CNC feeding and discharging device

Abstract

The utility model relates to the technical field of lathe machining, and discloses a CNC feeding and discharging device which comprises a feeding conveying belt, a mechanical arm, a machining clamp and a camera assembly, the camera assembly comprises a base and a positioning camera, the base is located above the feeding conveying belt, the positioning camera is connected to the base, the machining clamp is located on one side of the feeding conveying belt, and the positioning camera is connected to the base. The mechanical arm comprises a mechanical arm body and a mechanical arm clamp, one end of the mechanical arm body is connected to the base, the other end of the mechanical arm is connected with the mechanical arm clamp, the mechanical arm is electrically connected with the positioning camera, and when the mechanical arm conducts feeding, the mechanical arm clamp sequentially passes through the feeding conveying belt, the positioning camera and the machining clamp. According to the CNC feeding and discharging device, the accuracy of the feeding position of the mechanical arm on the CNC clamp is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of lathe processing, in particular to a CNC loading and unloading device. Background Art

[0002] Currently, during CNC machining, materials are loaded by a robot to improve loading efficiency. However, due to the inconsistent placement of the products on the loading belt, the robot's loading position deviates, making it impossible to accurately place the products on the CNC fixture. Utility Model Content

[0003] The invention aims to solve at least one of the technical problems existing in the prior art. The utility model provides a CNC loading and unloading device, which improves the loading position accuracy of a manipulator on a CNC fixture.

[0004] In order to achieve the above-mentioned purpose, the utility model provides a CNC loading and unloading device, including a loading conveyor belt, a manipulator, a processing fixture and a camera assembly, the camera assembly including a base and a positioning camera, the base is located above the loading conveyor belt, the positioning camera is connected to the base, the processing fixture is located on one side of the loading conveyor belt, the manipulator includes a manipulator body and a manipulator fixture, one end of the manipulator body is connected to the base, the other end of the manipulator is connected to the manipulator fixture, the manipulator is electrically connected to the positioning camera, and when the manipulator loads, the manipulator fixture passes through the loading conveyor belt, the positioning camera and the processing fixture in sequence.

[0005] As a preferred solution, the manipulator is provided with a product placement position and a product positioning position. The product placement position is the position where the manipulator places the product to be processed on the processing fixture, and the product placement position is located above the processing fixture. The product positioning position is the position where the manipulator clamps the product to be processed when photographed by the positioning camera, and the product positioning position is located below the positioning camera.

[0006] As a preferred solution, the manipulator body is a six-axis manipulator.

[0007] As a preferred solution, the manipulator clamp includes a rotating seat, a first clamp and a second clamp, the first clamp and the second clamp are respectively connected to the outer circumferential surface of the rotating seat, and the rotating seat is rotatably connected to the manipulator body.

[0008] As a preferred solution, a discharge conveyor belt is further included, which is located on one side of the feed conveyor belt and has the same extension direction as the feed conveyor belt.

[0009] As a preferred solution, it also includes a processing box, the processing fixture is located in the processing box, the processing box is provided with a conveying port, the conveying port is connected to a door body, the loading conveyor belt, the unloading conveyor belt and the robot are located on one side of the door body, and the processing fixture is located on the other side of the door body.

[0010] As a preferred solution, the first clamp has the same structure as the second clamp, and the first clamp includes a clamp base and multiple clamp sliders. The clamp base is connected to the rotating seat, and the clamp base is provided with sliding grooves extending radially. The sliding grooves are arranged corresponding to the number of the clamp sliders, and the clamp sliders are slidably connected to the sliding grooves.

[0011] As a preferred solution, the clamp slider includes a bottom slider and a tensioning block, the bottom slider is radially slidably connected to the sliding groove, the tensioning block extends axially along the clamp base, and one end of the tensioning block is connected to the bottom slider.

[0012] As a preferred embodiment, the first clamp also includes a limit block and an elastic limit column, one end of the elastic limit column is connected to the outer peripheral wall of the clamp base, and the other end of the elastic limit column is connected to the limit block, the limit block includes a center ring and an extension arm, the center ring is coaxially arranged with the clamp base, one end of the extension arm is connected to the center ring, and the other end of the extension arm extends from between adjacent clamp sliders and is connected to the elastic limit column.

[0013] As a preferred solution, the angle between the first clamp and the second clamp is 90°.

