Automatic manipulator grabbing engraving and milling machine

Abstract

The utility model relates to the technical field of engraving and milling machines, in particular to an automatic grabbing engraving and milling machine with a manipulator. The cross beam is erected on the top of the base, the sliding table is arranged on the base in a protruding mode and penetrates through the cross beam, the tool magazine mechanism is connected to the top of the sliding table in a sliding mode, the tool magazine driving mechanism is fixedly connected to the base, the output end of the tool magazine driving mechanism is connected with the tool magazine mechanism, and the tool swinging mechanical arm is fixedly connected to the back face of the cross beam. The tool magazine driving mechanism is used for driving the tool magazine mechanism to slide, the tool swinging mechanical arm is used for swinging tools of the tool magazine mechanism, the tool swinging mechanical arm is used for grabbing and transferring the tools, the tools of the tool magazine mechanism can be placed to a tool preparation position for tool preparation in advance through the tool swinging mechanical arm, and then the tool magazine driving mechanism is used for driving the tool magazine mechanism to penetrate through the cross beam. Therefore, the cutter can be automatically clamped and replaced by the existing main shaft, the cutter replacing speed can be increased, and the overall machining efficiency of the engraving and milling machine can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of precision engraving machines, in particular to a manipulator that automatically grabs a precision engraving machine. Background Art

[0002] A precision engraving machine is a CNC milling machine that uses small tools and a high-power, high-speed spindle motor. It can perform both engraving and milling, making it a highly efficient and precise CNC machine tool. Metal precision engraving machines can perform non-contact cutting and punching on metal or non-metallic sheets and pipes.

[0003] Precision engraving machines typically utilize an XZ-axis linear module on the front of the crossbeam to drive the spindle. The spindle then coordinates with the tool to process the workpiece, and the tool is then automatically clamped and changed. The tool magazine mechanism is a crucial component of the precision engraving machine, responsible for storing and managing a variety of tools of varying specifications and uses to meet the various needs of the precision engraving machine during processing. With the development of precision engraving processing technology, the requirements for the number of tools that can be accommodated in the tool magazine are increasing. Generally, the larger the tool magazine, the slower the tool change speed, resulting in an overall reduction in precision engraving machine processing efficiency. Summary of the Invention

[0004] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the utility model is to provide a robot that automatically grabs a precision engraving machine.

[0005] The purpose of the utility model is achieved through the following technical solutions: a robot automatically grasps the precision engraving machine, including a base, a beam mounted on the top of the base, a slide protruding from the base and passing through the beam, a tool magazine mechanism slidably connected to the top of the slide, a tool magazine drive mechanism fixedly connected to the base and with the output end connected to the tool magazine mechanism, and a tool swinging robot fixedly connected to the back of the beam, the tool magazine mechanism is used to accommodate multiple tools, the tool magazine drive mechanism is used to drive the tool magazine mechanism to slide, and the tool swinging robot is used to swing the tools of the tool magazine mechanism.

[0006] Preferably, the tool magazine drive mechanism includes a first screw motor fixedly connected to the base, a first screw nut threadedly engaged with the output end of the first screw motor, and a first nut fixing seat fixedly connected to the first screw nut, and the first nut fixing seat is fixedly connected to the bottom of the tool magazine mechanism.

[0007] Preferably, the tool swinging robot includes an XYZ linear module fixedly connected to the back of the beam, a clamp fixing seat connected to the output end of the XYZ linear module, and a pneumatic clamp connected to the clamp fixing seat. The XYZ linear module and the pneumatic clamp are used together to swing the tool of the tool magazine mechanism.

[0008] Preferably, the robot automatically grasps the engraving machine and further includes a gantry connected to the inner side wall of the beam, a protective plate hinged to the top of the gantry, and a push-pull cylinder whose two ends are respectively hinged to the rear end of the base and the protective plate and used to push and pull the protective plate.

[0009] Preferably, the robot automatically grasps the engraving machine and further includes a multi-purpose workbench slidably connected to the top of the slide, and a workbench driving mechanism fixedly connected to the base and with the output end connected to the multi-purpose workbench, wherein the workbench driving mechanism is used to drive the multi-purpose workbench to slide.

