Six-axis feeding and discharging machine for numerical control lathe

Abstract

The application relates to a six-axis feeding and discharging machine for a numerical control lathe, which comprises a workbench, a robot arranged at one end of the workbench, a rotating unit arranged on the workbench, a first rotating mechanical arm arranged on the rotating unit, a second rotating mechanical arm arranged on the first rotating mechanical arm, a third rotating mechanical arm arranged at the end of the second rotating mechanical arm, an end of the third rotating mechanical arm being provided with a rotating chuck, the bottom of the rotating chuck being provided with a double-claw clamping assembly, two clamping claw cylinder assemblies being arranged at the two sides of the double-claw clamping assembly, the other end of the workbench being provided with a carrier table, and the carrier table being provided with a plurality of workpiece placing stations arranged in an array. The double-claw clamping assembly design is adopted, synchronous exchange operation of 'one hand holding a blank and one hand placing a finished product' is realized, feeding and discharging time is compressed to the shortest, and the production rhythm and utilization rate of the numerical control lathe are remarkably improved.

Description

Technical Field

[0001] This application relates to the field of auxiliary equipment technology for CNC machine tools, and in particular to a six-axis loading and unloading machine for CNC lathes. Background Technology

[0002] CNC lathes are widely used machining equipment in modern manufacturing. To improve production efficiency and achieve "lights-out factory" style automated production, equipping CNC lathes with automatic loading and unloading devices has become an inevitable trend. Existing loading and unloading devices, such as gantry-type manipulators or simple articulated robots, have the following problems: 1) Single-jaw operation, requiring separate loading and unloading processes, resulting in low efficiency; 2) Insufficient workpiece positioning accuracy and reliability, prone to displacement during handling or placement; 3) Lack of effective calibration and safety protection mechanisms, making long-term operational accuracy difficult to guarantee and posing risks. Therefore, there is an urgent need for an efficient, accurate, and reliable automated loading and unloading solution. Utility Model Content

[0003] Therefore, it is necessary to provide a six-axis loading and unloading machine for CNC lathes, and its specific technical solution is as follows.

[0004] A six-axis loading and unloading machine for CNC lathes includes a worktable. A robot is provided at one end of the worktable. The robot includes a rotating unit on the worktable, a first rotating robotic arm on the rotating unit, a second rotating robotic arm on the first rotating robotic arm, and a third rotating robotic arm at the end of the second rotating robotic arm. A rotating receiving plate is provided at the end of the third rotating robotic arm. A double-jaw gripping assembly is provided at the bottom of the rotating receiving plate. Two gripping cylinder assemblies are symmetrically arranged on both sides of the double-jaw gripping assembly. A loading platform is provided at the other end of the worktable. Multiple workpiece placement stations are arranged in an array on the loading platform. Multiple limiting rods are provided around the periphery of each workpiece placement station.

[0005] Furthermore, the workpiece placement station is equipped with height-increasing pads.

[0006] Furthermore, there are three limiting rods, which are arranged in an isosceles triangle; two of the limiting rods are inserted into the platform through pin holes, and the bottom of the other limiting rod is provided with a connecting plate.

[0007] Furthermore, the platform has two horizontally arranged pin holes on both sides of each workpiece placement station, with two limiting rods correspondingly inserted into the pin holes on both sides of the workpiece placement station; the connecting plate at the bottom of the other limiting rod has a waist-shaped hole for connecting with the platform.

[0008] Furthermore, the gripper cylinder assembly has three evenly arranged position sensors on the periphery of the gripper head, and the three position sensors are used to sense the top ends of the three limit rods.

[0009] Furthermore, one end of the workbench is provided with two outwardly extending support plates, the outer end of the support plates is provided with a bracket, and the bracket is provided with a positioning seat for supporting the double-claw gripping assembly.