[0014] Compared with the prior art, the CNC loading and unloading device according to the embodiment of the utility model has the following beneficial effects: the loading conveyor is used to place the product to be processed, and the robot clamps the product to be processed from the loading conveyor and transfers it to the CNC processing fixture for product processing. The robot is used to transfer the product to be processed between the processing fixture and the loading conveyor. The camera assembly is used to obtain image information after the robot clamps the product to be processed. The camera assembly includes a base and a positioning camera, and the positioning camera is connected to the base for fixation. The robot body is connected to the base for fixation, and the robot clamp is connected to one end of the robot body. After the robot clamp clamps the product to be processed from the loading conveyor, the robot body drives the robot clamp to transfer to the preset position of the positioning camera. The positioning camera takes a picture of the product to be processed to obtain a position compensation picture, and compares the position compensation picture with the product picture at the predetermined position to obtain position offset value information. The position offset value information is assigned to the initial coordinates of the robot to obtain the actual moving coordinates. The robot places the product to be processed on the processing fixture according to the actual moving coordinates. After the robot clamps the product to be processed, it obtains the actual movement data through the positioning camera, and then transfers the product to be processed to the processing fixture for placement to ensure the consistency of the discharge position, thereby improving the accuracy of the robot's loading position on the CNC fixture. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present utility model.

[0016] Figure 2 It is a structural schematic diagram of the processing fixture, camera assembly, robot arm and feeding conveyor belt of the embodiment of the utility model.

[0017] Figure 3 It is a structural schematic diagram of the camera assembly, robot arm, loading conveyor belt and unloading conveyor belt of the embodiment of the utility model.

[0018] Figure 4 It is a structural diagram of a manipulator according to an embodiment of the present utility model.

[0019] Figure 5 It is a structural schematic diagram of a manipulator clamp grasping a product in an embodiment of the present utility model.

[0020] Figure 6 It is a structural diagram of a manipulator clamp according to an embodiment of the present utility model.

[0021] Figure 7 This is an embodiment of the utility model Figure 6 Schematic diagram of the enlarged structure at A in FIG.

[0022] In the picture:

[0023] 10. Loading conveyor belt; 11. Unloading conveyor belt; 12. Processing box; 13. Conveyor port; 14. Door;

[0024] 20. Manipulator; 21. Manipulator body; 22. Manipulator fixture; 23. Rotating seat; 24. First fixture; 25. Second fixture; 26. Fixture base; 27. Fixture slider; 28. Bottom slider; 30. Tensioning block; 31. Sliding groove; 32. Limiting block; 33. Center ring; 34. Extension arm; 35. Elastic limiting column;

[0025] 40. Processing fixture; 41. Product;

[0026] 50. Camera assembly; 51. Base; 52. Positioning camera. DETAILED DESCRIPTION

[0027] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0028] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like used in the present invention to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] In the description of the present invention, it should be understood that the terms "connected," "connected," "fixed," etc. used in the present invention should be interpreted broadly. For example, the terms may refer to fixed connection, detachable connection, or integration; mechanical connection, welding connection; direct connection, indirect connection through an intermediate medium, internal communication between two elements, or interaction between two elements, unless otherwise explicitly defined. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0030] like Figures 1 to 7As shown, a CNC loading and unloading device of a preferred embodiment of the utility model includes a loading conveyor belt 10, a manipulator 20, a processing fixture 40 and a camera assembly 50. The camera assembly 50 includes a base 51 and a positioning camera 52. The base 51 is located above the loading conveyor belt 10. The positioning camera 52 is connected to the base 51. The processing fixture 40 is located on one side of the loading conveyor belt 10. The manipulator 20 includes a manipulator body and a manipulator fixture. One end of the manipulator body is connected to the base 51, and the other end of the manipulator 20 is connected to the manipulator fixture. The manipulator 20 is electrically connected to the positioning camera 52. When the manipulator 20 loads materials, the manipulator fixture passes through the loading conveyor belt 10, the positioning camera 52 and the processing fixture 40 in sequence.

