Numerical control lathe automatic feeding and discharging manipulator

Abstract

The application relates to the technical field of mechanical hands, and discloses an automatic feeding and discharging mechanical hand of a numerical control lathe, which comprises a numerical control lathe, wherein the numerical control lathe comprises a turning system, and the numerical control lathe is externally provided with a track driving mechanism and a clamping mechanism; the track driving mechanism is installed on the side of a carriage of the numerical control lathe and is used for driving the clamping mechanism to operate; the clamping mechanism comprises a positioning sleeve and a material lifting mechanism; through the arrangement of a plurality of movable core blocks, and the arrangement of air holes and guide strips on the side of the movable core blocks, when a bar material is introduced, the accuracy of bar material positioning can be ensured, the clamping accuracy of the numerical control lathe clamp is improved, the surface of the bar material can be cleaned of impurities when the bar material is introduced, the impurities such as sand or metal chips adhered to the surface of the bar material are prevented from entering between the chuck and the bar material, so that the chuck is prevented from being damaged or the clamping stability is reduced, and the clamping stability of the chuck to the bar material is effectively ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hands, in particular to an automatic feeding and discharging mechanical hand of a numerical control lathe. BACKGROUND

[0002] As the core equipment of bar cutting, numerical control lathes are widely used in the production of mechanical parts. During turning on a numerical control lathe, there are usually two types of feeding, namely manual feeding and mechanical hand feeding.

[0003] Among them, the patent with the patent number CN222520714U discloses a numerical control lathe with feeding and discharging mechanical hands, which comprises a horizontal base, a Z-axis, an X-axis, and a truss mechanical hand. The top of the horizontal base is connected with a vertical base. The Z-axis is located on one side of the vertical base and is perpendicular to the vertical base. The X-axis is located on the front of the vertical base and is perpendicular to the X-axis. The Z-axis is provided with the truss mechanical hand above. The truss mechanical hand is fixedly connected with the horizontal base. The side of the truss mechanical hand away from the vertical base is provided with a feeding mechanism, and the feeding mechanism is perpendicular to the Z-axis. The integrated truss mechanical hand and the feeding mechanism are used, and the mechanical hand moves between the chuck and the feeding mechanism.

[0004] Although the above-mentioned patent discloses a mechanical hand that can meet the feeding requirements, the diameter of the bar is poorly adapted during the feeding process. In addition, the bar needs to be kept vertical during the feeding process, which requires a high initial position of the raw material. Moreover, the bar lacks a chip removal structure, and the metal chips and sand impurities adhered to the bar during the transfer process can easily enter the chuck with the workpiece, causing wear of the chuck clamping surface and affecting the coaxial precision of the workpiece. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides an automatic feeding and discharging mechanical hand of a numerical control lathe, which has the advantages of high positioning efficiency and stable clamping.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: An automatic feeding and discharging mechanical hand of a numerical control lathe, comprising a numerical control lathe, wherein the numerical control lathe comprises a turning system, and the outside of the numerical control lathe is provided with a track driving mechanism and a clamping mechanism. The track driving mechanism is installed on the side of the carriage of the numerical control lathe, and is used to drive the clamping mechanism to operate. The clamping mechanism comprises a positioning sleeve and a lifting mechanism. The front end of the positioning sleeve is fixedly connected with a fixed ring. The outside of the fixed ring is provided with a positioning mechanism and a detection mechanism. The lifting mechanism is used for clamping the bar, driving the bar to be flush with the positioning sleeve, the inner front end of the positioning sleeve is fixedly connected with the fixed disc, the inner tail end of the positioning sleeve is rotatably connected with the driving disc, a plurality of movable core blocks are arranged between the fixed disc and the driving disc, the two ends of the movable core block are provided with connecting shaft tubes, the fixed disc is provided with a guide groove in the radial direction, the driving disc is provided with a driving groove matched with the guide groove, the driving groove is eccentrically arranged, the movable core block is connected to the inside of the driving groove and the guide groove through the two end connecting shaft tubes, and the plurality of movable core blocks form a material guiding cavity. The outer part of the positioning sleeve is fixedly connected with a tail plate, the lifting mechanism is installed outside the tail plate, and a material lifting telescopic rod is arranged outside the tail plate.

