CN112317772A

CN112317772A - Automatic feeding and discharging device of vertical numerical control lathe for motor cylinder

Info

Publication number: CN112317772A
Application number: CN202011222140.5A
Authority: CN
Inventors: 赵华勇
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-11-05
Filing date: 2020-11-05
Publication date: 2021-02-05

Abstract

The invention aims to provide an automatic loading and unloading device of a vertical numerical control lathe for a motor cylinder. The mechanical arm device comprises a bin device, a mechanical arm device I, a mechanical arm device II, a movable plate and a rack; the movable plate is fixedly connected to a movable clamping jaw of a chuck of the vertical numerically controlled lathe and provided with an arc end; the bin device comprises a motor, an optical shaft, a bin plate and a ball screw pair; the first manipulator device comprises a first cylinder, a second cylinder, a first moving plate, a third moving plate, a second moving plate, a third cylinder, a first rotating cylinder and a first gas claw; the manipulator device II comprises a cylinder IV, a moving plate IV, a cylinder V, a cylinder VI, a moving plate V, a moving plate VI, a rotating cylinder II and a gas claw II; the motor cylinder and the motor cylinder finished product to be processed can be circularly placed on the vertical numerically controlled lathe instead of manual work, the motor cylinder does not need to be aligned when being placed, the motor cylinder can move even if burrs exist at the groove of the motor cylinder sometimes, and the automatic loading and unloading device can normally work.

Description

Automatic feeding and discharging device of vertical numerical control lathe for motor cylinder

Technical Field

The invention relates to an automatic loading and unloading device, in particular to an automatic loading and unloading device of a vertical numerical control lathe for a motor cylinder.

Background

The motor is a very common product, has a motor section of thick bamboo on the motor, and the motor section of thick bamboo that adopts on the general single-phase asynchronous motor is mostly as shown in fig. 1, and this motor section of thick bamboo 1 includes hole 2 and recess (there is the recess around the body of motor section of thick bamboo), and the hole 2 of motor section of thick bamboo 1 need be placed and process on the numerical control lathe, and the coil is placed to the centre after hole 2 processes, and the motor end cover has been placed at both ends. The motor barrel 1 has various specifications according to different motor powers, the large motor barrel is mostly machined on a chuck of the vertical type numerical control lathe 5, the motor barrel 1 is well positioned on the chuck and fixed, then the vertical type numerical control lathe 5 works to machine the motor barrel 1, the motor barrel 1 is well machined and manually taken out and placed, and the operation is circulated. These machining methods require the operator to cyclically put the motor barrel and the motor barrel to be machined. Patent ZL201811077740X is an automatic loading and unloading device of a vertical numerical control lathe of a motor cylinder, which is an automatic loading and unloading device replacing manual fetching of a discharge cylinder, but some motor cylinders to be processed need to be put into a stock bin, wherein the stock bin limits an inner hole 2 of the motor cylinder, the stock bin is also provided with a first locating rod, and the first locating rod locates a groove on the motor cylinder 1 (the limiting groove can limit the irregular shape of the motor cylinder), so as to limit the rotation of the motor cylinder; the motor cylinder can only move along the inner hole direction of the motor cylinder, and the feeding and discharging device has several problems: 1) because the inner hole 2 of the motor barrel 1 is limited by the bin, and the positioning rod positions the groove of the motor barrel 1, the personnel must align the position when the motor barrel 1 is put into the bin, namely the groove of the motor barrel 1 aligns with the positioning rod and cannot be put into the bin at will, so that the labor force of the personnel is increased; 2) because the locating lever is fixed a position motor barrel 1's recess, both need clearance fit, there is the burr sometimes motor barrel 1's recess department, can cause motor barrel 1 can't remove along 2 directions of hole, and unloader can't normally work. In order to solve these problems, a new loading and unloading device needs to be designed.

Disclosure of Invention

The invention aims to provide an automatic loading and unloading device which can replace manual work to circularly place finished products of a motor cylinder and a motor cylinder to be processed on a vertical numerically controlled lathe, does not need to align the position when the motor cylinder is placed, can move even if burrs are formed at a groove of the motor cylinder at times, and can normally work.

