A gantry robot and lathe for a CNC adjustable tool post double-head lathe

Abstract

This application relates to the field of double-head lathe technology, specifically disclosing a gantry robot and lathe for a CNC adjustable tool post double-head lathe. The robot includes: a gantry body mounted on a machine base; two loading / unloading robots, each including a first dual-axis moving mechanism and an end effector for gripping workpieces. The first dual-axis moving mechanism is slidably mounted on the gantry body, and the end effector is mounted at the end of the first dual-axis moving mechanism. The first dual-axis moving mechanism is used to drive the end effector to move along the Z-axis or Y-axis; and a first linear drive mechanism mounted on the gantry body and connected to the first dual-axis moving mechanism, used to drive the end effector to move along the X-axis via the first dual-axis moving mechanism. The robot can effectively improve the production efficiency and automation level of the CNC adjustable tool post double-head lathe.

Description

Technical Field

[0001] This utility model belongs to the field of double-head lathe technology, and specifically relates to a gantry robot and lathe for a CNC adjustable tool post double-head lathe. Background Technology

[0002] In modern industrial production, CNC adjustable turret double-head lathes, as a highly efficient machining equipment, are widely used in the processing of various precision parts. However, in existing technologies, the loading and unloading processes of CNC adjustable turret double-head lathes typically rely on manual operation. Specifically, when the first and second spindles need to be loaded, the operator needs to manually place the workpiece to be processed onto the first and second spindles; when the first and second spindles have completed machining and need to be unloaded, the operator needs to manually remove the machined workpiece from the first and second spindles and place it in a preset position.

[0003] This manual loading and unloading method has many drawbacks. First, manual operation is labor-intensive, especially during long, repetitive tasks, easily leading to operator fatigue and affecting work efficiency and health. Second, manual loading and unloading is inefficient, affected by factors such as operator skill level and mental state, making it difficult to guarantee the stability and consistency of the production cycle, thus limiting the overall production efficiency of the CNC adjustable tool post double-head lathe. Third, manual operation poses certain safety risks; loading and unloading near high-speed machine tools can easily result in accidents such as pinching and collisions. Furthermore, with the continuous improvement of industrial automation, manual loading and unloading is no longer sufficient to meet the requirements of modern intelligent manufacturing for production efficiency, automation, and safety. Therefore, there is an urgent need for an automated device that can replace manual loading and unloading to improve production efficiency, reduce labor intensity, and enhance production safety.

[0004] Therefore, existing technologies need to be improved and developed. Utility Model Content

[0005] The purpose of this application is to provide a gantry robot and lathe for a CNC adjustable tool post double-head lathe, which can effectively improve the production efficiency and automation level of the CNC adjustable tool post double-head lathe.

[0006] In a first aspect, this application provides a gantry robot for a CNC adjustable tool turret double-head lathe. The CNC adjustable tool turret double-head lathe includes a machine base, a first spindle, a second spindle, a first tool post, and a second tool post. The machine base is provided with a spindle mounting seat. Both the first and second spindles are mounted on the spindle mounting seat. The second tool post moves synchronously with the first tool post or moves independently relative to the first tool post. The gantry robot for the CNC adjustable tool turret double-head lathe further includes:

[0007] The truss body is mounted on the base;

[0008] Two loading and unloading robots, each of which includes a first dual-axis moving mechanism and an end effector for gripping workpieces. The first dual-axis moving mechanism is slidably mounted on the truss body, and the end effector is mounted at the end of the first dual-axis moving mechanism. The first dual-axis moving mechanism is used to drive the end effector to move along the Z-axis or Y-axis.

[0009] A first linear drive mechanism is mounted on the truss body and connected to a first dual-axis moving mechanism, used to drive the end effector to move along the X-axis direction via the first dual-axis moving mechanism.

[0010] This application provides a gantry robot for a CNC adjustable tool post double-head lathe, which can realize the automated loading and unloading of CNC adjustable tool post double-head lathe, thereby effectively solving the problems of low efficiency, high labor intensity and high safety risks caused by traditional manual operation, and thus effectively improving the production efficiency and automation level of CNC adjustable tool post double-head lathe.

[0011] Furthermore, each of the first dual-axis moving mechanisms is equipped with two end effectors. For each first dual-axis moving mechanism, the two end effectors installed on the same first dual-axis moving mechanism are used to grip the workpiece to be processed and the processed workpiece, respectively.

[0012] Furthermore, the gantry manipulator for the CNC adjustable tool post double-head lathe also includes a moving mechanism mounting frame, which extends in the Y-axis direction and is slidably mounted on the gantry body. Both first dual-axis moving mechanisms are mounted on the moving mechanism mounting frame, and a first linear drive mechanism is used to drive the two first dual-axis moving mechanisms to move synchronously along the X-axis direction.

[0013] Furthermore, a first slide rail and a first rack are fixed on the truss body, a first slider is provided on the first slide rail, the moving mechanism mounting frame is fixedly connected to the first slider, and the first linear drive mechanism includes a first rotating component and a first gear. The first rotating component is mounted on the moving mechanism mounting frame, and the first gear is fixedly connected to the output end of the first rotating component and meshes with the first rack.

[0014] Furthermore, each of the first dual-axis moving mechanisms includes a second linear drive mechanism and a third linear drive mechanism. Two brackets are slidably mounted on the moving mechanism mounting frame. The two second linear drive mechanisms are respectively mounted on the two brackets. The third linear drive mechanism is mounted on the bracket and its output end is connected to the actuator mounting frame. The end effector is mounted on the lower side of the actuator mounting frame. The second linear drive mechanism is used to drive the bracket to slide along the moving mechanism mounting frame, and the third linear drive mechanism is used to drive the actuator mounting frame to move along the Z-axis direction.

