A round workpiece taking and placing device for numerical control machining

Abstract

The utility model provides a kind of round workpiece taking and placing device for numerical control processing, it is related to round workpiece taking and placing equipment field for numerical control processing, including numerical control machining center, for processing round workpiece, moving assembly, including the ground rail of numerical control machining center front, the sliding platform of sliding in ground rail top, the support seat of being located in the sliding platform top, for moving the drive motor of sliding platform, gear plate and gear;The utility model can slide on ground rail by the sliding platform in moving assembly, and drive motor moves sliding platform by the cooperation of gear and gear plate, so that taking and placing assembly can be flexibly adjusted position, can quickly reach specified workpiece taking and placing position, the sliding platform can be accurately positioned by photoelectric switch in positioning assembly, avoid the repeated operation caused by inaccurate positioning, by the synergic cooperation of moving assembly, taking and placing assembly and positioning assembly, the automatic taking and placing process of round workpiece is realized, effectively reduce manual intervention.

Description

Technical Field

[0001] This utility model belongs to the field of circular workpiece picking and placing equipment for CNC machining, specifically a circular workpiece picking and placing device for CNC machining. Background Technology

[0002] Numerical control machining is a process method that uses computer numerical control (CNC) technology to process parts. It controls the displacement of parts and tools through digital information to achieve efficient, precise and stable automated processing. CNC machining is often used to process some round workpieces such as automotive shafts and discs. Before processing the workpiece through a CNC machining center, the workpiece needs to be placed on the fixture of the CNC machining center to complete the positioning of the workpiece for subsequent processing.

[0003] Currently, when CNC machining round workpieces, the handling of round workpieces relies heavily on manual operation. Operators need to manually move the workpieces to the fixture position and position them. Manual handling is inefficient, especially in batch processing scenarios. Frequent handling will prolong the production cycle. Moreover, the surface of round workpieces is smooth and there are no fixed support points. When handling them by hand, the workpieces are prone to rolling or slipping, which is not conducive to the machining of round workpieces.

[0004] In summary, this utility model provides a circular workpiece pick-and-place device for CNC machining to solve the above problems. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0006] A circular workpiece pick-and-place device for CNC machining includes a CNC machining center for machining circular workpieces; a moving component including a ground rail located on the front of the CNC machining center, a slide table sliding on the top of the ground rail, a support base located on the top of the slide table, a drive motor for moving the slide table, a gear plate and gears, and a slide rail and slide base for limiting the slide table; a pick-and-place component including a six-axis robotic arm located on the top of the support base, and an electric three-jaw manipulator mounted on the execution end of the six-axis robotic arm for picking up and placing circular workpieces; and a positioning component including a photoelectric switch for positioning the slide table, and a vision sensor mounted on the end of the six-axis robotic arm for positioning the pick-and-place workpiece.

[0007] Furthermore, in this utility model, the front end and rear end of the top of the ground rail are both fixedly connected to slide rails, and the slide block is located on top of the slide rail and is slidably connected to the slide rail.

[0008] Furthermore, in this utility model, the slide table is fixed to the top of the slide base, the support base is fixed to the center of the top of the slide table, and the drive motor is fixed to the rear end of the top of the slide table.

[0009] Furthermore, in this utility model, the toothed plate is fixed to the rear end of the top of the ground rail, the gear meshes with the toothed plate, and the output shaft of the drive motor passes through the support seat and is connected to the gear transmission.

[0010] Furthermore, in this utility model, accordion covers are fixedly connected to both ends of the top of the ground rail, and the other end of the accordion covers is fixedly connected to the slide table.

[0011] Furthermore, in this invention, the six-axis robotic arm is fixed at the center of the top of the support base, and the electric three-jaw manipulator is connected to the six-axis robotic arm via a flange.

[0012] Furthermore, in this invention, several sets of photoelectric switches are provided, all of which are fixed to the surface of the ground rail, and the vision sensor is installed on the surface of the six-axis robotic arm and located at one end of the electric three-jaw robotic arm.

