Feeding and discharging manipulator for machine tool

Abstract

The invention relates to the technical field of manipulators, in particular to a feeding and discharging manipulator for a machine tool, which comprises a driving rod, a moving frame is fixed at the end part of the driving rod, a moving groove is formed in the surface of the moving frame, a first piston rod is arranged in the moving groove, a clamping rod is fixed at the end part of the first piston rod, and a clamping plate is fixed at the end part of the clamping rod; an adjusting plate is arranged on the surface of the clamping plate, an arc-shaped rod is fixed to the surface of the moving frame, a cylinder is fixed to the other end of the arc-shaped rod, and a second piston rod is arranged at the end of the cylinder; the device has the beneficial effects that clamping teeth are not clamped in clamping grooves any more, adjusting plates move along with workpieces in sliding grooves, telescopic blocks are clamped in inserting grooves, vertical rods move along with second piston rods, and the workpieces are prevented from deviating through clamping of the adjusting plates and adsorption of electromagnets; and therefore, each group of clamped workpieces are positioned at the same position and are transferred to a machine tool.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hands, in particular to a feeding and discharging mechanical hand for machine tools. BACKGROUND

[0002] The working principle of the feeding and discharging mechanical hand is that each shaft is driven to move by a control system to drive the gripper hand to realize the grabbing and carrying of workpieces. Taking a pneumatic cylindrical coordinate mechanical hand as an example, the extension and swing of the arm and the lifting of the fingers are respectively driven by different air cylinders, and the corresponding actions are realized through gear and rack transmission mechanisms, so that the feeding and discharging operations of the workpieces are completed.

[0003] In the prior art, patent No. CN223000190U, named "Feeding and discharging carrying mechanical hand for machine tool", comprises a rotary positioner, a mounting rack is connected to the rotating shaft of the rotary positioner, a sliding rail is arranged on the mounting rack along the length direction thereof, and two carrying mechanical hands for product feeding and discharging operations are slidingly installed on the sliding rail. The carrying mechanical hand comprises a sliding seat slidingly installed on the sliding rail, a guide rail perpendicular to the rotating shaft axis of the rotary positioner is slidingly connected to the sliding seat, a rotary cylinder is fixedly connected to the bottom of the guide rail, a clamping jaw is connected to the rotating shaft of the rotary cylinder, and the feeding and discharging carrying mechanical hand device is arranged between two machine tools to realize synchronous operation of the two machine tools, reduce the waiting operation time of the feeding and discharging carrying mechanical hand, and improve the production efficiency. The two machine tools respectively perform two process machining, the feeding and discharging carrying mechanical hand can transplant workpieces according to the machining sequence, has the workpiece reversing function, and meets the complex and variable machining requirements.

[0004] However, when the existing mechanical hand grabs the workpiece, the workpiece is placed on a tray, and when the height of the workpiece on the tray surface is inconsistent, the grabbing position is different. When the workpiece is transferred to the machine tool by the mechanical hand for clamping and machining, the position of the workpiece clamped will deviate, affecting the machining precision. SUMMARY

[0005] The present application aims to provide a feeding and discharging mechanical hand for machine tools to solve the problems in the background art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a feeding and discharging mechanical hand for machine tools, comprising: A driving rod, the end of the driving rod is fixed with a moving frame, a moving groove is formed in the surface of the moving frame, a first piston rod is arranged in the moving groove, the end of the first piston rod is fixed with a clamping rod, the end of the clamping rod is fixed with a clamping plate, an adjusting plate is arranged on the surface of the clamping plate, an arc-shaped rod is fixed on the surface of the moving frame, the other end of the arc-shaped rod is fixed with an air cylinder, a second piston rod is arranged on the end of the air cylinder, and an adsorption plate is arranged on the other end of the second piston rod.

