CN106239488B

CN106239488B - Digit control machine tool manipulator and positioner

Info

Publication number: CN106239488B
Application number: CN201610423757.0A
Authority: CN
Inventors: 周开文
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-06-15
Filing date: 2016-06-15
Publication date: 2020-04-28
Anticipated expiration: 2036-06-15
Also published as: CN106239488A

Abstract

A numerical control machine tool manipulator and a positioning device relate to the technical field of numerical control machines. The device comprises a gantry type manipulator, an immersing lifting mechanism and a workpiece feeding device, wherein the workpiece feeding device is arranged on a workbench base, a clamping and positioning device and the workbench base are fixed on a numerical control machine moving device, the workbench base is also fixed on a sliding table, the sliding table is fixed on a sliding table support frame, and the sliding table support frame is fixed on a numerical control machine body; the clamping and positioning device utilizes the working principle of coaxial left and right threads, when a motor rotates forwards, a left thread lead screw or a screw and a right thread lead screw or a screw drive a left L-shaped right angle running rule positioning push block and a right L-shaped right angle running rule positioning push block to be drawn towards the middle, and when two L-shaped right angle running rules are drawn towards the middle to be clamped, a workpiece to be processed is accurately positioned under the action of four sides of the two right angle running rules; 1-10 clamping and positioning devices can be arranged on a numerical control machine tool to carry out alternate machining on multiple workpieces, so that the working efficiency is improved.

Description

Digit control machine tool manipulator and positioner

Technical Field

The invention relates to the technical field of numerical control machines, in particular to a mechanical arm of a numerical control machine and a positioning device.

Background

With the development of industrial automation, a numerical control machining center appears, and the numerical control machining center greatly improves the labor productivity while reducing the labor intensity of workers. However, the conventional feeding and discharging processes in numerical control machining still adopt a semi-automatic device controlled by a manual operation or a traditional relay. The former is time-consuming and labor-consuming and has low efficiency, and the latter is complicated in design, needs more relays, is complex in wiring and is easily interfered by vibration of a vehicle body, so that the problems of poor reliability, more faults, difficulty in maintenance and the like exist.

In the manufacturing industry of numerical control machining centers, workpieces are positioned in the machining process. When positioning a workpiece in a numerical control machining center, the following three methods are generally adopted for positioning:

1. adopt artifical right angle guiding ruler location, when carrying out the location operation, artifical left hand is taken right angle guiding ruler, leans on the guiding ruler tightly on the basis that the processing base was predetermine, then the right hand will treat two limits of processing work piece and hug closely the guiding ruler after, the work piece of laying flat, open the vacuum on the base again or press the briquetting on and fix the work piece, reach the work piece location purpose.

The disadvantages of this positioning method are: numerical control machining center accuracy requirement is within several microns and several silk, and positioning accuracy is hardly guaranteed to artifical right angle guiding ruler, and the reason is that the guiding ruler is tight and the elasticity relies on people's sensation, and processing has a lot of residues in addition, if the residue is not cleared up when the guiding ruler leans on, also very easily causes the guiding ruler off normal, again the guiding ruler is generally made by acryl material, also easily wearing and tearing, lead to the location skew to influence positioning accuracy, manual operation has also not realized automaticly moreover.

2. Adopt cylinder propulsion mode location, utilize the principle that the cylinder can freely stretch out and draw back, the ejector pad of an L type of installation on the cylinder telescopic link, two limits of L type replace two limits of right angle guiding ruler, the right angle department of L type is on the same line with a right angle in four angles of processing base, the cylinder telescopic link is in the withdrawal state when not putting the work piece, when putting the work piece, a right angle of work piece leans on the right angle of the ejector pad of tight cylinder, then the cylinder stretches out and pushes the work piece to processing base center, reach the location purpose.

The disadvantages of this approach are: the cylinder is limited by the structural design and has a rough telescopic action function, because the piston in the cylinder is sealed by the sealing ring and limited by the gasket, and the sealing ring and the limiting ring have elasticity, the limiting is not precise and is easy to wear. In addition, the air cylinder is unstable in force output due to the change of the pressure intensity of the air source, the inertia of the air cylinder is different, the device is provided with only one angle, two sides are limited, the other two sides are suspended, and under the condition that the thrust inertia is different, the drift of a workpiece generated by the inertia is indefinite, so that the positioning precision is difficult to ensure. In addition, when a product is processed, water containing acidity and alkalinity and residues are continuously sprayed, the telescopic rod of the air cylinder is easily stuck with dirt, the sealing ring is easily abraded along with the expansion and contraction of the air cylinder, the air cylinder is damaged or unstable, and the service life is short.