[0007] Preferably, the track driving mechanism comprises a first linear guide rail, a second linear guide rail and a third linear guide rail, the first linear guide rail, the second linear guide rail and the third linear guide rail constitute X, Y and Z three-axis guide driving, a support sliding block that can be driven is arranged below the third linear guide rail, a torque motor is fixedly connected below the support sliding block, an installation plate is arranged at the output end of the torque motor, and the clamping mechanism is installed at the bottom of the installation plate.

[0008] Preferably, the outer part of the driving disc is provided with an outer rotary driving ring, the outer rotary driving ring is used for driving the driving disc to rotate, the rotation of the driving disc drives the plurality of movable core blocks to converge or expand displacement, the outer rotary driving ring is installed outside the positioning sleeve, and the end of the movable core block close to the lifting mechanism is provided with an expanding portion.

[0009] Preferably, the inside of the movable core block is provided with a cavity, the side of the movable core block is provided with an air outlet hole, the air outlet hole is communicated with the cavity of the movable core block, the connecting shaft tube close to the fixed disc is synchronously communicated with the cavity of the movable core block, the side of the movable core block is uniformly provided with a guide strip, the end of the connecting shaft tube close to the fixed disc is fixedly connected with a corrugated connecting pipe, the end of the corrugated connecting pipe is provided with a shunt pipe, and the shunt pipe is communicated with the cavities of the plurality of movable core blocks through the corrugated connecting pipe.

[0010] Preferably, the lifting mechanism comprises a sliding frame slidingly connected outside the tail plate, groove sliding blocks that can be driven are connected to the both sides of the bottom of the sliding frame, a connecting rod is movably connected to the outside of the groove sliding block, a deflection block is rotatably connected to the end of the connecting rod, a positioning shaft is fixedly connected to the shaft of the deflection block, an arc-shaped drag rod is fixedly connected to the outside of the positioning shaft, a push block is fixedly connected to the movable end of the arc-shaped drag rod, a top pressing rod is fixedly connected to the top of the sliding frame, a lifting plate is fixedly connected to the top of the top pressing rod, an electromagnetic drive is arranged outside the lifting plate, and the electromagnetic drive is fixedly installed at the top of the installation plate.

[0011] Preferably, the positioning shaft and the arc-shaped drag bar are symmetrically arranged, and the arc-shaped drag bar and the push block form a hook structure. The positioning shafts on both sides drive the symmetrically distributed arc-shaped drag bars to perform opening and closing actions. The sliding frame moves up and down against the tail plate. A guide rod is provided above the sliding frame. The guide rod has a built-in control line. An electromagnetic control component is provided inside the sliding frame. The electromagnetic control component is used to control the sliding of the slot sliders on both sides to move closer or further away. The electromagnetic control component is connected to an external control unit through the built-in control line of the guide rod.

[0012] Preferably, a drive mechanism is provided on the outside of the top material telescopic rod, and a control rod is provided between the drive mechanism and the top material telescopic rod. The top material telescopic rod is a hydraulic telescopic rod, the control rod is used to control the introduction and export of hydraulic oil, and the drive mechanism is used to drive the control rod to rotate.

[0013] Preferably, the positioning mechanism includes a support arm hinged to the outside of the fixed ring, a side pressure block rotatably connected to the movable end of the support arm, a drive arm hinged to the outside of the support arm, a movable ring hinged to the end of the drive arm, and a claw rod drive for driving the movable ring to slide is provided outside the movable ring.

[0014] Preferably, the support arm is provided in three sets, symmetrically distributed along the center of the fixed ring, the contact surface of the side pressure block is set as a planar structure, and a torsion spring, a pressure detector and an angle detector are provided between the side pressure block and the support arm.

[0015] The beneficial effects of this invention are: 1. This automatic loading and unloading robot for CNC lathes, through the setting of several movable core blocks, with air vents and guide strips on the sides of the movable core blocks, not only ensures the accuracy of bar stock positioning when loading bar stock, thereby improving the clamping accuracy of the CNC lathe fixture, but also removes impurities from the surface of the bar stock during loading, preventing sand, gravel, metal shavings, and other impurities adhering to the surface of the bar stock from entering between the chuck and the bar stock, thus avoiding damage to the chuck or reduced clamping stability, effectively ensuring the clamping stability of the chuck for the bar stock.

[0016] 2. This CNC lathe automatic loading and unloading robot uses a clamping mechanism to clamp and lift bar stock. The clamping method is simple and can adapt to bar stock of different diameters, thus effectively reducing the difficulty of clamping bar stock. It also has strong adaptability to the placement position of bar stock, eliminating the need for precise positioning, reducing the initial clamping and positioning time, effectively reducing positioning difficulty, and improving the efficiency of initial bar stock gripping.