[0031] In the CNC loading and unloading device of the present invention, a loading conveyor belt 10 is used to place a product 41 to be processed. A robot 20 picks up the product 41 from the loading conveyor belt 10 and transfers it to a CNC machining fixture 40 for processing. The robot 20 is used to transfer the product 41 between the machining fixture 40 and the loading conveyor belt 10. A camera assembly 50 is used to capture images of the product 41 after the robot 20 has gripped it. The camera assembly 50 includes a base 51 and a positioning camera 52, which is fixed to the base 51. The robot body is fixed to the base 51, and the robot clamp is connected to one end of the robot body. After the robot clamp picks up the product 41 from the loading conveyor belt 10, it is driven by the robot body to transfer the robot clamp to a preset position of the positioning camera 52. The positioning camera 52 then captures a position-compensated image of the product 41, which is then compared with an image of the product 41 at the predetermined position to obtain position offset information. The position offset value information is assigned to the initial coordinates of the manipulator 20 to obtain the actual moving coordinates. The manipulator 20 places the product to be processed 41 on the processing fixture 40 according to the actual moving coordinates. After the manipulator 20 clamps the product to be processed 41, it obtains the actual movement data through the positioning camera 52, and then transfers the product to be processed 41 to the processing fixture 40 for placement to ensure the consistency of the discharge position, thereby improving the accuracy of the loading position of the manipulator 20 on the CNC fixture.

[0032] The positioning camera 52 captures a position compensation image and compares it with the image of the product 41 at the predetermined position to obtain position offset information. This algorithm is a prior art. For example, the application number CN202011627423.8 has detailed descriptions, which will not be repeated here.

[0033] Furthermore, the manipulator 20 is provided with a product 41 placement position and a product 41 positioning position. The product 41 placement position is the position where the manipulator 20 places the product 41 to be processed on the processing fixture 40, and the product placement position is located above the processing fixture 40. The product 41 positioning position is the position where the manipulator 20 clamps the product 41 to be processed and shoots it at the positioning camera 52, and the product positioning position is located below the positioning camera 52. The manipulator clamp clamps the product 41 to be processed from the feeding conveyor 10, moves it to the bottom of the positioning camera 52, and the positioning camera 52 takes a picture to calibrate its actual position. By comparing it with the template position, its actual offset value is obtained. This offset value is assigned to the initial compensation coordinate of the manipulator 20. The robot compensates according to the compensation value and then transfers it to the processing fixture 40, thereby ensuring the consistency of its material taking and unloading position.

[0034] Further, such as Figures 4 to 7 As shown, the manipulator fixture includes a rotating base 23, a first fixture 24 and a second fixture 25. The first fixture 24 and the second fixture 25 are respectively connected to the outer circumference of the rotating base 23, and the rotating base 23 is rotatably connected to the manipulator body. The first fixture 24 and the second fixture 25 can both clamp the product 41. If one of the first fixture 24 and the second fixture 25 clamps the product 41 to be processed, the other second fixture 25 can clamp the product 41 that has been processed in the processing fixture 40. The relative positions of the first fixture 24 and the second fixture 25 and the processing fixture 40 are switched by rotating the rotating base 23, thereby realizing loading and unloading of materials by one manipulator 20, saving production costs and making control simpler.

[0035] Further, such as Figures 1 to 3 As shown, the machine further includes a discharge conveyor 11, which is located on one side of the loading conveyor 10 and extends in the same direction as the loading conveyor 10. The discharge conveyor 11 is used to transfer the processed product 41 in the processing fixture 40. After one of the first fixture 24 and the second fixture 25 clamps the processed product 41 on the processing fixture 40, it is transferred to the discharge conveyor 11 to place the processed product 41, and then moves to the loading conveyor 10 to clamp another product 41 to be processed.

[0036] Further, such as Figure 1 As shown, the machine also includes a processing box 12, a processing fixture 40 is located within the processing box 12, and a conveyor port 13 is opened in the processing box 12. The conveyor port 13 is connected to the door 14. The loading conveyor 10, the unloading conveyor 11, and the robot 20 are located on one side of the door 14, and the processing fixture 40 is located on the other side of the door 14. When the lathe is processing the processed product 41 on the processing fixture 40, the door 14 is closed at the conveyor port 13 to prevent debris from flying out and improve the processing cleanliness outside the processing box 12.

[0037] Further, such as Figures 1 to 3 As shown, the robot body is a six-axis robot 20. Six-axis robot 20 is a common automation tool with six joint axes, each of which is a joint, allowing for different movement methods. These joint axes include: rotation (S-axis), lower arm (L-axis), upper arm (U-axis), wrist rotation (R-axis), wrist swing (B-axis), and wrist rotation (T-axis). It has high flexibility, large payload, and high positioning accuracy, making it easier to adjust the position of robot 20 and its movement path.