[0015] Furthermore, a second slide rail and a second rack are fixed on the moving mechanism mounting bracket. Two sets of second sliders are provided on the second slide rail, and each set of second sliders is fixedly connected to a bracket. The second linear drive mechanism includes a second rotating component and a second gear. The second rotating component is mounted on the bracket, and the second gear is fixedly connected to the output end of the second rotating component and meshes with the second rack. A third slide rail and a third rack are fixed on the actuator mounting bracket. A third slider is provided on the third slide rail and is fixedly connected to the bracket. The third linear drive mechanism includes a third rotating component and a third gear. The third rotating component is mounted on the bracket, and the third gear is fixedly connected to the output end of the third rotating component and meshes with the third rack.

[0016] Furthermore, the gantry robot for the CNC adjustable tool post double-head lathe also includes a first protective shell and a second protective shell. The first protective shell is fitted outside the first linear drive mechanism, and the second protective shell is fitted outside the first dual-axis moving mechanism.

[0017] Secondly, this utility model provides a CNC adjustable tool post double-head lathe, which includes a machine base, a first spindle, a second spindle, a second dual-axis moving mechanism, a third dual-axis moving mechanism, a first tool post, a second tool post, and the gantry manipulator for the CNC adjustable tool post double-head lathe provided in the first aspect. The machine base is provided with a spindle mounting seat, and both the first spindle and the second spindle are mounted on the spindle mounting seat. The first tool post is mounted on the second dual-axis moving mechanism, and the second tool post is slidably mounted on the second dual-axis moving mechanism and connected to the third dual-axis moving mechanism.

[0018] Furthermore, the CNC adjustable tool post double-head lathe also includes a workpiece placement table, which is mounted on the machine base and is used to place processed workpieces and workpieces to be processed.

[0019] Furthermore, the CNC adjustable tool post double-head lathe also includes a machine cover, which is installed on the machine base. The machine cover is fitted over the first spindle, the second spindle, the first dual-axis moving mechanism, the second dual-axis moving mechanism, the first tool post, and the second tool post. The top of the machine cover is provided with a U-shaped groove, and the U-shaped groove is provided with an opening through which the loading and unloading robot can pass. At least one end of the U-shaped groove is connected to the side of the machine cover.

[0020] As can be seen from the above, the gantry robot and lathe provided by this utility model for a CNC adjustable tool post double-head lathe can realize the automated loading and unloading of the CNC adjustable tool post double-head lathe, thereby effectively solving the problems of low efficiency, high labor intensity and high safety risks caused by traditional manual operation, and thus effectively improving the production efficiency and automation level of the CNC adjustable tool post double-head lathe. Attached Figure Description

[0021] Figure 1This is a schematic diagram of the structure of a gantry robot for a CNC adjustable tool post double-head lathe, provided in the first embodiment of this application.

[0022] Figure 2 This is a schematic diagram of the structure of a gantry robot for a CNC adjustable tool post double-head lathe, provided as a second embodiment of this application.

[0023] Figure 3 for Figure 2 A magnified structural diagram of point A in the diagram.

[0024] Figure 4 for Figure 2 A magnified structural diagram of point B in the diagram.

[0025] Figure 5 This is a schematic diagram of the structure of the mobile mechanism mounting frame and the loading / unloading robot provided in the embodiments of this application.

[0026] Figure 6 This is a schematic diagram of a CNC adjustable tool post double-head lathe provided in the first embodiment of this application.

[0027] Figure 7 This is a structural schematic diagram of a CNC adjustable tool post double-head lathe provided in the second embodiment of this application.

[0028] Labeling Explanation: 1. Machine base; 2. First spindle; 3. Second spindle; 4. First tool post; 5. Second tool post; 6. Spindle mounting base; 7. Truss body; 8. Loading / unloading robot; 81. First dual-axis moving mechanism; 811. Second linear drive mechanism; 8111. Second rotating assembly; 8112. Second gear; 812. Third linear drive mechanism; 8121. Third rotating assembly; 8122. Third gear; 82. End effector; 9. First linear drive mechanism; 91. First rotating assembly; 9 2. First gear; 10. Moving mechanism mounting bracket; 11. First slide rail; 12. First rack; 13. First slider; 14. Bracket; 15. Actuator mounting bracket; 16. Second slide rail; 17. Second rack; 18. Second slider; 19. Third slide rail; 20. Third rack; 21. Third slider; 22. First protective shell; 23. Second protective shell; 24. Second dual-axis moving mechanism; 25. Third dual-axis moving mechanism; 26. Workpiece placement table; 27. Machine cover; 28. U-shaped groove; 29. ​​Opening. Detailed Implementation

[0029] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0030] The following disclosure provides many different embodiments or examples for implementing various structures of the present invention. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or reference letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0031] Firstly, such as Figures 1-5 As shown, this application provides a gantry robot for a CNC adjustable tool turret double-head lathe. The CNC adjustable tool turret double-head lathe includes a machine base 1, a first spindle 2, a second spindle 3, a first tool post 4, and a second tool post 5. The machine base 1 is provided with a spindle mounting seat 6. The first spindle 2 and the second spindle 3 are both mounted on the spindle mounting seat 6. The second tool post 5 moves synchronously with the first tool post 4 or moves independently relative to the first tool post 4. The gantry robot for the CNC adjustable tool turret double-head lathe also includes:

[0032] Truss body 7 is mounted on base 1;

[0033] Two loading and unloading robots 8, each of which includes a first dual-axis moving mechanism 81 and an end effector 82 for gripping workpieces. The first dual-axis moving mechanism 81 is slidably mounted on the truss body 7, and the end effector 82 is mounted at the end of the first dual-axis moving mechanism 81. The first dual-axis moving mechanism 81 is used to drive the end effector 82 to move along the Z-axis or Y-axis.