[0010] Furthermore, the dual-claw gripping assembly includes a rotary joint connected to the rotary receiving plate, gripper cylinder assemblies located on both sides of the bottom of the rotary joint, and two upright plates located in the middle of the bottom of the rotary joint. A positioning groove is provided on the top surface of the positioning seat, and the bottom end of the upright plate protrudes with an insertion part that adapts to the two side walls of the positioning groove.

[0011] Compared with existing technologies, this utility model has the following beneficial effects: (1) The six-axis loading and unloading machine for CNC lathe of this utility model adopts a double-jaw clamping component design, which realizes the synchronous exchange operation of "one hand grabbing the blank and the other hand placing the finished product", compresses the loading and unloading time to the shortest, and significantly improves the production cycle and utilization rate of CNC lathe. (2) The six-axis loading and unloading machine for CNC lathes of this utility model, through the combination of "two fixed and one moving" limit rods arranged in an isosceles triangle and combined with the position sensor on the gripper, realizes the precise and fault-tolerant positioning of the workpiece on the platform and the real-time alignment feedback during the loading and unloading process, effectively preventing workpiece displacement and collision. (3) The six-axis loading and unloading machine for CNC lathes of this utility model can quickly adapt to workpieces of different specifications by using heightening pads and adjustable limit rods, thereby enhancing the flexible production capability of the equipment. (4) The six-axis loading and unloading machine for CNC lathes of this utility model is designed with a special support and positioning seat, which can support the end effector in the non-working state, reduce the load on the equipment, and at the same time provide a high-precision mechanical origin for the system to be calibrated regularly, ensuring the stability and repeatability of long-term operation and extending the service life of the equipment. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a three-dimensional structural view of the six-axis loading and unloading machine for CNC lathes according to this utility model; Figure 2 This is a structural front view of the six-axis loading and unloading machine for CNC lathes according to this utility model; Figure 3 This is a top view of the structure of the six-axis loading and unloading machine for CNC lathes according to this utility model; Figure 4 This is a side view of the structure of the six-axis loading and unloading machine for CNC lathes according to this utility model; Figure 5 This is a rear view of the structure of the six-axis loading and unloading machine for CNC lathes according to this utility model; Figure 6 This is an enlarged schematic diagram of the structure of the bracket and the double-claw clamping assembly in this utility model; Figure 7 This is an enlarged schematic diagram of the structure of the bracket and the upright plate in this utility model.

[0014] Explanation of reference numerals in the attached figures: 1. Workbench; 2. Robot; 3. Rotary unit; 4. First rotating robotic arm; 5. Second rotating robotic arm; 6. Third rotating robotic arm; 7. Rotary receiving plate; 8. Double-jaw gripping assembly; 9. Gripper cylinder assembly; 10. Carrying platform; 12. Limiting rod; 13. Heightening pad; 14. Pin hole; 15. Connecting plate; 16. Waist-shaped hole; 17. Position sensor; 18. Support plate; 19. Bracket; 20. Positioning seat; 21. Positioning groove; 81. Rotary joint; 82. Vertical plate; 83. Insertion part. Detailed Implementation

[0015] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0016] The embodiments of this utility model will be described below based on its overall structure.

[0017] Reference Figures 1-7As shown, this embodiment provides a six-axis loading and unloading machine for CNC lathes, including a worktable 1. A robot 2 is provided at one end of the worktable 1. The robot 2 includes a rotating unit 3 on the worktable 1, a first rotating robot arm 4 on the rotating unit 3, a second rotating robot arm 5 on the first rotating robot arm 4, and a third rotating robot arm 6 at the end of the second rotating robot arm 5. A rotating receiving plate 7 is provided at the end of the third rotating robot arm 6. A double-jaw gripping assembly 8 is provided at the bottom of the rotating receiving plate 7. Two gripping cylinder assemblies 9 are symmetrically arranged on both sides of the double-jaw gripping assembly 8. A loading platform 10 is provided at the other end of the worktable 1. Multiple workpiece placement stations are arranged in an array on the loading platform 10. Multiple limiting rods 12 are provided around the workpiece placement stations.