[0007] Preferably, the moving frame is provided with a driving device, the driving device can drive the first piston rod to move, the first piston rod can move in the moving groove, the end of the clamping rod is located in the moving groove, the clamping rod moves with the first piston rod, the end of the clamping rod can move in the moving groove, the surface of the moving frame is fixed with a limiting rod, the surface of the clamping rod is provided with a through hole, the limiting rod is inserted into the through hole, the limiting rod can move in the through hole, the end of the limiting rod is fixed with a limiting ball, and the diameter of the limiting ball is greater than the diameter of the limiting rod.

[0008] Preferably, the cylinder can drive the second piston rod to move in an extending and retracting mode, the adsorption plate at the end of the second piston rod moves with the second piston rod, the surface of the adsorption plate is fixed with an electromagnet, the electromagnet moves with the second piston rod and the adsorption plate, the surface of the second piston rod is fixed with an extension rod, the extension rod moves with the second piston rod, the other end of the extension rod is fixed with a sleeving ring, the surface of the sleeving ring is provided with a slot, the slot is provided with a plurality of insertion grooves, the two sides of the slot are provided with arc-shaped grooves, and one side of the arc-shaped grooves is arc-shaped.

[0009] Preferably, the clamping plate moves with the clamping rod, the clamping rod and the clamping plate are both provided with two groups, the workpiece is placed between the two groups of clamping plates, the clamping plates can be clamped on the surface of the workpiece after being close to each other, the surface of the clamping plate is inserted with a third piston rod, the clamping plate is provided with a driving device, the driving device can drive the third piston rod to move in an extending and retracting mode, the other end of the third piston rod is fixed with a vertical plate, the vertical plate moves with the third piston rod, the other end of the vertical plate is fixed with a L-shaped plate, the L-shaped plate moves with the vertical plate, the surface of the L-shaped plate close to the clamping plate is fixed with a tooth, and the tooth moves with the L-shaped plate.

[0010] Preferably, the surface of the clamping plate is provided with a sliding groove, the sliding groove is inserted with an adjusting plate, the adjusting plate can move in the sliding groove, the surface of the adjusting plate is fixed with a plurality of rubber strips, the rubber strips move with the adjusting plate, the adjusting plate and the rubber strips are clamped on the surface of the workpiece when the clamping plate is located at the two sides of the workpiece, the surface of the adjusting plate is fixed with a connecting rod, and the connecting rod moves with the adjusting plate.

[0011] Preferably, the other end of the connecting rod is fixed with a vertical rod, the vertical rod is located at the two sides of the cylinder, the surface of the vertical rod is provided with an extending and retracting groove, the extending and retracting groove is inserted with an extending and retracting block, the extending and retracting block can move in the extending and retracting groove in an extending and retracting mode, the extending and retracting block is T-shaped, one end of the extending and retracting block is always located in the extending and retracting groove, the sleeving ring is located outside the vertical rod, and the vertical rod is inserted into the slot.

[0012] Preferably, the second electromagnet is arranged in the insertion slot, and the second electromagnet can adsorb the telescopic block, so that the telescopic block is extended from the telescopic slot and inserted into the insertion slot, and the telescopic block is clamped in the insertion slot, and when the vertical rod moves in the slot, the telescopic block is supported on the surface of the arc-shaped slot, and the telescopic block is retracted into the telescopic slot due to the support of one side of the arc-shaped slot.

[0013] Preferably, the two sides of the adjusting plate are provided with clamping grooves, and when the clamping teeth move with the L-shaped plate, the clamping teeth can be inserted into the clamping grooves, so that the clamping teeth are clamped in the clamping grooves, and the adjusting plate can no longer move in the sliding groove; after the L-shaped plate moves with the vertical plate, the clamping teeth on the surface of the L-shaped plate are moved out of the clamping grooves, the clamping teeth are no longer clamped in the clamping grooves, and the adjusting plate can move in the sliding groove; and a limiting plate is arranged on the side of the adjusting plate close to the sliding groove, so that the adjusting plate is always inserted in the sliding groove and can only slide.

[0014] Preferably, when the second piston rod is driven by the air cylinder to move, the telescopic block is adsorbed into the insertion slot by the second electromagnet in the extension rod and the insertion slot, so that the vertical rod moves with the second piston rod, and the adjusting plate moves with the connecting rod through the connecting rod.