[0038] Further, such as Figures 4 to 7 As shown, the first clamp 24 and the second clamp 25 have the same structure. The first clamp 24 includes a clamp base 26 and multiple clamp slides 27. The clamp base 26 is connected to the rotating base 23 and is provided with radially extending sliding grooves 31. The number of sliding grooves 31 corresponds to the number of clamp slides 27. The clamp slides 27 are slidably connected to the sliding grooves 31. The product 41 to be processed is an annular product 41. When the product 41 to be processed is to be clamped, the clamp slides 27 are inserted into the inner circumference of the product 41 and moved away from the axis of the clamp base 26. The multiple clamp slides 27 tighten the product 41 to clamp it. When the product 41 to be processed is to be lowered, the clamp slides 27 are moved toward the axis of the clamp base 26, away from the inner circumference of the product 41, to lower the product 41.

[0039] Further, such as Figure 7 As shown, the clamp slider 27 includes a bottom slider 28 and a tensioning block 30. The bottom slider 28 is radially slidably connected to the sliding groove 31. The tensioning block 30 extends axially along the clamp base 26, and one end of the tensioning block 30 is connected to the bottom slider 28. The tensioning block 30 extends axially to facilitate insertion into the inner circumferential wall of the product 41 to be processed for clamping. One end of the tensioning block 30 is connected to the bottom slider 28 for fixation. The bottom slider 28 is slidably connected to the sliding groove 31, and the tensioning block 30 is driven to slide radially by the bottom slider 28.

[0040] Further, such as Figure 7 As shown, the first clamp 24 further includes a limit block 32 and an elastic limit column 35. One end of the elastic limit column 35 is connected to the outer peripheral wall of the clamp base 26, and the other end of the elastic limit column 35 is connected to the limit block 32. The limit block 32 includes a center ring 33 and an extension arm 34. The center ring 33 is coaxially arranged with the clamp base 26. One end of the extension arm 34 is connected to the center ring 33, and the other end of the extension arm 34 extends from between adjacent clamp sliders 27 and is connected to the elastic limit column 35. The provision of the limit block 32 limits the approximate axial position of the product 41 to be processed, shortens the axial movement time of the product 41 to be processed, and improves processing efficiency.

[0041] As one embodiment, Figure 7 As shown, the elastic limiting column 35 includes a column and a spring. One end of the column is connected to the clamp base 26, and the spring is sleeved on the outer circumference of the column. A connecting hole is opened at one end of the extension arm 34, and the extension arm 34 is connected to the column through the connecting hole and abuts against the spring.

[0042] Further, such as Figures 4 to 7 As shown, the angle between the first clamp 24 and the second clamp 25 is 90 degrees. The first clamp 24 and the second clamp 25 are driven by the rotating seat 23 to switch, and the position adjustment is convenient.

[0043] The use process of this utility model:

[0044] 1. The robot 20 moves to the top of the loading conveyor belt 10;

[0045] 2. The robot arm 20 descends and grasps the product 41 to be processed through the first clamp 24;

[0046] 3. The manipulator 20 is set with a positioning position of the product 41. The manipulator 20 moves to the corresponding lower part of the positioning camera 52. The manipulator 20 turns the product 41 to be processed 180 degrees toward the positioning camera 52. The camera captures an image of the product 41 to be processed to form an actual captured image. If the actual captured image obtained at the positioning position of the product 41 completely overlaps with the preset image in the positioning camera 52, there is no need to adjust the path of the manipulator 20 to move to the processing fixture 40. By moving according to the set movement path, the product 41 to be processed can be accurately placed on the processing fixture 40. If there is a certain deviation between the actual captured image and the preset image after overlapping, the image deviation value is obtained to adjust the path of the manipulator 20 to move to the processing fixture 40.

[0047] 4. The manipulator 20 points the second fixture 25 downward, the door 14 opens, and the manipulator 20 moves toward the processing fixture 40;

[0048] 5. The second fixture 25 clamps the finished product 41 on the processing fixture 40 and blows air toward the processing fixture 40 to clean it;

[0049] 6. The manipulator 20 rotates the first fixture 24 downward and places the product 41 to be processed on the processing fixture 40;

[0050] 7. The manipulator 20 moves toward the unloading conveyor belt 11, the manipulator 20 moves away from the processing fixture 40, and the door 14 closes;

[0051] 8. The robot 20 moves to the top of the unloading conveyor belt 11, the second clamp 25 discharges the material, and step 1 is repeated.

