CN112974995A

CN112974995A - Automatic cycle CNC CNC engraving and milling machine

Info

Publication number: CN112974995A
Application number: CN202110175542.2A
Authority: CN
Inventors: 张开来
Original assignee: Dongguan Yulai Machinery Co ltd
Current assignee: Dongguan Yulai Machinery Co ltd
Priority date: 2021-02-06
Filing date: 2021-02-06
Publication date: 2021-06-18

Abstract

The invention relates to an automatic circulation CNC engraving and milling machine which comprises a CNC engraving and milling machine body and a mechanical arm, wherein the mechanical arm comprises a second portal frame, a second X-axis movement module, a second Z-axis movement module, a second Y-axis movement module, a mechanical arm material grabbing rotating shaft mechanism and the like. According to the invention, through respectively designing the structures of the CNC engraving and milling machine, the mechanical arm positioning clamp and the mechanical arm material grabbing rotating shaft mechanism, a series of operations such as feeding, discharging, positioning, processing and finished product discharging can be automatically completed on workpieces in each workpiece box, and the whole operation process does not need human hands, so that the trouble of needing a plurality of production personnel to debug equipment is avoided, the phenomenon that the workpieces are easy to hurt people by materials in the feeding and discharging processes is avoided, the accident problem that the production personnel hurt people by machines due to misoperation in the production process is also avoided, the labor intensity of workers can be reduced, the labor cost of enterprises is reduced, the accident occurrence rate is reduced, and the use is more convenient.

Description

Automatic cycle CNC CNC engraving and milling machine

Technical Field

The invention relates to an automatic cycle CNC engraving and milling machine.

Background

A plurality of production personnel are required to be arranged for debugging in the process of producing and processing a workpiece by a traditional CNC engraving and milling machine, a series of processing procedures of taking, placing, positioning and processing the workpiece and placing the processed product into a finished product box are implemented in a manual operation mode, the manual operation has the defects of low processing precision, low positioning precision, high labor intensity of workers, high labor cost of enterprises and the like, the workers are easy to damage the product in the process of taking and placing the workpiece, and production workers often have operation errors in the operation process, so that accidents such as mechanical injury to people and material injury to people are caused, and the accidents do not meet the requirements of safe production of the enterprises; in addition, because the multiple different processing procedures of the traditional CNC engraving and milling machine all need manual operation, the problems that the procedures are linked complicatedly, the production efficiency is low, the product percent of pass is low and the like are caused.

In order to solve the problem of manual processing, Chinese practical patents with the publication number of CN207480242U, the patent name of 'a multi-channel single-control engraving and milling machine', the publication number of 'CN 210478250U', the patent name of 'a non-stop feeding and discharging mechanism of a plate CNC engraving and milling machine', the publication number of 'CN 207725114U', the patent name of 'a plate glass automatic feeding and discharging CNC engraving and milling machine', and the like, the technical proposal of the structure is that the processing main shaft is processed by transverse movement, longitudinal movement and vertical movement through the modification of the structure of the processing main shaft, although the machine can realize the fine carving processing of the workpiece, the machine cannot accurately take and discharge the workpiece according to the preset coordinate parameters of production, and the feeding and discharging processes still need to manually place the workpiece on the workbench, so that the automatic production cannot be realized and the problem that manual operation is still needed cannot be solved. In addition, because above-mentioned disclosed technical scheme and the automatic cnc engraving and milling machine on the market all do not have manipulator positioning fixture, lead to it can't carry out accurate location to the work piece earlier before the main shaft processing, make its machining precision and machining effect still need further to improve. Perhaps some cnc engraving and milling machines at present are provided with the anchor clamps that can press from both sides tight work piece, but this type of anchor clamps all drive a locating piece by a cylinder and realize, when it needs to press from both sides tight to the both sides of work piece, it must be provided with two cylinders and two locating pieces and just can realize pressing from both sides tight to the both sides of work piece, when it needs press from both sides tight to the multiple sides of work piece, it must be provided with a plurality of cylinders and polylith locating piece and just can realize pressing from both sides tight to the multiple sides of work piece, the anchor clamps of this type of structure have the problem that the structure is complicated, the cost of manufacture is high, the operation synchronism is poor and.

Disclosure of Invention

The technical problem to be solved by the invention is to provide an automatic cycle CNC engraving and milling machine, which is characterized in that the structures of the CNC engraving and milling machine, a mechanical arm positioning clamp and a mechanical arm grabbing rotating shaft mechanism are respectively designed, so that the CNC engraving and milling machine can automatically complete a series of operations of feeding, discharging, positioning before processing, engraving and finished product discharging and the like on workpieces in each workpiece box on one device, and the feeding or discharging operations of the CNC engraving and milling machine can be synchronously carried out with the processing of a main shaft, thereby avoiding the shutdown or intermittent work, avoiding the problem that the workpieces are easy to hurt people due to materials in the feeding and discharging processes, avoiding the problem that the production personnel are easy to hurt people due to operation errors in the production process, reducing the labor intensity of workers, and reducing the labor intensity of the workers, The labor cost of reduction enterprise and the incidence that reduces the accident, it is more convenient to use to have automatic operation degree height, production efficiency height, the yields of product high, the material loss is low and adjacent two processes link up and link up simple advantage automatically, in addition, it has still overcome current anchor clamps can't realize driving the technical problem of a plurality of locating piece synchronous operation by a cylinder. The invention is realized by the following technical scheme:

