Feeding and discharging assisting manipulator in numerical control machine tool

Abstract

The utility model discloses a feeding and discharging assisting manipulator in a numerical control machine tool, which relates to the technical field of numerical control machine tools and comprises a base, a stand column is fixedly arranged on the base, a truss track is transversely arranged at the upper end of the stand column, and a sliding block is movably arranged on the truss track. A sliding rod is fixedly arranged on the upper surface of the sliding block; a longitudinal rack rod is movably arranged at one end of the sliding rod; a longitudinal moving rail is arranged on one side of the longitudinal rack rod and movably connected with the sliding rod, a rack rail is arranged on the other side of the longitudinal rack rod, a moving table is movably connected to the rack rail, and the moving table moves on the rack rail; the other side of the moving block is movably connected with two mechanical arms, and the other ends of the two mechanical arms are rotationally connected with manipulators correspondingly. Through the arrangement of the two manipulators, the work of continuous feeding and discharging from the working procedure A to the working procedure B is achieved, and the machining efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of numerical control machine tools, in particular to a material loading and unloading assisting manipulator in a numerical control machine tool. Background Art

[0002] The manipulator of a CNC machine tool is one of the tools to improve the automation of CNC machining. It can realize the automation of the machining process, and is used to reduce the intensity of manual labor and improve working conditions. It usually grabs the workpiece or object at point A to the chuck of the CNC machine tool, and grabs the processed workpiece from the chuck to point B, so that the workpiece can be automatically loaded and unloaded for CNC machining.

[0003] Most CNC machine tool manipulators in the prior art are equipped with one manipulator for one CNC machine tool, which can only correspond to the loading and unloading work of one CNC machine tool, and cannot realize the loading and unloading work between two CNC machine tools responsible for different processing procedures, resulting in low processing efficiency. Summary of the invention

[0004] In view of the above problems, the utility model realizes the two steps of loading and unloading at the same time during the processing by setting two mechanical arms.

[0005] The technical solution of the utility model is: a loading and unloading assisting manipulator in a CNC machine tool, comprising a base, a column is fixedly arranged on the base, a gantry track is horizontally arranged on the upper end of the column, and a slider is movably arranged on the gantry track; a screw rod is arranged in the gantry track, a sliding motor is arranged at one end of the gantry track, the output shaft of the sliding motor is fixedly connected to the screw rod, a nut seat is movably connected to the screw rod, the nut seat is placed in the slider, and the motor controls the slider to slide on the gantry track.

[0006] Furthermore, a sliding rod is fixedly provided on the upper surface of the sliding block, and a longitudinal rack rod is movably provided at one end of the sliding rod; a longitudinal movable track is opened on one side of the longitudinal rack rod, and the longitudinal movable track is movably connected with the sliding rod, and a screw guide rail can be provided in the longitudinal movable track, and a nut seat is provided in the sliding rod, and a servo motor is provided at one end of the screw guide rail, and the output shaft of the servo motor is fixedly connected to the screw rod, and the rotation of the screw rod drives the sliding rod to move on the longitudinal movable rod.

[0007] Furthermore, a rack track is provided on the other side of the longitudinal rack rod, a moving platform is movably connected to the rack track, a first motor is arranged inside the moving platform, a first gear is fixedly connected to the output shaft of the first motor, and the first gear is meshed with the rack track; the first motor drives the first gear to move on the rack track so that the moving platform moves up and down.

[0008] Furthermore, a rotating shaft is fixedly connected to the side of the moving platform opposite to the first gear, a second motor is installed inside the rotating shaft, a rotating rod is vertically fixedly connected to the output shaft of the second motor, and the second motor controls the rotating rod to rotate in the vertical direction, so as to control the two robotic arms to exchange positions up and down.

[0009] Furthermore, mechanical arm motors are respectively arranged inside the two ends of the rotating rod, and the output ends of the two mechanical arm motors are respectively fixedly connected to one end of the mechanical arm, and the mechanical arm motors control the rotation of the mechanical arm. The other ends of the two mechanical arms are respectively provided with mechanical hands.

