Automatic material picking device for numerical control cutting machine

Abstract

The utility model discloses an automatic material picking device for a numerical control cutting machine, which comprises X-axis underframe components, Y-axis cross beam components and Z-axis upright post components, the two X-axis underframe components are oppositely arranged on two sides of a material platform of the numerical control cutting machine, the two Y-axis cross beam components are oppositely connected between the two X-axis underframe components, and the Z-axis upright post components are arranged on the two sides of the material platform of the numerical control cutting machine. Each Y-axis cross beam assembly is connected with two X-axis base frame assemblies, each Y-axis cross beam assembly can move on the two X-axis base frame assemblies in the X-axis direction, each Y-axis cross beam assembly is connected with two Z-axis stand column assemblies, each Z-axis stand column assembly can move on the Y-axis cross beam assembly in the Y-axis direction, and an electro-permanent magnet assembly used for attracting workpieces is arranged below each Z-axis stand column assembly. The electric permanent magnet assembly can move in the Z-axis direction under the driving of the Z-axis stand column assembly. The automatic material picking device solves the problems of high repeatability, long time and low efficiency of manual material detection work after cutting of the numerical control cutting machine, and also solves the problem of potential safety hazards caused by manual material detection on a material table of the numerical control cutting machine.

Description

Technical Field

[0001] This utility model relates to the field of workpiece sorting technology, specifically to an automatic picking device for CNC cutting machines. Background Technology

[0002] Mechatronics cutting machines are called CNC cutting machines, such as CNC plasma and flame cutting machines. These machines are driven by digital programs, and the accompanying cutting tools cut the object as the machine moves. Compared to manual and semi-automatic cutting methods, CNC cutting effectively improves the efficiency and quality of sheet metal cutting while reducing the operator's workload.

[0003] With societal progress and rising living standards, the market's demand for product diversification, low manufacturing costs, and short manufacturing cycles is becoming increasingly urgent. This has led to a growing demand for CNC cutting machines to cut and process a wide variety of small-batch workpieces. Various industries are seeking ways to reduce inefficient and expensive labor costs. In particular, the manual handling of finished workpieces after CNC cutting is a repetitive, time-consuming, and inefficient task that has become a major pain point in the industry. Utility Model Content

[0004] The purpose of this utility model is to provide an automatic material picking device for CNC cutting machines to address the problem of manual material picking after CNC cutting. This device solves the problems of high repetition, long time and low efficiency of manual material picking after CNC cutting, and also solves the safety hazards of manual material picking on the CNC cutting machine's material table.

[0005] This utility model is achieved through the following technical solution:

[0006] This utility model provides an automatic material picking device for a CNC cutting machine, including an X-axis base frame assembly, a Y-axis crossbeam assembly, and a Z-axis column assembly. Two X-axis base frame assemblies are arranged opposite each other on both sides of the CNC cutting machine's material table. Two Y-axis crossbeam assemblies are connected opposite each other between the two X-axis base frame assemblies, and each Y-axis crossbeam assembly can move along the X-axis direction on the two X-axis base frame assemblies. Two Z-axis column assemblies are connected to each Y-axis crossbeam assembly, and each Z-axis column assembly can move along the Y-axis direction on the Y-axis crossbeam assembly. An electro-permanent magnet assembly for adsorbing workpieces is arranged below each Z-axis column assembly, and the electro-permanent magnet assembly can move along the Z-axis direction under the drive of the Z-axis column assembly.

[0007] As a preferred embodiment of the present invention, the X-axis base frame assembly includes an X-axis base frame, an X-axis track, and an X-axis drive component. The X-axis base frame has a gantry structure, and the X-axis track is arranged on the X-axis base frame along the X-axis direction. The two X-axis drive components are respectively connected to the two Y-axis crossbeam assemblies to realize movement along the X-axis track.