automatic cycle CNC CNC engraving and milling machine, including CNC engraving and milling machine and manipulator, CNC engraving and milling machine includes the lathe, the higher authority of lathe is provided with quick-witted case, the quick-witted incasement is provided with first Y axle motion module, it is provided with Y to the workstation to slide on first Y axle motion module, Y is provided with first work piece box and second work piece box to the higher authority of workstation front portion, Y is provided with a plurality of work piece holder to the higher authority at workstation rear portion, Y is provided with first portal frame to the rear side of workstation, the higher authority of first portal frame is provided with first X axle motion module, it is provided with the first Z axle motion module of a plurality of to slide on the front side of first X axle motion module, the front side of every first Z axle motion module is provided with the main shaft that is used for processing the work piece, be provided with the electric cabinet above the quick-witted case rear portion, be provided with the touch control screen on quick-witted case one. An operator can input and control various production parameters of running of each component into the controller through the touch control screen before production, if the controller can respectively set up the moving coordinates of the first X-axis motion module, the first Y-axis motion module, the first Z-axis motion module, the second X-axis motion module, the second Y-axis motion module and the second Z-axis motion module and respectively control the moving positions of the first X-axis motion module, the first Y-axis motion module, the first Z-axis motion module, the second X-axis motion module, the second Y-axis motion module and the second Z-axis motion module, and the like.

In this embodiment, at least two spindles are provided, and the two spindles include a first spindle and a second spindle disposed on one side of the first spindle.

In this embodiment, the number of the work holders is at least four, and the four work holders include a first work holder, a second work holder disposed on one side of the first work holder, a third work holder disposed on one side of the second work holder, and a fourth work holder disposed on one side of the third work holder.

Preferably, the manipulator comprises a manipulator positioning fixture arranged on the middle part of the Y-direction workbench, a second portal frame is arranged above the manipulator positioning fixture in a crossing mode, a second X-axis movement module is arranged at the top of the second portal frame, a second Z-axis movement module is arranged on one side of the second X-axis movement module in a sliding mode, a second Y-axis movement module is arranged on the lower side of the second Z-axis movement module, and a manipulator grabbing rotating shaft mechanism is arranged on the lower side of the second Y-axis movement module.

Preferably, the manipulator material grabbing rotating shaft mechanism comprises a fixed mounting part, a rotating servo motor, a rotating shaft and a sucker mounting bracket, wherein the fixed mounting part is mounted on one side of the rotating servo motor, one end of the rotating shaft penetrates through the fixed mounting part to be connected with the rotating servo motor, and the sucker mounting bracket is mounted on one side of the other end of the rotating shaft; the upper side and the lower side or the left side and the right side of the end part of the sucker mounting bracket are respectively provided with a sucker, and more than two suckers on the same side are arranged.

Preferably, the manipulator positioning fixture comprises a lower cylinder module, an upper cylinder module is arranged above the lower cylinder module, a product fixing fixture is arranged above the upper cylinder module, a cylinder is arranged below the middle of the lower cylinder module, a first sealing ring is arranged at the center of the top surface of the lower cylinder module, the upper cylinder module is a vacuum adsorption base, one or more first vacuum air holes are formed in the lower cylinder module, one or more second vacuum air holes are formed in the vacuum adsorption base, and the positions of one first vacuum air hole and one second vacuum air hole are arranged in an up-and-down corresponding manner; the periphery of the lower module of the air cylinder is respectively provided with a positioning device; each positioning device comprises a positioning block, a piston shaft oilless bearing is arranged on one side of the positioning block, parallel shaft oilless bearings are respectively arranged on two sides of the piston shaft oilless bearing, a snap spring is arranged on one side of one end of the piston shaft oilless bearing, a second sealing ring is arranged on one side of the other end of the piston shaft oilless bearing, a sealing ring fixer is arranged on one side of the second sealing ring, a third sealing ring is arranged on one side of the sealing ring fixer, an air vent shaft sleeve is arranged on one side of the third sealing ring, and a plurality of air vents are arranged around the circumference of the air vent; a piston shaft is arranged at the center of the piston shaft sleeve, the piston shaft oilless bearing, the second sealing ring, the sealing ring fixer, the third sealing ring and the vent hole shaft sleeve are jointly penetrated through, the piston shaft is connected with the cylinder, and one end of the piston shaft connected with the cylinder is provided with more than one fourth sealing ring; a parallel shaft which can ensure the parallel movement of the piston shaft is arranged through the center of each parallel shaft oilless bearing; first mounting holes for mounting the piston shaft are formed in the periphery of the lower cylinder module respectively, and second mounting holes for mounting the oilless bearing of the piston shaft are formed in the two sides of each first mounting hole respectively; two adjacent vent hole shaft sleeves are connected with first vent grooves which are connected through vent holes communicated with the first vent grooves; one side of the lower module of the air cylinder is provided with a first air transmission hole used for inputting an air source to control the four positioning blocks to do closed motion, one corner of the lower module of the air cylinder is provided with a second air transmission hole used for inputting an air source to control the four positioning blocks to do open-close motion, the first air transmission hole is connected with the four air holes through a first vent groove and a shaft sleeve, and the second air transmission hole is connected with a second vent groove through the air cylinder. The first air transmission hole and the second air transmission hole are respectively externally connected with an air transmission pipe. The piston shaft oilless bearing and the parallel shaft oilless bearing are respectively described in terms of functionality, and the specific structure of the piston shaft oilless bearing and the parallel shaft oilless bearing is the oilless bearing. Similarly, the vent hole shaft sleeve is also described functionally, and the specific structure of the vent hole shaft sleeve is the shaft sleeve.

