A CNC loading and unloading self-propelled trolley with a mechanical hand

Abstract

This invention discloses a CNC self-propelled loading and unloading trolley with a robotic arm, belonging to the field of CNC loading technology. It includes: a mobile chassis; a fixed frame installed on the upper surface of the mobile chassis, with a support frame fixed inside the fixed frame, and multiple track plates arranged vertically within the support frame; multiple material plates, each of which is horizontally slidably mounted within the support frame via the track plates; a multi-joint robotic arm mounted on the upper surface of the mobile chassis and located on one side of the fixed frame; and an end effector installed at the execution end of the multi-joint robotic arm. This invention utilizes a multi-joint robotic arm for automated loading and unloading, reducing manual handling and loading / unloading operations. The multi-joint robotic arm also includes a storage rack for temporarily storing the loading / unloading components held by the robotic arm, significantly shortening the number of trips the robotic arm makes between the hopper and the CNC, and increasing the loading / unloading cycle time per unit time.

Description

Technical Field

[0001] This invention belongs to the field of CNC loading technology, specifically a CNC loading and unloading self-propelled trolley with a robotic arm. Background Technology

[0002] Numerical control machine tools (CNC) are widely used in the mass production of parts due to their high precision and efficiency. During CNC machining, frequent workpiece loading and unloading operations are required. Operators manually pick up and place workpieces, which is labor-intensive, inefficient, and poses safety hazards.

[0003] In recent years, some mobile carts equipped with robotic arms and simple material racks have emerged, enabling them to move automatically between multiple machine tools. However, traditional robotic arms or mobile carts can only pick up one workpiece at a time, deliver it to the machine tool, and then return to pick up the next workpiece. The round trip takes up a lot of time, especially when the material rack is far from the machine tool, resulting in low efficiency. Furthermore, when multiple workpieces are temporarily stored in ordinary hoppers or conveyor belts, workpieces such as discs and washers are prone to overlapping or jamming, causing automation interruptions. The surface of CNC-machined workpieces (especially steel parts) is prone to rusting, and they usually need to be centrally transported to the anti-rust spraying room after unloading or manually coated with anti-rust oil, increasing handling, waiting, and labor costs. Therefore, it is necessary to provide a CNC loading and unloading self-propelled cart with a robotic arm to solve the problems mentioned in the background technology. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides the following technical solution: a CNC self-propelled loading and unloading trolley with a robotic arm, comprising:

[0005] Mobile chassis;

[0006] A fixed frame is installed on the upper surface of the mobile chassis. A support frame is fixed inside the fixed frame, and multiple track plates are arranged vertically in the support frame.

[0007] The material plates are multiple in number, and each material plate is horizontally slidably assembled in the support frame via a track plate;

[0008] The transfer frame is horizontally arranged on one side of the support frame and is slidably connected to the support frame in the vertical direction;

[0009] A multi-joint robotic arm is mounted on the upper surface of the mobile chassis and located on one side of the fixed frame;

[0010] An end effector is installed at the end of the multi-joint manipulator.

[0011] Furthermore, as a preferred embodiment, the mobile chassis adopts an aluminum alloy profile frame structure, with four omnidirectional wheels installed at its bottom; a lidar is installed at the front and rear of the mobile chassis body.

[0012] The multi-jointed robotic arm is equipped with vision sensors.

[0013] Furthermore, preferably, the multi-joint manipulator includes:

[0014] A rotary table, which is fixed on the movable chassis, is equipped with a servo motor for driving rotation.

[0015] A vertical arm, one end of which is mounted on the rotating turntable, and the other end of which is rotatably connected to a horizontal arm;

[0016] The first pendulum axis is rotatably connected to the horizontal arm, and a joint axis is rotatably provided at one end of the first pendulum axis;

[0017] The second swing shaft is rotatably mounted on the joint shaft, and the end effector is rotatably disposed within the second swing shaft.

[0018] Furthermore, preferably, the end effector includes:

[0019] The housing is rotatably connected to the multi-jointed robotic arm;

[0020] The mounting bracket is configured as an inverted L-shaped structure, and the upper end of the mounting bracket is fixed to the housing;

[0021] A guide rail plate is vertically fixed to one end face of the fixed frame, and a push plate is slidably mounted on the guide rail plate via a slider;

[0022] A gripper device is horizontally positioned below the guide rail plate, and a bracket is vertically connected to the lower end face of the push plate. The gripper device is fixed to the bracket.