The invention relates to an automatic loading and unloading device of a vertical numerical control lathe of a motor cylinder, which is realized as follows: the mechanical arm device comprises a bin device, a mechanical arm device I, a mechanical arm device II, a movable plate and a rack; the movable plate is fixedly connected to movable clamping jaws of a chuck of the vertical numerically controlled lathe, the movable plate is provided with an arc end, and the arc end can clamp an inner hole of the motor cylinder by the action of the chuck during work (the movable clamping jaws are separated from the arc end by the chuck to clamp the inner hole of the motor cylinder); the bin device comprises a motor, an optical axis, a bin plate and a ball screw pair; the motor is fixedly connected to the frame, and a shaft of the motor is fixedly connected with a ball screw in the ball screw pair; a ball screw in the ball screw pair and the frame form a rotating pair, and a screw nut in the ball screw pair I is fixedly connected with the bin plate; the bin plate is arranged on the rack and forms a sliding pair with the rack; the optical axis is fixedly connected to the rack and is used for positioning an inner hole of the motor cylinder; the first manipulator device comprises a first cylinder, a second cylinder, a first moving plate, a third moving plate, a second moving plate, a third cylinder, a first rotating cylinder and a first gas claw; the first air cylinder is fixedly connected to the rack, the moving direction of the first air cylinder is the left-right direction, and a moving rod of the first air cylinder is fixedly connected with the first moving plate; the first moving plate is arranged on the rack and forms a moving pair with the rack; the second air cylinder is fixedly connected to the first moving plate, the moving direction of the second air cylinder is the left-right direction, and a moving rod of the second air cylinder is fixedly connected with the second moving plate; the second moving plate is arranged on the rack and forms a moving pair with the rack; the third air cylinder is fixedly connected to the second moving plate, the moving direction of the third air cylinder is the up-down direction, and a moving rod of the third air cylinder is fixedly connected with the third moving plate; the third moving plate is arranged on the second moving plate and forms a moving pair with the second moving plate; the first rotating cylinder is fixedly connected to the third moving plate; the first air claw is fixedly connected to a rotating rod of the first rotating cylinder; the manipulator device II comprises a cylinder IV, a moving plate IV, a cylinder V, a cylinder VI, a moving plate V, a moving plate VI, a rotating cylinder II and a gas claw II; the fourth cylinder is fixedly connected to the rack, the moving direction of the fourth cylinder is the left-right direction, and a moving rod of the fourth cylinder is fixedly connected with the moving plate IV; the fourth moving plate is arranged on the rack and forms a moving pair with the rack; the cylinder five is fixedly connected to the moving plate four, the moving direction of the cylinder five is the up-down direction, and a moving rod of the cylinder five is fixedly connected with the moving plate five; the fifth moving plate is arranged on the fourth moving plate and forms a moving pair with the fourth moving plate; the moving direction of the cylinder six is the front-back direction, and a moving rod of the cylinder six is fixedly connected with the moving plate six; the moving plate six is arranged on the moving plate five and forms a moving pair with the moving plate five; the second rotating cylinder is fixedly connected to the sixth moving plate; the second air claw is fixedly connected to a rotating rod of the second rotating cylinder; the first mechanical arm device has three working positions, namely a starting position I, an end position I and a middle position; when the first rotary cylinder does not rotate the rotary rod, the first pneumatic claw is positioned right above an inner hole of a motor barrel arranged on the storage bin device, at the moment, the third pneumatic cylinder extends out of the movable rod and can move the first pneumatic claw to the inner hole of the uppermost motor barrel on the storage bin device, and the first pneumatic claw acts to clamp the uppermost motor barrel; when the first rotating cylinder does not rotate the rotating rod, the first air claw is positioned right above a movable plate on the chuck, and at the moment, the third air cylinder extends out of the moving rod and can place a motor cylinder clamped by the first air claw at the movable plate; when the first air cylinder does not extend out of the moving rod and the second air cylinder does not extend out of the moving rod, a finished product bin is arranged below the first air claw, and when the rotating rod is not rotated by the first rotating air cylinder, the first air claw loosens the processed motor cylinder and falls into the finished product bin; the second manipulator device has two working positions, namely a starting position II and an end position II; when the rotating rod is not rotated by the rotating cylinder II, the gas claw II is positioned right above a movable plate on the chuck, and at the moment, the gas claw II of the cylinder five extends out of the moving rod and can clamp a motor cylinder arranged at the movable plate; in the initial position two, the air cylinder four and the air cylinder six do not extend out of the movable rod; when the first manipulator device is at the middle position and the second manipulator device is at the initial position, the third air cylinder and the fifth air cylinder do not extend out of the moving rod, and when the first rotating air cylinder and the second rotating air cylinder both rotate the rotating rod, the motor cylinder clamped by the second air claw faces the first air claw, and when the sixth air cylinder extends out of the moving rod, the motor cylinder clamped by the second air claw enters the first air claw so as to be clamped by the first air claw.