[0015] Preferably, the driving rod can drive the moving frame to move, and when the workpiece is clamped between the adjusting plates, the workpiece moves with the moving frame, and the driving rod moves the workpiece to the surface of the machine tool, and the workpiece can be clamped by the clamping assembly of the machine tool.

[0016] Compared with the prior art, the beneficial effects of the present application are: The L-shaped plate at the end of the vertical plate moves, the clamping teeth are no longer clamped in the clamping grooves, the second piston rod moves again, the workpiece adsorbed by the electromagnet moves, and since the clamping teeth are no longer clamped in the clamping grooves, the adjusting plate moves in the sliding groove with the workpiece, the telescopic block is clamped in the insertion slot, the vertical rod moves with the second piston rod, the clamping of the adjusting plate and the adsorption of the electromagnet prevent the workpiece from deviating from the position, and after the position of the workpiece is adjusted by the movement of the second piston rod, each clamped workpiece is transferred to the machine tool at the same position. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The figure is a structural schematic diagram of the present application.

[0018] Figure 2 The figure is another perspective structural schematic diagram of the present application.

[0019] Figure 3 The figure is a structural schematic diagram of the first piston rod of the present application.

[0020] Figure 4It is the schematic view of the adsorption plate structure of the present application.

[0021] Figure 5 It is the schematic view of the sleeve ring structure of the present application.

[0022] Figure 6 It is the schematic view of the clamping plate structure of the present application.

[0023] Figure 7 It is the schematic view of the clamping plate structure of the present application.

[0024] Figure 8 It is the schematic view of the rod structure of the present application.

[0025] Figure 9 It is the schematic view of the adjusting plate structure of the present application.

[0026] Figure 10 It is the schematic view of the adjusting plate structure of the present application. Figure 1 It is the enlarged schematic view of the structure at A in the present application.

[0027] In the figure: driving rod 1, moving frame 2, workpiece 3, arc-shaped rod 4, first piston rod 5, moving groove 6, limiting ball 7, limiting rod 8, clamping rod 9, air cylinder 10, sleeve ring 11, extension rod 12, second piston rod 13, electromagnet 14, adsorption plate 15, slot 16, plug-in slot 17, arc-shaped slot 18, connecting rod 19, clamping plate 20, vertical plate 21, third piston rod 22, telescopic groove 24, vertical rod 25, telescopic block 26, sliding groove 27, rubber strip 28, clamping slot 29, adjusting plate 30, clamping tooth 31, U-shaped plate 32, through hole 33. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme of the present application clear, complete and the advantages more clear and obvious, the following will be further described in detail by combining the embodiments of the present application with the accompanying drawings. It should be understood that the specific embodiments described here are part of the embodiments of the present application, not all the embodiments, and are used to explain the embodiments of the present application, not to limit the embodiments of the present application. All other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0029] Please refer to Figures 1 to 10 The present application provides a technical scheme: Embodiment 1: a feeding and discharging manipulator for machine tool, comprising: a driving rod 1, the end of the driving rod 1 is fixed with a moving frame 2, the surface of the moving frame 2 is provided with a moving groove 6, the moving groove 6 is provided with a first piston rod 5, the end of the first piston rod 5 is fixed with a clamping rod 9, the end of the clamping rod 9 is fixed with a clamping plate 20, the surface of the clamping plate 20 is provided with an adjusting plate 30, the surface of the moving frame 2 is fixed with an arc-shaped rod 4, the other end of the arc-shaped rod 4 is fixed with a pneumatic cylinder 10, the end of the pneumatic cylinder 10 is provided with a second piston rod 13, the other end of the second piston rod 13 is provided with an adsorption plate 15, the driving rod 1 can drive the moving frame 2 to move, when the workpiece 3 is clamped between the adjusting plates 30, the workpiece 3 moves with the moving frame 2, the driving rod 1 moves the workpiece 3 to the surface of the machine tool, the workpiece 3 can be clamped by the clamping assembly of the machine tool, the driving rod 1 moves to drive the moving frame 2 to move, so that the clamping plate 20 moves to the two sides of the workpiece 3, the first piston rod 5 is driven to move by the driving device in the moving frame 2, so that the clamping rod 9 moves with the first piston rod 5, so that the two groups of clamping plates 20 clamp the surface of the workpiece 3, the adjusting plate 30 on the surface of the clamping plate 20 clamps the surface of the workpiece 3, and the surface of the adjusting plate 30 is provided with a rubber strip 28 to provide friction.

