rotate synchronously through the bevel gear set 206. Two sets of first gears 207 are installed on the outer wall of the drive shaft 204, and teeth that mesh with the first gears 207 are provided on one side of the clamping assembly 212. Therefore, after the drive shaft 204 rotates, the first gears 207 will rotate the clamping assembly 212 out of the clamping shell 205 through the meshing of the teeth. When the clamping assembly 212 rotates to the limit position, it forms a closed loop with the clamping shell 205, so that the blank can be wrapped between the clamping assembly 212 and the clamping shell 205. In the example, the docking mechanism 3 also includes a connecting rod 305, a slider 306, a slide groove 307 and a lower pressure plate 308. The slide groove 307 is fixedly installed on one side of the support plate 301, and the slider 306 slides inside the slide groove 307. Each docking assembly 304 is fixedly connected to the slider 306 through two sets of connecting rods 305, and the docking assembly 304 is slidably connected to the support plate 301 through the slider 306. The two sets of docking assemblies 304 are fixedly connected to each other through the lower pressure plate 308. The robotic arm 1 moves the workpiece to the top of the docking mechanism 3, and then controls the motor 202 to drop the workpiece onto the top of the docking assembly 304. Since the top of the docking assembly 304 is sloped, the workpiece slides down the slope. The distance between the docking assembly 304 and the baffle plate 302 is relatively short, preventing the workpiece from falling to the bottom between them. A rack 309 is installed on one side of the docking assembly 304. After the docking assembly 304 descends a certain distance, the distance between the baffle plate 302 and the docking assembly 304 increases, allowing the workpiece to enter between them. As the docking assembly 304 slides down from inside the connecting plate 303, the rack... 309 will mesh with the second gear 310, and the second gear 310 will be rotated. Therefore, the intercepting plate 311 will be passively rotated. The second gear 310 will rotate the intercepting plate 311 by 90 degrees, thereby blocking the space between the docking assembly 304 and the blocking plate 302 to prevent the workpiece from falling. Then, the docking assembly 304 will rise under the action of the second spring column 312, and the rack 309 will open the intercepting plate 311, allowing the processed workpiece to fall smoothly. At this time, the conveying device on the conveyor line 4 will reach the bottom between the blocking plate 302 and the docking assembly 304, and the workpiece will fall onto the conveyor line 4 and be transported away by the conveyor line 4. Furthermore, the docking mechanism 3 also includes a rack 309, a second gear 310, and a second spring post 312. Each rack 309 is fixedly installed on one side of each docking assembly 304. The second gear 310 is movably installed inside the connecting plate 303, and the teeth on the surface of the rack 309 mesh with the teeth on the outer wall of the second gear 310. The second gear 310 is fixedly connected to the intercepting plate 311 via a shaft. The second spring post 312 is fixedly installed on the support plate 301, and the top of the second spring post 312 is fixedly connected to the slider 306. The slider 306 is elastically connected to the support plate 301 through the second spring post 312.