[0008] As a preferred embodiment of the present invention, the X-axis drive component includes an X-axis traveling frame and an X-axis drive motor. The X-axis traveling frame is provided with X-axis traveling wheels, and the X-axis drive motor is used to drive the X-axis traveling wheels to travel along the X-axis track.

[0009] As a preferred embodiment of this utility model, the Y-axis crossbeam assembly includes a Y-axis crossbeam, a Y-axis guide rail, a Y-axis rack, and a Y-axis drive component. The two ends of the Y-axis crossbeam are respectively connected to the two X-axis base frame assemblies. The Y-axis guide rail and the Y-axis rack are arranged on the Y-axis crossbeam along the Y-axis direction. Two Y-axis saddles are slidably fitted on the Y-axis guide rail. The two Z-axis column assemblies are respectively disposed on the two Y-axis saddles. The two Y-axis drive components are used to drive the two Y-axis saddles to slide along the Y-axis guide rail.

[0010] As a preferred embodiment of the present invention, the Y-axis drive component includes a Y-axis drive gear and a Y-axis drive motor. The two Y-axis drive motors are respectively mounted on the two Y-axis slides. The Y-axis drive motors drive the Y-axis drive gear to rotate so that it meshes with the Y-axis rack.

[0011] As a preferred embodiment of the present invention, the Z-axis column assembly includes a Z-axis column, a Z-axis guide rail, a Z-axis rack, and a Z-axis drive component. The Z-axis column is connected to the Y-axis beam assembly. The Z-axis guide rail and the Z-axis rack are arranged on the Z-axis column along the Z-axis direction. The Z-axis drive component is used to drive the Z-axis column to slide along the Z-axis direction.

[0012] As a preferred embodiment of this utility model, the Z-axis drive component includes a Z-axis drive gear and a Z-axis drive motor, wherein the Z-axis drive motor drives the Z-axis drive gear to rotate so that it meshes with the Z-axis rack.

[0013] As a preferred embodiment of the present invention, the electro-permanent magnet assembly includes a mounting plate, connecting shafts, and electro-permanent magnets; there are four connecting shafts, which are slidably disposed at the four corners of the mounting plate via linear bearings; the electro-permanent magnets are respectively disposed at the lower end of each connecting shaft, and a buffer spring is disposed between the upper end of each connecting shaft and the mounting plate.

[0014] As a preferred embodiment of this utility model, the lower end of the connecting shaft is connected to the corresponding electro-permanent magnet via a floating joint.

[0015] As a preferred embodiment of this utility model, each pair of electro-permanent magnets is connected by a connecting rod.

[0016] Compared with the prior art, this utility model has the following advantages and beneficial effects:

[0017] This invention solves the problems of high repetition, long time, and low efficiency in manual inspection after CNC cutting, by setting two Y-axis crossbeam assemblies between two X-axis base assemblies, and setting two Z-axis column assemblies on each Y-axis crossbeam assembly, and setting an electro-permanent magnet assembly below each Z-axis column assembly. The solution has a total of four electro-permanent magnet assemblies. One or more electro-permanent magnet assemblies can be flexibly selected to grip the workpiece according to the shape and position of the workpiece on the CNC cutting machine table. At the same time, it solves the safety hazards of manual inspection on the CNC cutting machine table. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the exemplary embodiments of this utility model, the drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this utility model and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0019] Figure 1 This is a front view of the automatic material picking device for CNC cutting machines according to this utility model;

[0020] Figure 2 This is a top view of the automatic material picking device for CNC cutting machines according to this utility model;

[0021] Figure 3 This is a left view of the automatic material picking device for CNC cutting machines according to this utility model;

[0022] Figure 4 This is a perspective view of the automatic material picking device for CNC cutting machines according to this utility model;

[0023] Figure 5 This utility model Figure 4 A magnified view of part A in the diagram;

[0024] Figure 6 This utility model Figure 4 A magnified view of section B in the diagram;

[0025] Figure 7 This utility model Figure 4 A magnified view of part C in the diagram;

[0026] Figure 8 This utility model Figure 4 A magnified view of part D in the diagram;

[0027] Figure 9 This is a schematic diagram of the partitioned gripping of the material table of the CNC cutting machine in this utility model.