[0017] 3. This CNC lathe automatic loading and unloading robot uses a clamping mechanism to clamp two bars of material at a time, effectively reducing turning waiting time and improving turning efficiency. Furthermore, it lifts the material with an arc-shaped drag bar and positions and pushes the material with a positioning sleeve. The clamping and positioning are performed separately, further reducing the difficulty of positioning the material and improving the clamping effect. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the main structure of the lathe and clamping mechanism of the present invention; Figure 2 This is a schematic diagram of the track drive mechanism and clamping mechanism of the present invention; Figure 3 This is a schematic diagram of the clamping mechanism of the present invention; Figure 4 This is a schematic diagram of the material lifting mechanism of the present invention; Figure 5 This is a schematic diagram of the positioning sleeve and positioning mechanism of the present invention; Figure 6 This is a schematic diagram of the positioning mechanism structure of the present invention; Figure 7 This is a schematic diagram of the enclosed state of several movable core blocks according to the present invention; Figure 8 This is a schematic diagram of the connection structure between the movable core block and the shunt tube of the present invention; Figure 9 This is a schematic diagram of a single active core block structure of the present invention.

[0019] In the diagram: 1. CNC lathe; 2. Turning system; 3. Track drive mechanism; 4. Clamping mechanism; 31. First linear guide rail; 32. Second linear guide rail; 33. Third linear guide rail; 34. Support slider; 35. Torque motor; 36. Mounting plate; 41. Positioning sleeve; 42. Lifting mechanism; 43. Drive mechanism; 44. Electromagnetic drive; 45. Positioning mechanism; 46. Tail plate; 47. Fixing ring; 48. Claw bar drive; 49. Detection mechanism; 411. Fixed disc; 412. Drive disc; 413. Movable core block; 414. Connecting shaft tube; 415. Outer rotating drive ring; 416. Corrugated connecting tube; 417. Diverter tube; 4131. Flared opening; 4132. Vent hole; 4133. Guide strip; 421. Sliding frame; 422. Groove slider; 423. Connecting rod; 424. Deflection block; 425. Positioning shaft; 426. Arc-shaped drag bar; 427. Push block; 428. Top pressure rod; 429. Guide rod; 431. Top material telescopic rod; 432. Control rod; 441. Lifting plate; 451. Support arm; 452. Side pressure block; 453. Drive arm; 454. Movable ring; 455. Transmission rod; 461. Tail feed inlet. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example Please see Figures 1-9 An automatic loading and unloading robot for a CNC lathe includes a CNC lathe 1, a turning system 2, and a track drive mechanism 3 and a clamping mechanism 4 externally disposed on the CNC lathe 1. The track drive mechanism 3 is installed on the side of the carriage of the CNC lathe 1, and the track drive mechanism 3 is used to drive the clamping mechanism 4 to run; The clamping mechanism 4 includes a positioning sleeve 41 and a lifting mechanism 42. A fixing ring 47 is fixedly connected to the front end of the positioning sleeve 41. A positioning mechanism 45 and a detection mechanism 49 are provided on the outside of the fixing ring 47. The lifting mechanism 42 is used to clamp the bar stock and drive the bar stock to be flush with the positioning sleeve 41. The front end of the positioning sleeve 41 is fixedly connected to a fixed disk 411, and the rear end of the positioning sleeve 41 is rotatably connected to a driving disk 412. A plurality of movable core blocks 413 are arranged between the fixed disk 411 and the driving disk 412. The two ends of the movable core blocks 413 are provided with connecting shaft tubes 414. The fixed disk 411 has a guide groove in the radial direction, and the driving disk 412 has a driving groove that matches the guide groove. The driving groove is eccentrically arranged. The movable core blocks 413 are connected to the driving groove and the guide groove through the connecting shaft tubes 414 at both ends. The plurality of movable core blocks 413 form a material guiding cavity. The positioning sleeve 41 is fixedly connected to the outside of a tail plate 46. The tail plate 46 has a through tail feed port 461 on its shaft. The lifting mechanism 42 is installed on the outside of the tail plate 46. The tail plate 46 is provided with a top material telescopic rod 431 on its outside. The top material telescopic rod 431 is used to push the bar into the positioning sleeve 41.