[0030] Embodiment 2: on the basis of embodiment 1, the moving frame 2 is provided with a driving device, the driving device can drive the first piston rod 5 to move, the first piston rod 5 can move in the moving groove 6, the end of the clamping rod 9 is located in the moving groove 6, the clamping rod 9 moves with the first piston rod 5, the end of the clamping rod 9 can move in the moving groove 6, the surface of the moving frame 2 is fixed with a limiting rod 8, the surface of the clamping rod 9 is provided with a through hole 33, the limiting rod 8 is inserted in the through hole 33, the limiting rod 8 can move in the through hole 33, the end of the limiting rod 8 is fixed with a limiting ball 7, the diameter of the limiting ball 7 is greater than the diameter of the limiting rod 8. The cylinder 10 can drive the second piston rod 13 to move, the adsorption plate 15 at the end of the second piston rod 13 moves with the second piston rod 13, the surface of the adsorption plate 15 is fixed with the electromagnet 14, the electromagnet 14 moves with the second piston rod 13 and the adsorption plate 15, the surface of the second piston rod 13 is fixed with the extension rod 12, the extension rod 12 moves with the second piston rod 13, the other end of the extension rod 12 is fixed with the sleeving ring 11, the surface of the sleeving ring 11 is provided with the slot 16, the slot 16 is provided with the plug-in slot 17, the plug-in slot 17 is provided with a plurality of groups, the two sides of the slot 16 are provided with the arc-shaped slot 18, one side of the arc-shaped slot 18 is arc-shaped, the plug-in slot 17 is provided with the second electromagnet, the second electromagnet can adsorb the telescopic block 26, so that the telescopic block 26 extends from the telescopic slot 24 and is plugged into the plug-in slot 17, so that the telescopic block 26 is clamped in the plug-in slot 17, when the stand rod 25 moves in the slot 16, the telescopic block 26 is supported on the surface of the arc-shaped slot 18, because one side of the arc-shaped slot 18 is arc-shaped, the telescopic block 26 is retracted into the telescopic slot 24 after being supported by one side of the arc-shaped slot 18, when the cylinder 10 drives the second piston rod 13 to move, the telescopic block 26 is adsorbed into the plug-in slot 17 through the extension rod 12 and the second electromagnet in the plug-in slot 17, so that the stand rod 25 moves with the second piston rod 13, the stand rod 25 is connected to the adjusting plate 30 through the connecting rod 19, so that the adjusting plate 30 moves with the connecting rod 19, the end of the stand plate 21 is fixed with the Z-shaped plate 32, so that the clamping teeth 31 are no longer clamped in the clamping slot 29, the second piston rod 13 moves again, so that the workpiece 3 adsorbed by the electromagnet 14 moves, and because the clamping teeth 31 are no longer clamped in the clamping slot 29, the adjusting plate 30 moves in the sliding groove 27 with the workpiece 3, and the telescopic block 26 is clamped in the plug-in slot 17, the stand rod 25 moves with the second piston rod 13, through the clamping of the adjusting plate 30 and the adsorption of the electromagnet 14, the workpiece 3 is prevented from deviating.