[0023] The storage rack is vertically fixed inside the machine housing, and the storage rack and the gripping opening of the gripper device are on the same center line.

[0024] A telescopic cylinder is vertically fixed on the fixed frame, and its lower end is connected to the push plate;

[0025] The roller conveyor unit is located inside the storage rack.

[0026] Furthermore, as a preferred embodiment, a guide shaft cylinder is fixed at the center of the lower end face of the storage rack, and a material picking ring sleeve is coaxially and slidably arranged on the lower end of the guide shaft cylinder, with multiple claws symmetrically distributed in the material picking ring sleeve;

[0027] Multiple clamping plates are symmetrically and vertically arranged inside the guide shaft cylinder, and a limit spring is connected between the clamping plates and the guide shaft cylinder;

[0028] Multiple transmission chains are symmetrically and vertically arranged inside the guide shaft cylinder, and the transmission chains and the pressure plate are distributed in a cross shape in the guide shaft cylinder.

[0029] Furthermore, as a preferred embodiment, the upper end of each of the transmission chains extends upward into the storage rack, and a laser sensor is provided inside the lower part of the storage rack;

[0030] The claws are all rotatably connected to the material-picking ring sleeve. Multiple racks corresponding to the claws are vertically slidably connected in the side wall of the material-picking ring sleeve. The upper end of the racks is fixed to the guide shaft sleeve. Each claw is provided with a toothed groove structure and meshes with each rack.

[0031] The storage rack is rotatably connected to a hoop, and the hoop has a guide groove. The picking ring is vertically fixed with a guide pin, which is slidably connected to the guide groove. A fine-tuning cylinder is fixedly inclined to the outside of the guide shaft, and one end of the fine-tuning cylinder is connected to the hoop.

[0032] Furthermore, preferably, the roller conveyor unit includes:

[0033] The mounting plate is fixed in the storage rack;

[0034] There are two vertically arranged helical blades, both of which are rotatably connected to the bottom of the mounting plate;

[0035] A rotating shaft tube is vertically rotatably connected inside the mounting plate, and the upper part of the spiral blade is coaxially connected to the rotating shaft tube;

[0036] The transmission shafts are two symmetrically arranged, and each of the two transmission shafts is fixed with meshing transmission teeth. The rotating shaft tube is fixed with driven teeth, and the transmission teeth mesh with the driven teeth.

[0037] A coupling is fixed to one of the drive shafts. An external motor is vertically fixed outside the storage rack. The output end of the external motor is connected to the coupling for transmission through a bevel gear.

[0038] Furthermore, as a preferred embodiment, an adjusting shaft is coaxially fixed to the upper end of one of the spiral blades. The adjusting shaft vertically penetrates the storage rack, and its lower end is vertically rotatably connected to the rotating shaft tube. The lower end of the rotating shaft tube is provided with a hook groove, and a positioning pin is fixed to the side wall of the adjusting shaft. The positioning pin slides into the hook groove.

[0039] An internal spring connects the adjusting shaft to the rotating shaft tube.

[0040] Furthermore, preferably, the spiral blades are symmetrically or asymmetrically distributed with the other spiral blade during the adjustment of the adjusting shaft, and one of the spiral blades has an anti-slip coating on its surface.

[0041] Furthermore, as a preferred embodiment, the inner wall of the storage rack is evenly distributed with a plurality of atomizing nozzles, and the atomizing nozzles are connected to a liquid inlet pipe.

[0042] Compared with the prior art, the beneficial effects of the present invention are:

[0043] In this invention, a multi-joint robotic arm is mounted on a mobile chassis. The mobile chassis can automatically move to the machine tool to be loaded or unloaded according to production instructions. The multi-joint robotic arm performs automated loading and unloading, reducing manual handling and loading / unloading operations, thus reducing labor intensity and safety hazards. The multi-joint robotic arm is also equipped with a storage rack, which can temporarily store the loading / unloading parts held by the multi-joint robotic arm through an internal roller conveyor unit. This allows multiple workpieces to be picked up sequentially in one stroke, significantly shortening the number of times the robotic arm travels back and forth between the hopper and the CNC, and increasing the loading / unloading cycle time per unit time.