[0022] It should be noted that the CNC lathe 1 is externally equipped with a feeding conveyor belt and a discharging conveyor belt. The feeding conveyor belt is used to feed the bar stock to be cut, and the discharging conveyor belt is used to output the finished product structure. At the same time, the clamping mechanism 4 is used to clamp the bar stock, and the track drive mechanism 3 drives the bar stock to move between the feeding conveyor belt, the discharging conveyor belt and the lathe chuck through the clamping mechanism 4.

[0023] It should be noted that the detection mechanism 49 includes ultrasonic detection and infrared detection devices, which are used to detect the length of the bar stock ejection positioning sleeve 41.

[0024] Furthermore, when the clamping mechanism 4 clamps the bar stock, the bar stock advances inside the guide cavity formed by the movable core block 413, and drives the drive disk 412 to rotate. During the rotation of the drive disk 412, the drive groove drives the movable core block 413 to deflect in opposite directions through the connecting shaft tube 414. Under the action of the guide groove of the fixed disk 411, the movable core block 413 is driven to perform centrifugal or centripetal movements, so that the inner wall diameter of the guide cavity is adapted to the bar stock, and the bar stock is stabilized inside the guide cavity. At this time, the bar stock and the positioning sleeve 41 are collinear.

[0025] Meanwhile, the positioning mechanism 45 is used to clamp the bar stock on the outer wall of the fixture of the CNC lathe 1. The positioning mechanism 45 is used to keep the axes of the fixture of the CNC lathe 1 and the positioning sleeve 41 collinear. At this time, the bar stock and the fixture axis of the CNC lathe 1 are collinear.

[0026] After the positioning sleeve 41 is positioned, the top material telescopic rod 431 pushes the bar material out of the positioning sleeve 41, so that the bar material is inserted into the fixture of the CNC lathe 1. Then the fixture of the CNC lathe 1 completes the clamping of the bar material, which facilitates the subsequent cutting and processing of the bar material.

[0027] refer to Figure 1 and Figure 2 In an optional embodiment, the track drive mechanism 3 includes a first linear guide rail 31, a second linear guide rail 32, and a third linear guide rail 33. The first linear guide rail 31, the second linear guide rail 32, and the third linear guide rail 33 constitute a three-axis guide drive for X, Y, and Z axes. A drivable support slider 34 is provided below the third linear guide rail 33. A torque motor 35 is fixedly connected below the support slider 34. A mounting plate 36 is provided at the output end of the torque motor 35. A clamping mechanism 4 is installed at the bottom of the mounting plate 36.

[0028] It should be noted that the first linear guide 31 is fixedly installed to the CNC lathe 1 by bolts, and the second linear guide 32 is drivably installed outside the first linear guide 31. The second linear guide 32 moves laterally outside the first linear guide 31 to drive the clamping mechanism 4 to move back and forth between the turning system 2 and the turning bar conveyor belt. The clamping mechanism 4 is used to clamp the bar and follow the second linear guide 32 into the turning system 2.

[0029] The third linear guide 33 can be driven to be installed outside the second linear guide 32. The third linear guide 33 can be driven up and down outside the second linear guide 32. The third linear guide 33 is used to drive the clamping mechanism 4 to move up and down. The third linear guide 33 is used to drive the clamping mechanism 4 to move along the guide direction of the turning system 2.

[0030] Furthermore, the torque motor 35 is used to drive the clamping mechanism 4 to rotate horizontally, and the torque motor 35 is used to adjust the orientation of the clamping mechanism 4.

[0031] By setting the track drive mechanism 3, the position of the clamping mechanism 4 can be flexibly adjusted, ensuring that the bar stock to be turned held by the clamping mechanism 4 is stably transferred from the conveyor belt to the clamping unit of the CNC lathe 1. It also includes transferring the turned bar stock to the finished product conveyor belt.

[0032] refer to Figure 3 , Figure 5 , Figure 7 and Figure 8 In an optional embodiment, an outer rotating drive ring 415 is provided on the outside of the drive disk 412. The outer rotating drive ring 415 is used to drive the drive disk 412 to rotate. The rotation of the drive disk 412 drives a number of movable core blocks 413 to converge or expand their displacement. The outer rotating drive ring 415 is installed on the outside of the positioning sleeve 41. A flared part 4131 is provided at the end of the movable core block 413 near the lifting mechanism 42.