Preferably, the first workpiece box and the second workpiece box are respectively provided with more than one, and the arrangement mode of the first workpiece box and the second workpiece box comprises one of parallel distribution and parallel distribution.

Preferably, the operation flow of the manipulator positioning clamp is as follows: firstly, a manipulator can place a workpiece sucked from a first workpiece box or a second workpiece box on a product fixing clamp, a first air delivery hole is arranged on one side of a lower module of a cylinder, a first vent groove is connected between two adjacent vent hole shaft sleeves, air firstly enters the first vent groove through the first air delivery hole, then the air is transmitted along the first vent groove, because two adjacent first vent grooves transmit the air through the vent hole corresponding to the aperture of the first vent groove in the vent hole shaft sleeve, the air can be transmitted into the vent hole shaft sleeves through the vent hole, and a piston positioned in the vent hole shaft sleeves is pushed to move axially to perform closed motion in the vent hole shaft sleeves, meanwhile, the air can be transmitted to the next vent hole shaft sleeve along the first vent groove connected with the vent hole shaft sleeve after passing through the upper vent hole shaft sleeve, and the four piston shafts are connected with the cylinder together, when the four pistons move axially, the four pistons can synchronously drive the positioning blocks respectively connected with the pistons to move inwards, and when the four positioning blocks move inwards, the four side surfaces of the workpiece can be accurately positioned and clamped; when gas flows into the cylinder along the second vent groove through the second gas transmission hole, the gas can push the four piston shafts to synchronously move outwards, the four piston shafts can push the four positioning blocks to move outwards in an opening and closing manner when moving outwards so as to loosen the positioning and clamping of the four side surfaces of the workpiece, the integral structural design not only realizes that one cylinder can simultaneously drive four piston shafts and four positioning blocks to synchronously work so as to solve the problem that the clamp in the prior art drives one positioning block to work by one cylinder, the problem that one cylinder can not drive four positioning blocks to work synchronously is solved, the integral structural design has the advantages of simple structure, good running synchronism, high positioning precision and capability of reducing the manufacturing cost, in addition, the air cylinder can accurately position the workpiece according to the coordinate parameters preset by an operator before production, so that the next step of high machining precision and good machining effect of the workpiece are ensured.

Preferably, the case is made of sheet metal.

Preferably, the rotation shaft is capable of performing a rotational motion by a rotation servo motor, the suction cup mounting bracket is capable of performing a rotational motion by the rotation shaft, and the suction cup is capable of performing a rotational motion by the suction cup mounting bracket.

Preferably, the suction cup passes through the suction cup mounting bracket and can perform clockwise rotation motion or counterclockwise rotation motion under the driving of the rotary servo motor.

Preferably, the suction cup can rotate 360 degrees clockwise or 360 degrees counterclockwise through the suction cup mounting bracket and driven by the rotary servo motor.

Preferably, the second Z-axis motion module, the second Y-axis motion module and the manipulator material grabbing rotation axis mechanism are respectively provided with more than one or more than one.

Preferably, the first X-axis motion module and the second X-axis motion module both comprise X-direction ball screws, X-direction guide rails are arranged on the front side and the rear side of each X-direction ball screw respectively, and X-direction moving servo motors are arranged at one ends of the X-direction ball screws.

Preferably, the first Y-axis motion module and the second Y-axis motion module each include a Y-direction ball screw, Y-direction guide rails are respectively disposed on left and right sides of the Y-direction ball screw, and a Y-direction movement servo motor is disposed at one end of the Y-direction ball screw.

Preferably, the first Z-axis motion module and the second Z-axis motion module both comprise Z-direction ball screws, Z-direction guide rails are arranged on the left side and the right side of each Z-direction ball screw respectively, and a Z-direction movement servo motor is arranged at one end of each Z-direction ball screw.

Preferably, the X-direction ball screw, the Y-direction ball screw and the Z-direction ball screw are assembled with other parts through nut holders, and the X-direction ball screw, the Y-direction ball screw and the Z-direction ball screw penetrate through centers of the nut holders connected and assembled therewith, respectively. The working principle of the first X-axis motion module, the first Y-axis motion module, the first Z-axis motion module, the second X-axis motion module, the second Y-axis motion module, and the second Z-axis motion module is well known and will not be explained in detail here.