3. The CCD is adopted for optical positioning, the CCD is visual imaging, the workpiece edge line is grabbed by utilizing the CCD vision to calculate the central position of the workpiece, the visual imaging is related to a peripheral light source, and like photographing, light can be inverted and refracted at different angles of the workpiece, so that misjudgment of the CCD on the product edge line can be caused, particularly, the precision cannot be ensured when the machined workpiece is a glass transparent body, in addition, the cost is very high and is not perfect, and therefore, the practical application is difficult to obtain.

The three schemes can not ensure the positioning precision and stability of the workpiece, the processed product is not preserved, the reject ratio of the processed workpiece is high, the efficiency is reduced, the production cost is increased, and the practical application and popularization are not achieved so far.

Disclosure of Invention

The invention aims to provide a numerical control machine tool manipulator and a positioning device, which are used for solving the problems in the background technology. The action process of the device is controlled by an electronic numerical control device system, a gantry type mechanical arm of the device can automatically place or take down workpieces on a clamping and positioning mechanism, the device has the function of automatically clearing residues of the workpieces, has the function of automatically soaking the workpieces, and can be used for installing 110 workpiece positioning devices on numerical control processing equipment for processing multiple workpieces.

In order to achieve the purpose, the invention provides the following technical scheme:

a numerical control machine tool manipulator and positioning device comprises a working table seat, a gantry type manipulator, a sliding table supporting frame, a sliding table, a clamping and positioning mechanism, an elastic buffering mechanism, an air valve control box, a clamping and positioning mechanism base, a residue cleaning mechanism, a soaking and lifting mechanism, an electronic numerical control device, an air valve control box, a workpiece feeding device and a workpiece discharging device; the method is characterized in that: the device comprises a gantry type manipulator, a soaking lifting mechanism and a workpiece feeding device, wherein the workpiece feeding device is arranged on a workbench base, the workbench base is fixed on a numerical control machine moving device and is also fixed on a sliding table, the sliding table is fixed on a sliding table supporting frame, and the sliding table supporting frame is fixed on a numerical control machine body; the clamping and positioning mechanism, the workpiece residue cleaning mechanism, the elastic buffer mechanism and the air valve control box are fixed on a clamping and positioning mechanism base, and the clamping and positioning mechanism base is fixed on a numerical control machine moving device; the electronic numerical control device is arranged outside the working tables of the manipulator and the positioning device mechanism; the gantry type mechanical arm is supported by the left vertical support and the right vertical support to form a gantry type structure; the gantry type mechanical arm, the soaking lifting mechanism and the workpiece feeding device are formed by the sliding table supporting frame and the sliding table, the workpiece discharging device is arranged on a supporting structure of the workbench base, the workbench base is fixed on the numerical control machine moving device, and the workbench base is driven to slide on the sliding table by means of power of the numerical control machine moving device; the gantry type manipulator is characterized in that an X-axis movement module and a Y-axis movement module are arranged on a horizontal working surface, a Z-axis movement module is arranged on an upper working surface and a lower working surface, a mechanical gripper is arranged at the end part of the Y-axis movement module, a workpiece to be processed can be placed in or taken down from a clamping and positioning mechanism through the gantry type manipulator, and a gantry type manipulator motor set comprises an X-axis movement module motor, a Y-axis movement module motor, a Z-axis movement module motor and a mechanical gripper motor.

Preferably, the clamping and positioning mechanism consists of a positioning motor, a workpiece positioning base, a bearing seat, a left threaded screw rod, a right threaded screw rod, a left threaded sleeve, a right threaded sleeve, a left L-shaped right-angle running rule positioning push block and a right L-shaped right-angle running rule positioning push block; the left end of location motor be connected with forward left-hand thread lead screw, the right-hand member of location motor is connected with reverse right-hand thread lead screw, be equipped with complex left thread cover with it on the left-hand thread lead screw, be equipped with complex right thread cover with it on the right-hand thread lead screw, left L type right angle guiding rule location ejector pad and right L type right angle guiding rule location ejector pad are established respectively and are sheathe in left thread cover and right thread cover, left L type right angle guiding rule location ejector pad on be equipped with elastic buffer mechanism, the below of left-hand thread lead screw and right thread lead screw is equipped with the guide rail, left thread cover and right thread cover and guide rail sliding fit.