[0033] It should be noted that several movable core blocks 413 constitute the material guiding cavity, and the flared part 4131 constitutes the expansion port of the material guiding cavity, which facilitates the pushing of the bar stock. The flared part 4131 is set as a conical opening.

[0034] By setting a flared part 4131 at the feeding end of the positioning sleeve 41, the flared part 4131 is set in a conical shape, which makes it easier for the bar stock to be lifted by the clamping mechanism 4 and enter the guide cavity through the flared part 4131, thus reducing the difficulty of the bar stock entering the guide cavity.

[0035] refer to Figures 7-9 In an optional embodiment, the movable core block 413 has an internal cavity, and an air vent 4132 is provided on the side of the movable core block 413, which is connected to the cavity of the movable core block 413. A connecting shaft tube 414 is connected to the cavity of the movable core block 413 on the side near the fixed disk 411. Guide strips 4133 are evenly distributed on the side of the movable core block 413. A corrugated connecting pipe 416 is fixedly connected to the end of the connecting shaft tube 414 on the side near the fixed disk 411. A diversion pipe 417 is provided at the end of the corrugated connecting pipe 416, and the diversion pipe 417 is connected to several cavities of the movable core block 413 through the corrugated connecting pipe 416.

[0036] It should be noted that a guide pipe is provided outside the diversion pipe 417, and the outside of the guide pipe is connected to a ventilation fan. High-pressure gas is introduced through the fan. The high-pressure gas enters the diversion pipe 417 through the guide pipe. The gas in the diversion pipe 417 enters the cavity of the movable core block 413 through the corrugated connecting pipe 416 and the connecting shaft pipe 414, and is then ejected from the air outlet 4132. The air outlet 4132 is connected to the material guiding cavity constructed by the movable core block 413. When the bar moves in the material guiding cavity, the high-pressure gas ejected from the air outlet 4132 acts on the surface of the bar, cleaning the surface of the bar with high-pressure gas.

[0037] Furthermore, the guide bar 4133 is inclined and is used to drive the bar stock to rotate during the material transfer process.

[0038] Specifically, when the bar stock enters the positioning sleeve 41, the top material telescopic rod 431 pushes the bar stock forward until it moves to the outside of the positioning sleeve 41. As the bar stock moves forward, it rotates under the action of the guide bar 4133, thereby effectively ensuring the cleaning effect of the bar stock.

[0039] By setting several movable core blocks 413, and providing air vents 4132 and guide strips 4133 on the sides of the movable core blocks 413, the bar stock can not only be accurately positioned during loading, thereby improving the clamping accuracy of the CNC lathe 1 fixture, but also impurities on the surface of the bar stock can be removed during loading, preventing impurities such as sand or metal shavings adhering to the surface of the bar stock from entering between the chuck and the bar stock, thus avoiding damage to the chuck or reduced clamping stability, effectively ensuring the clamping stability of the chuck on the bar stock.

[0040] refer to Figure 3 and Figure 4 In an optional embodiment, the lifting mechanism 42 includes a sliding frame 421 slidably connected to the outside of the tail plate 46. Slotted sliders 422 are drivably connected to both sides of the bottom of the sliding frame 421. A connecting rod 423 is movably connected to the outside of the slotted slider 422. A deflection block 424 is rotatably connected to the end of the connecting rod 423. A positioning shaft 425 is fixedly connected to the shaft of the deflection block 424. An arc-shaped drag rod 426 is fixedly connected to the outside of the positioning shaft 425. A push block 427 is fixedly connected to the movable end of the arc-shaped drag rod 426. A top pressure rod 428 is fixedly connected to the top of the sliding frame 421. A lifting plate 441 is fixedly connected to the top of the top pressure rod 428. An electromagnetic drive 44 is provided on the outside of the lifting plate 441. The electromagnetic drive 44 is fixedly installed on the top of the mounting plate 36.

[0041] The positioning shaft 425 and the arc-shaped drag bar 426 are symmetrically arranged. The arc-shaped drag bar 426 and the push block 427 form a hook structure. The positioning shaft 425 on both sides drives the symmetrically distributed arc-shaped drag bars 426 to open and close. The sliding frame 421 moves up and down against the tail plate 46. A guide rod 429 is provided above the sliding frame 421. The guide rod 429 has a built-in control line. An electromagnetic control component is provided inside the sliding frame 421. The electromagnetic control component is used to control the sliding of the slot sliders 422 on both sides to move closer or further away. The electromagnetic control component is connected to an external control unit through the built-in control line of the guide rod 429.

