Machine tool with a collaborative robot

Abstract

The utility model provides a kind of lathe with collaborative work robot belongs to lathe equipment technical field.It solves the space occupation of existing ground installation robot, the problem such as inconvenient adjustment.This lathe with collaborative work robot includes: lathe, the lathe is used to process workpiece, and the lathe is provided with working area and placement area;Movement mechanism, the movement mechanism includes fixed part, movement part and driving part, the fixed part is fixedly connected with lathe, and the movement part is slidably connected with fixed part;The driving part is connected with fixed part, and its output end is connected with movement part, for driving movement part sliding;Robot, is connected with movement part, changes its position by movement part, so that it moves between working area and placement area.The utility model has the advantages of saving ground space, flexible adjustment position.

Description

Technical Field

[0001] This utility model relates to the field of machine tool equipment technology, specifically a machine tool with a collaborative robot. Background Technology

[0002] In the field of machining, machine tools, as core processing equipment, undertake machining tasks such as cutting, milling, and grinding of various workpieces. As the manufacturing industry continues to demand higher production efficiency and automation levels, the limitations of traditional machine tool operation modes are becoming increasingly apparent, especially in the configuration of automated auxiliary equipment, where existing solutions have significant shortcomings.

[0003] Currently, to automate workpiece handling, some machine tools are used in conjunction with robots. However, most of these robots are installed on the ground: the robot is fixed to the ground next to the machine tool via a base. This installation method has several problems: on the one hand, ground-mounted robots require additional ground space around the machine tool, which can easily lead to congestion in the work area in densely packed workshops, affecting the passage of operators and the normal operation of other equipment; on the other hand, some robots are equipped with guide wheels, which solves the space occupation problem to some extent, but it is difficult to guarantee their positioning accuracy, resulting in a decrease in the efficiency of collaborative operation between the robot and the machine tool.

[0004] Therefore, there is an urgent need for a robot integration solution that does not require ground installation, can be flexibly adapted to machine tools, and has strong collaborative capabilities, in order to solve the problems of space occupation and inconvenient adjustment of existing ground-installed robots. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of space occupation and inconvenience in adjustment of existing ground installation robots.

[0006] This utility model can be achieved through the following technical solutions: A machine tool with a collaborative robot, comprising: A machine tool for processing workpieces, the machine tool having a working area and a placement area; A motion mechanism includes a fixed part, a moving part, and a driving part. The fixed part is fixedly connected to the machine tool, and the moving part is slidably connected to the fixed part. The driving part is connected to the fixed part, and its output end is connected to the moving part for driving the moving part to slide. The robot is connected to a motion unit, which changes its position, enabling it to move between the work area and the placement area.

[0007] In the aforementioned machine tool with a collaborative robot, the fixing part includes a fixing plate, one side of which is fixedly connected to the machine tool, and the other side is equipped with two parallel slide rails that pass through the placement area and the working area.

[0008] In the aforementioned machine tool with a collaborative robot, the fixing part further includes two positioning blocks and two positioning holes. The positioning blocks are disposed at both ends of the slide rail and are fixedly connected to the fixing plate. The positioning holes are disposed between the two slide rails and are connected to the fixing plate, respectively disposed in the placement area and the working area.

[0009] In the aforementioned machine tool with a collaborative robot, the moving part includes a main body and sliders. There are four sliders, which are slidably connected in pairs to each slide rail. The sliders are fixedly connected to the main body.

[0010] In the aforementioned machine tool with a collaborative robot, the main body also includes a stud, which is threadedly connected to the main body and connected to a corresponding positioning hole when in the placement area or working area.

[0011] In the aforementioned machine tool with a collaborative robot, the main body further includes a first connector, a second connector, and a material tray. The first connector is connected to the drive unit, the second connector is connected to the robot, and the material tray is connected to the second connector.

[0012] In the aforementioned machine tool with a collaborative robot, the drive unit includes a cylinder, a piston rod, and a connecting seat. The cylinder body is fixedly connected to the fixed part, one end of the piston rod is connected to the output end of the cylinder, and the other end is fixedly connected to the main body of the moving part through the connecting seat. The extension and retraction direction of the cylinder is parallel to the slide rail.

[0013] In the aforementioned machine tool equipped with a collaborative robot, the main body is also provided with a handle.