[0010] Preferably, the multi-purpose workbench includes a working card table slidably connected to the top of the slide table, and a vacuum suction plate detachably and sealably connected to the top surface of the working card table. The working card table is provided with an exhaust port for vacuuming, and the vacuum suction plate is provided with a negative pressure suction hole connected to the exhaust port.

[0011] Preferably, a T-slot and a groove communicating with the T-slot and the air extraction port are provided on the top of the working table.

[0012] Preferably, the slide is connected to a set of slide rails, and the bottom of the tool magazine mechanism is fixedly connected to a first slider that slides with the slide rails; the bottom of the multi-purpose workbench is fixedly connected to a second slider that slides with the slide rails.

[0013] Preferably, the workbench driving mechanism includes a second screw motor fixedly connected to the base, a second screw nut threadedly engaged with the output end of the second screw motor, and a second nut fixing seat fixedly connected to the second screw nut, and the second nut fixing seat is fixedly connected to the bottom of the multi-purpose workbench.

[0014] The beneficial effects of the present invention are as follows: the robot of the present invention automatically grasps the precision engraving machine, adopts a base, a crossbeam mounted on the top of the base, a slide protruding from the base and passing through the crossbeam, a tool magazine mechanism slidably connected to the top of the slide, a tool magazine drive mechanism fixedly connected to the base and with the output end connected to the tool magazine mechanism, and a knife-swinging robot fixedly connected to the back of the crossbeam, the tool magazine mechanism is used to accommodate multiple tools, the tool magazine drive mechanism is used to drive the tool magazine mechanism to slide, the knife-swinging robot is used to swing the tools of the tool magazine mechanism, the knife-swinging robot is used to grasp and transfer tools, the knife-swinging robot can be used to pre-place the tools of the tool magazine mechanism to the tool preparation position for tool preparation, and then the tool magazine drive mechanism is used to drive the tool magazine mechanism to pass through the crossbeam, so that the existing spindle can automatically clamp and change the tools, which is beneficial to speed up the tool change speed and improve the overall processing efficiency of the precision engraving machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural diagram of the utility model;

[0016] Figure 2 It is a structural schematic diagram of the utility model from another perspective;

[0017] Figure 3 It is a structural diagram of the multi-purpose workbench of the utility model;

[0018] Figure 4 It is a cross-sectional view of the multi-purpose workbench of the present invention.

[0019] The accompanying drawings are marked as follows: 1. Base; 2. Crossbeam; 3. Slide; 4. Tool magazine mechanism; 51. First screw motor; 52. First screw nut; 53. First nut fixing seat; 6. Tool swing robot; 61. XYZ linear module; 62. Gripper fixing seat; 63. Pneumatic gripper; 7. Gantry; 8. Protective plate; 9. Push-pull cylinder; 10. Multi-purpose workbench; 101. Work card table; 102. Vacuum suction plate; 11. Workbench driving mechanism; 111. Second screw motor; 112. Second screw nut; 113. Second nut fixing seat; 12. Exhaust port; 13. Negative pressure suction hole; 14. T-slot; 15. Groove; 16. Slide rail; 17. First slider; 18. Second slider. DETAILED DESCRIPTION

[0020] In order to facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and drawings. The contents mentioned in the embodiments are not intended to limit the present invention.

[0021] like Figure 1-4 As shown, a robot automatically grasps a precision engraving machine, comprising a base 1, a beam 2 mounted on the top of the base 1, a slide 3 protruding from the base 1 and passing through the beam 2, a tool magazine mechanism 4 slidably connected to the top of the slide 3, a tool magazine drive mechanism fixedly connected to the base 1 and with the output end connected to the tool magazine mechanism 4, and a tool swinging robot 6 fixedly connected to the back of the beam 2, wherein the tool magazine mechanism 4 is used to accommodate multiple tools, the tool magazine drive mechanism is used to drive the tool magazine mechanism 4 to slide, and the tool swinging robot 6 is used to swing the tools of the tool magazine mechanism 4.