[0028] The attached diagram shows the markings and corresponding component names:

[0029] 1-X-axis base frame assembly, 11-X-axis base frame, 12-X-axis rail, 13-X-axis traveling frame, 14-X-axis drive motor, 2-Y-axis crossbeam assembly, 21-Y-axis crossbeam, 22-Y-axis guide rail, 23-Y-axis rack, 24-Y-axis slide saddle, 25-Y-axis drive motor, 3-Z-axis column assembly, 31-Z-axis column, 32-Z-axis guide rail, 33-Z-axis rack, 34-Z-axis drive motor, 4-Electro-permanent magnet assembly, 41-Mounting plate, 42-Connecting shaft, 43-Electro-permanent magnet, 44-Linear bearing, 45-Buffer spring, 46-Floating joint, 47-Connecting rod, 5-CNC cutting machine material table, 6-Sorting frame. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this utility model are only used to explain this utility model and are not intended to limit this utility model.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0032] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary and secondary relationship of the indicated technical features.

[0033] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0034] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists, A and B exist simultaneously, and B exists. In addition, the character " / " in this document generally indicates that the related objects before and after it have an "or" relationship.

[0035] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0036] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces), unless otherwise explicitly specified.

[0037] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0038] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0039] Please refer to Figures 1 to 9An automatic material picking device for a CNC cutting machine is provided in this embodiment of the application, including an X-axis base frame assembly 1, a Y-axis crossbeam assembly 2, and a Z-axis column assembly 3. The two X-axis base frame assemblies 1 are arranged opposite to each other on both sides of the CNC cutting machine material table 5. The two Y-axis crossbeam assemblies 2 are connected opposite to each other between the two X-axis base frame assemblies 1, and each Y-axis crossbeam assembly 2 can move along the X-axis direction on the two X-axis base frame assemblies 1. Two Z-axis column assemblies 3 are connected to each Y-axis crossbeam assembly 2, and each Z-axis column assembly 3 can move along the Y-axis direction on the Y-axis crossbeam assembly 2. An electro-permanent magnet assembly 4 for adsorbing workpieces is provided below each Z-axis column assembly 3, and the electro-permanent magnet assembly 4 can move along the Z-axis direction under the drive of the Z-axis column assembly 3.

[0040] In this application, two Y-axis crossbeam assemblies 2 are set between two X-axis base frame assemblies 1, and two Z-axis column assemblies 3 are set on each Y-axis crossbeam assembly 2. At the same time, an electro-permanent magnet assembly 4 is set below each Z-axis column assembly 3. During operation, the two Y-axis crossbeam assemblies 2 can move along the X-axis direction, the four Z-axis column assemblies 3 can move along the Y-axis direction, and the electro-permanent magnet assembly 4 can move along the Z-axis direction. That is, the four electro-permanent magnet assemblies 4 can move relative to the CNC cutting machine table 5 in the XYZ three-axis direction, so as to pick up the cut workpiece at the required position and transfer it to the sorting frame 6.

[0041] Since this application contains four electro-permanent magnet components 4, one or more electro-permanent magnet components 4 can be flexibly selected to grip the workpiece according to the shape, size and position of the workpiece on the CNC cutting machine table 5. This solution solves the problems of high repetition, long time and low efficiency of manual inspection work after CNC cutting, and also solves the safety hazards of manual inspection on the CNC cutting machine table.

[0042] According to some embodiments of this application, the X-axis base frame assembly 1 includes an X-axis base frame 11, an X-axis track 12, and an X-axis drive component. The X-axis base frame 11 has a gantry structure. The X-axis track 12 is arranged on the X-axis base frame 11 along the X-axis direction. The two X-axis drive components are respectively connected to the two Y-axis crossbeam assemblies 2 to realize movement along the X-axis track 12.