[0010] Furthermore, the manipulator includes a manipulator bracket, a rear wall of which is embedded and fixed with a manipulator rotating shaft, the manipulator rotating shaft is rotatably connected to the manipulator arm, the manipulator rotating shaft further controls the rotation of the manipulator, making the manipulator clamping more flexible, two gear arms are movably provided on the upper surface of the lower support plate of the manipulator bracket, and the gear ends of the two gear arms are meshed with each other; a manipulator motor is fixedly provided on the upper support plate of the manipulator bracket, the manipulator motor output shaft is connected to a second gear, the second gear is meshed with the gear end of one of the gear arms, the manipulator motor controls the rotation of the second gear, the second gear drives one of the gear arms to rotate, and the gear arm meshed with the second gear drives the other gear arm to rotate, thereby completing the opening and closing action of the long ends of the two gear arms.

[0011] Furthermore, the two long ends of the gear arms are respectively rotatably connected to side arms, the lower surface of the other end of the side arm is rotatably connected to a connecting rod, the other end of the connecting rod is movably connected to the lower surface of the lower support plate of the manipulator bracket, and the upper surface of the other end of the side arm is rotatably connected to a clamping hand, and the two ends of the connecting rod are respectively connected to the side wall and the manipulator bracket, thereby enhancing the stability of the side wall and the gear arm during clamping and playing a supporting role.

[0012] Furthermore, the clamping hand includes a clamping jaw and a movable clamping jaw, the clamping jaw is an arc-shaped block, the center of the clamping jaw is rotatably connected to the side arm, a plurality of arc-shaped notches are arranged on the inner arc surface of the clamping jaw, and a plurality of movable clamping jaws are rotatably arranged in each arc-shaped notch. The arrangement of the plurality of movable clamping jaws enables the clamping jaw to have a larger contact area when clamping an irregular workpiece, and the workpiece is not easy to slip off.

[0013] Furthermore, the movable claw is semicircular, and one side of the diameter of the movable claw is provided with serrations, and an anti-skid layer is also provided on the serrations to play an anti-skid role.

[0014] Advantages of the utility model:

[0015] 1. By setting up two manipulators, the processed workpiece in process A can be unloaded and the unprocessed workpiece can be placed into the CNC machine tool at the same time, thereby improving the processing efficiency.

[0016] 2. Multiple movable claws are set on the clamp to make the contact area of ​​the clamp larger when clamping irregular workpieces, and the workpiece is not easy to slip.

[0017] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and the description thereof are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0019] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0020] Figure 2 It is a schematic diagram of the longitudinal rack rod and the manipulator structure of the utility model;

[0021] Figure 3 It is a schematic diagram of the connection structure of the longitudinal rack rod and the moving platform of the utility model;

[0022] Figure 4 It is a schematic diagram of the connection structure of the longitudinal rack rod and the sliding rod of the utility model;

[0023] Figure 5 It is a structural schematic diagram of the relationship between the rotating shaft and the rotating position of the utility model;

[0024] Figure 6 It is a schematic diagram of the connection between the rack track and the first gear of the utility model;

[0025] Figure 7 This is a schematic diagram of the structure of the manipulator of the utility model;

[0026] Figure 8 It is a structural schematic diagram of the gear arm and the second gear of the utility model;

[0027] Fig. 9 It is a structural schematic diagram of the mechanical arm and the rotating rod of the utility model.

[0028] Reference numerals:

[0029] 1. Base; 2. Column; 3. Rack track; 4. Slider; 5. Sliding rod; 6. Longitudinal rack rod; 7. Longitudinal moving track; 8. Rack track; 9. Robotic arm; 10. Robot; 11. First gear; 12. Second gear; 13. Rotating rod; 14. Moving platform; 15. Rotating axis; 16. Robotic arm bracket; 17. Robotic arm rotating axis; 18. Gear arm; 19. Robotic arm motor; 20. Side arm; 21. Connecting rod; 22. Clamping hand; 23. Clamping claw; 24. Movable claw; 25. Second motor output shaft; 26. Robotic arm motor output shaft. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0031] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0032] refer to Figures 1 to 9 A loading and unloading assisting manipulator in a CNC machine tool comprises a base 1, a column 2 is fixedly arranged on the base 1, a gantry track 3 is horizontally arranged on the upper end of the column 2, and a slider 4 is movably arranged on the gantry track 3; a screw rod is movably arranged in the gantry track 3, a sliding motor is arranged at one end of the gantry track, the output shaft of the sliding motor is fixedly connected to the screw rod, and the other end of the screw rod is rotatably connected to the inner wall of the gantry track 3, a nut seat is screwed on the screw rod, and the nut seat is placed in the slider 4, and the sliding motor rotates to control the slider 4 to slide on the gantry track 3.