[0034] The first linear drive mechanism 9 is mounted on the truss body 7 and connected to the first dual-axis moving mechanism 81, and is used to drive the end effector 82 to move along the X-axis direction through the first dual-axis moving mechanism 81.

[0035] This application introduces a gantry robot to automate the loading and unloading of a CNC adjustable tool post double-head lathe, effectively solving the problems of low efficiency, high labor intensity and high safety risks caused by traditional manual operation, and significantly improving production efficiency and automation level.

[0036] For ease of understanding, some terms used in this embodiment are explained below. The CNC adjustable tool post double-head lathe of this embodiment is a CNC machine tool with two spindles and an adjustable tool post, capable of simultaneously machining two workpieces (workpieces requiring machining). The machine base 1 is the basic structure of the lathe, used to support and fix other components. The spindle mounting seat 6 is used to mount the first spindle 2 and the second spindle 3, ensuring their stable operation. The first spindle 2 and the second spindle 3 are core components for clamping and rotating the workpieces. The first tool post 4 and the second tool post 5 are used to mount cutting tools and can be moved and adjusted during machining. The CNC adjustable double-head lathe of this embodiment adopts a structure where the first spindle 2 and the second spindle 3 are located on the same side of the first tool post 4 and the second tool post 5 to minimize the space required for setting up two spindles. The gantry robot of this embodiment is an automated device, whose gantry body 7 is mounted on the machine base 1, providing a motion track for the loading and unloading robot 8. The loading and unloading robot 8 in this embodiment is used to grasp and transport workpieces. Each loading and unloading robot 8 includes a first dual-axis moving mechanism 81 and an end effector 82. The first dual-axis moving mechanism 81 can drive the end effector 82 to move along the Z-axis or Y-axis, while the first linear drive mechanism 9 is used to drive the end effector 82 to move along the X-axis, thereby realizing the precise transport of workpieces in three-dimensional space.

[0037] Specifically, the gantry body 7 is mounted on the base 1 of the CNC adjustable tool post double-head lathe, serving as the support structure and motion guide for the entire gantry robot. The gantry body 7 can adopt various structural forms; for example, it can be welded from high-strength aluminum alloy or steel to form a rigid frame, on which linear guides or slides are integrated for subsequent moving mechanisms to slide. As a preferred embodiment, the gantry body 7 can be designed as a gantry structure, spanning above the machining area of ​​the CNC adjustable tool post double-head lathe, thereby providing sufficient movement space for the loading / unloading robot 8. The two loading / unloading robots 8 are the core components of the gantry robot in performing workpiece gripping and handling tasks. Each loading / unloading robot 8 includes a first dual-axis moving mechanism 81 and an end effector 82 for gripping workpieces. The first dual-axis moving mechanism 81 is slidably mounted on the gantry body 7. For example, the first dual-axis moving mechanism 81 can cooperate with the slide rails on the gantry body 7 through rollers, sliders, or linear bearings to achieve smooth sliding. An end effector 82 is mounted at the end of the first dual-axis moving mechanism 81. The end effector 82 can be a pneumatic gripper, an electric gripper, a suction cup, or other type of gripping device, the selection of which depends on the shape, size, and material of the workpiece to be processed. The first dual-axis moving mechanism 81 is used to drive the end effector 82 to move along the Z-axis or Y-axis. For example, the first dual-axis moving mechanism 81 can be composed of two independent linear modules, one module responsible for movement in the Y-axis direction and the other module responsible for movement in the Z-axis direction, driven by a servo motor or stepper motor to achieve precise displacement of the end effector 82 in the YZ plane. The first linear drive mechanism 9 is mounted on the truss body 7 and connected to the first dual-axis moving mechanism 81. It is used to drive the end effector 82 to move along the X-axis direction through the first dual-axis moving mechanism 81. For example, the first linear drive mechanism 9 can be a gear and rack mechanism, wherein the rack is fixed on the truss body 7, the gear is driven by a motor and meshes with the rack, thereby driving the first dual-axis moving mechanism 81 to move along the X-axis direction. As another implementation, the first linear drive mechanism 9 can also be a ball screw mechanism, which drives the nut and the first dual-axis moving mechanism 81 connected to the nut to move along the X-axis direction through the rotation of the screw.

[0038] In practical applications, the operation method of the gantry robot used in a CNC adjustable tool post double-head lathe is as follows: 1. When the first spindle 2 and the second spindle 3 need to be loaded, the first linear drive mechanism 9 first drives the loading / unloading robot 8 to move to the picking position of the workpiece to be processed. Then, the first dual-axis moving mechanism 81 drives the end effector 82 to descend or extend to grab the workpiece to be processed. Subsequently, through the cooperation of the first linear drive mechanism 9, the two first dual-axis moving mechanisms 81 and the two end effectors 82, the two grabbed workpieces to be processed are placed on the first spindle 2 and the second spindle 3 respectively. During this process, the first linear drive mechanism 9 and the first dual-axis moving mechanism 81 work together to accurately position the workpieces in the spindle clamps. 1. Holding position; 2. When the first spindle 2 and the second spindle 3 need to unload, the two end effectors 82 are first moved to the processed workpieces held by the first spindle 2 and the second spindle 3 respectively by the cooperation of the first linear drive mechanism 9 and the two first dual-axis moving mechanisms 81. Then, the two end effectors 82 are used to clamp the processed workpieces held by the first spindle 2 and the second spindle 3. Finally, the two processed workpieces are placed in the preset position (e.g., workpiece placement table 26 or conveyor belt) by the cooperation of the first linear drive mechanism 9, the two first dual-axis moving mechanisms 81 and the two end effectors 82.