[0013] Beneficial effects: This utility model has the following beneficial effects:

[0014] This invention utilizes a sliding table in the moving component that can slide on a ground rail. A drive motor, through the cooperation of gears and toothed plates, moves the sliding table, allowing the pick-and-place component to flexibly adjust its position and quickly reach the designated workpiece pick-and-place location. This reduces time consumption during workpiece pick-and-placement and improves the overall processing efficiency. A photoelectric switch in the positioning component allows for precise positioning of the sliding table, while a vision sensor positions the workpiece. Precise positioning ensures that the six-axis robotic arm and electric three-jaw manipulator can accurately grasp and place circular workpieces, avoiding repetitive operations due to inaccurate positioning and further improving processing efficiency. The pick-and-place component uses a six-axis robotic arm with six degrees of freedom, enabling flexible movement in three-dimensional space. Combined with the electric three-jaw manipulator, it can perform multi-angle and multi-directional pick-and-place operations on circular workpieces, adapting to different processing needs and workpiece placement positions, greatly improving the operational flexibility of the device. Through the coordinated operation of the moving component, pick-and-place component, and positioning component, the automated pick-and-place process for circular workpieces is achieved, effectively reducing manual intervention. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the connection structure between the moving component and the picking and placing component of this utility model;

[0017] Figure 3 This is a schematic diagram of the connection state structure of the mobile component of this utility model;

[0018] Figure 4This is a schematic diagram of the connection structure between the six-axis robotic arm, the electric three-jaw manipulator, and the vision sensor of this utility model.

[0019] In the picture:

[0020] 100. CNC machining center; 200. Moving component; 210. Ground rail; 220. Slide table; 230. Support base; 240. Drive motor; 250. Gear plate; 260. Gear; 270. Slide rail; 280. Slide block; 290. Bellows protective cover; 300. Pick-and-place component; 310. Six-axis robotic arm; 320. Electric three-jaw robotic arm; 400. Positioning component; 410. Photoelectric switch; 420. Vision sensor. Detailed Implementation

[0021] To better understand the technical content of this utility model, specific embodiments are described below in conjunction with the accompanying drawings. Various aspects of this utility model are described in this disclosure with reference to the accompanying drawings, which illustrate numerous illustrative embodiments. The embodiments of this disclosure are not necessarily defined to include all aspects of this utility model. It should be understood that the various concepts and embodiments described above, as well as those described in more detail below, can be implemented in any of many ways, because the concepts and embodiments disclosed in this utility model are not limited to any particular implementation. Furthermore, some aspects of this utility model can be used alone or in any suitable combination with other aspects disclosed in this utility model. Example

[0022] like Figure 1-4 The first embodiment of this utility model is shown. This embodiment provides a circular workpiece pick-and-place device for CNC machining, including a CNC machining center 100 for machining circular workpieces, a moving component 200 including a ground rail 210 located on the front of the CNC machining center 100, a slide table 220 sliding on the top of the ground rail 210, a support base 230 located on the top of the slide table 220, a drive motor 240, a toothed plate 250 and a gear 260 for moving the slide table 220, and a slide rail 270 and a slide base 280 for limiting the slide table 220, a pick-and-place component 300 including a six-axis robotic arm 310 located on the top of the support base 230, and an electric three-jaw manipulator 320 installed at the execution end of the six-axis robotic arm 310 for picking up and placing circular workpieces, and a positioning component 400 including a photoelectric switch 410 for positioning the slide table 220, and a vision sensor 420 installed at the end of the six-axis robotic arm 310 for positioning the pick-and-place workpieces.

[0023] like Figure 1-4As shown, the pick-and-place assembly 300 employs a six-axis robotic arm 310 and an electric three-jaw manipulator 320. The six-axis robotic arm 310 has multiple degrees of freedom, enabling flexible movement in three-dimensional space and allowing it to quickly and accurately reach the pick-and-place position of the workpiece. The electric three-jaw manipulator 320 can grasp and place the workpiece in a suitable manner according to the characteristics of a circular workpiece. Its operation speed is fast and highly repeatable. In batch processing scenarios, it can continuously and efficiently perform workpiece pick-and-place operations, avoiding the inefficiency caused by frequent manual pick-and-place operations and effectively shortening the production cycle. The drive motor 240 in the moving assembly 200 drives the slide table 220 to slide on the ground rail 210 through the meshing of the gear 260 and the toothed plate 250. The slide rail 270 and the slide base 280 ensure the stability and accuracy of the slide table 220's movement. This automation... The movement process requires no manual handling, and the pick-and-place component 300 can be quickly moved to the designated position. Compared with manual handling of workpieces, the movement speed is greatly improved and the time for transferring workpieces between different positions is shortened. The motors and drive motors 240 of the electric three-jaw manipulator 320 are both servo motors. The photoelectric switch 410 in the positioning component 400 is used to position the slide 220, ensuring that the slide 220 stops accurately in the predetermined position. The vision sensor 420 is installed at the end of the six-axis manipulator 310 for positioning the pick-and-place of workpieces. It can identify the position and posture of circular workpieces, enabling the six-axis manipulator 310 and the electric three-jaw manipulator 320 to accurately grasp and place workpieces. Through precise positioning, the accuracy and stability of pick-and-place are further improved, and the occurrence of workpiece rolling or slipping due to inaccurate positioning is reduced. Example