The invention has the beneficial effects that: the utility model provides an automatic unloader goes up can replace artifical motor section of thick bamboo and the motor section of thick bamboo finished product of getting of putting the processing in circulation on vertical numerical control lathe, need not aim at the position when laying the motor section of thick bamboo moreover, even there is the burr in the groove department of motor section of thick bamboo sometimes, the motor section of thick bamboo also can move, automatic unloader can normally work.

Drawings

The invention is further described below with reference to the accompanying drawings.

FIG. 1 is a schematic view of a motor barrel to be processed in the present invention.

Fig. 2 is a schematic view of the overall structure of the present invention.

FIG. 3 is a schematic structural view of a vertical numerically controlled lathe according to the present invention.

FIG. 4 is a schematic view of the movable plate of the vertical numerically controlled lathe of the present invention.

FIG. 5 is a schematic view of the electric cylinder of the vertical numerically controlled lathe of the present invention mounted on a movable plate.

Fig. 6 to 8 are schematic structural views of the bin device of the present invention.

Fig. 9 to 10 are schematic structural views of a first robot apparatus according to the present invention.

Fig. 11 to 12 are schematic structural views of a second robot apparatus according to the present invention.

Figure 13 is a simplified schematic diagram of the robot assembly of the present invention in a first starting position relative to the magazine assembly.

FIG. 14 is a schematic view showing a simplified structure of a robot apparatus according to the present invention, which is located at a first end position with respect to a vertical numerically controlled lathe.

Fig. 15 is a simplified structural diagram of the relative positions of the first robot device in the intermediate position and the second robot device in the initial position.

In the figure:

1: a motor barrel 2: an inner hole 3: the stock bin device 4: the first manipulator device 5: vertical numerically controlled lathe 6: and 7, finished product bin: and a second manipulator device 8: the movable plate 9: the chuck 10: arc end 11: the motor 12: optical axis 13: the silo plate 14: ball screw 15: the feed screw nut 16: the first air cylinder 17: a second air cylinder 18: moving the first plate 19: moving plate III 20: moving a second plate 21: and a third air cylinder 22: rotating the first air cylinder 23: the first pneumatic claw is 24: cylinder four 25: moving plate four 26: a fifth air cylinder 27: cylinder six 28: moving plate five 29: moving plate six 30: and a second rotary cylinder 31: and a second pneumatic claw.