[0039] The gantry robot of this application automates the loading and unloading process of a CNC adjustable tool post double-head lathe. Its core innovation lies in the introduction of a collaborative working mechanism of the gantry body 7, two loading and unloading robots 8, and a first linear drive mechanism 9. Compared with the traditional manual loading and unloading method, the solution of this application has significant advantages.

[0040] Specifically, traditional manual loading and unloading methods suffer from high labor intensity, low efficiency, and high safety risks. Operators need to repeatedly handle and place workpieces for extended periods, leading to fatigue and unstable production cycles. This application replaces manual labor with a gantry robot, achieving automated workpiece gripping, handling, and placement. Specifically, the gantry body 7 provides a stable motion platform for the loading and unloading robots 8, ensuring the accuracy and reliability of the handling process. Two loading and unloading robots 8 can operate two spindles simultaneously, significantly improving loading and unloading efficiency. The cooperation of the first dual-axis moving mechanism 81 and the first linear drive mechanism 9 allows the end effector 82 to move freely in the X, Y, and Z directions, meeting the loading and unloading needs of different workpieces and machine tool layouts. Thus, the gantry robot of this application not only significantly reduces the labor intensity of operators and improves production efficiency but also avoids potential safety accidents caused by manual operation, improving the automation level and safety of the production line. This automated loading and unloading solution enables CNC adjustable tool post double-head lathes to better adapt to the needs of modern intelligent manufacturing, bringing enterprises higher economic benefits and stronger market competitiveness.

[0041] In some preferred embodiments, each first dual-axis moving mechanism 81 is equipped with two end effectors 82 at its end. The two end effectors 82 mounted on the same first dual-axis moving mechanism 81 are used to grip the workpiece to be processed and the processed workpiece, respectively. In this embodiment, the end of each first dual-axis moving mechanism 81 is no longer a single end effector 82, but is configured with a pair of end effectors 82. One end effector 82 is used to grip the workpiece to be processed (workpiece to be processed), and the other end effector 82 is used to grip the workpiece that has been processed (processed workpiece). In this embodiment, the end effector 82 preferably adopts a three-jaw chuck type clamp to accommodate round bars of different diameters.

[0042] This embodiment effectively solves the problem of low efficiency when using a single end effector 82 to handle both workpieces to be processed and workpieces to be processed by configuring two dedicated end effectors 82 for each first dual-axis moving mechanism 81. When the first spindle 2 and the second spindle 3 of the CNC adjustable tool turret double-head lathe need to unload after processing, the end effector 82 used to grip the processed workpiece can quickly grip the processed workpiece on the spindle. Immediately afterwards, the end effector 82 used to grip the workpiece to be processed can place the gripped workpiece onto the spindle. Thus, the unloading of the processed workpiece and the loading of the workpiece to be processed can be completed in one round trip, avoiding the need for a single end effector 82 to complete the unloading of the processed workpiece and the loading of the workpiece to be processed in two round trips. This effectively improves the loading and unloading efficiency of the CNC adjustable tool turret double-head lathe, and thus effectively improves the processing efficiency of the CNC adjustable tool turret double-head lathe.

[0043] In some preferred embodiments, the gantry manipulator for a CNC adjustable tool post double-head lathe further includes a moving mechanism mounting frame 10. The moving mechanism mounting frame 10 extends in the Y-axis direction and is slidably mounted on the gantry body 7. Two first dual-axis moving mechanisms 81 are mounted on the moving mechanism mounting frame 10. A first linear drive mechanism 9 drives the two first dual-axis moving mechanisms 81 to move synchronously along the X-axis direction. In this embodiment, the moving mechanism mounting frame 10 is a structural component whose main function is to provide a common mounting platform for the two first dual-axis moving mechanisms 81. The extension direction of the mounting frame is set in the Y-axis direction, meaning that its length direction is parallel to the Y-axis, thereby enabling it to span the mounting positions of the two first dual-axis moving mechanisms 81. In this embodiment, the moving mechanism mounting frame 10 is slidably mounted on the gantry body 7, which allows it to move as a whole along the X-axis direction on the gantry body 7. Both first dual-axis moving mechanisms 81 are mounted on the moving mechanism mounting frame 10. The first linear drive mechanism 9 is configured to be connected to the moving mechanism mounting frame 10 and drive the moving mechanism mounting frame 10 to move along the X-axis direction, thereby driving the two first dual-axis moving mechanisms 81 mounted thereon to move synchronously along the X-axis direction. The purpose is to simplify the drive structure in the X-axis direction and ensure the synchronicity of the movement of the two first dual-axis moving mechanisms 81 in the X-axis direction.