[0043] Specifically, the X-axis base frame 11 can form a gantry structure with columns and crossbeams, the crossbeams being arranged along the X-axis direction. Two X-axis base frames 11 are positioned opposite each other on both sides of the CNC cutting machine's worktable 5. The X-axis base frame 11 serves as the main support for the entire device, and its length can be adjusted according to the length of the CNC cutting machine's worktable 5 (usually the length of the CNC cutting machine's worktable 5 is mostly 6m or 12m; adjustments can be made by increasing the number of columns, the length of the crossbeams, and the length of the X-axis track) to meet the automatic material picking requirements of steel plates of different lengths.

[0044] The X-axis track 12 can be in the form of steel rails, arranged on the crossbeam of the X-axis base frame 11. When the X-axis track 12 is long, multiple steel rails can be joined together. To facilitate the installation of the steel rails, adjustable rail pressure plates can be evenly welded to the top of the X-axis base frame 11. The position of the steel rails can be adjusted and the straightness and parallelism of the steel rail installation can be ensured by the bolts and nuts on the rail pressure plates, thereby ensuring that the X-axis track 12 meets the usage requirements.

[0045] According to some embodiments of this application, the X-axis drive component includes an X-axis traveling frame 13 and an X-axis drive motor 14. An X-axis traveling wheel is rotatably disposed inside the X-axis traveling frame 13, and the X-axis drive motor 14 is used to drive the X-axis traveling wheel to travel along the X-axis track 12.

[0046] Two X-axis drive components are symmetrically arranged on the X-axis track 12. The X-axis traveling frame 13 in each X-axis drive component is connected to the Y-axis crossbeam assembly 2. The X-axis traveling wheel in each X-axis drive component cooperates with the X-axis track 12. The X-axis drive motor 14 is a servo motor. The servo motor controls the X-axis traveling wheel to move along the X-axis track 12 to form movement in the X-axis direction. The X-axis drive motors 14 at both ends synchronously control the movement of the X-axis traveling wheel to ensure that the Y-axis crossbeam assembly 2 above the two X-axis drive components moves accurately in the X-axis direction without deviation.

[0047] According to some embodiments of this application, the Y-axis crossbeam assembly 2 includes a Y-axis crossbeam 21, a Y-axis guide rail 22, a Y-axis rack 23, and a Y-axis drive component. The two ends of the Y-axis crossbeam 21 are respectively connected to two X-axis base frame assemblies 1. The Y-axis guide rail 22 and the Y-axis rack 23 are arranged on the Y-axis crossbeam 21 along the Y-axis direction. Two Y-axis saddles 24 are slidably fitted on the Y-axis guide rail 22. Two Z-axis column assemblies 3 are respectively disposed on the two Y-axis saddles 24. The two Y-axis drive components are used to drive the two Y-axis saddles 24 to slide along the Y-axis guide rail 22.

[0048] Specifically, the two ends of the Y-axis crossbeam 21 are fixedly connected to the corresponding two X-axis traveling frames 13. The Y-axis crossbeam 21 moves along the X-axis direction through the synchronous movement of the two X-axis traveling frames 13. The two Y-axis sliding saddles 24 on the Y-axis crossbeam 21 are slidably connected to the Y-axis guide rail 22 through sliders. The two Y-axis driving components drive the two Y-axis sliding saddles 24 to slide along the Y-axis guide rail 22, thereby realizing the movement of the two Z-axis column assemblies 3 along the Y-axis direction.

[0049] According to some embodiments of this application, the Y-axis drive component includes a Y-axis drive gear and a Y-axis drive motor 25. The two Y-axis drive motors 25 are respectively disposed on the two Y-axis slide saddles 24. The Y-axis drive motors 25 drive the Y-axis drive gear to rotate so that it meshes with the Y-axis rack 23.