[0042] It should be noted that the electromagnetic drive 44 drives the lifting plate 441 to move up and down, and the lifting plate 441 drives the arc-shaped drag bar 426 to move up and down, thereby completing the downward movement of the clamping mechanism 4, so that the arc-shaped drag bar 426 can contact the bar stock conveyed by the feeding conveyor belt.

[0043] Specifically, when clamping the bar stock, the electromagnetic drive 44 drives the lifting plate 441 to move downward. The lifting plate 441 drives the sliding frame 421 to slide downward through the top pressure rod 428. The sliding frame 421 drives the arc-shaped drag bar 426 to move downward through the deflection block 424 and the positioning shaft 425 until the push block 427 contacts the feeding conveyor belt.

[0044] Furthermore, the electromagnetic control component controls the sliding frame 421 to move towards each other. The sliding frame 421 drives the deflection block 424 to rotate through the connecting rod 423. The deflection block 424 drives the positioning shaft 425 to rotate. The positioning shaft 425 drives the arc-shaped drag bar 426 to deflect. The arc-shaped drag bars 426 on both sides grab the bar material in a claw-like shape. The bar material is lifted by the arc-shaped drag bars 426 on both sides until the bar material moves upward until the bar material is raised to the height of the positioning sleeve 41, thus completing the grabbing of the bar material.

[0045] By setting up a clamping mechanism 4 to clamp and lift the bar, the clamping method is simple and can adapt to bars of different diameters, thereby effectively reducing the difficulty of clamping the bar. It also has strong adaptability to the placement position of the bar, eliminating the need for precise positioning, reducing the initial clamping and positioning time, effectively reducing the positioning difficulty, and improving the efficiency of initial bar gripping.

[0046] refer to Figure 4 In an optional embodiment, a drive mechanism 43 is provided on the outside of the top material telescopic rod 431, and a control rod 432 is provided between the drive mechanism 43 and the top material telescopic rod 431. The top material telescopic rod 431 is configured as a hydraulic telescopic rod, the control rod 432 is used to control the introduction and export of hydraulic oil, and the drive mechanism 43 is used to drive the control rod 432 to rotate.

[0047] It should be noted that the drive mechanism 43 is used to drive the control rod 432 to rotate, and the control rod 432 drives the top material telescopic rod 431 to deflect. The top material telescopic rod 431 also includes an external top material sleeve. When the top material telescopic rod 431 is collinear with the axis of the tail feed port 461, the top material sleeve is sleeved on the outside of the tail feed port 461. At this time, the top material telescopic rod 431 is activated. When the top material telescopic rod 431 pushes, the top material sleeve abuts against the outside of the tail feed port 461. This further controls the top material telescopic rod 431 to pass through the tail feed port 461 and push the bar material from the top of the clamping mechanism 4 into the interior of the positioning sleeve 41. The top material telescopic rod 431 can also synchronously push the bar material out of the interior of the positioning sleeve 41.

[0048] Furthermore, when the control lever 432 drives the top material telescopic rod 431 to deflect, the top material telescopic rod 431 is misaligned with the tail feed port 461, and the tail feed port 461 is open, allowing the bar stock to enter the upper part of the arc-shaped drag rod 426 through the tail feed port 461, further facilitating the bar stock to enter the positioning sleeve 41 for the second time.

[0049] Specifically, during turning, the arc-shaped drag bar 426 lifts the bar stock, and the top material extension rod 431 pushes the bar stock into the positioning sleeve 41. The bar stock is pushed out through the positioning sleeve 41, allowing it to be inserted into the chuck of the CNC lathe 1. The chuck then fixes the bar stock in place. When the turning process is complete, the torque motor 35 rotates the clamping mechanism 4 horizontally, while simultaneously controlling the top material extension rod 431 to be misaligned with the tail feed port 461. This further pushes the tail plate 46 closer to the chuck of the CNC lathe 1, allowing the bar stock to pass through the tail feed port 461 and enter above the arc-shaped drag bar 426, thus changing the direction of the bar stock. The bar stock is then pushed back into the chuck of the CNC lathe 1 to complete the turning process on the other end of the bar stock.