[0031] The clamping plate 20 moves with the clamping rod 9, the clamping rod 9 and the clamping plate 20 are provided with two groups, the workpiece 3 is placed between the two groups of clamping plates 20, the clamping plates 20 can be clamped on the surface of the workpiece 3 after being close to each other, the surface of the clamping plate 20 is inserted with the third piston rod 22, the clamping plate 20 is provided with a driving device, the driving device can drive the third piston rod 22 to move in and out, the other end of the third piston rod 22 is fixedly connected with the vertical plate 21, the vertical plate 21 moves with the third piston rod 22, the other end of the vertical plate 21 is fixedly connected with the L-shaped plate 32, the L-shaped plate 32 moves with the vertical plate 21, the surface of the L-shaped plate 32 close to the clamping plate 20 is fixedly connected with the clamping tooth 31, the clamping tooth 31 moves with the L-shaped plate 32, the surface of the clamping plate 20 is provided with the sliding groove 27, the adjusting plate 30 is inserted in the sliding groove 27, the adjusting plate 30 can move in the sliding groove 27, the surface of the adjusting plate 30 is fixedly connected with a plurality of rubber strips 28, the rubber strips 28 move with the adjusting plate 30, when the clamping plate 20 is located on both sides of the workpiece 3, the adjusting plate 30 and the rubber strips 28 are clamped on the surface of the workpiece 3, the surface of the adjusting plate 30 is fixedly connected with the connecting rod 19, the connecting rod 19 moves with the adjusting plate 30, the other end of the connecting rod 19 is fixedly connected with the vertical rod 25, the vertical rod 25 is located on both sides of the air cylinder 10, the surface of the vertical rod 25 is provided with the telescopic groove 24, the telescopic block 26 is inserted in the telescopic groove 24, the telescopic block 26 can move in and out in the telescopic groove 24, the telescopic block 26 is T-shaped, one end of the telescopic block 26 is always located in the telescopic groove 24, the sleeve ring 11 is located outside the vertical rod 25, the vertical rod 25 is inserted in the slot 16, the two sides of the adjusting plate 30 are provided with the clamping groove 29, when the clamping tooth 31 moves with the L-shaped plate 32, the clamping tooth 31 can be inserted into the clamping groove 29, so that the clamping tooth 31 is clamped in the clamping groove 29, so that the adjusting plate 30 can no longer move in the sliding groove 27, after the L-shaped plate 32 moves with the vertical plate 21, the clamping tooth 31 on the surface of the L-shaped plate 32 moves out of the clamping groove 29, the clamping tooth 31 is no longer clamped in the clamping groove 29, the adjusting plate 30 can move in the sliding groove 27, and the side close to the sliding groove 27 of the adjusting plate 30 is provided with a limiting plate, so that the adjusting plate 30 is always inserted in the sliding groove 27 and can only slide, the third piston rod 22 drives the vertical plate 21 to move, the surface of the vertical plate 21 away from the clamping plate 20, the L-shaped plate 32 fixedly connected with the end of the vertical plate 21 moves, the clamping tooth 31 is no longer clamped in the clamping groove 29, the second piston rod 13 moves again, so that the workpiece 3 attracted by the electromagnet 14 moves, and because the clamping tooth 31 is no longer clamped in the clamping groove 29, the adjusting plate 30 moves in the sliding groove 27 with the workpiece 3, and the telescopic block 26 is clamped in the insertion groove 17.