[0018] This invention relates to a six-axis loading and unloading machine for CNC lathes. The rotating unit of the robot section provides base rotation (first axis), and three rotating robotic arms move in coordination to simulate human arms, achieving flexible movement of six degrees of freedom in space. This ensures that the clamping assembly can reach any desired posture and position. The rotary plate at the end provides rotation around the Z-axis (sixth axis) for correcting the angle of the workpiece.

[0019] One gripper of the dual-jaw clamping assembly removes the finished workpiece from the machining station of the CNC lathe, completing the unloading process. Then, the other gripper places the blank to be processed, which has been picked up from the stage, onto the machining station of the CNC lathe, completing the loading process. The robot then moves to perform an "exchange" action: one gripper places the finished product onto the workpiece placement station, while the other gripper picks up the blank and feeds it into the lathe. This achieves full automation of the CNC lathe machining process, reducing manual intervention. By combining the "removing the finished product" and "installing the blank" actions through synchronous dual-jaw operation, the time for each loading and unloading operation is greatly shortened, improving production efficiency. The array-type stage and limit rods enable batch and orderly placement of workpieces, facilitating long-term unmanned operation and significantly improving the utilization rate and overall production efficiency of the CNC lathe. The compact structure integrates the robot and workpiece storage onto a single workbench, saving space, reducing worker labor intensity and operational risks, and improving production safety.

[0020] Specifically, the workpiece placement station is equipped with height-increasing pads 13. These pads physically raise the height of the workpiece, accommodating workpieces of different sizes and ensuring that the workpiece is raised to a suitable height so that the gripper cylinder assembly can accurately and smoothly grip it, avoiding interference with the worktable. This enhances the versatility and adaptability of the equipment, allowing for quick switching to produce workpieces of different specifications by changing the pads of different heights.

[0021] Specifically, there are three limiting rods 12 arranged in an isosceles triangle. Two of the limiting rods 12 are inserted into the platform 10 through pin holes 14, and the bottom of the third limiting rod 12 is provided with a connecting plate 15. The platform 10 has two horizontally arranged pin holes 14 on both sides of each workpiece placement station, with the two limiting rods 12 correspondingly inserted into the pin holes 14 on both sides of the workpiece placement station. The connecting plate 15 at the bottom of the third limiting rod 12 has an oblong hole 16 for connecting to the platform 10.

[0022] In this embodiment, a plane is defined by three points, and the isosceles triangle arrangement provides stable and symmetrical positioning; two pin-type limiting rods provide primary positioning, and a limiting rod with an oblong hole allows for fine-tuning. This provides stable and reliable positioning, preventing the workpiece from rolling or shifting during placement. The radial distance between the three limit rods and the center is adjusted by using pin holes and waist-shaped holes to meet the limit requirements of workpieces of different sizes.

[0023] Specifically, the gripper cylinder assembly 9 has three evenly arranged position sensors 17 around its gripper head. These three position sensors 17 are used to sense the tops of the three limit rods 12. By placing three position sensors around the gripper head of the gripper cylinder assembly to sense the tops of the three limit rods, the robot, carrying the gripping assembly, moves above the worktable. The three sensors detect whether there are any obstacles below (i.e., the tops of the limit rods). Only when all three sensors detect a signal, indicating that the gripper has accurately aligned with the center of the workstation, will the robot perform a lowering or gripping action; thus achieving precise positioning and error prevention. Sensor feedback ensures that the robot end effector is aligned with the workpiece placement station before placing the workpiece, preventing inaccurate placement, collisions, or workpiece falls due to repeated positioning errors or mechanical deformation. This significantly improves the system's operational accuracy and safety, and is a key guarantee for achieving unmanned, high-quality operation.