Detailed Description

Fig. 2 to 15 are schematic structural views of an automatic loading and unloading device of a vertical numerically controlled lathe for a motor cylinder according to the present invention. As shown in the figure, the automatic loading and unloading device of the motor cylinder vertical type numerical control lathe comprises a stock bin device 3, a manipulator device I4, a manipulator device II 7, a movable plate 8 and a rack; as shown in fig. 3 to 5, the movable plate 8 is fixedly connected to a movable jaw of a chuck 9 of the vertical numerically controlled lathe 5, the movable plate 8 is provided with an arc end 10, and when the lathe works, the chuck 9 acts to enable the arc end 10 to clamp the inner hole 2 of the motor cylinder 1 (the chuck 9 enables the movable jaw to relatively separate the arc end 10 to clamp the inner hole 2 of the motor cylinder 1); as shown in fig. 6 to 8, the bin device 3 includes a motor 11, an optical axis 12, a bin plate 13, and a ball screw pair; the motor 11 is fixedly connected to the frame, and a shaft of the motor 11 is fixedly connected with a ball screw 14 in the ball screw pair; a ball screw 14 in the ball screw pair and the frame form a rotating pair, and a screw nut 15 in the ball screw pair I is fixedly connected with the bin plate 13; the bin plate 13 is arranged on the frame and forms a moving pair with the frame; the optical axis 12 is fixedly connected to the frame, and the optical axis 12 locates the inner hole 2 of the motor barrel 1 (as shown in fig. 8); as shown in fig. 9 to 10, the first manipulator device 4 includes a first cylinder 16, a second cylinder 17, a first moving plate 18, a third moving plate 19, a second moving plate 20, a third cylinder 21, a first rotating cylinder 22, and a first pneumatic claw 23; the first air cylinder 16 is fixedly connected to the rack, the moving direction of the first air cylinder 16 is the left-right direction, and a moving rod of the first air cylinder 16 is fixedly connected with the first moving plate 18; the first moving plate 18 is arranged on the rack and forms a moving pair with the rack; the second cylinder 17 is fixedly connected to the first moving plate 18, the moving direction of the second cylinder 17 is the left-right direction, and a moving rod of the second cylinder 17 is fixedly connected with the second moving plate 20; the second moving plate 20 is arranged on the rack and forms a moving pair with the rack; the third cylinder 21 is fixedly connected to the second moving plate 20, the moving direction of the third cylinder 21 is the up-down direction, and a moving rod of the third cylinder 21 is fixedly connected with the third moving plate 19; the third moving plate 19 is arranged on the second moving plate 20 and forms a moving pair with the second moving plate 20; the first rotating cylinder 22 is fixedly connected to the third moving plate 19; the pneumatic claw I23 is fixedly connected to a rotating rod of the rotating cylinder I22; as shown in fig. 11 to 12, the second manipulator device 7 includes a cylinder four 24, a moving plate four 25, a cylinder five 26, a cylinder six 27, a moving plate five 28, a moving plate six 29, a rotating cylinder two 30, and a gas claw two 31; the cylinder IV 24 is fixedly connected to the rack, the moving direction of the cylinder IV 24 is the left-right direction, and a moving rod of the cylinder IV 24 is fixedly connected with a moving plate IV 25; the fourth moving plate 25 is arranged on the rack and forms a moving pair with the rack; the fifth cylinder 26 is fixedly connected to the fourth moving plate 25, the moving direction of the fifth cylinder 26 is the up-down direction, and a moving rod of the fifth cylinder 26 is fixedly connected with the fifth moving plate 28; the moving plate five 28 is arranged on the moving plate four 25 and forms a moving pair with the moving plate four 25; the six air cylinders 27 are fixedly connected to the five moving plates 28, the moving direction of the six air cylinders 27 is the front-back direction, and moving rods of the six air cylinders 27 are fixedly connected with the six moving plates 29; the moving plate six 29 is arranged on the moving plate five 28 and forms a moving pair with the moving plate five 28; the second rotary cylinder 30 is fixedly connected to the sixth moving plate 29; the second pneumatic claw 31 is fixedly connected to a rotating rod of the second rotating cylinder 30; the mechanical arm device I4 has three working positions, namely a starting position I, an end position I and a middle position; at the initial position, the first air cylinder 16 and the second air cylinder 17 do not extend out of the moving rod, the first air claw 23 is positioned at the storage bin device 3, and when the first rotating air cylinder 22 does not rotate the rotating rod, the first air claw 23 is positioned right above the inner hole 2 of the motor cylinder 1 arranged on the storage bin device 3 (as shown in fig. 13), at the moment, the third air cylinder 21 extends out of the moving rod to move the first air claw 23 into the inner hole 2 of the uppermost motor cylinder 1 on the storage bin device 3, and the first air claw 23 acts to clamp the uppermost motor cylinder 1; in the end position I, the first air cylinder 16 and the second air cylinder 17 extend out of the movable rod, the first air claw 23 is positioned at the chuck 9 of the vertical numerically controlled lathe 5, and when the first rotating air cylinder 22 does not rotate the rotating rod, the first air claw 23 is positioned right above the movable plate 8 on the chuck 9 (as shown in FIG. 14), and at the moment, the third air cylinder 21 extends out of the movable rod and can place the motor cylinder 1 clamped by the first air claw 23 at the movable plate 8; in the middle position, the first air cylinder 16 does not extend out of the moving rod and the second air cylinder 17 extends out of the moving rod, the finished product bin 6 is placed below the first air claw 23, and when the first rotating air cylinder 22 does not rotate the rotating rod, the first air claw 23 loosens the processed motor barrel 1 and falls into the finished product bin 6; the second manipulator device 7 has two working positions, namely a starting position II and an end position II; in the second end position, the fourth cylinder 24 and the sixth cylinder 27 both extend out of the moving rod, the second gas claw 31 is located at the chuck 9 of the vertical numerically controlled lathe 5, and when the rotating cylinder 30 does not rotate the rotating rod, the second gas claw 31 is located right above the moving plate 8 on the chuck 9, and at the moment, the fifth cylinder 26 extends out of the moving rod and the second gas claw 31 can clamp the motor cylinder 1 placed at the moving plate 8; in the initial position two, neither the cylinder four 24 nor the cylinder six 27 extends out of the travel bar; when the first manipulator device 4 is in the middle position and the second manipulator device 7 is in the second starting position, the third air cylinder 21 and the fifth air cylinder 26 do not extend out of the moving rod, when the first rotating air cylinder 22 and the second rotating air cylinder 30 rotate the rotating rod, the motor cylinder 1 clamped by the second air claw 31 is opposite to the first air claw 23, and when the sixth air cylinder 27 extends out of the moving rod, the motor cylinder 1 clamped by the second air claw 31 enters the first air claw 23 so that the first air claw 23 can clamp.