[0044] The roller conveyor unit uses two relatively rotating helical blades to transport the workpieces entering the storage rack upwards, allowing the workpieces to be transported one by one and stably, avoiding multiple workpieces from squeezing, overlapping or flipping each other; in addition, as the workpieces are transported separately in the storage rack, the atomizing spray holes on the side wall of the storage rack can spray the workpieces with anti-rust oil or water-based anti-rust agent, eliminating the need for a separate anti-rust process later.

[0045] Furthermore, when the roller conveyor unit in the storage rack sets the workpiece to be transported at a small angle, the atomized rust-preventive oil or water-based rust inhibitor will naturally flow downwards under the action of gravity, which can better penetrate into the grooves, thread roots, blind holes and other areas at the bottom of the workpiece that are originally difficult to be directly impacted by atomized particles, thereby improving the coverage coating effect. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0047] Figure 2 This is a schematic diagram of the multi-joint robotic arm in this invention;

[0048] Figure 3 This is a schematic diagram of the end effector in this invention;

[0049] Figure 4 This is a schematic diagram of the internal structure of the storage rack in this invention;

[0050] Figure 5 This is a schematic diagram of the internal structure of the guide shaft cylinder in this invention;

[0051] Figure 6 This is a schematic diagram of the distribution structure of the transmission chain belt in this invention;

[0052] Figure 7 This is a schematic diagram of the structure of the helical blade in this invention;

[0053] Figure 8 This is a partial structural schematic diagram of the roller conveyor unit in this invention;

[0054] In the diagram: 1. Mobile chassis; 11. Fixed frame; 12. Support frame; 13. Material plate; 14. Transfer frame; 2. Multi-joint robot; 21. Rotary turntable; 22. Vertical arm; 23. Horizontal arm; 24. First swing axis; 25. Joint axis; 26. Second swing axis; 3. End effector; 31. Housing; 32. Fixed frame; 33. Guide rail plate; 34. Push plate; 35. Gripper device; 36. Telescopic pneumatic... 4. Cylinder; 41. Storage rack; 42. Guide shaft sleeve; 43. Picking ring sleeve; 44. Paw; 45. Pressure plate; 46. Drive chain belt; 47. Laser sensor; 48. Rack; 49. Hoop ring; 50. Fine adjustment cylinder; 51. Roller conveyor unit; 52. Mounting plate; 53. Spiral blade; 54. Rotary shaft tube; 55. Drive shaft; 56. Connecting shaft; 57. Adjusting shaft; 58. Groove; 59. Atomizing nozzle. Detailed Implementation

[0055] Please see Figures 1-8 In this embodiment of the invention, a CNC self-propelled loading and unloading trolley with a robotic arm includes:

[0056] Mobile chassis 1;

[0057] A fixed frame 11 is installed on the upper surface of the mobile chassis 1. A support frame 12 is fixed inside the fixed frame 11, and multiple track plates are arranged vertically in the support frame 12.

[0058] Multiple material plates 13 are provided, and each material plate 3 is horizontally slidably assembled in the support frame 12 via a track plate; the material plates 13 are used to store workpieces.

[0059] The transfer frame 14 is horizontally arranged on one side of the support frame 12 and is slidably connected to the support frame 12 in the vertical direction; the transfer frame 14 is used to lift the material plate 13 to the working height.

[0060] The multi-joint manipulator 2 is mounted on the upper surface of the mobile chassis 1 and located on one side of the fixed frame 11;

[0061] The end effector 3 is installed at the end of the multi-joint robot 2. Specifically, the trolley can automatically travel to the target CNC machine tool. During the loading and unloading process of the CNC machine tool, the top layer of material plate 13 can slide onto the transfer frame 14 via the track plate. The transfer frame 14 lifts it to an appropriate height so that the multi-joint robot 2 can use the end effector 3 to pick up and load the workpieces on the material plate 13 one by one, or pick up and place the workpieces that have been processed on the CNC machine tool into the material plate 13. When the material plate 13 is empty or full, the transfer frame 14 descends and resets, and the material plate 3 moves to the support frame 12 via the track plate. The transfer frame 14 then descends to pick up the second layer of material plate 3.