When the positioning motor rotates forwards, the left thread sleeve and the right thread sleeve on the left thread lead screw and the right thread lead screw drive the left L-shaped right angle running rule positioning push block and the right L-shaped right angle running rule positioning push block to approach to the middle, and a workpiece is clamped; when the positioning motor rotates reversely, the left thread sleeve and the right thread sleeve on the left thread screw rod and the right thread screw rod drive the left L-shaped right angle guiding rule positioning push block and the right L-shaped right angle guiding rule positioning push block to move towards two sides, and the workpiece is loosened.

Preferably, residue clearance mechanism constitute by fumarole, jet-propelled union joint, pneumatic valve control box, the fumarole is established on left L type right angle guiding rule location ejector pad or right L type right angle guiding rule location ejector pad, pneumatic valve control box passes through the fumarole union joint and connects the fumarole, high-pressure gas passes through the pneumatic valve control box control back, the processing residue on the processing location base can clean workpiece surface and the jet-propelled high-pressure gas of fumarole blowout.

Preferably, the soaking lifting mechanism is arranged on the left side of the gantry type manipulator, the workpiece feeding device is arranged on the right side of the gantry type manipulator, and the soaking lifting mechanism comprises a lifting motor, a coupler, a threaded screw rod, a threaded sleeve, a bearing seat, a water containing tank, a workpiece lifting tray and a workpiece discharging device; the bearing frame is connected to screw lead screw one end, and the other end passes through the shaft coupling to be connected with elevator motor, and the thread bush sets up on the screw lead screw to be connected with work piece lift tray, work piece unloader establish on work piece lift tray, drive the screw lead screw through elevator motor and rotate, the thread bush reciprocates along the screw lead screw, makes the work piece lift tray of being connected with the thread bush lift, thereby soaks the work piece among the work piece unloader and holds in the water tank or take out.

Preferably, the electronic numerical control device consists of a man-machine operation panel, a microprocessing control circuit, a gantry type manipulator program control circuit, a clamping and positioning mechanism program control circuit, a workpiece deslagging mechanism program control circuit and a soaking and lifting mechanism program control circuit; the human-machine operation panel is provided with a start stop switch, an operation button group and a work indicator light, the human-machine operation panel provides human-machine exchange operation and a manual debugging function, a workpiece processing program is input through a touch screen, and the work mode is manual and automatic; the micro-processing control circuit controls the gantry type mechanical arm program control circuit, the clamping and positioning mechanism program control circuit, the workpiece deslagging mechanism program control circuit and the soaking and lifting mechanism program control circuit according to the working program and the action set by the man-machine operation panel; the gantry type manipulator program control circuit controls a gantry type manipulator motor set, the clamping and positioning mechanism program control circuit controls a positioning motor, the soaking and lifting mechanism program control circuit controls a lifting motor, and the workpiece deslagging mechanism program control circuit controls an air valve control box.

Preferably, the elastic buffer mechanism can be replaced by a spring, elastic rubber and elastic sheet structure, and the buffer stroke of the elastic buffer mechanism can be set and adjusted.

Preferably, the lifting mechanism of the soaking lifting mechanism (5) can be replaced by a cylinder, hydraulic pressure and a transmission belt, and the workpiece lifting tray (27) can be driven to lift in multiple directions by the power of the lifting mechanism.

Preferably, the numerical control machine tool manipulator and the positioning device can be provided with 1 to 10 clamping and positioning mechanisms for processing multiple workpieces.

Preferably, the positioning motor is not limited to be disposed at the center of the clamping and positioning mechanism, and the positioning motor can be disposed at the left end or the right end of the clamping and positioning mechanism, in which case the left screw rod and the right screw rod can be replaced by coaxial bidirectional screw rods.