[0044] This embodiment effectively solves the potential complexity of synchronously driving two first dual-axis moving mechanisms 81 in the X-axis direction in the basic scheme by introducing a moving mechanism mounting bracket 10. Because the moving mechanism mounting bracket 10 extends in the Y-axis direction and is slidably mounted on the truss body 7, and both first dual-axis moving mechanisms 81 are mounted on this mounting bracket 10, the first linear drive mechanism 9 can drive the moving mechanism mounting bracket 10, thereby simultaneously and synchronously driving the two first dual-axis moving mechanisms 81 to move along the X-axis direction as a whole. This structural design integrates two first dual-axis moving mechanisms 81 that would otherwise require independent driving or complex linkage to achieve synchronous movement along the X-axis onto a common moving platform, thus simplifying the drive structure in the X-axis direction and fundamentally ensuring the consistency of movement of the two first dual-axis moving mechanisms 81 in the X-axis direction, ensuring the coordination and efficiency of the double-head lathe when performing dual-workpiece operations.

[0045] In some preferred embodiments, a first slide rail 11 and a first rack 12 are fixed on the truss body 7. A first slider 13 is provided on the first slide rail 11. The moving mechanism mounting frame 10 is fixedly connected to the first slider 13. The first linear drive mechanism 9 includes a first rotating component 91 and a first gear 92. The first rotating component 91 is mounted on the moving mechanism mounting frame 10. The first gear 92 is fixedly connected to the output end of the first rotating component 91 and meshes with the first rack 12. The first slide rail 11 in this embodiment can be understood as a linear guide rail, which extends along the X-axis and is fixed on the truss body 7 to provide a precise linear motion trajectory for the moving mechanism mounting frame 10. The first slider 13 in this embodiment is a sliding component that cooperates with the first slide rail 11. It is fixedly connected to the moving mechanism mounting frame 10 to ensure that the moving mechanism mounting frame 10 can move smoothly along the first slide rail 11. The first rack 12 also extends along the X-axis and is fixed on the truss body 7, arranged parallel to the first slide rail 11, serving as a fixed gear part in the gear transmission mechanism. The first rotating component 91 in the first linear drive mechanism 9 of this embodiment can be, for example, a servo motor or a stepper motor. It is mounted on the moving mechanism mounting frame 10 and is responsible for providing driving torque. The first gear 92 in this embodiment is fixedly connected to the output end of the first rotating component 91 and meshes with the first rack 12. Its function is to convert the rotational motion of the first rotating component 91 into the linear motion of the moving mechanism mounting frame 10.

[0046] This embodiment achieves precise synchronous movement of the moving mechanism mounting frame 10 along the X-axis by setting a first slide rail 11 and a first rack 12 on the truss body 7, and allowing the moving mechanism mounting frame 10 to slide on the first slide rail 11 via a first slider 13. Simultaneously, a first rotating assembly 91 drives a first gear 92 to mesh with the first rack 12. Specifically, the cooperation between the first slide rail 11 and the first slider 13 provides stable linear guidance, effectively suppressing lateral swaying and deviation of the moving mechanism mounting frame 10 in the X-axis direction. The first rotating assembly 91 drives the first gear 92 to mesh with the first rack 12, converting rotational motion into linear motion, ensuring effective transmission of driving force and precise position control. It is precisely this combination of gear and rack with linear guide rail that enables the entire moving mechanism mounting frame 10 to exhibit high precision, high rigidity, and good synchronization in the X-axis direction.

[0047] In some preferred embodiments, each first dual-axis moving mechanism 81 includes a second linear drive mechanism 811 and a third linear drive mechanism 812. Two brackets 14 are slidably mounted on the moving mechanism mounting frame 10. The two second linear drive mechanisms 811 are respectively mounted on the two brackets 14. The third linear drive mechanism 812 is mounted on the bracket 14 and its output end is connected to the actuator mounting frame 15. The end effector 82 is mounted on the lower side of the actuator mounting frame 15. The second linear drive mechanism 811 is used to drive the bracket 14 to slide along the moving mechanism mounting frame 10, and the third linear drive mechanism 812 is used to drive the actuator mounting frame 15 to move along the Z-axis direction. In this embodiment, the second linear drive mechanism 811 and the third linear drive mechanism 812 are the core components for realizing the precise movement of the end effector 82 in the Y-axis and Z-axis directions. In this embodiment, two brackets 14 are slidably mounted on the mobile mechanism mounting frame 10. These two brackets 14 provide a mounting base for the second linear drive mechanism 811 and the third linear drive mechanism 812, and allow them to slide along the Y-axis direction on the mobile mechanism mounting frame 10. The sliding of the brackets 14 enables the positioning and adjustment of the end effector 82 in the Y-axis direction. The two second linear drive mechanisms 811 are respectively mounted on the two brackets 14. Each second linear drive mechanism 811 drives its respective bracket 14 to slide along the Y-axis direction of the mobile mechanism mounting frame 10, thereby achieving precise displacement of the end effector 82 in the Y-axis direction. The third linear drive mechanism 812 is mounted on the bracket 14, and its output end is connected to the actuator mounting frame 15. The actuator mounting frame 15 is the direct support component for the end effector 82, which is mounted on the lower side of the actuator mounting frame 15. The third linear drive mechanism 812 achieves the vertical lifting operation of the end effector 82 by driving the actuator mounting frame 15 to move along the Z-axis direction. Therefore, the second linear drive mechanism 811 in this embodiment is used to drive the bracket 14 to slide along the moving mechanism mounting frame 10 to realize the movement of the end effector 82 along the Y-axis direction, and the third linear drive mechanism 812 in this embodiment is used to drive the actuator mounting frame 15 to move along the Z-axis direction to realize the movement of the end effector 82 along the Z-axis direction.