[0032] The driving rod 1 moves the moving frame 2 to move, so that the clamping plates 20 move to both sides of the workpiece 3, the first piston rod 5 is driven to move by the driving device inside the moving frame 2, so that the clamping rod 9 moves with the first piston rod 5, so that the two groups of clamping plates 20 are clamped on the surface of the workpiece 3, the adjusting plate 30 on the surface of the clamping plate 20 is clamped on the surface of the workpiece 3, and the surface of the adjusting plate 30 is provided with a rubber strip 28 to provide friction to prevent the workpiece 3 from sliding, the second piston rod 13 is driven to move by the air cylinder 10, so that the adsorption plate 15 is supported at the end of the workpiece 3, so that the electromagnet 14 is adsorbed at the end of the workpiece 3, and the second electromagnet in the plug-in slot 17 is started, the telescopic block 26 on the surface of the vertical rod 25 is inserted into the plug-in slot 17, and at the same time the third piston rod 22 moves, the third piston rod 22 drives the vertical plate 21 to move, the vertical plate 21 is away from the surface of the clamping plate 20, the end of the vertical plate 21 fixedly connected with the L-shaped plate 32 moves, the clamping teeth 31 are no longer clamped in the clamping groove 29, the second piston rod 13 moves again, so that the workpiece 3 adsorbed by the electromagnet 14 moves, and because the clamping teeth 31 are no longer clamped in the clamping groove 29, the adjusting plate 30 moves in the sliding groove 27 with the workpiece 3, and the telescopic block 26 is clamped in the plug-in slot 17, the vertical rod 25 moves with the second piston rod 13, and the workpiece 3 is prevented from deviating from the position by the clamping of the adjusting plate 30 and the adsorption of the electromagnet 14, and after the position of the workpiece 3 is adjusted by the movement of the second piston rod 13, each clamped workpiece 3 is transferred to the machine tool in the same position.

[0033] Although the above describes the specific embodiments of the present application in detail, so that those skilled in the art can understand the present application, the present application is not limited to the scope of the specific embodiments, and for those skilled in the art, all application creations utilizing the concept of the present application are within the protection scope of the present application as long as various changes are within the spirit and scope of the present application defined and determined by the appended claims.

Claims

1. A robotic arm for loading and unloading machine tools, characterized in that: include: A drive rod (1) is fixed to a movable frame (2) at its end. A movable groove (6) is opened on the surface of the movable frame (2). A first piston rod (5) is provided in the movable groove (6). A clamping rod (9) is fixed to the end of the first piston rod (5). A clamping plate (20) is fixed to the end of the clamping rod (9). An adjusting plate (30) is provided on the surface of the clamping plate (20). An arc rod (4) is fixed to the surface of the movable frame (2). A cylinder (10) is fixed to the other end of the arc rod (4). A second piston rod (13) is provided to the end of the cylinder (10). An adsorption plate (15) is provided to the other end of the second piston rod (13).

2. The machine tool loading and unloading robot according to claim 1, characterized in that: The movable frame (2) is equipped with a driving device that can drive the first piston rod (5) to move. The first piston rod (5) can move in the movable groove (6). The end of the clamping rod (9) is located in the movable groove (6). The clamping rod (9) moves with the first piston rod (5). The end of the clamping rod (9) can move in the movable groove (6). A limiting rod (8) is fixed on the surface of the movable frame (2). A through hole (33) is opened on the surface of the clamping rod (9). The limiting rod (8) is inserted into the through hole (33). The limiting rod (8) can move in the through hole (33). A limiting ball (7) is fixed on the end of the limiting rod (8). The diameter of the limiting ball (7) is larger than the diameter of the limiting rod (8).

3. The machine tool loading and unloading robot according to claim 2, characterized in that: The cylinder (10) can drive the second piston rod (13) to extend and retract. The adsorption plate (15) at the end of the second piston rod (13) moves with the second piston rod (13). An electromagnet (14) is fixed on the surface of the adsorption plate (15). The electromagnet (14) moves with the second piston rod (13) and the adsorption plate (15). An extension rod (12) is fixed on the surface of the second piston rod (13). The extension rod (12) moves with the second piston rod (13). A sleeve ring (11) is fixed at the other end of the extension rod (12). A slot (16) is opened on the surface of the sleeve ring (11). An insertion slot (17) is opened in the slot (16). Multiple sets of insertion slots (17) are provided. Arc-shaped grooves (18) are opened on both sides of the slot (16). One side of the arc-shaped groove (18) is arc-shaped.