[0050] Specifically, each Y-axis slide saddle 24 is equipped with a Y-axis drive motor 25. The output end of the Y-axis drive motor 25 is connected to a Y-axis drive gear. During operation, the Y-axis drive motor 25 drives the Y-axis drive gear to rotate. The Y-axis drive gear meshes with the Y-axis rack 23 for transmission, thereby causing the Y-axis slide saddle 24 to slide along the Y-axis guide rail 22.

[0051] According to some embodiments of this application, the Z-axis column assembly 3 includes a Z-axis column 31, a Z-axis guide rail 32, a Z-axis rack 33, and a Z-axis drive component. The Z-axis column 31 is connected to the Y-axis beam assembly 2. The Z-axis guide rail 32 and the Z-axis rack 33 are arranged on the Z-axis column 31 along the Z-axis direction. The Z-axis drive component is used to drive the Z-axis column 31 to slide along the Z-axis direction.

[0052] Specifically, each Z-axis column assembly 3 is mounted on each Y-axis slide saddle 24. In practice, the other side of the Y-axis slide saddle 24 is connected to the Z-axis guide rail 32 on the Z-axis column 31 via a slider. The Z-axis drive component can drive the Z-axis column 31 to slide relative to the Y-axis slide saddle 24 along the Z-axis direction.

[0053] According to some embodiments of this application, the Z-axis drive component includes a Z-axis drive gear and a Z-axis drive motor 34, wherein the Z-axis drive motor 34 drives the Z-axis drive gear to rotate so that it meshes with the Z-axis rack 33.

[0054] Specifically, the Z-axis drive motor 34 is mounted on the Y-axis slide saddle 24. The output end of the Z-axis drive motor 34 is connected to the Z-axis drive gear. During operation, the Z-axis drive motor 34 drives the Z-axis drive gear to rotate. The Z-axis drive gear meshes with the Z-axis rack 33 to transmit power, thereby causing the Z-axis column 31 to slide downward along the Z-axis direction.

[0055] According to some embodiments of this application, the electro-permanent magnet assembly 4 includes a mounting plate 41, connecting shafts 42, and electro-permanent magnets 43; there are four connecting shafts 42, which are slidably disposed at the four corners of the mounting plate 41 via linear bearings 44; the electro-permanent magnets 43 are respectively disposed at the lower end of each connecting shaft 42, and a buffer spring 45 is disposed between the upper end of each connecting shaft 42 and the mounting plate 41.

[0056] The mounting plate 41 is fixed to the lower end of the Z-axis column 31 by connecting bolts. Since four electro-permanent magnets 43 are installed below each Z-axis column 31, forming a 2x2 electromagnet matrix, the number of electro-permanent magnets that can be activated can be selected according to the workpiece size; for example, one or more small electromagnets can be activated to attract the workpiece. The buffer spring 45 can be a rectangular spring, which can reduce the impact at the moment of contact between the electro-permanent magnet 43 and the workpiece. The installation of the linear bearing 44 ensures good straightness when the connecting shaft 42 slides up and down, thereby guaranteeing that the electro-permanent magnet 43 performs linear reciprocating motion along the Z-axis without deflection.

[0057] According to some embodiments of this application, the lower end of the connecting shaft 42 is connected to the corresponding electro-permanent magnet 43 via a floating joint 46. The floating joint 46 allows the electro-permanent magnet 43 to float upward along the Z-axis, thereby ensuring that when multiple electro-permanent magnets are in contact with the workpiece simultaneously, there will be no leakage due to unevenness of the workpiece surface.

[0058] According to some embodiments of this application, every two electro-permanent magnets 43 are connected by a connecting rod 47. Connecting every two electro-permanent magnets 43 by the connecting rod 47 prevents twisting caused by the rotation of each electro-permanent magnet itself.