[0024] Reference Figure 1-3 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0025] In this embodiment, the front and rear ends of the top of the ground rail 210 are fixedly connected to the slide rail 270, and the slide block 280 is located on the top of the slide rail 270 and is slidably connected to the slide rail 270.

[0026] The slide table 220 is fixed to the top of the slide base 280, the support base 230 is fixed to the center of the top of the slide table 220, and the drive motor 240 is fixed to the rear end of the top of the slide table 220.

[0027] The toothed plate 250 is fixed to the rear end of the top of the ground rail 210, the gear 260 meshes with the toothed plate 250, and the output shaft of the drive motor 240 passes through the support base 230 and is connected to the gear 260 for transmission.

[0028] The top two ends of the ground rail 210 are also fixedly connected to the accordion cover 290, and the other end of the accordion cover 290 is fixedly connected to the slide table 220.

[0029] like Figure 1-3As shown, the output shaft of the drive motor 240 drives the gear 260 to rotate. Since the gear 260 meshes with the toothed plate 250 fixed at the rear end of the top of the ground rail 210, the rotation of the gear 260 causes the slide table 220 to move along the ground rail 210. At the same time, the slide rails 270 at the front and rear ends of the top of the ground rail 210 are slidably connected to the slide block 280. The slide table 220 is fixed on the top of the slide block 280. The slide rails 270 and the slide block 280 play a role in limiting and guiding the slide table 220, ensuring that the slide table 220 moves smoothly. The bellows protective covers 290 at both ends of the top of the ground rail 210 will extend and retract as the slide table 220 moves. To protect the ground rail 210 and its internal structure from external dust, debris, etc., when the slide table 220 moves, several sets of photoelectric switches 410 installed on the surface of the ground rail 210 monitor the position of the slide table 220 in real time. When the slide table 220 moves to the predetermined position, the photoelectric switches 410 will send a signal to stop the slide table 220 from moving, thus completing the positioning of the slide table 220. At the same time, the vision sensor 420 installed on the surface of the six-axis robotic arm 310 and located at one end of the electric three-jaw robotic hand 320 starts to work, identifying and positioning the circular workpiece that needs to be picked up and placed, and determining the accurate position and posture of the workpiece. Example

[0030] Reference Figure 1 , 2 4 and 5 are the third embodiment of this utility model, which is based on the first two embodiments.

[0031] In this embodiment, the six-axis robotic arm 310 is fixed at the center of the top of the support base 230, and the electric three-jaw robotic arm 320 is connected to the six-axis robotic arm 310 through a flange.

[0032] Several sets of photoelectric switches 410 are provided, all of which are fixed on the surface of the ground rail 210. The vision sensor 420 is installed on the surface of the six-axis robotic arm 310 and located at one end of the electric three-jaw robotic hand 320.

[0033] like Figure 1 , 2As shown in Figure 4, both the photoelectric switch 410 and the vision sensor 420 are connected to the CNC controller of the CNC machining center 100. The CNC controller of the CNC machining center 100 is also connected to the six-axis robotic arm 310, the electric three-jaw manipulator 320, and the drive motor 240. The photoelectric switch 410 is used to position the slide table 220. When the slide table 220 moves to a specific position, the photoelectric switch 410 can detect and feed back a signal to achieve precise position control. The vision sensor 420, which is installed on the surface of the six-axis robotic arm 310 and located at one end of the electric three-jaw manipulator 320, is used to identify and position the position and posture of the circular workpiece, providing accurate position information for picking up and placing the workpiece. The photoelectric switch 410 can be of model RF-R5, and the vision sensor 420 can be of the Haibosen HPS-FC series. Multiple photoelectric switches 410 can be set in different positions to monitor and position multiple predetermined positions of the slide table 220, improving the flexibility and applicability of the device.