4. The machine tool loading and unloading robot according to claim 3, characterized in that: The clamping plate (20) moves with the clamping rod (9). Both the clamping rod (9) and the clamping plate (20) are provided with two sets. The workpiece (3) is placed between the two sets of clamping plates (20). When the clamping plates (20) come close to each other, they can clamp the surface of the workpiece (3). A third piston rod (22) is inserted into the surface of the clamping plate (20). A driving device is provided in the clamping plate (20). The driving device can drive the third piston rod (22) to move in and out. A vertical plate (21) is fixed at the other end of the third piston rod (22). The vertical plate (21) moves with the third piston rod (22). A U-shaped plate (32) is fixed at the other end of the vertical plate (21). The U-shaped plate (32) moves with the vertical plate (21). A locking tooth (31) is fixed on the surface of the U-shaped plate (32) near the clamping plate (20). The locking tooth (31) moves with the U-shaped plate (32).

5. A machine tool loading / unloading robot according to claim 4, characterized in that: The surface of the clamping plate (20) is provided with a sliding groove (27), and an adjusting plate (30) is inserted into the sliding groove (27). The adjusting plate (30) can move in the sliding groove (27). Multiple sets of rubber strips (28) are fixed on the surface of the adjusting plate (30). The rubber strips (28) move with the adjusting plate (30). When the clamping plate (20) is located on both sides of the workpiece (3), the adjusting plate (30) and the rubber strips (28) are clamped on the surface of the workpiece (3). A connecting rod (19) is fixed on the surface of the adjusting plate (30). The connecting rod (19) moves with the adjusting plate (30).

6. A machine tool loading / unloading robot according to claim 5, characterized in that: The other end of the connecting rod (19) is fixed with a vertical rod (25). The vertical rod (25) is located on both sides of the cylinder (10). The surface of the vertical rod (25) is provided with a telescopic groove (24). A telescopic block (26) is inserted into the telescopic groove (24). The telescopic block (26) can move telescopically in the telescopic groove (24). The telescopic block (26) is T-shaped. One end of the telescopic block (26) is always located in the telescopic groove (24). The sleeve ring (11) is located outside the vertical rod (25). The vertical rod (25) is inserted into the slot (16).

7. A machine tool loading / unloading robot according to claim 6, characterized in that: The insertion slot (17) is provided with a second electromagnet, which can attract the telescopic block (26), so that the telescopic block (26) extends out from the telescopic groove (24) and inserts into the insertion slot (17), so that the telescopic block (26) is stuck in the insertion slot (17). When the upright (25) moves in the slot (16), the telescopic block (26) is held against the surface of the arc groove (18). Since one side of the arc groove (18) is arc-shaped, the telescopic block (26) is held against the side of the arc groove (18) and then retracts into the telescopic groove (24).

8. A machine tool loading / unloading robot according to claim 7, characterized in that: The adjustment plate (30) has slots (29) on both sides. When the slot (31) moves with the shaped plate (32), the slot (31) can be inserted into the slot (29), so that the slot (31) is locked in the slot (29) and the adjustment plate (30) can no longer move in the slide groove (27). After the shaped plate (32) moves with the upright plate (21), the slot (31) on the surface of the shaped plate (32) moves out of the slot (29) and the slot (31) is no longer locked in the slot (29). The adjustment plate (30) can move in the slide groove (27). A limit plate is provided on the side of the adjustment plate (30) close to the slide groove (27) so that the adjustment plate (30) is always inserted in the slide groove (27) and can only slide.

9. A machine tool loading / unloading robot according to claim 8, characterized in that: When the cylinder (10) drives the second piston rod (13) to move, the telescopic block (26) is attracted into the insertion slot (17) by the extension rod (12) and the second electromagnet in the insertion slot (17), so that the upright rod (25) moves with the second piston rod (13). The upright rod (25) is connected to the adjustment plate (30) through the connecting rod (19), so that the adjustment plate (30) moves with the connecting rod (19).

10. A machine tool loading / unloading robot according to claim 9, characterized in that: The drive rod (1) can drive the moving frame (2) to move. When the workpiece (3) is clamped between the adjustment plates (30), the workpiece (3) moves with the moving frame (2). The drive rod (1) moves the workpiece (3) to the machine tool surface. The workpiece (3) can be clamped by the clamping assembly of the machine tool.

Images