The automatic cycle CNC engraving and milling machine comprises a CNC engraving and milling machine and a manipulator, wherein the CNC engraving and milling machine comprises a machine tool, a machine case, a first Y-axis movement module, a Y-direction workbench, a first workpiece box, a second workpiece box, a clamp, a first portal frame, a first X-axis movement module, a first Z-axis movement module, a main shaft, an electric cabinet, a touch control screen and a controller, and the manipulator comprises a second portal frame, a second X-axis movement module, a second Z-axis movement module, a second Y-axis movement module and a manipulator material grabbing rotation shaft mechanism. The operator of the invention firstly inputs the coordinate data of the movement of the first X-axis movement module, the first Y-axis movement module, the first Z-axis movement module, the second X-axis movement module, the second Y-axis movement module and the second Z-axis movement module to the controller through the touch control screen according to the production requirement, the motion modules can automatically run and operate according to coordinate data preset by production personnel before production, workpieces to be processed are arranged in the first workpiece box and the second workpiece box in the initial state, the second Z-axis motion module in the manipulator can move left and right through the second X-axis motion module, the design of a second X-axis motion module in the manipulator enables the manipulator material grabbing rotary shaft mechanism to move transversely at the positions of two adjacent workpieces in each workpiece box or enables the manipulator material grabbing rotary shaft mechanism to move transversely at two adjacent workpiece clamps; the second Y-axis movement module can perform lifting movement through the second Z-axis movement module, so that the manipulator grabbing rotary shaft mechanism can move back and forth and up and down and move left and right under the common driving of the second Y-axis movement module, the second Z-axis movement module and the second X-axis movement module, namely, the manipulator grabbing rotary shaft mechanism can move in a three-dimensional space under the common driving of the second Y-axis movement module, the second Z-axis movement module and the second X-axis movement module, so that the manipulator grabbing rotary shaft mechanism can move to the first workpiece box and the second workpiece box respectively to take materials under the common driving of the second Y-axis movement module, the second Z-axis movement module and the second X-axis movement module, and the manipulator grabbing rotary shaft mechanism can move to the positions of the workpieces in the first workpiece box and the second workpiece box respectively to take materials according to preset coordinate data (ii) a The structure of the manipulator material grabbing rotating shaft mechanism is designed, so that a sucker in the manipulator material grabbing rotating shaft mechanism can rotate 360 degrees in the positive and negative directions through a rotating shaft and under the driving of a rotating servo motor, namely the manipulator material grabbing rotating shaft mechanism can rotate 360 degrees in the positive and negative directions after sucking a workpiece through the sucker; when the manipulator material grabbing rotary shaft mechanism sucks a workpiece in the first workpiece box or the second workpiece box through the sucking disc, the manipulator positioning fixture is arranged on the middle part of the Y-direction workbench, and the structure of the manipulator positioning fixture is designed, so that the workpiece respectively fetched from the first workpiece box or the second workpiece box can be placed into the manipulator positioning fixture through the manipulator, the manipulator positioning fixture is used for accurately positioning the workpiece placed into the manipulator positioning fixture, the workpiece can be accurately positioned before the spindle is machined, preparation is made for the next machining operation of the spindle, and the machining precision and the machining effect of the spindle can be greatly improved; then, the manipulator material grabbing rotary shaft mechanism sucks the positioned workpiece from the manipulator positioning clamp, and the sucked workpiece is placed on each workpiece clamp in the Y-direction workbench in an alternating mode under the common driving of the second Y-axis movement module, the second Z-axis movement module and the second X-axis movement module, so that the structural design of the manipulator can realize material taking, transferring and material placing on the workpiece; the structure of the CNC engraving and milling machine is designed, each first Z-axis motion module of the CNC engraving and milling machine can move left and right through the first X-axis motion module, the design of the first X-axis motion module enables the main shaft to move between any two adjacent workpiece fixtures, the main shaft of the CNC engraving and milling machine can move up and down through the first Z-axis motion module, and the design of the first Z-axis motion module enables the main shaft to descend above each workpiece fixture to process a workpiece; when the first main shaft is used for processing a workpiece placed on the first workpiece clamp, the manipulator material-grabbing rotary shaft mechanism in the manipulator can suck the next workpiece from the first workpiece box under the common drive of the second X-axis movement module, the second Y-axis movement module and the second Z-axis movement module and move the next workpiece to the upper surface of the second workpiece clamp, when the first main shaft finishes processing the workpiece placed on the first workpiece clamp, the manipulator material-grabbing rotary shaft mechanism in the manipulator can suck the finished workpiece from the first workpiece clamp under the common drive of the second X-axis movement module, the second Y-axis movement module and the second Z-axis movement module and move the finished workpiece back to the position of the first workpiece in the first workpiece box or to one side in the first workpiece box according to a preset coordinate, and simultaneously, the first main shaft can move transversely from the first workpiece clamp to the upper surface of the second workpiece clamp through the first X-axis movement module and process workpieces already placed on the second workpiece clamp, and the working principles of the second main shaft, the third workpiece clamp and the fourth workpiece clamp are the same as those of the first main shaft, the first workpiece clamp and the second workpiece clamp, so that when one main shaft processes a workpiece on the previous workpiece clamp, the manipulator can synchronously feed the next workpiece clamp, and when one main shaft processes a workpiece on the next workpiece clamp, the manipulator can synchronously feed the workpiece on the previous workpiece clamp, and the process is repeated until all the workpieces to be processed in the first workpiece box and the second workpiece box are processed; the integral structural design of the device realizes a series of operations of automatically and respectively feeding, discharging, positioning before processing, finished product discharging and the like for the workpieces in the first workpiece box and the second workpiece box, and the realization can continuously process and feed materials at one time or feed materials at the other time, and the whole operation process does not need the participation of hands, which not only avoids the trouble that a plurality of production personnel are needed to debug the equipment and the phenomenon that the workpiece is easy to hurt people by materials in the processes of feeding and discharging, it also avoids the accident problem that the production personnel can hurt people mechanically due to misoperation in the production process, the realization of the utility model can reduce the labor intensity of workers, the labor cost of enterprises and the incidence rate of accidents, the use is more convenient, and has the advantages of high automatic operation degree, high production efficiency, high yield of products, low material loss and simple connection of two adjacent processes.

Drawings

For ease of illustration, the present invention is described in detail by the following preferred embodiments and the accompanying drawings.

Fig. 1 is an overall assembled perspective view of the automatic cycle CNC engraving and milling machine of the present invention.

Fig. 2 is a perspective view of an engraving and milling machine in the automatic cycle CNC engraving and milling machine of the present invention.

Fig. 3 is a perspective view of a robot arm in the automatic cycle CNC engraving and milling machine of the present invention.