[0033] A sliding rod 5 is fixedly provided on the upper surface of the slider 4, and a longitudinal rack rod 6 is movably provided at one end of the sliding rod 5; a longitudinal movable track 7 is opened on one side of the longitudinal rack rod 6, and the longitudinal movable track 7 is movably connected to the sliding rod 5, and a screw is movably provided in the longitudinal movable track 7, and a servo motor is provided at one end of the screw, and the output shaft of the servo motor is fixedly connected to the screw, and the other end of the screw is rotatably connected to the inner wall of the longitudinal movable track 7, a nut seat is screwed on the screw, and the nut seat is fixedly connected to the sliding rod 5, and the rotation of the screw causes the sliding rod 5 to move along the longitudinal movable track 7. Since the sliding rod 5 is fixed on the slider, the longitudinal rack rod 6 moves in the vertical direction.

[0034] In the utility model, a rack track 8 is provided on the other side of the longitudinal rack rod 6, a moving platform 14 is movably connected to the rack track 8, a first motor is arranged inside the moving platform 14, a first gear 11 is fixedly connected to the output shaft of the first motor, and the first gear 11 is meshed with the rack track 8; the first motor drives the first gear 11 to move on the rack track 8 so that the moving platform 14 moves up and down.

[0035] A rotating shaft 15 is fixedly connected to the side of the moving platform 14 opposite to the first gear 11, and a second motor is installed inside the rotating shaft 15. A rotating rod 13 is vertically fixedly connected to the output shaft 25 of the second motor. Robotic arm motors are respectively installed inside the two ends of the rotating rod 13. The output shafts of the two robot arm motors are respectively fixedly connected to one end of the two robot arms 9. The robot arm motor controls the robot arm 9 to rotate in the horizontal direction; the second motor controls the rotating rod 13 to rotate in the vertical direction, so as to control the two robot arms 9 to flip up and down and exchange positions.

[0036] A robot hand 10 is respectively provided at the other end of the two robot arms 9 .

[0037] In the utility model, the manipulator 10 includes a manipulator bracket 16, and a manipulator rotating shaft 17 is embedded and fixedly arranged on the rear wall of the manipulator bracket 16. The manipulator rotating shaft 17 is rotatably connected to the manipulator arm 9. A servo motor is arranged in the manipulator arm 9, and the output shaft of the servo motor is fixedly connected to the manipulator rotating shaft 17. The manipulator rotating shaft 17 further controls the rotation of the manipulator 10, so that the manipulator 10 is more flexible in clamping. Two gear arms 18 are movably arranged on the upper surface of the lower support plate of the manipulator bracket 16, and the gear ends of the two gear arms 18 are meshed with each other; a manipulator motor 19 is fixedly arranged on the upper support plate of the manipulator bracket 16, and the output shaft of the manipulator motor 19 is connected to the second gear 12, and the second gear 12 is meshed with the gear end of one of the gear arms 18. The manipulator motor 19 controls the second gear 12 to rotate, and the second gear 12 drives one of the gear arms 18 to rotate, and the gear arm 18 meshing with the second gear 12 drives the other gear arm 18 to rotate, completing the opening and closing action of the long ends of the two gear arms 18.

[0038] In the utility model, the long ends of the two gear arms 18 are rotatably connected to the side arms 20 respectively, the lower surface of the other end of the side arm 20 is rotatably connected to the connecting rod 21, the other end of the connecting rod 21 is movably connected to the lower surface of the lower support plate of the manipulator bracket 19, and the upper surface of the other end of the side arm 20 is rotatably connected to the clamping hand 22, and the two ends of the connecting rod 21 are respectively connected to the side arm 20 and the manipulator bracket 16, thereby enhancing the stability of the side arm 20 and the gear arm 18 during clamping and playing a supporting role.