Preferably, the residue cleaning mechanism is not limited to the air jet mechanism for removing the residue, and a liquid jet mechanism may be used instead for removing the residue.

Preferably, the support frame can be supported by other structural modes, and the support frame and the sliding table can not be used when the support frame is installed on some numerical control machine tools.

Compared with the prior art, the invention has the beneficial effects that: the gantry type three-dimensional motion mechanical gripper and the numerical control positioning device are provided, a left and right thread two-way motion principle is utilized, the positioning motor is controlled by the electronic numerical control device, the motor drives the screw rod to rotate, the two-way threaded shaft realizes one-off clamping and workpiece loosening to realize accurate positioning when rotating positively and negatively, so that the center of the workpiece is superposed with the center of the fixed processing base, the positioning with high precision, high efficiency and high stability is realized, and the product percent of pass and the production efficiency are greatly improved. The gantry type mechanical arm of the device controls the X-axis movement module, the Y-axis movement module and the Z-axis movement module to move in a space with full freedom, meanwhile, a sucker device of a mechanical gripper is arranged on the Z-axis movement module, a vacuum sucker on the sucker device of the mechanical gripper descends to suck a workpiece and then ascends, the workpiece is moved to a preset position, the vacuum sucker descends, the workpiece is placed on a fixed processing base of a fixing device by the vacuum sucker and is released, an auxiliary vacuum suction hole is formed in a workpiece positioning base and can suck the workpiece in an auxiliary mode, meanwhile, an L-shaped positioning push block on the fixing device pushes the workpiece to the center of the fixed processing base, the center of the workpiece is coincided with the center of the fixed processing base, high-precision, high-efficiency and high-stability positioning is achieved, and the product qualification rate and the production efficiency are greatly improved. The action process of the device is controlled by the electronic numerical control device system, so that the automation is realized, the labor is saved, and the production cost is reduced. The positioning device can be assembled by one or more numerical control machining centers according to actual needs, so that the numerical control machining centers are not stopped, workpieces are continuously machined, and the gantry type mechanical arm can place or take the workpieces down on the clamping and positioning mechanism, thereby realizing positioning with high precision, high efficiency and high stability and greatly improving the product qualification rate and the production efficiency. The device has the function of automatically removing the residues of the workpieces, has the function of automatically soaking the workpieces, and has great popularization value.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic view of a structural embodiment of the clamping and positioning mechanism of the present invention;

FIG. 3 is a schematic view of an embodiment of a moving structure of an L-shaped guiding rule positioning push block

FIG. 4 is a schematic view of an embodiment of the structure of the motor driving the left and right screw lead screws according to the present invention;

FIG. 5 is a schematic view of an embodiment of the soaking elevating mechanism of the present invention;

fig. 6 is a schematic diagram of a circuit of an electronic control device according to an embodiment of the present invention.