[0034] When in use, the drive motor 240 starts, and its output shaft drives the gear 260 to rotate. Since the gear 260 meshes with the toothed plate 250 fixed at the rear end of the top of the ground rail 210, the rotation of the gear 260 will cause the slide table 220 to move along the ground rail 210. The slide table 220 is fixed on the top of the slide block 280. The slide block 280 slides on the slide rails 270 at the front and rear ends of the top of the ground rail 210, which plays a limiting and guiding role, ensuring that the slide table 220 moves smoothly. At the same time, the bellows protective covers 290 at both ends of the top of the ground rail 210 can prevent dust and other debris from entering the track and protect the normal operation of the moving component 200.

[0035] The photoelectric switch 410 is used to position the slide table 220. When the slide table 220 moves to a specific position, the photoelectric switch 410 can detect and feed back a signal to achieve precise position control. The vision sensor 420, which is installed on the surface of the six-axis robotic arm 310 and located at one end of the electric three-jaw robotic hand 320, is used to identify and position the position and posture of the circular workpiece, providing accurate position information for picking up and placing the workpiece.

[0036] The six-axis robotic arm 310 is fixed at the center of the top support 230 of the slide table 220. After the positioning component 400 provides position information, the six-axis robotic arm 310 moves according to the preset program to move the electric three-jaw manipulator 320 to the target circular workpiece position. The electric three-jaw manipulator 320 is connected to the six-axis robotic arm 310 through a flange. It can grasp or place the circular workpiece in a suitable way according to the characteristics of the circular workpiece and the processing requirements. Then, the six-axis robotic arm 310 moves the workpiece to the CNC machining center 100 for processing or takes out the processed workpiece from the CNC machining center 100. Through the coordinated cooperation of various components, the low efficiency of manual handling and placement of circular workpieces during CNC machining and the problem of workpieces easily rolling or slipping can be effectively solved.

[0037] All standard parts used in this application can be purchased from the market, and can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art and is common knowledge in the field. Since this application is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail in this application.

[0038] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Those skilled in the art to which this invention pertains can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of this invention shall be determined by the claims.

Claims

1. A circular workpiece loading and unloading device for CNC machining, characterized in that: include, CNC machining center (100), used for machining round workpieces; The moving assembly (200) includes a ground rail (210) located on the front of the CNC machining center (100), a slide table (220) sliding on the top of the ground rail (210), a support base (230) located on the top of the slide table (220), a drive motor (240), a gear plate (250) and a gear (260) for moving the slide table (220), and a slide rail (270) and a slide base (280) for limiting the slide table (220). The pick-and-place assembly (300) includes a six-axis robotic arm (310) located on top of the support base (230) and an electric three-jaw manipulator (320) mounted on the execution end of the six-axis robotic arm (310) for picking up and placing circular workpieces. The positioning assembly (400) includes a photoelectric switch (410) for positioning the slide (220) and a vision sensor (420) mounted at the end of the six-axis robotic arm (310) for positioning workpieces.

2. The circular workpiece pick-and-place device for CNC machining as described in claim 1, characterized in that: The front and rear ends of the top of the ground rail (210) are fixedly connected to slide rails (270), and the slide block (280) is located on top of the slide rail (270) and is slidably connected to the slide rail (270).

3. The circular workpiece pick-and-place device for CNC machining as described in claim 1, characterized in that: The slide (220) is fixed to the top of the slide (280), the support (230) is fixed to the center of the top of the slide (220), and the drive motor (240) is fixed to the rear end of the top of the slide (220).

4. The circular workpiece pick-and-place device for CNC machining as described in claim 1, characterized in that: The toothed plate (250) is fixed to the rear end of the top of the ground rail (210), the gear (260) meshes with the toothed plate (250), and the output shaft of the drive motor (240) passes through the support seat (230) and is connected to the gear (260) for transmission.

5. The circular workpiece pick-and-place device for CNC machining as described in claim 1, characterized in that: The top two ends of the ground rail (210) are also fixedly connected to the bellows cover (290), and the other end of the bellows cover (290) is fixedly connected to the slide (220).

6. The circular workpiece pick-and-place device for CNC machining as described in claim 1, characterized in that: The six-axis robotic arm (310) is fixed at the center of the top of the support base (230), and the electric three-jaw manipulator (320) is connected to the six-axis robotic arm (310) through a flange.

7. The circular workpiece pick-and-place device for CNC machining as described in claim 1, characterized in that: The photoelectric switches (410) are arranged in several groups and are all fixed on the surface of the ground rail (210). The vision sensor (420) is installed on the surface of the six-axis robotic arm (310) and located at one end of the electric three-jaw robotic arm (320).

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