[0014] In the aforementioned machine tool with a collaborative robot, the robot includes a base and a mechanical gripper. The base is connected to a second connector, and the mechanical gripper is adapted to the workpiece.

[0015] In the aforementioned machine tool with a collaborative robot, the working area includes a processing area, where the workpiece is processed, and the mechanical gripper moves between the processing area and above the material tray.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. Saves floor space and optimizes workshop layout: The robot does not need to be installed on the ground. It is directly integrated with the machine tool through the motion mechanism, avoiding the occupation of the ground space around the machine tool by traditional ground robots. This effectively frees up the workshop floor area, facilitates the layout of other equipment and the passage of operators, and improves the utilization rate of workshop space.

[0017] 2. Flexible position adjustment and stronger adaptability: The slide rail of the motion mechanism covers the machine tool's placement area and working area. The robot can move flexibly along the slide rail through the motion part and switch working positions without disassembly and reassembly. At the same time, the fixed part of the motion mechanism can be adjusted to install according to the machine tool specifications. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the motion mechanism and robot in this utility model; Figure 3 This is a schematic diagram of the motion mechanism in this utility model.

[0019] The component names corresponding to each number in the diagram are as follows: 1. Machine tool; 11. Working area; 111. Machining area; 12. Placement area; 2. Motion mechanism; 21. Fixing part; 211. Fixing plate; 212. Slide rail; 213. Positioning block; 214. Positioning hole; 22. Motion part; 221. Main body; 222. Slider; 223. Stud; 224. First connecting piece; 225. Second connecting piece; 226. Material tray; 227. Handle; 23. Drive part; 231. Cylinder; 232. Piston rod; 233. Connecting seat; 3. Robot; 31. Base; 32. Mechanical gripper. Detailed Implementation

[0020] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0021] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0022] like Figures 1 to 3 As shown, the present invention provides a machine tool with a collaborative robot, comprising: a machine tool 1 for processing workpieces, the machine tool 1 having a working area 11 and a placement area 12; a motion mechanism 2, the motion mechanism 2 including a fixed part 21, a motion part 22 and a drive part 23, the fixed part 21 being fixedly connected to the machine tool 1, the motion part 22 being slidably connected to the fixed part 21; the drive part 23 being connected to the fixed part 21, and its output end being connected to the motion part 22 for driving the motion part 22 to slide; and a robot 3 connected to the motion part 22, which changes its position through the motion part 22, allowing it to move between the working area 11 and the placement area 12.

[0023] Preferably, this utility model achieves integrated collaborative design between robot 3 and machine tool 1 through motion mechanism 2, eliminating the need for robot 3 to be installed on the ground in a traditional way: the fixed part 21 of motion mechanism 2 is directly fixedly connected to machine tool 1, providing a stable installation and sliding foundation for motion part 22. The drive part 23 is connected to fixed part 21 and its output end acts on motion part 22, which can drive motion part 22 to slide stably along fixed part 21, thereby driving robot 3 connected to motion part 22 to move flexibly between working area 11 and placement area 12 of machine tool 1.

[0024] Preferably, the fixing part 21 includes a fixing plate 211, which can support the overall weight of the moving part 22, the robot 3, and the workpiece. One side of the fixing plate 211 is tightly fixed to the side or top of the machine tool 1 by bolts; two slide rails 212 are installed parallel to each other on the surface of the other side. The extension trajectory of the slide rails 212 passes through the placement area 12 and the working area 11 of the machine tool 1, providing a stable guiding path for the moving part 22 to drive the robot 3 to switch between the two areas, ensuring accurate positioning and no deviation during movement.

[0025] Preferably, the fixing part 21 further includes two positioning blocks 213 and two positioning holes 214. The positioning blocks 213 are respectively fixed at both ends of the two slide rails 212 and are connected to the fixing plate 211 by welding or bolting. Their structural dimensions are adapted to the end contour of the slide rails 212. This not only provides a rigid limit to the sliding stroke of the moving part 22, preventing the moving part 22 from exceeding the range of the slide rails 212 and falling off when it drives the robot 3 to slide, but also acts as a buffer when the moving part 22 slides to the end of the slide rails 212, avoiding direct collision between the moving part 22 and the end of the slide rails 212 and causing damage to the components, thus further ensuring the safety and stability of the operation of the motion mechanism 2.