In the figure: 1-gantry type manipulator working table seat; 2-gantry type mechanical arm; 3-clamping and positioning mechanism; 4-a residue cleaning mechanism; 5-soaking a lifting mechanism; 6-electronic numerical control mechanism; 7-left vertical support; 8-right vertical support; 9-X axis motion module; a 10-Y axis motion module; an 11-Z axis motion module; 12-an elastic buffer mechanism; 13-workpiece feeding device; 14-a mechanical gripper; 15-air valve control box; 16-gas injection holes; 17-a gas lance junction; 18-a skid support; 19-gantry type manipulator motor set; 20-a slide table; 21-a lifting motor; 22-a coupling; 23-a threaded screw rod; 24-a threaded sleeve; 25-a bearing seat; 26-water containing groove; 27-a workpiece lifting tray; 28-workpiece blanking device; 29-clamping the positioning mechanism base; 30-a numerically controlled machine tool moving device; 31-positioning a motor; 32-a workpiece positioning base; 33-a bearing seat; 34-left thread lead screw; 35-right thread screw rod; 36-left thread bush; 37-right thread bush; 38-left L-shaped right-angle guiding rule positioning push block; 39-right L-shaped right angle guiding rule positioning push block; 40-a guide rail; 61-man-machine operation panel; 62-a microprocessing control circuit; 63-gantry type manipulator program control circuit; 64-clamping positioning mechanism program control circuit; 65-workpiece deslagging mechanism program control circuit; 66-soak the lifting mechanism program control circuit.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 5, a numerical control machine tool manipulator and positioning device comprises a workbench base 1, a gantry type manipulator 2, a sliding table support frame 18, a sliding table 20, a clamping and positioning mechanism 3, an elastic buffer mechanism 12, an air valve control box 15, a clamping and positioning mechanism base 29, a residue cleaning mechanism 4, a soaking and lifting mechanism 5, an electronic numerical control device 6, an air valve control box 15, a workpiece feeding device 13 and a workpiece discharging device 28; the method is characterized in that: the device comprises a gantry type manipulator 2, a soaking lifting mechanism 5 and a workpiece feeding device 13, wherein the workpiece discharging device 28 is arranged on a workbench base 1, the workbench base 1 is fixed on a numerically-controlled machine tool moving device 30 and is also fixed on a sliding table 20, the sliding table 20 is fixed on a sliding table support frame 18, and the sliding table support frame 18 is fixed on a numerically-controlled machine tool body; the clamping and positioning mechanism 3, the elastic buffer mechanism 12, the air valve control box 15 and the workpiece residue cleaning mechanism 4 are fixed on a clamping and positioning mechanism base 29, and the clamping and positioning mechanism base 29 is fixed on a numerical control machine moving device 30; the electronic numerical control device 6 is arranged outside the workbench of the manipulator and positioning device mechanism; the gantry type manipulator 2 is supported by a left vertical support 7 and a right vertical support 8 to form a gantry type structure; the gantry type manipulator 2 is provided with an X-axis movement module 9 and a Y-axis movement module 10 on a horizontal working surface, a Z-axis movement module 11 on an upper working surface and a lower working surface, a mechanical gripper 14 is arranged at the end part of the Y-axis movement module 11, a workpiece to be processed can be put in or taken off the clamping and positioning mechanism 3 through the gantry type manipulator 2, and a gantry type manipulator motor set 19 comprises an X-axis movement module 9 motor, a Y-axis movement module 10 motor, a Z-axis movement module 11 motor and a mechanical gripper 14 motor.

Referring to fig. 2, 3 and 4, the clamping and positioning mechanism 3 is composed of a positioning motor 31, a workpiece positioning base 32, a bearing seat 33, a left threaded lead screw 34, a right threaded lead screw 35, a left threaded sleeve 36, a right threaded sleeve 37, a left L-shaped right-angle running rule positioning push block 38 and a right L-shaped right-angle running rule positioning push block 39; the left end of location motor 31 be connected with forward left thread lead screw 34, the right-hand member of location motor 31 is connected with reverse right thread lead screw 35, be equipped with complex left thread cover 36 with it on the left thread lead screw 34, be equipped with complex right thread cover 37 with it on the right thread lead screw 35, left L type right angle guiding rule location ejector pad 38 and right L type right angle guiding rule location ejector pad 39 are established respectively on left thread cover 36 and right thread cover 37, left L type right angle guiding rule location ejector pad 38 on be equipped with elastic buffer mechanism 12, the below of left thread lead screw 34 and right thread lead screw 35 is equipped with guide rail 40, left thread cover 36 and right thread cover 37 and guide rail 40 sliding fit.

When the positioning motor 31 rotates forwards, the left thread bush 36 and the right thread bush 37 on the left thread lead screw 34 and the right thread lead screw 35 drive the left L-shaped right angle running rule positioning push block 38 and the right L-shaped right angle running rule positioning push block 39 to approach to the middle to clamp a workpiece; when the positioning motor 31 rotates reversely, the left thread bush 36 and the right thread bush 37 on the left thread lead screw 34 and the right thread lead screw 35 drive the left L-shaped right angle running rule positioning push block 38 and the right L-shaped right angle running rule positioning push block 39 to move towards two sides, and the workpiece is loosened.

Referring to fig. 1, 2 and 3, the residue cleaning mechanism 4 is composed of an air injection hole 16, an air injection pipe joint 17 and an air valve control box 15, the air injection hole 16 is arranged on a left L-shaped right-angle guiding rule positioning push block 38 or a right L-shaped right-angle guiding rule positioning push block 39, the air valve control box 15 is connected with the air injection hole 16 through the air injection pipe joint 17, and high-pressure air can clean the surface of a workpiece and processing residues on a processing positioning base 32 after being controlled by the air valve control box 15.