Fig. 4 is a front view of the robot material-grasping rotation shaft mechanism in the automatic cycle CNC engraving and milling machine of the present invention.

Fig. 5 is a left side view of the robot material-grasping rotation shaft mechanism in the automatic cycle CNC engraving and milling machine of the present invention.

Fig. 6 is an exploded view of a robot positioning jig in the automatic cycle CNC engraving and milling machine of the present invention.

Fig. 7 is an exploded view of a positioning device of a robot positioning jig in the automatic cycle CNC engraving and milling machine of the present invention.

Fig. 8 is a sectional view of the robot positioning jig in the automatic cycle CNC engraving and milling machine of the present invention where three positioning devices are installed.

Fig. 9 is a gas flow diagram of the closed motion of the robot positioning jig in the automatic cycle CNC engraving and milling machine of the present invention.

Fig. 10 is a gas flow diagram of the opening and closing movement of the robot positioning jig in the automatic cycle CNC engraving and milling machine of the present invention.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

In this embodiment, referring to fig. 1 to 10, the automatic cycle CNC engraving and milling machine of the present invention comprises a CNC engraving and milling machine 1 and a robot 2, the CNC engraving and milling machine 1 comprises a machine tool 10, a machine box 11 is disposed on the machine tool 10, a first Y-axis movement module 12 is disposed in the machine box 11, a Y-direction table 13 is slidably disposed on the first Y-axis movement module 12, a first workpiece box 14 and a second workpiece box 15 are disposed on the front portion of the Y-direction table 13, a plurality of workpiece holders 16 are disposed on the rear portion of the Y-direction table 13, a first portal frame 17 is disposed on the rear side of the Y-direction table 13, a first X-axis movement module 18 is disposed on the first portal frame 17, a plurality of first Z-axis movement modules 19 are slidably disposed on the front side of the first X-axis movement module 18, a spindle 190 for processing a workpiece is disposed on the front side of each first Z-axis movement module 19, an electric cabinet 191 is arranged on the rear part of the case 11, a touch control screen 192 is arranged on one corner of the case 11, and a controller is arranged in the touch control screen 192.

In one embodiment, the manipulator 2 comprises a manipulator positioning fixture 193 arranged on the middle part of the Y-direction workbench 13, a second portal frame 21 is arranged above the manipulator positioning fixture 193, a second X-axis movement module 22 is arranged on the top of the second portal frame 21, a second Z-axis movement module 23 is arranged on one side of the second X-axis movement module 22 in a sliding manner, a second Y-axis movement module 24 is arranged on the lower side of the second Z-axis movement module 23, and a manipulator material grabbing rotating shaft mechanism 3 is arranged on the lower side of the second Y-axis movement module 24.

In one embodiment, the manipulator material grabbing rotation shaft mechanism 3 comprises a fixed mounting part 30, a rotation servo motor 31, a rotation shaft 32 and a suction cup mounting bracket 33, wherein the fixed mounting part 30 is mounted on one side of the rotation servo motor 31, one end of the rotation shaft 32 penetrates through the fixed mounting part 30 to be connected with the rotation servo motor 31, and the suction cup mounting bracket 33 is mounted on one side of the other end of the rotation shaft 32; the two sides of the end of the suction cup mounting bracket 33 are respectively provided with a suction cup 34, and the suction cups 34 on the same side are provided with more than two suction cups.

In one embodiment, the manipulator positioning fixture 193 comprises a lower cylinder module 1930, an upper cylinder module 1931 is arranged above the lower cylinder module 1930, a product fixing fixture 1932 is arranged above the upper cylinder module 1931, a cylinder is arranged below the middle part of the lower cylinder module 1930, a first sealing ring 1933 is arranged in the center of the top surface of the lower cylinder module 1930, and the upper cylinder module 1931 is a vacuum adsorption base; the periphery of the cylinder lower module 1930 is respectively provided with a positioning device 4; each positioning device comprises a positioning block 401, a piston shaft oilless bearing 402 is arranged on one side of the positioning block 401, parallel shaft oilless bearings 403 are respectively arranged on two sides of the piston shaft oilless bearing 402, a clamp spring 404 is arranged on one side of one end of the piston shaft oilless bearing 402, a second sealing ring 405 is arranged on one side of the other end of the piston shaft oilless bearing 402, the second sealing ring 405 is installed on one side of a sealing ring fixer 406, a third sealing ring 407 is arranged on the other side of the sealing ring fixer 406, a vent hole shaft sleeve 408 is arranged on one side of the third sealing ring 407, and a plurality of vent holes 409 are arranged around the circumference of the vent hole; a piston shaft 410 is arranged at the center of the clamp spring 404, the piston shaft oilless bearing 402, the second sealing ring 405, the sealing ring fixer 406, the third sealing ring 407 and the vent hole shaft sleeve 408 which are jointly penetrated, the piston shaft 410 is connected with a cylinder, and at least two fourth sealing rings 411 are arranged at one end of the piston shaft 410 connected with the cylinder; a parallel shaft 412 which can ensure the parallel movement of the piston shaft 410 is provided through the center of each parallel shaft oilless bearing 403; first mounting holes 413 for mounting the piston shafts 410 are respectively formed in the periphery of the cylinder lower module 1930, and second mounting holes 414 for mounting the piston shaft oilless bearings 402 are respectively formed in two sides of each first mounting hole 413; the adjacent two vent hole shaft sleeves 408 are connected with first vent grooves 415, and the adjacent two first vent grooves 415 are communicated through vent holes 409 communicated with the adjacent two first vent grooves 415; one side of the cylinder lower module 1930 is provided with a first gas transmission hole 416 for inputting gas to control the four positioning blocks 401 to synchronously make a closing motion, one corner of the cylinder lower module 1930 is provided with a second gas transmission hole 417 for inputting gas to control the four positioning blocks 401 to synchronously make an opening and closing motion, the first gas transmission hole 416 is connected with the four vent hole shaft sleeves 408 through a first vent groove 415, and the second gas transmission hole 417 is connected with the cylinder through a second vent groove 418.