[0048] This embodiment effectively solves the limitations of existing solutions in terms of the accuracy and flexibility of the end effector 82 in the Y-axis and Z-axis directions by refining the first dual-axis moving mechanism 81 into a second linear drive mechanism 811 and a third linear drive mechanism 812, and by introducing the cooperative operation of the bracket 14 and the actuator mounting frame 15. Specifically, the second linear drive mechanism 811 independently drives the bracket 14 to slide along the Y-axis on the moving mechanism mounting frame 10, enabling the end effector 82 to be accurately positioned in the horizontal direction. At the same time, the third linear drive mechanism 812 independently drives the actuator mounting frame 15 to move along the Z-axis, ensuring the accurate lifting and lowering of the end effector 82 in the vertical direction. This layered drive structure enables each end effector 82 to have independent Y-axis and Z-axis movement capabilities, thereby adapting to workpieces of different sizes and positions and achieving high-precision gripping and placement operations.

[0049] In some preferred embodiments, a second slide rail 16 and a second rack 17 are fixed on the moving mechanism mounting bracket 10. Two sets of second sliders 18 are provided on the second slide rail 16, and each set of second sliders 18 is fixedly connected to a bracket 14. The second linear drive mechanism 811 includes a second rotating component 8111 and a second gear 8112. The second rotating component 8111 is mounted on the bracket 14, and the second gear 8112 is fixedly connected to the output end of the second rotating component 8111 and meshes with the second rack 17. A third slide rail 19 and a third rack 20 are fixed on the actuator mounting bracket 15. A third slider 21 is provided on the third slide rail 19 and is fixedly connected to the bracket 14. The third linear drive mechanism includes a third rotating component 8121 and a third gear 8122. The third rotating component 8121 is mounted on the bracket 14, and the third gear 8122 is fixedly connected to the output end of the third rotating component 8121 and meshes with the third rack 20. This embodiment effectively addresses the shortcomings of traditional linear drive mechanisms in terms of accuracy, stability, and maintainability by specifically implementing the second linear drive mechanism 811 and the third linear drive mechanism 812 as a combination of gear and rack transmission and slide rail and slider guidance. Specifically, the second rotating component 8111 drives the second gear 8112 to mesh with the second rack 17, converting rotation into precise linear movement of the support 14 in the Y-axis direction, while the second slide rail 16 and the second slider 18 provide stable guidance. The third rotating component 8121 drives the third gear 8122 to mesh with the third rack 20, converting rotation into precise linear movement of the actuator mounting bracket 15 in the Z-axis direction, guided by the third slide rail 19 and the third slider 21. This structure ensures that the loading and unloading robot 8 has high precision, high rigidity, and good repeatability in the Y-axis and Z-axis directions.

[0050] In some preferred embodiments, the gantry robot for a CNC adjustable tool post double-head lathe further includes a first protective shell 22 and a second protective shell 23. The first protective shell 22 is fitted over the first linear drive mechanism 9, and the second protective shell 23 is fitted over the first dual-axis moving mechanism 81. The first protective shell 22 in this embodiment can be understood as an external structure used to cover and protect the first linear drive mechanism 9. Its purpose is to reduce the contact between contaminants in the external environment (such as cutting fluid, metal shavings, dust, etc.) and the first linear drive mechanism 9, as well as the collision between the first linear drive mechanism 9 and external objects, thereby effectively extending the service life and working accuracy of the first linear drive mechanism 9. Similarly, the second protective shell 23 refers to the external structure used to protect the first dual-axis moving mechanism 81. Its purpose is to provide similar protection for the first dual-axis moving mechanism 81, preventing it from being disturbed by the external environment during movement.

[0051] This embodiment effectively isolates the first linear drive mechanism 9 and the first dual-axis moving mechanism 81 from harsh external environments by providing a first protective shell 22 and a second protective shell 23. The first protective shell 22 reduces contact between contaminants such as cutting fluid and chips and the first linear drive mechanism 9, and prevents direct collisions between external objects and the first linear drive mechanism 9, thus avoiding corrosion and wear of its internal precision transmission components. Simultaneously, the second protective shell 23 covers the first dual-axis moving mechanism 81, ensuring that it also reduces direct collisions with external objects during high-speed movement, maintaining its motion accuracy and stability.

[0052] As can be seen from the above, the gantry robot provided in this application for a CNC adjustable tool post double-head lathe can realize the automated loading and unloading of the CNC adjustable tool post double-head lathe, thereby effectively solving the problems of low efficiency, high labor intensity and high safety risks caused by traditional manual operation, and thus effectively improving the production efficiency and automation level of the CNC adjustable tool post double-head lathe.

[0053] Secondly, such as Figure 6 and Figure 7 As shown, the present invention provides a CNC adjustable tool post double-head lathe, which includes a machine base 1, a first spindle 2, a second spindle 3, a second dual-axis moving mechanism 24, a third dual-axis moving mechanism 25, a first tool post 4, a second tool post 5, and a gantry robot for the CNC adjustable tool post double-head lathe provided in the first aspect. The machine base 1 is provided with a spindle mounting seat 6. The first spindle 2 and the second spindle 3 are both mounted on the spindle mounting seat 6. The first tool post 4 is mounted on the second dual-axis moving mechanism 24. The second tool post 5 is slidably mounted on the second dual-axis moving mechanism 24 and connected to the third dual-axis moving mechanism 25.