[0062] In this embodiment, the mobile chassis 1 adopts an aluminum alloy frame structure, and four omnidirectional wheels are installed at its bottom to achieve translation and rotation in any direction. A laser radar is installed at the front and rear of the mobile chassis 1 to build an environmental map and navigate in real time, so that the car can automatically drive to the target CNC machine tool.

[0063] The multi-joint manipulator 2 is equipped with a vision sensor, which helps to identify the status of the machine tool door, the position of the fixture, and the posture of the workpiece, so as to achieve precise positioning.

[0064] In a preferred embodiment, the multi-joint robotic arm 2 includes:

[0065] A rotating turntable 21 is fixed on the movable chassis 1, and a servo motor for driving rotation is installed inside the rotating turntable 21.

[0066] A vertical arm 22 is mounted on the rotary table 21 at one end, and a horizontal arm 23 is rotatably connected to the other end of the vertical arm 22. The vertical arm 22 and the horizontal arm 23 cooperate to achieve large-range spatial positioning.

[0067] The first swing shaft 24 is rotatably connected to the horizontal arm 23, and a joint shaft 25 is rotatably provided at one end of the first swing shaft 24.

[0068] The second swing shaft 26 is rotatably mounted on the joint shaft 25, and the end effector 3 is rotatably disposed within the second swing shaft 26. The first swing shaft 24, the joint shaft 25, and the second swing shaft 26 provide end attitude adjustment, and the end effector 3 can flexibly approach the workpiece with multiple degrees of freedom.

[0069] In this embodiment, the end effector 3 includes:

[0070] The housing 31 is rotatably connected to the multi-joint manipulator 2;

[0071] The fixing frame 32 is configured as an inverted L-shaped structure, and the upper end of the fixing frame 32 is fixed to the housing of the machine 31;

[0072] The guide rail plate 33 is vertically fixed to one end face of the fixed frame 32, and the guide rail plate 33 is slidably provided with a push plate 34 via a slider;

[0073] The gripper device 35 is horizontally arranged below the guide rail plate 33. The lower end face of the push plate 34 is vertically connected to the bracket. The gripper device 35 is fixed to the bracket, which can achieve stable clamping of the workpiece.

[0074] The storage rack 4 is vertically fixed inside the housing 31, and the storage rack 4 and the clamping opening of the gripper device 35 are on the same center line.

[0075] The telescopic cylinder 36 is vertically fixed on the fixed frame 32, and its lower end is connected to the push plate 34;

[0076] The roller conveyor unit 5 is installed inside the storage rack 4. Specifically, the telescopic cylinder 36 drives the gripper device 35 to descend to the workpiece position. The gripper device 35 contacts and clamps the workpiece from both sides. After clamping is completed, the telescopic cylinder 36 drives the gripper device 35 to move and reset, so that the workpiece is located below the storage rack 4.

[0077] In this embodiment, a guide shaft cylinder 41 is fixed at the center of the lower end face of the storage rack 4. A material picking ring sleeve 42 is slidably arranged coaxially on the lower end of the guide shaft cylinder 41. A plurality of claws 43 are symmetrically distributed in the material picking ring sleeve 42. The ends of the claws 43 partially extend out of the material picking ring sleeve 42. The claws 43 can contact and clamp the outer wall of the workpiece.

[0078] Multiple clamping plates 44 are symmetrically and vertically arranged inside the guide shaft cylinder 41. A limit spring (not shown in the figure) is connected between the clamping plate 44 and the guide shaft cylinder 41. Guide balls can be distributed and rolled on the surface of the clamping plate 44. In this way, the clamping plate 44 can contact the side wall of the workpiece under the action of the limit spring to achieve workpiece positioning, while the guide balls are used to assist the workpiece in vertical transmission.

[0079] Multiple transmission chains 45 are symmetrically and vertically arranged inside the guide shaft cylinder 41. The transmission chains 45 and the clamping plate 44 are distributed in a cross shape in the guide shaft cylinder 41. That is, when the picking ring sleeve 42 uses the claw 43 to clamp the workpiece into the guide shaft cylinder 41, the transmission chains 45 will be conveyed upward during operation and sent into the storage rack 4.