In one embodiment, the first workpiece cassette 14 and the second workpiece cassette 15 are respectively provided with more than one, and the arrangement of the first workpiece cassette 14 and the second workpiece cassette 15 includes one of parallel distribution and parallel distribution.

In one embodiment, the housing 11 is made of sheet metal.

In one embodiment, the rotary shaft 32 is capable of rotary motion by the rotary servomotor 31, the suction cup mounting bracket 33 is capable of rotary motion by the rotary shaft 32, and the suction cup 34 is capable of rotary motion by the suction cup mounting bracket 33.

In one embodiment, the suction cup 34 passes through the suction cup mounting bracket 33 and is driven by the rotary servo motor 31 to perform clockwise or counterclockwise rotary motion.

In one embodiment, the suction cup 34 passes through the suction cup mounting bracket 33 and can perform a clockwise rotation motion or a counterclockwise rotation motion by an angle of 360 degrees under the driving of the rotary servo motor 31.

In one embodiment, the second Z-axis movement module 23, the second Y-axis movement module 24 and the manipulator grabbing rotation axis mechanism 3 can be respectively provided with one or more than one according to production needs, and when the second Z-axis movement module 23, the second Y-axis movement module 24 and the manipulator grabbing rotation axis mechanism 3 are provided with a plurality of modules, the manipulator grabbing rotation axis mechanisms 3 can synchronously or asynchronously perform loading and unloading operations.

In one embodiment, the operation process of the automatic cycle CNC engraving and milling machine is as follows: firstly, an operator inputs coordinate data for respectively setting the movement of the first X-axis movement module 18, the first Y-axis movement module 12, the first Z-axis movement module 19, the second X-axis movement module 22, the second Y-axis movement module 24 and the second Z-axis movement module 23 into the controller through the touch control screen 192 according to the production requirement, so that each motion module can automatically run and operate according to coordinate data preset by a production worker before production, workpieces to be processed are arranged in the first workpiece box 14 and the second workpiece box 15 in an initial state, the second Z-axis motion module 23 in the manipulator 2 can move left and right through the second X-axis motion module 22, the design of the second X-axis motion module 22 in the manipulator 2 enables the manipulator material-grabbing rotary shaft mechanism 3 to move transversely at the positions of two adjacent workpieces in each workpiece box or enables the manipulator material-grabbing rotary shaft mechanism 3 to move transversely at two adjacent workpiece clamps 16; the second Y-axis moving module 24 can perform lifting movement through the second Z-axis moving module 23, so that the manipulator material-grabbing rotating shaft mechanism 3 can not only perform front-back movement and up-down movement, but also perform left-right movement under the common driving of the second Y-axis moving module 24, the second Z-axis moving module 23 and the second X-axis moving module 22, i.e. the manipulator material-grabbing rotating shaft mechanism 3 can perform three-dimensional space movement under the common driving of the second Y-axis moving module 24, the second Z-axis moving module 23 and the second X-axis moving module 22, so that the manipulator material-grabbing rotating shaft mechanism 3 can respectively move to the first workpiece box 14 and the second workpiece box 15 to take materials under the common driving of the second Y-axis moving module 24, the second Z-axis moving module 23 and the second X-axis moving module 22, and because a plurality of workpieces are respectively placed in the first workpiece box 14 and the second workpiece box 15, the manipulator material grabbing rotary shaft mechanism 3 can respectively move to the positions of each workpiece in the first workpiece box 14 and the second workpiece box 15 according to preset coordinate data to accurately take materials; the structure of the manipulator material grabbing rotary shaft mechanism 3 is designed, so that the suction cup 34 in the manipulator material grabbing rotary shaft mechanism 3 can rotate forward and backward for 360 degrees through the rotary shaft 32 under the driving of the rotary servo motor 31, namely the manipulator material grabbing rotary shaft mechanism 3 can rotate forward and backward for 360 degrees after sucking a workpiece through the suction cup 34; after the manipulator material-grasping rotation shaft mechanism 3 sucks a workpiece in the first workpiece box 14 or the second workpiece box 15 through the suction cup 34, the manipulator material-grabbing rotary shaft mechanism 3 is driven by the second Y-axis motion module 24, the second Z-axis motion module 23 and the second X-axis motion module 22 to accurately place the sucked workpiece on the manipulator positioning clamp 193, the manipulator positioning clamp 193 can move and position the workpiece placed on the manipulator positioning clamp according to preset coordinate data and clamp the workpiece, after the workpiece is positioned by the manipulator positioning fixture 193, the manipulator material-grabbing rotation axis mechanism 3 sucks the positioned workpiece from the manipulator positioning fixture 193 under the common driving of the second Y-axis motion module 24, the second Z-axis motion module 23 and the second X-axis motion module 22, and moves the workpiece to the upper side of the workpiece fixture 16 in the Y-direction workbench 13; the structure of the CNC engraving and milling machine 1 is designed, each first Z-axis motion module 19 of the CNC engraving and milling machine 1 can move left and right through the first X-axis motion module 18, the first X-axis motion module 18 can enable the spindle 190 to move between any two adjacent workpiece fixtures 16, the spindle 190 of the CNC engraving and milling machine 1 can move up and down through the first Z-axis motion module 19, and the first Z-axis motion module 19 can enable the spindle 190 to descend onto each workpiece fixture 16 to process workpieces; when one of the spindles 190 is used for processing a workpiece placed on the previous workpiece holder 16, the manipulator grabbing rotation axis mechanism 3 in the manipulator 2 can suck the next workpiece from the first workpiece box 14 under the common driving of the second X-axis movement module 22, the second Y-axis movement module 24 and the second Z-axis movement module 23 and move the next workpiece to the next workpiece holder 16, and if the spindle finishes processing the workpiece placed on the previous workpiece holder 16, the manipulator grabbing rotation axis mechanism 3 in the manipulator 2 can suck the finished workpiece from the previous workpiece holder 16 under the common driving of the second X-axis movement module 22, the second Y-axis movement module 24 and the second Z-axis movement module 23 and transfer the finished workpiece to the first workpiece box 14 according to the preset coordinates to place the initial position of the workpiece or transfer the finished workpiece to one side in the first workpiece box 14, at the same time, the aforementioned spindle can be moved laterally from the previous work holder 16 to the top of the next work holder 16 by means of the first X-axis movement module 22, and can perform finishing work without interruption on the workpiece that has been placed on the next workpiece holder 16, the working principle of the other main shaft and the other two workpiece fixtures is the same as that of the main shaft and the two workpiece fixtures, it is achieved that when one of the spindles 190 is processing a workpiece on a previous workpiece holder 16, the robot 2 can synchronously feed the next workpiece holder 16, or when one of the spindles 190 is processing the workpiece on the next workpiece holder 16, the robot 2 can synchronously perform blanking on the workpiece on the previous workpiece holder 16, the main shaft 190 can be processed uninterruptedly, workpieces can be fed uninterruptedly, and the workpieces can be discharged uninterruptedly; the process is circulated until all the workpieces to be processed in the first workpiece box 14 and the second workpiece box 16 are processed; the integral structural design of the device realizes a series of operations of feeding, discharging, positioning before processing, engraving processing, discharging finished products and the like on one device automatically and respectively for the workpieces in the first workpiece box 14 and the second workpiece box 15, and the processing operation of the main shaft 190 can be synchronously carried out with the feeding operation or the discharging operation (namely the device can carry out processing, feeding or discharging simultaneously), so as to avoid the problem that the production efficiency is influenced by stopping or discontinuous work, and the whole operation process does not need the participation of hands, thereby not only avoiding the trouble of debugging the device by a plurality of production personnel and avoiding the phenomenon that the workpieces are easy to hurt people by materials in the processes of feeding and discharging, but also avoiding the accident problem that the production personnel hurt people by machines due to misoperation in the production process, reducing the labor intensity of the workers, reducing the labor cost of enterprises and reducing the occurrence rate of accidents, the use is more convenient, and has the advantages of high automatic operation degree, high production efficiency, high yield of products, low material loss and simple connection between two adjacent processes.