[0052] In summary, the present invention provides a CNC loading and unloading device. A loading conveyor 10 is used to place a product 41 to be processed. A robot 20 picks up the product 41 from the loading conveyor 10 and transfers it to a CNC machining fixture 40 for processing. The robot 20 is used to transfer the product 41 between the machining fixture 40 and the loading conveyor 10. A camera assembly 50 is used to capture image information after the robot 20 has gripped the product 41. The camera assembly 50 includes a base 51 and a positioning camera 52, which is fixed to the base 51. The robot body is fixed to the base 51, and the robot clamp is connected to one end of the robot body. After the robot clamp picks up the product 41 from the loading conveyor 10, it is driven by the robot body to transfer the robot clamp to a preset position of the positioning camera 52. The positioning camera 52 captures a position-compensated image of the product 41, which is then compared with an image of the product 41 at the predetermined position to obtain position offset information. The position offset value information is assigned to the initial coordinates of the manipulator 20 to obtain the actual moving coordinates. The manipulator 20 places the product to be processed 41 on the processing fixture 40 according to the actual moving coordinates. After the manipulator 20 clamps the product to be processed 41, it obtains the actual movement data through the positioning camera 52, and then transfers the product to be processed 41 to the processing fixture 40 for placement to ensure the consistency of the discharge position, thereby improving the accuracy of the loading position of the manipulator 20 on the CNC fixture.

[0053] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and replacements can be made without departing from the technical principles of the present invention. These improvements and replacements should also be regarded as the scope of protection of the present invention.

Claims

1. A CNC loading and unloading device, characterized by: It includes a loading conveyor belt, a manipulator, a processing fixture and a camera assembly, the camera assembly includes a base and a positioning camera, the base is located above the loading conveyor belt, the positioning camera is connected to the base, the processing fixture is located on one side of the loading conveyor belt, the manipulator includes a manipulator body and a manipulator fixture, one end of the manipulator body is connected to the base, the other end of the manipulator is connected to the manipulator fixture, the manipulator is electrically connected to the positioning camera, when the manipulator loads material, the manipulator fixture passes through the loading conveyor belt, the positioning camera and the processing fixture in sequence.

2. The CNC loading and unloading device according to claim 1, characterized in that: The manipulator is provided with a product placement position and a product positioning position. The product placement position is the position where the manipulator places the product to be processed on the processing fixture, and the product placement position is located above the processing fixture. The product positioning position is the position where the manipulator clamps the product to be processed when photographed by the positioning camera, and the product positioning position is located below the positioning camera.

3. The CNC loading and unloading device according to claim 1, characterized in that: The manipulator body is a six-axis manipulator.

4. The CNC loading and unloading device according to claim 1, characterized in that: The manipulator clamp includes a rotating base, a first clamp and a second clamp. The first clamp and the second clamp are respectively connected to the outer peripheral surface of the rotating base, and the rotating base is rotatably connected to the manipulator body.

5. The CNC loading and unloading device according to claim 4, characterized in that: It also includes a discharge conveyor belt, which is located on one side of the feed conveyor belt and has the same extension direction as the feed conveyor belt.

6. The CNC loading and unloading device according to claim 5, characterized in that: It also includes a processing box, the processing fixture is located in the processing box, the processing box is provided with a conveying port, the conveying port is connected to a door body, the loading conveyor belt, the unloading conveyor belt and the robot are located on one side of the door body, and the processing fixture is located on the other side of the door body.

7. The CNC loading and unloading device according to claim 4, characterized in that: The first clamp has the same structure as the second clamp. The first clamp includes a clamp base and multiple clamp sliders. The clamp base is connected to the rotating seat. The clamp base is provided with sliding grooves extending radially. The sliding grooves are arranged corresponding to the number of the clamp sliders. The clamp sliders are slidably connected to the sliding grooves.

8. The CNC loading and unloading device according to claim 7, characterized in that: The clamp slider includes a bottom slider and a tensioning block. The bottom slider is radially slidably connected to the sliding groove. The tensioning block extends axially along the clamp base. One end of the tensioning block is connected to the bottom slider.

9. The CNC loading and unloading device according to claim 7, characterized in that: The first clamp also includes a limit block and an elastic limit column, one end of the elastic limit column is connected to the outer peripheral wall of the clamp base, and the other end of the elastic limit column is connected to the limit block, the limit block includes a center ring and an extension arm, the center ring is coaxially arranged with the clamp base, one end of the extension arm is connected to the center ring, and the other end of the extension arm extends from between adjacent clamp sliders and is connected to the elastic limit column.

10. The CNC loading and unloading device according to claim 4, characterized in that: The included angle between the first clamp and the second clamp is 90°.

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