[0039] In the utility model, the clamping hand 22 includes a clamping jaw 23 and a movable clamping jaw 24. The clamping jaw 23 is an arc-shaped block. The center of the clamping jaw 23 is rotatably connected to the side arm 20. A plurality of arc-shaped notches are arranged on the inner arc surface of the clamping jaw 23. A plurality of movable clamping jaws 24 are rotatably arranged in each arc-shaped notch. The arrangement of the plurality of movable clamping jaws 24 enables the clamping jaw 23 to have a larger contact area when clamping an irregular workpiece, and the workpiece is not easy to slip off.

[0040] In the utility model, the movable claw 24 is semicircular, and one diameter side of the movable claw 24 is provided with saw teeth, and an anti-skid layer is also provided on the saw teeth to play an anti-skid role.

[0041] In the above, heat dissipation holes are provided on the carriers on which the motors are mounted.

[0042] When using the loading and unloading assisting manipulator of the utility model in a CNC machine tool, there are the following implementation methods:

[0043] When using the loading and unloading assisting manipulator in a CNC machine tool, first fix the base 1 between the two CNC machine tools, which are responsible for process A and process B respectively, process B is the next process of process A, and the gantry track 3 spans over the two CNC machine tools. In the initial state, the rotating rod 13 is in the vertical direction, the manipulator 10 connected to the manipulator arm 9 at the lower end of the rotating rod 13 is the manipulator 10a, and the manipulator 10a does not hold a workpiece or raw material at this time; the manipulator 10 connected to the manipulator arm 9 at the upper end of the rotating rod 13 is the manipulator 10b, and the manipulator 10b holds the raw material used in process A at this time.

[0044] After starting, the slider 4 moves to the top of one of the CNC machine tools, the lead screw in the longitudinal rack track 7 rotates, and the sliding rod 5 moves along the longitudinal moving track 7. Since the sliding rod 5 is fixed on the slider, the longitudinal rack rod 6 moves in the vertical direction, controlling the longitudinal rack rod 6 to descend. After descending to a suitable position, the longitudinal rack rod 6 stops moving; at the same time, the motor in the moving block controls the first gear 11 to rotate, and the first gear 11 rolls on the rack track 8, and the moving platform 14 descends, driving the robot arm 9 and the robot hand 10 to descend.

[0045] The position of the manipulator 10 is controlled by rotating the manipulator motor and the manipulator rotating shaft 17, and the direction of the clamping hand 22 of the manipulator 10a is adjusted. The manipulator motor controls the opening and closing of the long end of the gear arm 18 to control the opening and closing of the clamping hand 22 of the manipulator 10a to clamp the workpiece processed in process A; the moving platform 14 rises, and the second motor in the rotating shaft 15 controls the rotating rod 13 to rotate 180°, so that the manipulator 10a and the manipulator 10b are flipped up and down, and the moving platform 14 descends, and the manipulator motor controls the opening and closing of the long end of the gear arm 18 to control the opening and closing of the clamping hand 22 of the manipulator 10b, and the manipulator 10b places the unprocessed process A raw material in the manipulator 10b. After the workpiece is placed, the moving platform 14 rises, and the longitudinal rack rod 6 moves upward.

[0046] Then the slider 4 moves to above the CNC machine tool of process B, the longitudinal rack rod 6 moves downward, the moving platform 14 moves downward, the manipulator motor controls the opening and closing of the long end of the gear arm 18 to control the opening and closing of the clamping hand 22 of the manipulator 10b, and the manipulator 10b clamps the workpiece that has been processed by the CNC machine tool in process B, the moving platform 14 rises, and the second motor in the rotating shaft 15 controls the rotating rod 13 to rotate 180°, so that the manipulator 10b and the manipulator 10a are flipped up and down, the moving platform 14 descends, and the manipulator motor controls the opening and closing of the long end of the gear arm 18 to control the opening and closing of the clamping hand 22 of the manipulator 10a, and the manipulator 10a places the workpiece that has been processed in process A on the CNC machine tool of process B, the moving platform 14 rises, and the longitudinal rack rod 6 rises, realizing the continuous loading and unloading work from process A to process B.