The automatic cycle CNC engraving and milling machine comprises a CNC engraving and milling machine and a manipulator, wherein the CNC engraving and milling machine comprises a machine tool, a machine case, a first Y-axis movement module, a Y-direction workbench, a first workpiece box, a second workpiece box, a clamp, a first portal frame, a first X-axis movement module, a first Z-axis movement module, a main shaft, an electric cabinet, a touch control screen and a controller, and the manipulator comprises a second portal frame, a second X-axis movement module, a second Z-axis movement module, a second Y-axis movement module and a manipulator material grabbing rotation shaft mechanism. According to the invention, the structures of the CNC engraving and milling machine and the manipulator are respectively designed, the CNC engraving and milling machine can perform engraving and milling on a workpiece after moving left and right and up and down according to preset coordinate data, and the manipulator can also take and discharge the workpiece after moving left and right, up and down and back and forth according to the preset coordinate data; the structure of a manipulator material grabbing rotating shaft mechanism in the manipulator is designed, so that a sucker in the manipulator material grabbing rotating shaft mechanism can suck and discharge materials by clockwise rotating 360 degrees or anticlockwise rotating 360 degrees, the sucker can take and discharge materials at different angles or different directions in a three-dimensional space, and the problem that the sucker in the existing structure can suck and discharge materials vertically and cannot suck and discharge materials at a certain angle is solved; the structure of the manipulator positioning clamp is designed, so that the manipulator positioning clamp can drive four positioning blocks to synchronously move, position, clamp and the like a workpiece by only adopting one air cylinder, and the workpiece can be accurately positioned according to preset coordinate parameters; the whole structural design of the device realizes that a series of operations such as feeding, discharging, positioning before processing, engraving processing, finished product discharging and the like can be automatically and respectively completed on one device for the workpieces in the first workpiece box and the second workpiece box, and the whole operation process does not need the participation of hands, so that the trouble of debugging devices by a plurality of production personnel is avoided, the phenomenon that the workpieces are easy to hurt people by materials in the feeding and discharging processes is avoided, the accident problem that the production personnel hurt people by machinery due to misoperation in the production process is also avoided, the labor intensity of workers can be reduced, the labor cost of enterprises is reduced, the accident rate is reduced, the use is more convenient, and the requirement of safety production of the enterprises is met.

The above-mentioned embodiments are only examples of the present invention, and are not intended to limit the scope of the invention, which is defined by the claims and the equivalents of the principles and basic structures of the invention.