[0022] The robot automatically grabs the precision engraving machine, and adopts a base 1, a beam 2 mounted on the top of the base 1, a slide 3 protruding from the base 1 and passing through the beam 2, a tool magazine mechanism 4 slidably connected to the top of the slide 3, a tool magazine drive mechanism fixedly connected to the base 1 and with the output end connected to the tool magazine mechanism 4, and a knife swinging robot 6 fixedly connected to the back of the beam 2. The tool magazine mechanism 4 is used to accommodate multiple tools, the tool magazine drive mechanism is used to drive the tool magazine mechanism 4 to slide, and the knife swinging robot 6 is used to swing the tools of the tool magazine mechanism 4. The knife swinging robot 6 is used to grab and transfer tools. The knife swinging robot 6 can be used to pre-place the tools of the tool magazine mechanism 4 to the tool preparation position of the tool magazine mechanism 4 for tool preparation, and then the tool magazine drive mechanism is used to drive the tool magazine mechanism 4 to pass through the beam 2, so that the existing spindle can automatically clamp and change the tools, which is beneficial to speed up the tool change speed and improve the overall processing efficiency of the precision engraving machine. In this embodiment, the tool standby position of the tool magazine mechanism 4 is usually in the first row and first column of the tool magazine mechanism 4. In other embodiments, the tool standby position of the tool magazine mechanism 4 can be determined according to actual needs.

[0023] Furthermore, the tool magazine drive mechanism includes a first screw motor 51 fixedly connected to the base 1, a first screw nut 52 threadedly engaged with the output end of the first screw motor 51, and a first nut fixing seat 53 fixedly connected to the first screw nut 52, and the first nut fixing seat 53 is fixedly connected to the bottom of the tool magazine mechanism 4.

[0024] Furthermore, the tool-swinging robot 6 includes an XYZ linear module 61 fixedly connected to the back of the crossbeam 2, a gripper mounting base 62 connected to the output end of the XYZ linear module 61, and a pneumatic gripper 63 connected to the gripper mounting base 62. The XYZ linear module 61 and the pneumatic gripper 63 cooperate to swing the tools in the tool magazine mechanism 4. The XYZ linear module 61 drives the gripper mounting base 62, driving the pneumatic gripper 63 to move along the XYZ axis. The pneumatic gripper 63 is used to pick up and place tools, enabling the tool-swinging robot 6 to swing the tools in advance, placing the tools in the tool magazine mechanism 4 at the tool preparation position of the tool magazine mechanism 4 for preparation.

[0025] Furthermore, the robot automatically grasps the engraving machine and further includes a door frame 7 connected to the inner side wall of the beam 2, a protective plate 8 hinged to the top of the door frame 7, and a push-pull cylinder 9 whose two ends are respectively hinged to the rear end of the base 1 and the protective plate 8 and is used to push and pull the protective plate 8. When the engraving machine needs to change the tool, the push-pull cylinder 9 is used to push the protective plate 8 toward the front of the beam 2 so that the tool magazine drive mechanism drives the tool magazine mechanism 4 to pass through the beam 2; when the engraving machine completes the tool change and the tool magazine mechanism 4 is restored to the back of the beam 2, the push-pull cylinder 9 is used to close the protective plate 8 toward the back of the beam 2 so as to block the dust and cutting fluid generated during the engraving process.

[0026] Furthermore, the robot automatically grasps the engraving machine and also includes a multi-purpose workbench 10 slidably connected to the top of the slide 3, and a workbench driving mechanism 11 fixedly connected to the base 1 and the output end connected to the multi-purpose workbench 10, and the workbench driving mechanism 11 is used to drive the multi-purpose workbench 10 to slide.

[0027] Furthermore, the multi-purpose workbench 10 includes a work table 101 slidably connected to the top of the slide 3, and a vacuum suction plate 102 detachably and sealably connected to the top surface of the work table 101. The work table 101 is provided with an air suction port 12 for vacuuming, and the vacuum suction plate 102 is provided with a negative pressure suction hole 13 connected to the air suction port 12. Some of the processing objects of the engraving machine require adsorption fixation, while others require clamping fixation. The present application provides a multi-purpose workbench 10 with both a vacuum suction plate 102 and a work table 101 to adapt to different processing objects and fully utilize the processing capacity of a single machine tool.

[0028] Furthermore, the top of the work table 101 is provided with a T-slot 14 and a groove 15 communicating with the T-slot 14 and the suction port 12. When vacuum suction is required for an object to be processed, the suction port 12 is evacuated, causing a negative pressure in the groove 15, the T-slot 14, and the negative pressure suction hole 13. The negative pressure suction hole 13 then suctions the object to the surface of the vacuum suction plate 102. When the T-slot 14 is required to secure the object to be processed, the vacuum suction plate 102 is removed and the object is then secured to the T-slot 14. Preferably, the vacuum suction plate 102 and the work table 101 are secured with screws.