[0050] Furthermore, the clamping mechanism 4 also includes clamping of two bars, including the bar inside the positioning sleeve 41 and the bar at the top of the arc-shaped drag bar 426. The top material extension rod 431 pushes the bar at the top of the arc-shaped drag bar 426, and the bar at the top of the arc-shaped drag bar 426 pushes the bar inside the positioning sleeve 41 forward, thereby pushing the bar out and allowing the chuck of the CNC lathe 1 to complete the clamping of the bar. At this time, the bar at the top of the arc-shaped drag bar 426 enters the positioning sleeve 41.

[0051] Furthermore, when the bar stock held by the CNC lathe 1 completes the turning, the bar stock enters the top of the arc-shaped drag bar 426 from the tail plate 46, and further pushes the bar stock inside the positioning sleeve 41 through the half-turned bar stock at the top of the arc-shaped drag bar 426.

[0052] Repeat the above actions. When one bar is finished being turned and another bar is being turned, control the clamping mechanism 4 to move to the top of the discharge conveyor belt, so that the finished bar is pushed to the top of the discharge conveyor belt. At the same time, control the clamping mechanism 4 to move to the top of the feed conveyor belt, the arc-shaped drag bar 426 lifts the bar, and the top material telescopic rod 431 pushes the bar into the positioning sleeve 41.

[0053] Further steps include unloading the machined bar stock and feeding it onto the feed conveyor belt.

[0054] By using the clamping mechanism 4, the clamping mechanism 4 can clamp two bars of bar stock at a time, effectively reducing the turning waiting time and improving the turning efficiency. Furthermore, the material is lifted by the arc-shaped drag bar 426 and positioned and pushed by the positioning sleeve 41. The clamping and positioning are carried out separately, which further reduces the difficulty of positioning the clamped material and improves the clamping effect.

[0055] refer to Figure 6In an optional embodiment, the positioning mechanism 45 includes a support arm 451 hinged to the outside of the fixed ring 47. The movable end of the support arm 451 is rotatably connected to a side pressure block 452. A drive arm 453 is hinged to the outside of the support arm 451. A movable ring 454 is hinged to the end of the drive arm 453. A transmission rod 455 is fixedly connected to the outside of the movable ring 454. A claw rod drive 48 is provided on the outside of the transmission rod 455 for driving the movable ring 454 to slide through the transmission rod 455.

[0056] The support arm 451 is provided in three sets, symmetrically distributed along the center of the fixing ring 47. The contact surface of the side pressure block 452 is set as a planar structure. A torsion spring, a pressure detector and an angle detector are provided between the side pressure block 452 and the support arm 451.

[0057] It should be noted that the positioning mechanism 45 is used to control the positioning sleeve 41 and the collimation axis of the CNC lathe 1 to be collinear.

[0058] Specifically, when the positioning sleeve 41 approaches the chuck of the CNC lathe 1, the claw lever drive 48 pushes the movable ring 454 through the transmission rod 455. The movable ring 454 pushes the support arm 451 through the drive arm 453, so that the support arm 451 drives the side pressure block 452 to clamp on the outer side of the chuck, so that the flat side of the side pressure block 452 is in contact with the outer side of the chuck.

[0059] The position of the positioning mechanism 45 is further detected by detecting the pressure and deflection angle of the side pressure block 452. At the same time, the track drive mechanism 3 is adjusted to make the axis of the positioning sleeve 41 and the chuck collinear, which effectively ensures the positioning accuracy of the bar when it is pushed into the chuck.

[0060] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic loading and unloading robot for a CNC lathe, comprising a CNC lathe, the CNC lathe including a turning system, characterized in that: The CNC lathe is externally equipped with a track drive mechanism and a clamping mechanism; The track drive mechanism is installed on the side of the CNC lathe carriage and is used to drive the clamping mechanism to run. The clamping mechanism includes a positioning sleeve and a lifting mechanism. A fixing ring is fixedly connected to the front end of the positioning sleeve, and a positioning mechanism and a detection mechanism are provided on the outside of the fixing ring. The lifting mechanism is used to clamp the bar stock and drive the bar stock to be flush with the positioning sleeve. The front end of the positioning sleeve is fixedly connected to a fixed plate, and the rear end of the positioning sleeve is rotatably connected to a driving plate. Several movable core blocks are arranged between the fixed plate and the driving plate. The two ends of the movable core blocks are provided with connecting shaft tubes. The fixed plate has a guide groove along the radial direction, and the driving plate has a driving groove that matches the guide groove. The driving groove is eccentrically arranged. The movable core blocks are connected to the inside of the driving groove and the guide groove through the connecting shaft tubes at both ends. The several movable core blocks form a material guiding cavity. The positioning sleeve is fixedly connected to a tail plate, and a lifting mechanism is installed on the outside of the tail plate. A top material telescopic rod is provided on the outside of the tail plate, which is used to push the bar into the positioning sleeve.