[0080] In this embodiment, the upper end of each of the transmission chain belts 45 extends upward into the storage rack 4. A laser sensor 46 is provided inside the lower part of the storage rack 4. The laser sensor 46 is used to sense whether there is a workpiece at the position. When the workpiece is sent into the storage rack 4 by the transmission chain belt 45, the roller conveying unit 5 in the storage rack 4 works in time to realize the temporary storage of the workpiece.

[0081] In this device, a storage rack 4 is integrated inside the multi-joint manipulator 3, and a roller conveyor unit 5 is set up so that the manipulator can sequentially grab multiple workpieces and temporarily store them in its own storage rack 4, and then move them to the machine tool at one time to continuously complete the loading / unloading of multiple parts, which greatly reduces the number of empty runs, shortens the single cycle time by 30%~50%, and significantly improves the batch processing efficiency.

[0082] The pawls 43 are all rotatably connected to the picking ring sleeve 42. Multiple racks 47 corresponding to the pawls 43 are vertically slidably connected to the side wall of the picking ring sleeve 42. The upper ends of the racks 47 are fixed to the guide shaft cylinder 41. Each pawl 43 has a toothed groove structure that meshes with each rack 47. When the picking ring sleeve 42 moves downwards, each pawl 43 can mesh with the racks 47 and deflect synchronously, forming an outward expansion, thus facilitating the removal of the workpiece from the gripper device 35. When the picking ring sleeve 42 moves upwards, each pawl 43 deflects in the opposite direction and gradually contacts and squeezes the workpiece until the pawls 43 are nearly horizontal. At this time, the workpiece is located above the pawls 43 and is fed into the guide shaft cylinder 41, where it is transported upwards by the transmission chain 45.

[0083] A hoop 48 is rotatably connected to the storage rack 4. A guide groove is provided on the hoop 48. A guide pin is vertically fixed to the picking ring 42, and the guide pin is slidably connected to the guide groove. A fine-tuning cylinder 49 is fixedly inclined outward on the guide shaft cylinder 41. One end of the fine-tuning cylinder 49 is connected to the hoop 48, thus using the extension and retraction of the fine-tuning cylinder 49 to drive the vertical displacement of the picking ring 42.

[0084] In a preferred embodiment, the roller conveying unit 5 includes:

[0085] Mounting plate 51, which is fixed in the storage rack 4;

[0086] There are two vertically arranged spiral blades 52, and both spiral blades 52 are rotatably connected to the bottom of the mounting plate 51;

[0087] The rotating shaft tube 53 is vertically rotatably connected inside the mounting plate 51, and the upper part of the spiral shaft blade 52 is coaxially connected to the rotating shaft tube 53;

[0088] The drive shafts 54 are arranged symmetrically, and each of the two drive shafts 54 has a meshing drive tooth fixed on it. The driven tooth is fixed on the rotating shaft tube 53, and the drive tooth meshes with the driven tooth. In this way, the two helical blades 52 can rotate in opposite directions while rotating synchronously with the rotating shaft tube 53, so that the workpieces move forward one by one and stably, avoiding multiple workpieces from squeezing, overlapping or flipping each other. It is especially suitable for workpieces such as discs and washers, and can ensure that the workpieces temporarily stored have the same posture and accurate position, so that no adjustment is required when unloading them later.

[0089] A connecting shaft 55 is fixed to one of the transmission shafts 54. An external motor is vertically fixed to the outside of the storage rack 4. The output end of the external motor is connected to the connecting shaft 55 for transmission through a bevel gear.

[0090] In this embodiment, an adjusting shaft 56 is coaxially fixed to the upper end of one of the spiral blades 52. The adjusting shaft 56 vertically penetrates the storage rack 4, and its lower end is vertically rotatably connected to the rotating shaft tube 53. The lower end of the rotating shaft tube 53 is provided with a hook groove 57, and a positioning pin is fixed to the side wall of the adjusting shaft 56. The positioning pin slides into the hook groove 57, thereby realizing that the adjusting shaft 56 and the rotating shaft tube 53 are relatively fixed. When the rotating shaft tube 53 is driven to rotate by the driven gear, the adjusting shaft 56 and the spiral blade 52 below it can rotate synchronously.

[0091] An inner spring is connected between the adjusting shaft 56 and the rotating shaft tube 53, which can keep the positioning pin on the adjusting shaft 56 in close contact with the hook groove 57 in a natural state; and a bidirectional motor device can be additionally installed outside the storage rack 4 to drive the adjusting shaft 56 to rotate in both directions.