Referring to fig. 1 and 5, the soaking and lifting mechanism 5 is arranged on the left side of the gantry type manipulator 2, the workpiece feeding device 13 is arranged on the right side of the gantry type manipulator 2, and the soaking and lifting mechanism 5 comprises a lifting motor 21, a coupler 22, a threaded screw rod 23, a threaded sleeve 24, a bearing seat 25, a water containing tank 26, a workpiece lifting tray 27 and a workpiece discharging device 28; one end of the threaded screw rod 23 is connected with the bearing seat 25, the other end of the threaded screw rod 23 is connected with the lifting motor 21 through the coupler 22, the threaded sleeve 24 is arranged on the threaded screw rod 23 and is connected with the workpiece lifting tray 27, the workpiece discharging device 28 is arranged on the workpiece lifting tray 27, the threaded screw rod 23 is driven to rotate through the lifting motor 21, the threaded sleeve 24 moves up and down along the threaded screw rod 23, the workpiece lifting tray 27 connected with the threaded sleeve 24 can lift, and therefore workpieces in the workpiece discharging device 28 are soaked in the water containing tank 26 or taken out.

Referring to fig. 6 and fig. 1 to 5, the electronic numerical control device 6 is composed of a man-machine operation panel 61, a microprocessor control circuit 62, a gantry type manipulator program control circuit 63, a clamping and positioning mechanism program control circuit 64, a workpiece deslagging mechanism program control circuit 65 and a soaking and lifting mechanism program control circuit 66; the human-computer operation panel 61 is provided with a start stop switch, an operation button group and a work indicator light, the human-computer operation panel 61 provides human-computer exchange operation and a manual debugging function, a workpiece processing program is input through a touch screen, and the working mode is manual and automatic; the microprocessor control circuit 62 controls a gantry type manipulator program control circuit 63, a clamping and positioning mechanism program control circuit 64, a workpiece deslagging mechanism program control circuit 65 and a soaking and lifting mechanism program control circuit 66 according to the working program and the action set by the man-machine operation panel 61. The gantry type manipulator program control circuit 63 controls the gantry type manipulator motor set 19, the clamping and positioning mechanism program control circuit 64 controls the positioning motor 31, the soaking and lifting mechanism program control circuit 66 controls the lifting motor 21, and the workpiece deslagging mechanism program control circuit 65 controls the air valve control box 15.

The elastic buffer mechanism 12 can be replaced by a spring, elastic rubber and elastic sheet structure mode, and the buffer stroke of the elastic buffer mechanism can be set and adjusted; the soaking lifting mechanism 5 can be replaced by a cylinder, hydraulic pressure and a transmission belt; the workpiece lifting tray 27 can be driven to lift in multiple directions by the power of the lifting mechanism; 1 to 10 clamping and positioning mechanisms 3 can be arranged on the numerical control machine tool manipulator and the positioning device to carry out multi-workpiece processing; the positioning motor 31 is not limited to be arranged at the central position of the clamping and positioning mechanism 3, the positioning motor 31 can be arranged at the left end or the right end of the clamping and positioning mechanism 3, and the left threaded screw rod 34 and the right threaded screw rod 35 can be replaced by coaxial bidirectional threaded screw rods; the residue cleaning mechanism 4 is not limited to the residue removal by an air injection mechanism, and a liquid injection mechanism can be used for removing the residue instead; the support frame 18 can be supported by other structural methods, and the support frame 18 and the sliding table 20 can be omitted when the numerical control machine tool is installed on some numerical control machines.

Referring to fig. 1 to 4, the gantry type manipulator 2 of the device controls the movement of the X-axis movement module 9, the Y-axis movement module 10 and the Z-axis movement module 11 with full freedom in space, meanwhile, a suction cup device of the mechanical gripper 14 is arranged on the Y-axis movement module 10, a vacuum suction cup on the suction cup device of the mechanical gripper 14 descends to suck a workpiece and then ascends, then the workpiece is moved to a preset position, the vacuum suction cup descends, the vacuum suction cup puts the workpiece on the clamping and positioning mechanism 3 to release, a left L-shaped right-angle guiding ruler positioning push block 38 on the clamping and positioning mechanism 3 and an L-shaped right-angle guiding ruler positioning push block 39 push the workpiece to the center of the fixed processing base to make the center of the workpiece coincide with the center of the fixed processing base, and therefore, the positioning with high precision, high efficiency and high stability is achieved.