2. The automatic loading and unloading robot for CNC lathes according to claim 1, characterized in that: The track drive mechanism includes a first linear guide rail, a second linear guide rail, and a third linear guide rail. The first linear guide rail, the second linear guide rail, and the third linear guide rail constitute a three-axis guide drive for X, Y, and Z axes. A drivable support slider is provided below the third linear guide rail. A torque motor is fixedly connected below the support slider. A mounting plate is provided at the output end of the torque motor. A clamping mechanism is installed at the bottom of the mounting plate.

3. The automatic loading and unloading robot for a CNC lathe according to claim 1, characterized in that: An outer rotating drive ring is provided on the outside of the drive disk. The outer rotating drive ring is used to drive the drive disk to rotate. The rotation of the drive disk causes several movable core blocks to converge or expand their displacement. The outer rotating drive ring is installed on the outside of the positioning sleeve. A flared part is provided at the end of the movable core block near the lifting mechanism.

4. The automatic loading and unloading robot for a CNC lathe according to claim 3, characterized in that: The movable core block has an internal cavity, and an air vent is provided on the side of the movable core block. The air vent connects to the cavity of the movable core block. A connecting shaft tube is connected to the cavity of the movable core block on the side near the fixed plate. Guide strips are evenly distributed on the side of the movable core block. A corrugated connecting pipe is fixedly connected to the end of the connecting shaft tube on the side near the fixed plate. A diverter pipe is provided at the end of the corrugated connecting pipe, and the diverter pipe connects to several cavities of the movable core block through the corrugated connecting pipe.

5. The automatic loading and unloading robot for a CNC lathe according to claim 1, characterized in that: The lifting mechanism includes a sliding frame slidably connected to the outside of the tail plate. Slotted sliders are drivably connected to both sides of the bottom of the sliding frame. A connecting rod is movably connected to the outside of the slotted slider. A deflection block is rotatably connected to the end of the connecting rod. A positioning shaft is fixedly connected to the shaft of the deflection block. An arc-shaped drag rod is fixedly connected to the outside of the positioning shaft. A push block is fixedly connected to the movable end of the arc-shaped drag rod. A top pressure rod is fixedly connected to the top of the sliding frame. A lifting plate is fixedly connected to the top of the top pressure rod. An electromagnetic drive is provided on the outside of the lifting plate. The electromagnetic drive is fixedly installed on the top of the mounting plate.

6. The automatic loading and unloading robot for a CNC lathe according to claim 5, characterized in that: The positioning shaft and the arc-shaped drag bar are symmetrically arranged. The arc-shaped drag bar and the push block form a hook structure. The positioning shaft on both sides drives the symmetrically distributed arc-shaped drag bars to open and close. The sliding frame moves up and down against the tail plate. A guide rod is set above the sliding frame. The guide rod has a built-in control line. An electromagnetic control component is set inside the sliding frame. The electromagnetic control component is used to control the sliding of the slot sliders on both sides to move closer or further away. The electromagnetic control component is connected to an external control unit through the built-in control line of the guide rod.

7. The automatic loading and unloading robot for a CNC lathe according to claim 1, characterized in that: The top material telescopic rod is externally equipped with a drive mechanism, and a control rod is provided between the drive mechanism and the top material telescopic rod. The top material telescopic rod is a hydraulic telescopic rod, and the control rod is used to control the introduction and export of hydraulic oil. The drive mechanism is used to drive the control rod to rotate.

8. The automatic loading and unloading robot for a CNC lathe according to claim 1, characterized in that: The positioning mechanism includes a support arm hinged to the outside of the fixed ring, a side pressure block rotatably connected to the movable end of the support arm, a drive arm hinged to the outside of the support arm, a movable ring hinged to the end of the drive arm, and a claw rod drive for driving the movable ring to slide is provided outside the movable ring.

9. The automatic loading and unloading robot for a CNC lathe according to claim 8, characterized in that: The support arm is provided in three sets, symmetrically distributed along the center of the fixed ring. The contact surface of the side pressure block is set as a planar structure. A torsion spring, a pressure detector and an angle detector are provided between the side pressure block and the support arm.

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