When the automatic loading and unloading device of the motor cylinder vertical numerically controlled lathe works, a pneumatic system and a controller are connected, a finished product bin 6 is placed below a pneumatic claw I23 when the manipulator device I4 is in the middle, and the automatic loading and unloading device comprises the following steps: 1) initially, in the starting position, a number of motor cartridges 1 to be machined are placed on a magazine plate 13 in the magazine unit 3, the optical axis 12 positions the inner bore 2 of the motor cartridge 1, and the device is then opened. 2) At the beginning, the manipulator device I4 is at the initial position I, the air cylinder I16 and the air cylinder II 17 do not extend out of the moving rod, the air claw I23 is positioned at the storage bin device 3, the air claw I23 is positioned right above the inner hole 2 of the motor cylinder 1 arranged on the storage bin device 3 (as shown in fig. 13, at the beginning, the rotating air cylinder I22 does not rotate the rotating rod), the control air cylinder III 21 extends out of the moving rod, the air claw I23 moves into the inner hole 2 of the uppermost motor cylinder 1 on the storage bin device 3, and the control air claw I23 acts to clamp the uppermost motor cylinder 1; 3) the third control cylinder 21 extends back to the moving rod to move the motor cylinder 1 clamped by the first air claw 23 out of the stock bin device 3, namely the uppermost motor cylinder 1 is separated from the optical axis 12; 4) the motor 11 rotates to drive the bin plate 13 to move upwards by the distance of one motor barrel 1, so that the uppermost motor barrel 1 in the bin device 3 moves upwards by the distance of one motor barrel 1 to reach the position clamped by the first air claw 23; 5) the first control cylinder 16 and the second control cylinder 17 extend out of the moving rod, the first manipulator device 4 reaches a first end position, the first gas claw 23 is located at a chuck 9 of the vertical numerically controlled lathe 5, the first gas claw 23 is located right above a moving plate 8 on the chuck 9 (as shown in figure 14), and the third control cylinder 21 extends out of the moving rod to place the motor cylinder 1 clamped by the first gas claw 23 at the moving plate 8; 6) the first pneumatic claw 23 is controlled to be loosened, the motor barrel 1 is positioned and placed on the movable plate 8, the third control cylinder 21 extends back to move the rod, the first pneumatic claw 23 leaves the motor barrel 1, the first control cylinder 16 extends back to move the rod, the first manipulator device 4 reaches the middle position, and the first pneumatic claw 23 leaves the vertical numerically controlled lathe 5; 7) controlling the chuck 9 to act, clamping a part of the inner hole 2 of the motor barrel 1 by the arc end 10 of the movable plate 8, controlling the working chuck 9 of the vertical numerically-controlled lathe 5 to rotate, moving the motor barrel 1 by a turning tool, stopping the rotation of the chuck 9 after a part of the inner hole 2 which is not blocked by the arc end 10 is machined, returning the turning tool to the original position, controlling the chuck 9 to act, and releasing the motor barrel 1 by the movable plate 8; 8) at the beginning, the second manipulator device 7 is located at a second starting position, the fourth air cylinder 24 and the sixth air cylinder 27 do not extend out of the moving rod, meanwhile, the fourth air cylinder 24 and the sixth air cylinder 27 are controlled to extend out of the moving rod, and the second manipulator device 7 reaches a second final position; 9) in the second end position, the second gas claw 31 is located at the chuck 9 of the vertical numerically controlled lathe 5, the second gas claw 31 is located right above the movable plate 8 on the chuck 9 (the rotary cylinder 30 does not rotate the rotary rod at the beginning), the control cylinder five 26 extends out of the movable rod, and then the second gas claw 31 is controlled to act to