Claims

1. Automatic cycle CNC CNC engraving and milling machine, its characterized in that: including CNC CNC engraving and milling machine and manipulator, CNC engraving and milling machine includes the lathe, the higher authority of lathe is provided with quick-witted case, quick-witted incasement is provided with first Y axle motion module, it is provided with Y to the workstation to slide in the higher authority of first Y axle motion module, Y is provided with first work piece box and second work piece box to the higher authority of workstation front portion, Y is provided with a plurality of work piece holder to the higher authority at workstation rear portion, Y is provided with first portal frame to the rear side of workstation, the higher authority of first portal frame is provided with first X axle motion module, it is provided with the first Z axle motion module of a plurality of to slide in the front side of first X axle motion module, the front side of every first Z axle motion module is provided with the main shaft that is used for processing the work piece, be provided with the electric cabinet above the rear portion, be provided with the touch control screen above quick-witted case one corner.

2. The automatic cycle CNC engraving and milling machine of claim 1, wherein: the manipulator is provided with the second portal frame including setting up the manipulator positioning fixture above Y to the workstation middle part, spanes in manipulator positioning fixture's top, and the top of second portal frame is provided with second X axle motion module, slides in one side of second X axle motion module and is provided with second Z axle motion module, and the downside of second Z axle motion module is provided with second Y axle motion module, and the downside of second Y axle motion module is provided with the manipulator and grabs material rotation axis mechanism.

3. The automatic cycle CNC engraving and milling machine of claim 2, wherein: the manipulator material grabbing rotating shaft mechanism comprises a fixed mounting part, a rotating servo motor, a rotating shaft and a sucker mounting bracket, wherein the fixed mounting part is mounted on one side of the rotating servo motor, one end of the rotating shaft penetrates through the fixed mounting part to be connected with the rotating servo motor, and the sucker mounting bracket is mounted on one side of the other end of the rotating shaft; the two sides of the end part of the sucker mounting bracket are respectively provided with a sucker, and more than two suckers on the same side are arranged.

4. The automatic cycle CNC engraving and milling machine of claim 2, wherein: the manipulator positioning fixture comprises a lower cylinder module, an upper cylinder module is arranged above the lower cylinder module, a product fixing fixture is arranged above the upper cylinder module, a cylinder is arranged below the middle part of the lower cylinder module, a first sealing ring is arranged in the center of the top surface of the lower cylinder module, the upper cylinder module is a vacuum adsorption base, and positioning devices are respectively arranged on the periphery of the lower cylinder module; each positioning device comprises a positioning block, a piston shaft oilless bearing is arranged on one side of the positioning block, parallel shaft oilless bearings are respectively arranged on two sides of the piston shaft oilless bearing, a snap spring is arranged on one side of one end of the piston shaft oilless bearing, a second sealing ring is arranged on one side of the other end of the piston shaft oilless bearing, a sealing ring fixer is arranged on one side of the second sealing ring, a third sealing ring is arranged on one side of the sealing ring fixer, an air vent shaft sleeve is arranged on one side of the third sealing ring, and a plurality of air vents are arranged around the circumference of the air vent; a piston shaft is arranged at the center of the piston shaft sleeve, the piston shaft oilless bearing, the second sealing ring, the sealing ring fixer, the third sealing ring and the vent hole shaft sleeve are jointly penetrated through, the piston shaft is connected with the cylinder, and one end of the piston shaft connected with the cylinder is provided with more than one fourth sealing ring; a parallel shaft which can ensure the parallel movement of the piston shaft is arranged through the center of each parallel shaft oilless bearing; first mounting holes for mounting the piston shaft are formed in the periphery of the lower cylinder module respectively, and second mounting holes for mounting the oilless bearing of the piston shaft are formed in the two sides of each first mounting hole respectively; two adjacent vent hole shaft sleeves are connected with first vent grooves which are connected through vent holes communicated with the first vent grooves; one side of the lower module of the air cylinder is provided with a first air transmission hole used for inputting an air source to control the four positioning blocks to do closed motion, one corner of the lower module of the air cylinder is provided with a second air transmission hole used for inputting an air source to control the four positioning blocks to do open-close motion, the first air transmission hole is connected with the four air holes through a first vent groove and a shaft sleeve, and the second air transmission hole is connected with a second vent groove through the air cylinder.

5. The automatic cycle CNC engraving and milling machine of claim 1, wherein: the first workpiece box and the second workpiece box are respectively provided with more than one, and the arrangement mode of the first workpiece box and the second workpiece box comprises one of parallel distribution and parallel distribution.

6. The automatic cycle CNC engraving and milling machine of claim 1, wherein: the case is made of sheet metal.

7. The automatic cycle CNC engraving and milling machine of claim 3, wherein: the rotation axis can carry out rotary motion through rotatory servo motor, and the sucking disc installing support can carry out rotary motion through the rotation axis, and the sucking disc can carry out rotary motion through the sucking disc installing support.

8. The automatic cycle CNC engraving and milling machine of claim 7, wherein: the sucker can rotate clockwise or anticlockwise under the drive of the rotary servo motor through the sucker mounting bracket.

9. The automatic cycle CNC engraving and milling machine of claim 8, wherein: the sucker can rotate 360 degrees clockwise or 360 degrees anticlockwise under the drive of the rotary servo motor through the sucker mounting bracket.

10. The automatic cycle CNC engraving and milling machine of claim 2, wherein: the second Z-axis movement module, the second Y-axis movement module and the manipulator material grabbing rotation shaft mechanism are respectively provided with one or a plurality of.