[0092] In this embodiment, the spiral blade 52 is symmetrically or asymmetrically distributed with another spiral blade 52 during the adjustment of the adjusting shaft 56, and one of the spiral blades 52 has an anti-slip coating on its surface.

[0093] In this embodiment, the inner wall of the storage rack 4 is evenly distributed with a plurality of atomizing spray holes 58. The atomizing spray holes 58 are connected to a liquid inlet pipe, and the liquid inlet pipe is connected to a liquid storage tank, which stores rust-preventive oil or water-based rust inhibitor. At the same time, an adjustable flow pump is provided to provide the corresponding liquid delivery power according to the spraying volume requirements.

[0094] Alternatively, other liquids, such as cleaning agents and degreasers, can also be sprayed.

[0095] In other words, during use, the two spiral blades 52 can be symmetrically distributed. At this time, the workpiece is transferred between the two spiral blades 52 to maintain a horizontal position. Since one of the spiral blades 52 is coated with an anti-slip coating, it can achieve the workpiece rotation effect during the transfer by using the friction with the workpiece. In this way, the multiple atomizing nozzles 58 can fully cover the workpiece surface when spraying, improving the uniformity of spraying. When the bidirectional motor device drives the adjusting shaft 56 to deflect at a small angle, the two spiral blades 52 are asymmetrically distributed. At this time, the workpiece is distributed in an inclined state. The atomized rust-preventive oil or water-based rust inhibitor will naturally flow to the lower position under the action of gravity, which can better penetrate into the grooves, thread roots, blind holes and other areas at the bottom of the workpiece that are originally difficult to be directly contacted by atomized particles. It is especially suitable for complex discs, shafts or parts with internal cavities. Moreover, the excess rust inhibitor will automatically flow to the lowest point of the workpiece and drip off.

[0096] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A CNC self-propelled loading and unloading trolley with a robotic arm, characterized in that, It includes: Mobile chassis (1); A fixed frame (11) is installed on the upper surface of the mobile chassis (1). A support frame (12) is fixed inside the fixed frame (11). Multiple track plates are arranged vertically in the support frame (12). There are multiple material plates (13), and each material plate (3) is horizontally slidably assembled in the support frame (12) via a track plate; The transfer frame (14) is horizontally arranged on one side of the support frame (12) and is slidably connected to the support frame (12) in the vertical direction; A multi-joint manipulator (2) is mounted on the upper surface of the mobile chassis (1) and located on one side of the fixed frame (11); An end effector (3) is installed at the end of the multi-joint manipulator (2).

2. The CNC self-propelled loading and unloading trolley with a robotic arm according to claim 1, characterized in that: The mobile chassis (1) adopts an aluminum alloy frame structure and has four omnidirectional wheels installed at its bottom; a laser radar is installed at the front and rear of the mobile chassis (1); The multi-joint manipulator (2) is equipped with a vision sensor.

3. The CNC self-propelled loading and unloading trolley with a robotic arm according to claim 1, characterized in that, The multi-joint manipulator (2) includes: A rotary table (21) is fixed on the movable chassis (1), and a servo motor for driving rotation is installed inside the rotary table (21); A vertical arm (22) is mounted on the rotary table (21) at one end, and a horizontal arm (23) is rotatably connected to the other end of the vertical arm (22). The first swing shaft (24) is rotatably connected to the horizontal arm (23), and a joint shaft (25) is rotatably provided at one end of the first swing shaft (24). The second swing shaft (26) is rotatably mounted on the joint shaft (25), and the end effector (3) is rotatably disposed inside the second swing shaft (26).

4. A CNC self-propelled loading and unloading trolley with a robotic arm according to claim 1, characterized in that, The end effector (3) includes: The housing (31) is rotatably connected to the multi-joint manipulator (2); The fixing frame (32) is configured as an inverted L-shaped structure, and the upper end of the fixing frame (32) is fixed to the housing of the machine (31); The guide rail plate (33) is vertically fixed to one side end face of the fixed frame (32), and a push plate (34) is slidably provided on the guide rail plate (33) by a slider. The gripper device (35) is horizontally arranged below the guide rail plate (33), and the lower end face of the push plate (34) is vertically connected to the bracket. The gripper device (35) is fixed to the bracket. The storage rack (4) is vertically fixed inside the housing (31), and the storage rack (4) and the clamping opening of the gripper device (35) are on the same center line; The telescopic cylinder (36) is vertically fixed on the fixed frame (32), and its lower end is connected to the push plate (34); The roller conveyor unit (5) is located inside the storage rack (4).