[0059] According to some embodiments of this application, a detection switch is provided on the top of the connecting shaft 42. The detection switch is fixedly installed on the Z-axis column 31 and is used to determine whether the electro-permanent magnet has attracted the workpiece. At the same time, the signal of whether the workpiece has been attracted can be fed back to the material picking control system.

[0060] After the CNC cutting machine cuts the material, the control system on the CNC cutting machine provides the shape and positional relationship of the cut workpiece, and transmits the data to the picking system to provide raw data to the picking device. The electro-permanent magnet assembly 4 in this application consists of four parts, namely electromagnet groups 1#, 2#, 3#, and 4#.

[0061] The CNC cutting machine's worktable is divided into four areas, and the specific workpiece gripping method is as follows:

[0062] (1) Sorting of a single Z-axis column: Group 1 of electromagnets grips area one, Group 2 of electromagnets grips area two, Group 3 of electromagnets grips area three, and Group 4 of electromagnets grips area four.

[0063] (2) Combination electromagnet gripping (1# + 2#):

[0064] Electromagnet group 1 and electromagnet group 2 are used together to grip parts in area 1 and area 2; the electromagnetic chuck head to be used needs to be selected according to the tilt angle of the part.

[0065] (3) Combination electromagnet gripping (3# + 4#):

[0066] Electromagnet group #3 and electromagnet group #4 are used together to grip parts in areas three and four; the electromagnetic chuck head to be used needs to be selected according to the tilt angle of the part.

[0067] (4) Combination electromagnet gripping (1# + 3#):

[0068] Electromagnet group #1 and electromagnet group #3 are a set to grip parts in areas one and three. The horizontal position of electromagnet group #1 or #3 should be adjusted according to the tilt angle, or different suction heads should be selected to adapt to the parts.

[0069] (5) Combination electromagnet gripping (2# + 4#):

[0070] Electromagnet group #2 and electromagnet group #4 are a set of grippers for parts in areas 2 and 4. The horizontal position of electromagnet group #2 or #4 should be adjusted according to the tilt angle, or different suction heads should be selected to suit the parts.

[0071] (6) Combination electromagnet gripping (1#+2#+3#):

[0072] If an L-shaped plate exists, and the distance between electromagnet group 1 and electromagnet group 2 is greater than a certain size, and the distance between electromagnet group 2 and electromagnet group 3 is greater than a certain size to accommodate this type of part, this method should be adopted for gripping.

[0073] (7) Combination electromagnet gripping (1#+3#+4#):

[0074] If an L-shaped plate exists, and the distance between electromagnet group #3 and electromagnet group #4 is greater than a certain size, and the distance between electromagnet group #1 and electromagnet group #3 is greater than a certain size, this method should be used to grip the part.

[0075] (8) Combination electromagnet gripping (1#+2#+3#+4#):

[0076] For parts whose horizontal dimension is greater than a certain dimension and whose vertical dimension is greater than a certain dimension (note that the actual shape of the part should be adjusted to the position of electromagnet groups 1#, 2#, 3#, and 4#), the four columns form a group to grasp parts in areas 1, 2, 3, and 4.

[0077] It should be noted that:

[0078] (1) If it is difficult to determine which area the grasped part is in, you can determine which area it is in by the center point of the part.

[0079] (2) To simplify the grasping method of the combined electromagnets, the number of combinations can be reduced by adjusting the left and right positions of the electromagnets:

[0080] The combination (1#+3#) in item 4 above can replace (2#+3#);

[0081] The combination (2#+4#) in item 5 above can replace (1#+4#);

[0082] The combination (1#+2#+3#) in item 6 above can be replaced by (1#+2#+4#);

[0083] The combination (1#+3#+4#) in item 7 above can replace (2#+3#+4#).