clamp the motor cylinder 1 placed at the movable plate 8; 10) the control cylinder five 26 extends back to move the rod, and the motor cylinder 1 clamped by the air claw two 31 is driven to leave the movable plate 8; 11) simultaneously controlling the air cylinder four 24 and the air cylinder six 27 to extend back to the moving rod, and returning the manipulator device two 7 to the initial position two; 12) controlling the first rotating cylinder 22 and the second rotating cylinder 30 to rotate the rotating rod, wherein the motor cylinder 1 clamped by the second air claw 31 is directly opposite to the first air claw 23; 13) the control cylinder six 27 extends out of the moving rod, the motor cylinder 1 clamped by the gas claw two 31 enters the gas claw one 23, and then the gas claw one 23 is controlled to act to clamp the motor cylinder 1; 14) controlling the second air claw 31 to release the motor barrel 1, and then controlling the sixth air cylinder 27 to extend back to the moving rod, so that the second air claw 31 leaves the motor barrel 1; 15) the first control rotary cylinder 22 and the second control rotary cylinder 30 both return to rotate the rotary rod, the first control rotary cylinder 16 extends out of the movable rod, the first manipulator device 4 reaches a first end position, the first gas claw 23 is positioned at the chuck 9 of the vertical numerically controlled lathe 5, the first gas claw 23 is positioned right above the movable plate 8 on the chuck 9 (as shown in figure 14), and the third control rotary cylinder 21 extends out of the movable rod to place the motor cylinder 1 clamped by the first gas claw 23 at the movable plate 8; 16) the first pneumatic claw 23 is controlled to be loosened, the motor barrel 1 is positioned and placed on the movable plate 8, the third control cylinder 21 extends back to move the rod, the first pneumatic claw 23 leaves the motor barrel 1, the first control cylinder 16 extends back to move the rod, the first manipulator device 4 reaches the middle position, and the first pneumatic claw 23 leaves the vertical numerically controlled lathe 5; 17) controlling the chuck 9 to act, clamping the processed inner hole 2 of the motor barrel 1 by the arc end 10 of the movable plate 8, controlling the working chuck 9 of the vertical numerically-controlled lathe 5 to rotate, moving the processing motor barrel 1 by a turning tool, stopping the rotation of the chuck 9 after the inner hole 2 which is not processed is processed, returning the turning tool to the original position, controlling the chuck 9 to act, and loosening the finished motor barrel 1 by the movable plate 8; 18) the first control cylinder 16 extends out of the moving rod, the first manipulator device 4 reaches a first end position, the first gas claw 23 is located at a chuck 9 of the vertical numerically-controlled lathe 5, the first gas claw 23 is located right above a movable plate 8 on the chuck 9 (as shown in fig. 14), the third control cylinder 21 extends out of the moving rod, the first gas claw 23 is controlled to act to clamp a finished product of the motor barrel 1 placed at the movable plate 8, the third control cylinder 21 extends back to the moving rod, and the finished product of the motor barrel 1 clamped by the first gas claw 23 is taken away from the movable plate 8; 19) the first control cylinder 16 extends back to move the rod, the first manipulator device 4 reaches the middle position, and the first air claw 23 is controlled to be loosened to drop the finished product of the motor barrel 1 into the finished product bin 6 below; 20) the second control cylinder 17 extends back to move the rod, and the first manipulator device 4 returns to the first starting position; 21) returning to the step 2) to restart the work; 22) after the motor barrels 1 in the bin device 3 are all processed, the motor 11 rotates in the reverse direction, the bin plate 13 returns to the starting point, the step 1) is returned, and the operation is started again, so that the operation is circulated.