[0026] Preferably, two positioning holes 214 are formed on the fixing plate 211 between the two slide rails 212, and correspond precisely to the placement area 12 and the working area 11 of the machine tool 1, respectively. The diameter of the positioning hole 214 matches the outer diameter of the stud 223 on the moving part 22, providing a mechanical basis for positioning the moving part 22 in the target area.

[0027] Preferably, the core supporting structure of the moving part 22 is the main body 221, and four sliders 222 that cooperate with the main body 221 are provided. They are slidably connected to two slide rails 212 in pairs, that is, each slide rail 212 corresponds to two sliders 222. The inner side of the slider 222 is provided with a groove that matches the slide rail 212. The slider 222 is fixed to the bottom of the main body 221 by bolts to ensure that the slider 222 moves synchronously with the main body 221. The symmetrical distribution of the four sliders 222 can make the main body 221 bear force evenly, avoid tilting or shaking during the movement, and ensure the operational stability of the robot 3.

[0028] Preferably, a stud 223 is also provided at the bottom of the main body 221. The stud 223 is connected to the main body 221 by a threaded structure. The top of the stud 223 extends above the main body 221 and is provided with a knob for easy manual rotation and adjustment by the operator. When the moving part 22 slides to the placement area 12 or the working area 11 under the drive of the drive part 23, the operator rotates the knob of the stud 223, which allows the lower end of the stud 223 to slowly descend and insert into the positioning hole 214 in the corresponding area. The mechanical engagement between the stud 223 and the positioning hole 214 achieves precise positioning and fixation of the moving part 22, preventing the moving part 22 from sliding due to accidental force during the robot 3's gripping and handling of workpieces, and ensuring the collaborative operation accuracy of the robot 3 and the machine tool 1. When it is necessary to move the moving part 22 again, the fixation can be released by rotating the stud 223 in the opposite direction to disengage its lower end from the positioning hole 214. The operation is convenient and the positioning reliability is high.

[0029] Preferably, the main body 221 of the motion unit 22 is further provided with a first connector 224, a second connector 225 and a material tray 226. The first connector 224 is connected to the drive unit 23, providing a stable connection point for the drive unit 23 to transmit power to the main body 221. The second connector 225 is connected to the robot 3, ensuring that the robot 3 is firmly connected to the main body 221 and moves synchronously. The material tray 226 is connected to the second connector 225 and can be used to store workpieces to be processed or processed, which facilitates the mechanical gripper 32 of the robot 3 to grasp and place the workpieces, further improving the continuity of operation.

[0030] Preferably, the drive unit 23 consists of a cylinder 231, a piston rod 232, and a connecting seat 233, which work together to provide power for the sliding of the moving unit 22. The cylinder body of the cylinder 231 is fixed to the fixed part 21. One end of the piston rod 232 is connected to the output end of the cylinder 231 and can extend and retract along the axial direction under the drive of the cylinder 231. The other end is fixed to the main body 221 of the moving unit 22 via the connecting seat 233, ensuring stable power transmission. Furthermore, the extension and retraction direction of the cylinder 231 is parallel to the slide rail 212, ensuring that when the piston rod 232 pushes the main body 221, the moving unit 22 can slide smoothly along the slide rail 212 without jamming due to directional deviation, thus ensuring the stability of the robot 3 when switching between the working area 11 and the placement area 12.

[0031] Preferably, the main body 221 of the moving part 22 is also provided with a handle 227 on the side, which can provide a force point for manually adjusting the position of the moving part 22 when the drive part 23 suddenly fails and cannot be driven normally, so as to ensure that the working area of ​​the robot 3 can still be switched in an emergency, thereby improving the flexibility of equipment use and emergency support capabilities.

[0032] Preferably, the robot 3 is composed of a base 31 and a mechanical claw 32. The base 31 is tightly connected to the second connecting member 225 of the moving part 22 by bolts. The mechanical claw 32 is designed to be adapted to the shape and size of the workpiece to be processed, and has sufficient clamping force and grasping accuracy to stably clamp the workpiece and prevent it from falling off during transportation.