[0084] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above description is only a specific embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. An automatic picking device for a numerical control cutting machine, characterized in that, The system includes an X-axis base frame assembly, a Y-axis crossbeam assembly, and a Z-axis column assembly. Two X-axis base frame assemblies are positioned opposite each other on both sides of the CNC cutting machine's worktable. Two Y-axis crossbeam assemblies are connected opposite each other between the two X-axis base frame assemblies, and each Y-axis crossbeam assembly can move along the X-axis direction on the two X-axis base frame assemblies. Two Z-axis column assemblies are connected to each Y-axis crossbeam assembly, and each Z-axis column assembly can move along the Y-axis direction on the Y-axis crossbeam assembly. An electro-permanent magnet assembly for adsorbing workpieces is provided below each Z-axis column assembly, and the electro-permanent magnet assembly can move along the Z-axis direction under the drive of the Z-axis column assembly.

2. The automatic picking device for numerical control cutting machines according to claim 1, characterized in that, The X-axis base frame assembly includes an X-axis base frame, an X-axis track, and an X-axis drive component. The X-axis base frame has a gantry structure. The X-axis track is arranged on the X-axis base frame along the X-axis direction. The two X-axis drive components are respectively connected to the two Y-axis crossbeam assemblies to realize movement along the X-axis track.

3. The automatic material picking device for a CNC cutting machine according to claim 2, characterized in that, The X-axis drive component includes an X-axis traveling frame and an X-axis drive motor. The X-axis traveling frame is equipped with X-axis traveling wheels, and the X-axis drive motor is used to drive the X-axis traveling wheels to travel along the X-axis track.

4. The automatic picking device for numerical control cutting machines according to claim 1, characterized in that, The Y-axis crossbeam assembly includes a Y-axis crossbeam, a Y-axis guide rail, a Y-axis rack, and a Y-axis drive component. The two ends of the Y-axis crossbeam are respectively connected to the two X-axis base frame assemblies. The Y-axis guide rail and the Y-axis rack are arranged on the Y-axis crossbeam along the Y-axis direction. Two Y-axis saddles are slidably fitted on the Y-axis guide rail. The two Z-axis column assemblies are respectively disposed on the two Y-axis saddles. The two Y-axis drive components are used to drive the two Y-axis saddles to slide along the Y-axis guide rail.

5. The automatic picking device for numerical control cutting machines according to claim 4, characterized in that, The Y-axis drive component includes a Y-axis drive gear and a Y-axis drive motor. The two Y-axis drive motors are respectively mounted on the two Y-axis slides. The Y-axis drive motors drive the Y-axis drive gear to rotate so that it meshes with the Y-axis rack.

6. The automatic picking device for numerical control cutting machines according to claim 1, characterized in that, The Z-axis column assembly includes a Z-axis column, a Z-axis guide rail, a Z-axis rack, and a Z-axis drive component. The Z-axis column is connected to the Y-axis beam assembly. The Z-axis guide rail and the Z-axis rack are arranged on the Z-axis column along the Z-axis direction. The Z-axis drive component is used to drive the Z-axis column to slide along the Z-axis direction.

7. The automatic picking device for numerical control cutting machines according to claim 6, characterized in that, The Z-axis drive component includes a Z-axis drive gear and a Z-axis drive motor. The Z-axis drive motor drives the Z-axis drive gear to rotate so that it meshes with the Z-axis rack.

8. The automatic picking device for numerical control cutting machines according to any one of the preceding claims, characterized in that, The electro-permanent magnet assembly includes a mounting plate, connecting shafts, and electro-permanent magnets; there are four connecting shafts, which are slidably disposed at the four corners of the mounting plate via linear bearings; the electro-permanent magnets are respectively disposed at the lower end of each connecting shaft, and a buffer spring is disposed between the upper end of each connecting shaft and the mounting plate.

9. The automatic picking device for numerical control cutting machines according to claim 8, characterized in that, The lower end of the connecting shaft is connected to the corresponding electro-permanent magnet via a floating joint.

10. The automatic picking device for numerical control cutting machines according to claim 8, characterized in that, Each pair of electro-permanent magnets is connected by a connecting rod.

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