[0029] Furthermore, the slide 3 is connected to a set of slide rails 16. A first slider 17 is fixedly connected to the bottom of the tool magazine mechanism 4 and slides with the slide rails 16. A second slider 18 is fixedly connected to the bottom of the multi-purpose workbench 10 and slides with the slide rails 16. The tool magazine mechanism 4 and the multi-purpose workbench 10 share a set of slide rails 16, which helps save component costs and fully utilize limited space.

[0030] Furthermore, the workbench drive mechanism 11 includes a second screw motor 111 fixedly connected to the base 1, a second screw nut 112 threadedly engaged with the output end of the second screw motor 111, and a second nut fixing seat 113 fixedly connected to the second screw nut 112, and the second nut fixing seat 113 is fixedly connected to the bottom of the multi-purpose workbench 10.

[0031] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present invention is within the scope of protection of the present invention.

Claims

1. A robot automatically grabs a precision engraving machine, characterized by: It includes a base, a crossbeam mounted on the top of the base, a slide protruding from the base and passing through the crossbeam, a tool magazine mechanism slidably connected to the top of the slide, a tool magazine drive mechanism fixedly connected to the base and with the output end connected to the tool magazine mechanism, and a knife swinging manipulator fixedly connected to the back of the crossbeam. The tool magazine mechanism is used to accommodate multiple tools, the tool magazine drive mechanism is used to drive the tool magazine mechanism to slide, and the knife swinging manipulator is used to swing the tools of the tool magazine mechanism.

2. The automatic grabbing engraving machine according to claim 1 is characterized in that: The tool magazine drive mechanism includes a first screw motor fixedly connected to the base, a first screw nut threadedly engaged with the output end of the first screw motor, and a first nut fixing seat fixedly connected to the first screw nut, and the first nut fixing seat is fixedly connected to the bottom of the tool magazine mechanism.

3. The automatic grabbing engraving machine according to claim 1 is characterized in that: The tool-swinging robot includes an XYZ linear module fixedly connected to the back of the beam, a clamp fixing seat connected to the output end of the XYZ linear module, and a pneumatic clamp connected to the clamp fixing seat. The XYZ linear module and the pneumatic clamp cooperate to swing the tool of the tool magazine mechanism.

4. The automatic grabbing engraving machine according to claim 1, characterized in that: The manipulator automatically grasps the engraving machine and further includes a door frame connected to the inner side wall of the beam, a protective plate hinged to the top of the door frame, and a push-pull cylinder whose two ends are respectively hinged to the rear end of the base and the protective plate and used to push and pull the protective plate.

5. The automatic grabbing engraving machine according to claim 1 is characterized in that: The robot automatic grasping engraving machine also includes a multi-purpose workbench slidably connected to the top of the slide, and a workbench driving mechanism fixedly connected to the base and with the output end connected to the multi-purpose workbench, wherein the workbench driving mechanism is used to drive the multi-purpose workbench to slide.

6. The automatic grabbing engraving machine according to claim 5, characterized in that: The multi-purpose workbench includes a work card table slidably connected to the top of the slide table, and a vacuum suction plate detachably and sealably connected to the top surface of the work card table. The work card table is provided with an exhaust port for vacuuming, and the vacuum suction plate is provided with a negative pressure suction hole connected to the exhaust port.

7. The automatic grabbing engraving machine according to claim 6, characterized in that: The top of the working table is provided with a T-slot and a groove communicating with the T-slot and the air extraction port.

8. The automatic gripping engraving machine with a manipulator according to claim 5, characterized in that: The slide is connected to a set of slide rails, and the bottom of the tool magazine mechanism is fixedly connected to a first slide block that slides with the slide rails; the bottom of the multi-purpose workbench is fixedly connected to a second slide block that slides with the slide rails.

9. The automatic gripping engraving machine with a manipulator according to claim 5, characterized in that: The workbench driving mechanism includes a second screw motor fixedly connected to the base, a second screw nut threadedly engaged with the output end of the second screw motor, and a second nut fixing seat fixedly connected to the second screw nut, and the second nut fixing seat is fixedly connected to the bottom of the multi-purpose workbench.

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