[0047] In the process of clamping the workpiece, the long ends of the two gear arms 18 are closed inward, and the clamping jaws 23 and the multiple movable claws 24 inside the clamping jaws 23 adjust their angles according to the shape of the part, so that the serrated surface of the movable claws 24 fits more closely with the clamped workpiece.

[0048] In the actual production process, the number of movable claws 24 in the clamp 23 is set to different numbers according to the complexity of the workpiece surface. When the workpiece surface is more complex, each clamp 23 can be provided with 3-4 movable claws 24 to increase the clamping area. When the workpiece surface is relatively flat, each clamp 23 can be provided with 2-3 movable claws 24.

[0049] The utility model arranges two manipulators to realize unloading the workpiece processed in process A and placing the unprocessed workpiece into the CNC machine tool at the same time, thereby improving the processing efficiency.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A loading and unloading assisting manipulator in a CNC machine tool, comprising a base (1), characterized in that: A column (2) is fixedly arranged on the base (1); a truss track (3) is transversely arranged on the upper end of the column (2); a slider (4) is movably arranged on the truss track (3); a sliding rod (5) is fixedly arranged on the upper surface of the slider (4); a longitudinal rack rod (6) is movably arranged on one end of the sliding rod (5); A longitudinal moving track (7) is provided on one side of the longitudinal rack rod (6), and the longitudinal moving track (7) is movably connected to the sliding rod (5); a rack track (8) is provided on the other side of the longitudinal rack rod (6), and a moving platform (14) is movably connected to the rack track (8); a first motor is arranged inside the moving platform (14), and a first gear (11) is fixedly connected to the output shaft of the first motor, and the first gear (11) is meshed with the rack track (8); two mechanical arms (9) are movably connected to the other side of the moving platform (14), and the other ends of the two mechanical arms (9) are respectively rotatably connected to mechanical hands (10).

2. The loading and unloading assisting manipulator in a CNC machine tool according to claim 1, characterized in that: A rotating shaft (15) is fixedly connected to a side of the moving platform (14) opposite to the first gear (11), a second motor is provided through the rotating shaft (15), and a rotating rod (13) is vertically fixedly connected to an output shaft (25) of the second motor.

3. The loading and unloading assisting manipulator in a CNC machine tool according to claim 2, characterized in that: Mechanical arm motors are respectively arranged inside the two ends of the rotating rod (13), and the output ends of the two mechanical arm motors are respectively fixedly connected to one end of the two mechanical arms (9).

4. The loading and unloading assisting manipulator in a CNC machine tool according to claim 1, characterized in that: The manipulator (10) comprises a manipulator support (16), a manipulator rotating shaft (17) is embedded and fixedly arranged on the rear wall of the manipulator support (16), the manipulator rotating shaft (17) is rotatably connected to the manipulator arm (9), two gear arms (18) are movably arranged on the upper surface of the lower support plate of the manipulator support (16), and the gear ends of the two gear arms (18) are meshed with each other; a manipulator motor (19) is fixedly arranged on the upper support plate of the manipulator (10) support, the output shaft of the manipulator motor (19) is connected to a second gear (12), the second gear (12) is meshed with the gear end of one of the gear arms (18), the long ends of the two gear arms (18) are rotatably connected to side arms (20), the lower surface of the other end of the side arm (20) is rotatably connected to a connecting rod (21), the other end of the connecting rod (21) is movably connected to the lower surface of the lower support plate of the manipulator support (16), and the upper surface of the other end of the side arm (20) is rotatably connected to a clamping hand (22).

5. The loading and unloading assisting manipulator in a CNC machine tool according to claim 4, characterized in that: The clamping hand (22) comprises a clamping claw (23) and a movable clamping claw (24); the clamping claw (23) is an arc-shaped block; the center of the clamping claw (23) is rotatably connected to the side arm (20); a plurality of arc-shaped notches are arranged on the inner arc surface of the clamping claw (23); and a plurality of movable clamping claws (24) are rotatably arranged in each arc-shaped notch.

6. The loading and unloading assisting manipulator in a CNC machine tool according to claim 5, characterized in that The movable claw (24) is semicircular, and one diameter side of the movable claw (24) is provided with saw teeth, and an anti-slip layer is also provided on the saw teeth.

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