[0022] The working principle of this invention is as follows: When in use, the power is turned on and the robotic arm 1 and the conveyor line 4 will start. First, the robotic arm 1 is powered on and started. Through the operation program set in advance by the operator, the robotic arm 1 can be made to run according to the program. A gripping mechanism 2 is installed at the end of the robotic arm 1, which can grip blanks of different thicknesses. At the same time, a vision camera is installed at the end of the robotic arm 1. The initial position of the robotic arm 1 is at the top of the docking mechanism 3. Its vision camera can be aimed at the surface of the conveyor line 4 to monitor the conveying of blanks on the conveyor line 4. Most of the blanks are hollow tubes. After the conveyor line 4 transports a set of blanks to the monitoring position, the robotic arm 1 will start and bring the gripping mechanism 2 down. The two gripping mechanisms 2 are attached to each other, with the upper gripping mechanism 2 specifically for gripping the unprocessed blanks, while the lower gripping mechanism 2 is used to grip the processed workpieces. The two sets of clamping mechanisms 2 are rotatably connected by a rotating shaft, and a connecting rope 5 is installed on the top of the upper set of clamping mechanisms 2. The connecting rope 5 is made of flexible steel wire rope, one end of which is fixedly wound on the wire roller, and the other end is connected to one side of the lower set of clamping mechanisms 2. The wire roller is controlled by a drive motor. At this point, in order to clamp the unprocessed blank into the machine tool for processing, the upper clamping mechanism 2 needs to be used first. Therefore, the drive motor of the control roller is started, which can tighten the roller, thereby pulling the lower clamping mechanism 2 to rotate, making it rotate nearly 180 degrees, so that it rotates to the side of the upper clamping mechanism 2, thus making it easier for the upper clamping mechanism 2 to clamp the blank. At this time, the robotic arm 1 descends with the gripping mechanism 2. On one side of the gripping mechanism 2 in the upper group, a pressing protrusion is set, which can contact the pressing plate 308 during the descent, thereby bringing the pressing plate 308 down with it. At this time, the docking components 304 installed on both sides of the lower pressure plate 308 will descend together until they descend to the inside of the conveyor line 4, so that the internal space of the docking component 304 is aligned with the blank being conveyed. As the conveyor line 4 runs, the blank will enter the docking component 304. After the vision camera on the robotic arm 1 detects that the blank has entered the docking component 304, it will be lifted. At this time, both sides of the docking component 304 are connected to two sets of sliders 306 through connecting rods 305. The sliders 306 slide up and down inside the slide groove 307. A second spring column 312 is installed at the bottom of the slider 306. When the docking component 304 descends, the slider 306 descends along with it, thereby squeezing the second spring column 312. When the robotic arm 1 rises, the elastic potential energy of the second spring column 312 is released, which causes the slider 306 to rise, and then takes the docking component 304 and the blank with it until they move to the top of the conveyor line 4, without affecting the continuous operation of the conveyor line 4. At this time, the robotic arm 1 will clamp the blank from one side of the docking component 304 with the clamping mechanism 2. First, the robotic arm 1 clamps the clamping shell 205 into the outside of the blank, and then the control motor 202 is started. The control motor 202 is a bidirectional coaxial motor. Its bottom output end makes the drive shaft 204 rotate synchronously through the bevel gear set 206. Two sets of first gears 207 are installed on the outer wall of the drive shaft 204. Furthermore, teeth that mesh with the first gear 207 are provided on one side of the clamping component 212. Therefore, after the drive shaft 204 rotates, the first gear 207 will cause the clamping component 212 to rotate out of the clamping shell 205 through the meshing of the teeth. When the clamping component 212 rotates to the limit position, it forms a closed loop with the clamping shell 205, thereby wrapping the blank between the clamping component 212 and the clamping shell 205. While the motor 202 is starting, its top output end is fixedly connected to the lead screw 203. Therefore, the lead screw 203 will be rotated. The lifting plate 208 and the lead screw 203 are connected by threads. An internal thread is opened on the inner side of the lifting plate 208, and an external thread is opened on the outer side of the lead screw 203. Furthermore, the lifting plate 208 extends to the inner side of the fixed seat 201 on one side, and the moving direction of the lifting plate 208 is restricted by the fixed seat 201. A first spring column 211 and a compression spring 209 are installed at the bottom of one side of the lifting plate 208. Therefore, after the lead screw 203 rotates, the lifting plate 208 will bring the first spring column 211 and the compression spring 209 down together. A V-block 210 is installed at the bottom of the compression spring 209, and the first spring column 211 is connected to the drive wheel 214 at the bottom through the V-block 210. Therefore, after the lifting plate 208 descends, the V-block 210 will be stuck on the outer wall of the blank, and the drive wheel 214 will abut against the blank. With the cooperation of the V-block 210 and the drive wheel 214, bars of different thicknesses can be clamped. At this time, the robotic arm 1 will move along with the gripping mechanism 2, so that the blank can be moved out of the docking assembly 304. Then the blank will be brought into the machine tool. When one end of the blank is aligned with the clamping area of ​​the three-jaw chuck in the machine tool, the drive assembly installed inside the drive wheel 214 can rotate the drive wheel 214. Since the drive wheel 214 is against the outer wall of the blank, and multiple sets of movable balls 213 are installed inside the gripping assembly 212, the drive wheel 214 can move the blank horizontally inside the gripping mechanism 2 after it rotates, so that one end of the blank enters the three-jaw chuck. Then the machine tool controls the three-jaw chuck to clamp the blank. Then, the control motor 202 reverses, causing the gripping assembly 212 to open and the drive wheel 214 and V-block 210 to rise, thereby releasing the blank. Then, the robotic arm 1 moves out of the machine tool. After the safety door is closed, the machine tool starts to process the blank. After the blank processing is completed, the robotic arm 1 will move from outside the machine tool to inside the machine tool, and the two sets of clamping mechanisms 2 at its end will also be released from the connecting rope 5 by the online roller. The two sets of clamping mechanisms 2 will return to the state of being in close contact with each other. The top of the fixed seat 201 in the lower set of clamping mechanisms 2 is equipped with a magnetic head 215, which can be tightly attached to the bottom of the fixed seat 201 of the upper set, thereby ensuring the tight connection of the two sets of clamping mechanisms 2. At this point, the workpiece needs to be removed from the machine tool. Therefore, the clamping mechanism 2 in the lower set will clamp the workpiece. Through the above workflow, the workpiece can be clamped smoothly, so that the robotic arm 1 can remove the workpiece from the machine tool. Then, the robotic arm 1 moves the workpiece to the top of the docking mechanism 3, and then controls the motor 202 to make the workpiece fall to the top of the docking assembly 304. Since the top of the docking assembly 304 is inclined, the workpiece will slide down the inclined surface of the docking assembly 304. However, the distance between the docking assembly 304 and the baffle plate 302 is relatively close, and the workpiece cannot fall to the bottom through the gap between the two. At this time, after the clamping mechanism 2 puts down the workpiece, the clamping mechanism 2 of the next set will rotate. At this time, the robotic arm 1 will lower the clamping mechanism 2 to clamp the blank. At this time, the docking assembly 304 will be passively lowered, so the workpiece will also be lowered. On one side of the docking assembly 304, a rack 309 is installed. After the docking assembly 304 descends a certain distance, the distance between the baffle plate 302 and the docking assembly 304 will increase, at which point the workpiece will enter between them and can fall. As the docking assembly 304 slides down from inside the connecting plate 303, the rack 309 will mesh with the second gear 310, and then the second gear 310 will be rotated. As a result, the intercepting plate 311 will be passively rotated. The second gear 310 will rotate the intercepting plate 311 ninety degrees, thereby blocking the space between the docking assembly 304 and the blocking plate 302 and preventing the workpiece from falling at this time. After the next batch of blanks enters the docking assembly 304, the docking assembly 304 rises under the action of the second spring column 312, and the rack 309 will reverse the second gear 310, thereby opening the intercepting plate 311 and allowing the processed workpiece to fall smoothly. At this time, the conveying device on the conveyor line 4 will just reach the bottom between the blocking plate 302 and the docking assembly 304, and the workpiece will fall onto the conveyor line 4 and be transported away by the conveyor line 4. The aforementioned mechanism can solve the technical problem that when processing relatively thick and long workpieces, the entire process requires a robot to move the blank or workpiece alone, making it impossible to quickly load and unload the workpiece and blank.