[0054] The second dual-axis moving mechanism 24 is used to support and drive the first tool post 4. In one implementation, the second dual-axis moving mechanism 24 can be a linear module driven by a servo motor, enabling the first tool post 4 to move precisely in the X and Y axes, thus meeting the tool position requirements of different machining processes. The first tool post 4 is mounted on the second dual-axis moving mechanism 24. For example, the first tool post 4 can be fixed to the sliding block of the second dual-axis moving mechanism 24 by bolts or a quick-clamping mechanism, ensuring the stability and rigidity of the tool post during high-speed cutting. The second tool post 5 is slidably mounted on the second dual-axis moving mechanism 24 and connected to the third dual-axis moving mechanism 25. This means that the second tool post 5 can move relative to the first tool post 4 on the second dual-axis moving mechanism 24, while its movement is also controlled by the third dual-axis moving mechanism 25. This configuration allows the second tool post 5 to move synchronously with the first tool post 4, or to be finely adjusted independently of the first tool post 4 when needed, thereby improving the machining flexibility and efficiency of the lathe.

[0055] In some preferred embodiments, the CNC adjustable turret double-head lathe further includes a workpiece placement stage 26, which is mounted on the machine base 1. The workpiece placement stage 26 is used to place machined workpieces and workpieces to be machined. In this embodiment, the workpiece placement stage 26 is a structure specifically designed for storing machined workpieces. It is securely mounted on the machine base 1 of the CNC adjustable turret double-head lathe. The function of the workpiece placement stage 26 is to provide a centralized and orderly area for storing workpieces to be machined and machined workpieces that have already been processed. By directly mounting the workpiece placement stage 26 on the machine base 1, this embodiment ensures that the workpiece placement stage 26 is tightly integrated with the overall structure of the CNC adjustable turret double-head lathe, thereby improving the overall stability and space utilization of the equipment.

[0056] This embodiment provides a clear and fixed workpiece storage and retrieval interface for the gantry robot by adding a workpiece placement platform 26. When loading is required, the gantry robot can pick up the workpiece to be processed from the workpiece placement platform 26 and accurately place it on the first spindle 2 and the second spindle 3. When unloading is required after processing, the gantry robot can pick up the processed workpiece from the spindle and place it in the designated area of ​​the workpiece placement platform 26. The workpiece placement platform 26 serves as a buffer and scheduling center for workpiece flow, enabling the gantry robot to perform loading and unloading tasks efficiently and continuously, avoiding operation interruptions or efficiency reductions caused by scattered or disorderly stacking of workpieces.

[0057] In some preferred embodiments, the CNC adjustable tool post double-head lathe further includes a cover 27, which is mounted on the machine base 1. The cover 27 is fitted over the first spindle 2, the second spindle 3, the first dual-axis moving mechanism 81, the second dual-axis moving mechanism 24, the first tool post 4, and the second tool post 5. The top of the cover 27 is provided with a U-shaped groove 28, and the U-shaped groove 28 has an opening 29 through which the loading and unloading robot 8 can pass. At least one end of the U-shaped groove 28 is connected to the side of the cover 27. The cover 27 in this embodiment can be understood as a structure for protecting the machining area of ​​the CNC adjustable tool post double-head lathe. The cover 27 is mounted on the machine base 1 and fitted over the main machining components such as the first spindle 2, the second spindle 3, the first dual-axis moving mechanism 81, the second dual-axis moving mechanism 24, the first tool post 4, and the second tool post 5, forming a relatively enclosed machining space. The top of the machine cover 27 is provided with a U-shaped groove 28, which is a groove structure of a specific shape on the top of the machine cover 27, with an opening 29 inside for the loading / unloading robot 8 to pass through. This opening 29 is the channel for the loading / unloading robot 8 to transfer workpieces, allowing the robot to grasp workpieces outside the machine cover 27 or, after grasping workpieces from the spindle, to feed or remove workpieces into or from the processing area through this opening 29. At least one end of the U-shaped groove 28 connects to the side of the machine cover 27, meaning that the opening 29 of the U-shaped groove 28 can communicate with the side of the machine cover 27, forming a continuous channel. In other embodiments, such as... Figure 7 As shown, the gantry robot for the CNC adjustable tool post double-head lathe is mounted on the top of the machine cover 27, that is, the gantry robot for the CNC adjustable tool post double-head lathe in this embodiment is mounted on the machine base 1 through the machine cover 27.

[0058] This embodiment effectively isolates the machining area of ​​the CNC adjustable tool post double-head lathe from the external environment by setting up a cover 27. When the first spindle 2 and the second spindle 3 are machining, the splashing of chips and cutting fluid is confined inside the cover 27, thereby avoiding injury to operators and pollution of the workshop environment. At the same time, the cover 27 can also effectively block the noise generated during machining, improving the working environment. Because the gantry robot is designed to be located outside the cover 27, the robot does not need to open the entire cover 27 when performing loading and unloading operations. It only needs to transfer the workpiece through the U-shaped groove 28 on the top of the cover 27 and its internal opening 29. This design avoids contamination of the robot by chips and cutting fluid generated during machining, extends the service life of the robot, and reduces maintenance requirements. The cooperation of the U-shaped groove 28 and the opening 29 provides a controlled, partially open channel for the loading and unloading robot 8, allowing the robot to accurately feed the workpiece to be processed into the spindle and remove the processed workpiece.

[0059] As can be seen from the above, the gantry robot and lathe provided by this utility model for a CNC adjustable tool post double-head lathe can realize the automated loading and unloading of the CNC adjustable tool post double-head lathe, thereby effectively solving the problems of low efficiency, high labor intensity and high safety risks caused by traditional manual operation, and thus effectively improving the production efficiency and automation level of the CNC adjustable tool post double-head lathe.