5. A CNC self-propelled loading and unloading trolley with a robotic arm according to claim 4, characterized in that: The lower end face of the storage rack (4) is fixed with a guide shaft cylinder (41), and a material picking ring sleeve (42) is slidably arranged on the lower end of the guide shaft cylinder (41). Multiple claws (43) are symmetrically distributed in the material picking ring sleeve (42). Multiple clamping plates (44) are symmetrically and vertically arranged inside the guide shaft cylinder (41), and a limit spring is connected between the clamping plate (44) and the guide shaft cylinder (41). Multiple transmission chains (45) are symmetrically and vertically arranged inside the guide shaft cylinder (41), and the transmission chains (45) and the pressing plate (44) are distributed in a cross shape in the guide shaft cylinder (41).

6. A CNC self-propelled loading and unloading trolley with a robotic arm according to claim 5, characterized in that: The upper end of each of the transmission chains (45) extends upward into the storage rack (4), and a laser sensor (46) is provided inside the lower part of the storage rack (4). The claws (43) are all rotatably connected to the picking ring sleeve (42). Multiple racks (47) corresponding to the claws (43) are vertically slidably connected in the side wall of the picking ring sleeve (42). The upper end of the racks (47) is fixed to the guide shaft sleeve (41). The claws (43) are all provided with tooth groove structure and mesh with each rack (47). The storage rack (4) is rotatably connected to a hoop (48), the hoop (48) is provided with a guide groove, the material picking ring (42) is vertically fixed with a guide pin, the guide pin is slidably connected with the guide groove, the guide shaft cylinder (41) is inclinedly fixed with a fine adjustment cylinder (49), one end of the fine adjustment cylinder (49) is connected to the hoop (48).

7. A CNC self-propelled loading and unloading trolley with a robotic arm according to claim 6, characterized in that, The roller conveyor unit (5) includes: Mounting plate (51), which is fixed in the storage rack (4); There are two vertically arranged spiral blades (52), and both spiral blades (52) are rotatably connected to the underside of the mounting plate (51); The rotating shaft tube (53) is vertically rotatably connected inside the mounting plate (51), and the upper part of the spiral blade (52) is coaxially connected to the rotating shaft tube (53); The transmission shafts (54) are two symmetrically arranged, and the two transmission shafts (54) are respectively fixed with meshing transmission teeth. The rotating shaft tube (53) is fixed with driven teeth, and the transmission teeth mesh with the driven teeth. The connecting shaft (55) is fixed to one of the transmission shafts (54). An external motor is vertically fixed outside the storage rack (4). The output end of the external motor is connected to the connecting shaft (55) for transmission through a bevel gear.

8. A CNC self-propelled loading and unloading trolley with a robotic arm according to claim 7, characterized in that: One of the spiral blades (52) has an adjusting shaft (56) fixed coaxially at its upper end. The adjusting shaft (56) passes vertically through the storage rack (4), and its lower end is vertically rotatably connected in the rotating shaft tube (53). The lower end of the rotating shaft tube (53) is provided with a hook groove (57), and the side wall of the adjusting shaft (56) is fixed with a positioning pin. The positioning pin slides into the hook groove (57). An inner spring is connected between the adjusting shaft (56) and the rotating shaft tube (53).

9. A CNC self-propelled loading and unloading trolley with a robotic arm according to claim 7, characterized in that: The spiral blades (52) are symmetrically or asymmetrically distributed with the other spiral blades (52) during the adjustment of the adjusting shaft (56), and the surface of one of the spiral blades is provided with an anti-slip coating.

10. A CNC self-propelled loading and unloading trolley with a robotic arm according to claim 9, characterized in that: The inner wall of the storage rack (4) is evenly distributed with a plurality of atomizing nozzles (58), and the atomizing nozzles (58) are connected to a liquid inlet pipe.

Images