The invention has a gantry type three-dimensional motion mechanical gripper and a numerical control workpiece positioning device, utilizes the principle of coaxial left and right thread bidirectional motion, controls a motor through a digital system, drives a screw rod to rotate, and realizes the clamping of a workpiece clamp or the loosening of a workpiece to achieve accurate positioning when a positive and negative thread rotating shaft rotates positively and negatively. The action process of the device is controlled by an electronic numerical control device system, a gantry type mechanical arm of the device can automatically place or take down a workpiece on a clamping and positioning mechanism, the device has the function of automatically clearing workpiece residues, has the function of automatically soaking the workpiece, can install 110 workpiece positioning devices on numerical control processing equipment for multi-workpiece processing, has high automation degree and multiple functions, can position the workpiece with high precision and high efficiency, and has popularization value.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A numerical control machine tool manipulator and a positioning device comprise a working table base (1), a gantry type manipulator (2), a sliding table support frame (18), a sliding table (20), a clamping and positioning mechanism (3), an elastic buffer mechanism (12), an air valve control box (15), a clamping and positioning mechanism base (29), a residue cleaning mechanism (4), a soaking and lifting mechanism (5), an electronic numerical control device (6), a workpiece feeding device (13) and a workpiece discharging device (28); the method is characterized in that: the device comprises a gantry type manipulator (2), a soaking lifting mechanism (5) and a workpiece feeding device (13), wherein a workpiece discharging device (28) is installed on a working table seat (1), the working table seat (1) is fixed on a numerical control machine moving device (30) and is also fixed on a sliding table (20), the sliding table (20) is fixed on a sliding table support frame (18), and the sliding table support frame (18) is fixed on a numerical control machine body; the clamping and positioning mechanism (3), the residue cleaning mechanism (4), the elastic buffer mechanism (12) and the air valve control box (15) are fixed on a clamping and positioning mechanism base (29), and the clamping and positioning mechanism base (29) is fixed on a numerical control machine moving device (30); the electronic numerical control device (6) is arranged outside the workbench of the manipulator and the positioning device mechanism; the gantry type mechanical arm (2) is supported by a left vertical support (7) and a right vertical support (8) to form a gantry type structure; the gantry type manipulator (2) is provided with an X-axis movement module (9) and a Y-axis movement module (10) on a horizontal working surface, Z-axis movement modules (11) are arranged on the upper working surface and the lower working surface, a mechanical gripper (14) is arranged at the end part of the Y-axis movement module (10), a workpiece to be processed can be placed on or taken off from the clamping and positioning mechanism (3) through the gantry type manipulator (2), and a gantry type manipulator motor set (19) comprises an X-axis movement module (9) motor, a Y-axis movement module (10) motor, a Z-axis movement module (11) motor and a mechanical gripper (14) motor; the clamping and positioning mechanism (3) consists of a positioning motor (31), a workpiece positioning base (32), a bearing seat (33), a left thread screw rod (34), a right thread screw rod (35), a left thread sleeve (36), a right thread sleeve (37), a left L-shaped right-angle running rule positioning push block (38) and a right L-shaped right-angle running rule positioning push block (39); the left end of the positioning motor (31) is connected with a left thread screw rod (34), the right end of the positioning motor (31) is connected with a right thread screw rod (35), a left thread sleeve (36) matched with the left thread screw rod is arranged on the left thread screw rod (34), a right thread sleeve (37) matched with the right thread screw rod is arranged on the right thread screw rod (35), a left L-shaped right-angle running rule positioning push block (38) and a right L-shaped right-angle running rule positioning push block (39) are respectively arranged on the left thread sleeve (36) and the right thread sleeve (37), an elastic buffer mechanism (12) is arranged on the left L-shaped right-angle running rule positioning push block (38), a guide rail (40) is arranged below the left thread screw rod (34) and the right thread screw rod (35), and the left thread sleeve (36) and the right thread sleeve (37) are in sliding fit with the guide; the residue cleaning mechanism (4) is composed of a gas orifice (16), a gas injection pipe joint (17) and a gas valve control box (15), the gas orifice (16) is arranged on a left L-shaped right-angle running rule positioning push block (38) or a right L-shaped right-angle running rule positioning push block (39), the gas valve control box (15) is connected with the gas orifice (16) through the gas injection pipe joint (17), and high-pressure gas sprayed from the gas orifice (16) can clean the surface of a workpiece and processing residues on a processing positioning base (32) after being controlled by the gas valve control box (15); the soaking lifting mechanism (5) is arranged on the left side of the gantry type manipulator (2), the workpiece feeding device (13) is arranged on the right side of the gantry type manipulator (2), and the soaking lifting mechanism (5) comprises a lifting motor (21), a coupler (22), a threaded screw rod (23), a threaded sleeve (24), a bearing seat (25), a water containing tank (26), a workpiece lifting tray (27) and a workpiece discharging device (28); one end of a threaded screw rod (23) is connected with a bearing seat (25), the other end of the threaded screw rod is connected with a lifting motor (21) through a coupler (22), a threaded sleeve (24) is arranged on the threaded screw rod (23) and is connected with a workpiece lifting tray (27), a workpiece blanking device (28) is arranged on the workpiece lifting tray (27), the threaded screw rod (23) is driven to rotate through the lifting motor (21), the threaded sleeve (24) moves up and down along the threaded screw rod (23), so that the workpiece lifting tray (27) connected with the threaded sleeve (24) can be lifted, and a workpiece in the workpiece blanking device (28) is soaked in a water containing tank (26) or taken out;