[0023] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the invention and are not intended to limit it. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and spirit of the invention, but such modifications, substitutions, and variations are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A machine tool loading and unloading robot and conveying line docking mechanism, comprising a mechanical arm (1) and a docking mechanism (3), characterized in that: The mechanical arm (1) is provided with two groups of clamping mechanisms (2) at the end, and the outer bottom end of the mechanical arm (1) is provided with a conveying line (4), and the top of the conveying line (4) is provided with a docking mechanism (3), and the docking mechanism (3) is located between the conveying line (4) and the mechanical arm (1); The docking mechanism (3) comprises a support plate (301), a blocking plate (302), a connecting plate (303), a docking assembly (304) and an intercepting plate (311), wherein two groups of support plates (301) are fixedly installed on the two sides of the outer part of the conveying line (4), the blocking plate (302) is fixedly installed between the two groups of support plates (301), the connecting plate (303) is fixedly installed between the two groups of support plates (301), and the intercepting plate (311) is rotatably connected between the connecting plate (303), two groups of the docking assembly (304) are slidably installed between the two groups of support plates (301), and each group of docking assemblies (304) is slidably connected between the connecting plate (303), the docking assembly (304) is located on one side of the blocking plate (302), and the top of the docking assembly (304) is designed with an inclined surface, so that the machined workpiece can slide off, and the docking assembly (304) is provided with a cavity inside, which can move with the blank.