[0033] Preferably, the working area 11 of the machine tool 1 includes a dedicated processing area 111, where the cutting, milling and other processing operations of the workpiece are all completed within the processing area 111. During operation, the mechanical gripper 32 of the robot 3 can move flexibly between the processing area 111 and the material tray 226. It can not only pick up the workpiece to be processed from the material tray 226 and accurately place it on the fixture in the processing area 111, but also retrieve the workpiece from the processing area 111 and put it back into the material tray 226 after processing, thereby realizing an automated closed loop for workpiece handling and improving the processing efficiency of the machine tool 1.

[0034] It is worth mentioning that this utility model integrates the robot 3 with the machine tool 1 through the motion mechanism 2, solving the problems of large space occupation and inconvenient adjustment of existing ground-installed robots. The motion mechanism 2 includes a fixed part 21, a motion part 22, and a drive part 23: the fixed plate 211 of the fixed part 21 is fixed to the machine tool 1, and is provided with two parallel slide rails 212 covering the placement area 12 and the working area 11, with positioning blocks 213 for limiting and positioning holes 214 for auxiliary positioning; the motion part 22 is centered on the main body 221, with four sliders 222 sliding along the slide rails 212, and studs 223 can cooperate with the positioning holes 214 to fix the position. It is also provided with a first connecting piece 224 connecting to the drive part 23, a second connecting piece 225 connecting to the robot 3, and a material tray 226 for storing workpieces; the cylinder 231 of the drive part 23 drives the piston rod 232 to extend and retract, driving the motion part 22 and the robot 3 to move between the two areas. The mechanical claw 32 of the robot 3 transports workpieces between the processing area 111 and the material tray 226, realizing automated collaborative operation.

[0035] It should be noted that in this utility model, the use of terms such as "first," "second," and "a" is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly defined. The terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly defined. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0036] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0037] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A machine tool equipped with a collaborative robot, characterized in that, include: A machine tool for processing workpieces, the machine tool having a working area and a placement area; A motion mechanism includes a fixed part, a moving part, and a driving part. The fixed part is fixedly connected to the machine tool, and the moving part is slidably connected to the fixed part. The driving part is connected to the fixed part, and its output end is connected to the moving part for driving the moving part to slide. The robot is connected to a motion unit, which changes its position, enabling it to move between the work area and the placement area.

2. The machine tool with a collaborative robot according to claim 1, characterized in that, The fixing part includes a fixing plate, one side of which is fixedly connected to the machine tool, and the other side is equipped with two parallel slide rails that pass through the placement area and the working area.

3. The machine tool with a collaborative robot according to claim 2, characterized in that, The fixing part also includes two positioning blocks and two positioning holes. The positioning blocks are disposed at both ends of the slide rail and are fixedly connected to the fixing plate. The positioning holes are disposed between the two slide rails and are connected to the fixing plate, respectively disposed in the placement area and the working area.

4. The machine tool with a collaborative robot according to claim 3, characterized in that, The moving part includes a main body and sliders. There are four sliders, which are slidably connected to each other on the slide rails in pairs. The sliders are fixedly connected to the main body.

5. The machine tool with a collaborative robot according to claim 4, characterized in that, The main body also includes a stud, which is threadedly connected to the main body and connects to the corresponding positioning hole when in the placement area or working area.

6. The machine tool with a collaborative robot according to claim 4, characterized in that, The main body also includes a first connector, a second connector, and a material tray. The first connector is connected to the drive unit, the second connector is connected to the robot, and the material tray is connected to the second connector.

7. The machine tool with a collaborative robot according to claim 2, characterized in that, The drive unit includes a cylinder, a piston rod, and a connecting seat. The cylinder body is fixedly connected to the fixed part. One end of the piston rod is connected to the output end of the cylinder, and the other end is fixedly connected to the main body of the moving part through the connecting seat. The extension and retraction direction of the cylinder is parallel to the slide rail.

8. The machine tool with a collaborative robot according to claim 4, characterized in that, The main body is also equipped with a handle.

9. The machine tool with a collaborative robot according to claim 6, characterized in that, The robot includes a base and a mechanical gripper. The base is connected to a second connector, and the mechanical gripper is adapted to the workpiece.

10. The machine tool with a collaborative robot according to claim 9, characterized in that, The working area includes a processing area where the workpiece is processed, and a mechanical gripper moves between the processing area and above the material tray.

Images