[0024] Specifically, one end of the workbench 1 is provided with two outwardly extending support plates 18, the outer end of the support plate 18 is provided with a bracket 19, and the bracket 19 is provided with a positioning seat 20 for supporting the double-claw clamping assembly 8. The dual-claw gripping assembly 8 includes a rotary joint 81 connected to the rotary receiving plate 7, gripper cylinder assemblies 9 located on both sides of the bottom of the rotary joint 81, and two upright plates 82 located in the middle of the bottom of the rotary joint 81. A positioning groove 21 is provided on the top surface of the positioning seat 20, and the bottom end of the upright plate 82 is provided with a plug-in part 83 that is adapted to the two side walls of the positioning groove 21.

[0025] In this embodiment, a bracket with a positioning seat is provided at one end of the worktable to support the double-jaw gripping assembly. The bottom of the double-jaw gripping assembly is provided with a vertical plate, and the bottom end of the vertical plate has a plug-in part that can cooperate with the positioning groove on the positioning seat to ensure that the double-jaw gripping assembly is stably placed on the positioning seat.

[0026] The above embodiments only illustrate one or more implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A six-axis loading and unloading machine for a CNC lathe, comprising a worktable (1), wherein a robot (2) is provided at one end of the worktable (1), characterized in that, The robot (2) includes a rotating unit (3) on the workbench (1), a first rotating robotic arm (4) on the rotating unit (3), a second rotating robotic arm (5) on the first rotating robotic arm (4), and a third rotating robotic arm (6) at the end of the second rotating robotic arm (5). The end of the third rotating robotic arm (6) is provided with a rotating receiving plate (7). The bottom of the rotating receiving plate (7) is provided with a double-claw gripping assembly (8). Two gripping cylinder assemblies (9) are symmetrically arranged on both sides of the double-claw gripping assembly (8). The other end of the workbench (1) is provided with a platform (10). Multiple workpiece placement stations are arranged in an array on the platform (10). Multiple limiting rods (12) are provided around the workpiece placement stations.

2. A six-axis loading and unloading machine for CNC lathes according to claim 1, characterized in that, The workpiece placement station is equipped with a heightening pad (13).

3. A six-axis loading and unloading machine for CNC lathes according to claim 1 or 2, characterized in that, The number of the limiting rods (12) is three, and the three limiting rods (12) are arranged in an isosceles triangle; two of the limiting rods (12) are inserted into the platform (10) through pin holes (14), and the bottom of the other limiting rod (12) is provided with a connecting plate (15).

4. A six-axis loading and unloading machine for CNC lathes according to claim 3, characterized in that, The platform (10) has two horizontally arranged pin holes (14) on both sides of each workpiece placement station. Two limiting rods (12) are inserted into the pin holes (14) on both sides of the workpiece placement station. The connecting plate (15) at the bottom of the other limiting rod (12) has a waist-shaped hole (16) that connects to the platform (10).

5. A six-axis loading and unloading machine for CNC lathes according to claim 3, characterized in that, The gripper cylinder assembly (9) has three evenly arranged position sensors (17) on the periphery of the gripper, and the three position sensors (17) are used to sense the top ends of the three limit rods (12).

6. A six-axis loading and unloading machine for CNC lathes according to claim 1, characterized in that, The workbench (1) has two outwardly extending support plates (18) at one end, and a bracket (19) at the outer end of the support plate (18). The bracket (19) has a positioning seat (20) for supporting the double-claw gripping assembly (8).

7. A six-axis loading and unloading machine for CNC lathes according to claim 6, characterized in that, The double-claw gripping assembly (8) includes a rotary joint (81) connected to the rotary receiving plate (7), a gripper cylinder assembly (9) located on both sides of the bottom of the rotary joint (81), and two upright plates (82) located in the middle of the bottom of the rotary joint (81). The top surface of the positioning seat (20) is provided with a positioning groove (21), and the bottom end of the upright plate (82) is provided with a plug-in part (83) that is adapted to the two side walls of the positioning groove (21).

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