[0060] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0061] The above are merely some embodiments of this utility model. For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this utility model, and these all fall within the protection scope of this utility model.

Claims

1. A truss robot for a CNC adjustable tool holder double-head lathe, characterized by, The CNC adjustable tool post double-head lathe includes a machine base, a first spindle, a second spindle, a first tool post, and a second tool post. The machine base is provided with a spindle mounting base. Both the first spindle and the second spindle are mounted on the spindle mounting base. The second tool post moves synchronously with the first tool post or moves independently relative to the first tool post. The gantry robot for the CNC adjustable tool post double-head lathe further includes: The truss body is mounted on the base; Two loading and unloading robots, each of which includes a first dual-axis moving mechanism and an end effector for gripping workpieces. The first dual-axis moving mechanism is slidably mounted on the truss body, and the end effector is mounted at the end of the first dual-axis moving mechanism. The first dual-axis moving mechanism is used to drive the end effector to move along the Z-axis or the Y-axis. A first linear drive mechanism, mounted on the truss body and connected to the first dual-axis moving mechanism, is used to drive the end effector to move along the X-axis direction via the first dual-axis moving mechanism.

2. The gantry robot for a CNC adjustable tool post double-head lathe according to claim 1, characterized in that, Each of the first dual-axis moving mechanisms is equipped with two end effectors. The two end effectors installed on the same first dual-axis moving mechanism are used to grip the workpiece to be processed and the processed workpiece, respectively.

3. The gantry robot for a CNC adjustable tool post double-head lathe according to claim 1, characterized in that, The gantry manipulator for the CNC adjustable tool post double-head lathe also includes a moving mechanism mounting frame. The moving mechanism mounting frame extends in the Y-axis direction and is slidably mounted on the gantry body. Both first dual-axis moving mechanisms are mounted on the moving mechanism mounting frame. The first linear drive mechanism is used to drive the two first dual-axis moving mechanisms to move synchronously along the X-axis direction.

4. The gantry robot for a CNC adjustable tool post double-head lathe according to claim 3, characterized in that, The truss body is fixed with a first slide rail and a first rack. The first slide rail is provided with a first slider. The moving mechanism mounting frame is fixedly connected to the first slider. The first linear drive mechanism includes a first rotating component and a first gear. The first rotating component is mounted on the moving mechanism mounting frame. The first gear is fixedly connected to the output end of the first rotating component and meshes with the first rack.

5. The gantry robot for a CNC adjustable tool post double-head lathe according to claim 3, characterized in that, Each of the first dual-axis moving mechanisms includes a second linear drive mechanism and a third linear drive mechanism. Two brackets are slidably mounted on the moving mechanism mounting frame. The two second linear drive mechanisms are respectively mounted on the two brackets. The third linear drive mechanism is mounted on the bracket and its output end is connected to the actuator mounting frame. The end effector is mounted on the lower side of the actuator mounting frame. The second linear drive mechanism is used to drive the bracket to slide along the moving mechanism mounting frame, and the third linear drive mechanism is used to drive the actuator mounting frame to move along the Z-axis direction.

6. The gantry robot for a CNC adjustable tool post double-head lathe according to claim 5, characterized in that, The moving mechanism mounting bracket is fixed with a second slide rail and a second rack. The second slide rail is provided with two sets of second sliders. Each set of second sliders is fixedly connected to one of the brackets. The second linear drive mechanism includes a second rotating component and a second gear. The second rotating component is mounted on the bracket. The second gear is fixedly connected to the output end of the second rotating component and meshes with the second rack. The actuator mounting bracket is fixed with a third slide rail and a third rack. The third slide rail is provided with a third slider. The third slider is fixedly connected to the bracket. The third linear drive mechanism includes a third rotating component and a third gear. The third rotating component is mounted on the bracket. The third gear is fixedly connected to the output end of the third rotating component and meshes with the third rack.

7. The gantry robot for a CNC adjustable tool post double-head lathe according to claim 1, characterized in that, The gantry robot for the CNC adjustable tool post double-head lathe further includes a first protective shell and a second protective shell. The first protective shell is fitted outside the first linear drive mechanism, and the second protective shell is fitted outside the first dual-axis moving mechanism.

8. A CNC adjustable tool post double-head lathe, characterized in that, The CNC adjustable tool post double-head lathe includes a machine base, a first spindle, a second spindle, a second dual-axis moving mechanism, a third dual-axis moving mechanism, a first tool post, a second tool post, and a gantry manipulator for the CNC adjustable tool post double-head lathe as described in any one of claims 1-7. The machine base is provided with a spindle mounting seat, and both the first spindle and the second spindle are mounted on the spindle mounting seat. The first tool post is mounted on the second dual-axis moving mechanism, and the second tool post is slidably mounted on the second dual-axis moving mechanism and connected to the third dual-axis moving mechanism.

9. The CNC adjustable tool post double-head lathe according to claim 8, characterized in that, The CNC adjustable tool post double-head lathe also includes a workpiece placement table, which is mounted on the machine base and is used to place processed workpieces and workpieces to be processed.

10. The CNC adjustable tool post double-head lathe according to claim 8, characterized in that, The CNC adjustable tool post double-head lathe also includes a machine cover, which is mounted on the machine base. The machine cover is sleeved outside the first spindle, the second spindle, the first dual-axis moving mechanism, the second dual-axis moving mechanism, the first tool post, and the second tool post. The top of the machine cover is provided with a U-shaped groove, and the U-shaped groove is provided with an opening that allows the loading and unloading robot to pass through. At least one end of the U-shaped groove is connected to the side of the machine cover.

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