2. The machine tool loading and unloading robot and conveyor line docking mechanism of claim 1, wherein: The docking mechanism (3) further comprises a connecting rod (305), a sliding block (306), a sliding groove (307) and a pressing plate (308), wherein the sliding groove (307) is fixedly installed on one side of the support plate (301), and the sliding block (306) slides in the sliding groove (307), each group of the docking assembly (304) is fixedly connected with the sliding block (306) through two groups of connecting rods (305), and the docking assembly (304) is slidably connected with the support plate (301) through the sliding block (306), and the two groups of docking assemblies (304) are fixedly connected through the pressing plate (308).

3. The machine tool loading and unloading robot and conveyor line docking mechanism of claim 2, wherein: The docking mechanism (3) further comprises a rack (309), a second gear (310) and a second spring column (312), wherein each group of racks (309) is fixedly installed on one side of each group of docking assemblies (304), the second gear (310) is movably installed in the inner part of the connecting plate (303), the teeth on the surface of the rack (309) and the teeth on the outer wall of the second gear (310) are meshed with each other, the second gear (310) and the intercepting plate (311) are fixedly connected through a shaft, the second spring column (312) is fixedly installed on the support plate (301), and the top of the second spring column (312) is fixedly connected with the sliding block (306), and the sliding block (306) is elastically connected between the support plate (301) through the second spring column (312).

4. The machine tool loading and unloading robot and conveyor line docking mechanism of claim 1, wherein: The clamping mechanism (2) comprises a fixed seat (201), a clamping shell (205) and a clamping assembly (212), wherein the fixed seat (201) is movably installed at the end of the mechanical arm (1), the clamping shell (205) is fixedly installed at the bottom of the fixed seat (201), and the clamping assembly (212) is slidably installed in the clamping shell (205).

5. The machine tool load / unload robot and conveyor line docking mechanism of claim 4, wherein: The clamping mechanism (2) further includes a control motor (202), a lead screw (203) and a lifting plate (208), wherein the control motor (202) is fixedly installed inside one side of the fixed seat (201), the output end at the top of the control motor (202) is fixedly connected with the lead screw (203), the outer wall at the top of the lead screw (203) is threadedly connected with the lifting plate (208), and the fixed seat (201) plays a guiding role on the lifting plate (208).

6. The machine tool load / unload robot and conveyor line docking mechanism of claim 5, wherein: The clamping mechanism (2) further includes a compression spring (209), a V-shaped block (210), a first spring column (211) and a drive wheel (214), wherein the V-shaped block (210) is elastically connected with the lifting plate (208) through the compression spring (209), the first spring column (211) penetrates through the lifting plate (208), and the bottom of the first spring column (211) is fixedly connected with the drive wheel (214), and the drive wheel (214) is internally provided with a driving assembly.

7. The machine tool load / unload robot and conveyor line docking mechanism of claim 4, wherein: The clamping mechanism (2) further includes a driving shaft (204), a bevel gear set (206) and a first gear (207), wherein the bevel gear set (206) is movably installed at the bottom output end of the control motor (202), and the control motor (202) is movably connected with the driving shaft (204) through the bevel gear set (206), and the outer wall of the driving shaft (204) is fixedly installed with two groups of first gears (207).

8. The machine tool load / unload robot and conveyor line docking mechanism of claim 7, wherein: The clamping assembly (212) is provided with teeth on one side, the teeth of the clamping assembly (212) are intermeshed with the first gears (207), a plurality of movable balls (213) are movably installed inside the clamping assembly (212), and the movable balls (213) play a role in assisting the movement of the blank and the workpiece in the clamping mechanism (2).

9. The machine tool load / unload robot and conveyor line docking mechanism of claim 4, wherein: One group of the fixed seats (201) is fixedly installed with a magnetic suction head (215) at the top, and the magnetic suction head (215) plays a role in tightly connecting the two groups of clamping mechanisms (2).

10. The machine tool load / unload robot and conveyor line docking mechanism of claim 4, wherein: One group of the fixed seats (201) is movably installed with a connecting rope (5) at the top, the connecting rope (5) is installed at the top of the fixed seat (201) through a wire roller and a driving assembly, one end of the connecting rope (5) is fixedly installed on one side of another group of fixed seats (201), and the two groups of fixed seats (201) are rotatably connected.

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