The chuck 9 in the vertical numerically controlled lathe 5 in the above technical scheme can be a pneumatic chuck or a hydraulic chuck.

In addition to the above embodiments, the present invention has other embodiments. All technical equivalents and equivalents which may be substituted for one another are intended to fall within the scope of the claims.

Claims

1. The utility model provides a unloader in vertical numerical control lathe's of motor cylinder automation which characterized in that: the mechanical arm device comprises a bin device, a mechanical arm device I, a mechanical arm device II, a movable plate and a rack; the movable plate is fixedly connected to a movable clamping jaw of a chuck of the vertical numerically controlled lathe, an arc end is arranged on the movable plate, and the arc end clamps an inner hole of the motor cylinder by the action of the chuck during work; the bin device comprises a motor, an optical axis, a bin plate and a ball screw pair; the motor is fixedly connected to the frame, and a shaft of the motor is fixedly connected with a ball screw in the ball screw pair; a ball screw in the ball screw pair and the frame form a rotating pair, and a screw nut in the ball screw pair I is fixedly connected with the bin plate; the bin plate is arranged on the rack and forms a sliding pair with the rack; the optical axis is fixedly connected to the rack and is used for positioning an inner hole of the motor cylinder; the first manipulator device comprises a first cylinder, a second cylinder, a first moving plate, a third moving plate, a second moving plate, a third cylinder, a first rotating cylinder and a first gas claw; the first air cylinder is fixedly connected to the rack, the moving direction of the first air cylinder is the left-right direction, and a moving rod of the first air cylinder is fixedly connected with the first moving plate; the first moving plate is arranged on the rack and forms a moving pair with the rack; the second air cylinder is fixedly connected to the first moving plate, the moving direction of the second air cylinder is the left-right direction, and a moving rod of the second air cylinder is fixedly connected with the second moving plate; the second moving plate is arranged on the rack and forms a moving pair with the rack; the third air cylinder is fixedly connected to the second moving plate, the moving direction of the third air cylinder is the up-down direction, and a moving rod of the third air cylinder is fixedly connected with the third moving plate; the third moving plate is arranged on the second moving plate and forms a moving pair with the second moving plate; the first rotating cylinder is fixedly connected to the third moving plate; the first air claw is fixedly connected to a rotating rod of the first rotating cylinder; the manipulator device II comprises a cylinder IV, a moving plate IV, a cylinder V, a cylinder VI, a moving plate V, a moving plate VI, a rotating cylinder II and a gas claw II; the fourth cylinder is fixedly connected to the rack, the moving direction of the fourth cylinder is the left-right direction, and a moving rod of the fourth cylinder is fixedly connected with the moving plate IV; the fourth moving plate is arranged on the rack and forms a moving pair with the rack; the cylinder five is fixedly connected to the moving plate four, the moving direction of the cylinder five is the up-down direction, and a moving rod of the cylinder five is fixedly connected with the moving plate five; the fifth moving plate is arranged on the fourth moving plate and forms a moving pair with the fourth moving plate; the moving direction of the cylinder six is the front-back direction, and a moving rod of the cylinder six is fixedly connected with the moving plate six; the moving plate six is arranged on the moving plate five and forms a moving pair with the moving plate five; the second rotating cylinder is fixedly connected to the sixth moving plate; the second air claw is fixedly connected to a rotating rod of the second rotating cylinder; the first mechanical arm device has three working positions, namely a starting position I, an end position I and a middle position; when the first rotary cylinder does not rotate the rotary rod, the first pneumatic claw is positioned right above an inner hole of a motor barrel arranged on the storage bin device, at the moment, the third pneumatic cylinder extends out of the movable rod and can move the first pneumatic claw to the inner hole of the uppermost motor barrel on the storage bin device, and the first pneumatic claw acts to clamp the uppermost motor barrel; when the first rotating cylinder does not rotate the rotating rod, the first air claw is positioned right above a movable plate on the chuck, and at the moment, the third air cylinder extends out of the moving rod and can place a motor cylinder clamped by the first air claw at the movable plate; when the air cylinder I extends out of the movable rod, the air cylinder II extends out of the movable rod; the second manipulator device has two working positions, namely a starting position II and an end position II; when the rotating rod is not rotated by the rotating cylinder II, the gas claw II is positioned right above a movable plate on the chuck, and at the moment, the gas claw II of the cylinder five extends out of the moving rod and can clamp a motor cylinder arranged at the movable plate; in the initial position two, the air cylinder four and the air cylinder six do not extend out of the movable rod; when the first manipulator device is at the middle position and the second manipulator device is at the initial position, the third air cylinder and the fifth air cylinder do not extend out of the moving rod, and when the first rotating air cylinder and the second rotating air cylinder both rotate the rotating rod, the motor cylinder clamped by the second air claw faces the first air claw, and when the sixth air cylinder extends out of the moving rod, the motor cylinder clamped by the second air claw enters the first air claw so as to be clamped by the first air claw.