the electronic numerical control device (6) consists of a man-machine operation panel (61), a microprocessing control circuit (62), a gantry type manipulator program control circuit (63), a clamping and positioning mechanism program control circuit (64), a workpiece deslagging mechanism program control circuit (65) and a soaking and lifting mechanism program control circuit (66); the human-machine operation panel (61) is provided with a start stop switch, an operation button group and a work indicator light, the human-machine operation panel (61) provides human-machine exchange operation and a manual debugging function, a workpiece processing program is input through a touch screen, and the working mode is manual and automatic; the micro-processing control circuit (62) controls a gantry type manipulator program control circuit (63), a clamping and positioning mechanism program control circuit (64), a workpiece deslagging mechanism program control circuit (65) and a soaking and lifting mechanism program control circuit (66) according to a working program and actions set by a man-machine operation panel (61); the gantry type manipulator program control circuit (63) controls a gantry type manipulator motor set (19), the clamping and positioning mechanism program control circuit (64) controls a positioning motor (31), the soaking and lifting mechanism program control circuit (66) controls a lifting motor (21), and the workpiece deslagging mechanism program control circuit (65) controls an air valve control box (15);

when the positioning motor (31) rotates forwards, a left thread sleeve (36) and a right thread sleeve (37) on the left thread lead screw (34) and the right thread lead screw (35) drive a left L-shaped right-angle running rule positioning push block (38) and a right L-shaped right-angle running rule positioning push block (39) to approach to the middle to clamp a workpiece; when the positioning motor (31) rotates reversely, a left thread sleeve (36) and a right thread sleeve (37) on the left thread screw rod (34) and the right thread screw rod (35) drive a left L-shaped right-angle running rule positioning push block (38) and a right L-shaped right-angle running rule positioning push block (39) to move towards two sides, and a workpiece is loosened;

the elastic buffer mechanism (12) can be replaced by a spring, elastic rubber and elastic sheet structure, and the buffer stroke of the elastic buffer mechanism (12) can be set and adjusted;

the lifting mechanism of the soaking lifting mechanism (5) can be replaced by a cylinder, hydraulic pressure and a transmission belt; the workpiece lifting tray (27) can be driven to lift in multiple directions by the power of the lifting mechanism;

1 to 10 clamping and positioning mechanisms (3) can be arranged on the numerical control machine tool manipulator and the positioning device to carry out multi-workpiece processing;

the positioning motor (31) can be arranged at the left end or the right end of the clamping and positioning mechanism (3), and the left threaded screw rod (34) and the right threaded screw rod (35) can be replaced by coaxial bidirectional threaded screw rods;

the residue cleaning mechanism (4) can replace a liquid spraying mechanism to remove residues.