CN113059385A

CN113059385A - Manipulator for numerical control machine tool

Info

Publication number: CN113059385A
Application number: CN202110337615.3A
Authority: CN
Inventors: 陈州青
Original assignee: Zhejiang Xuantong Machinery Co ltd
Current assignee: Zhejiang Xuantong Machinery Co ltd
Priority date: 2021-03-30
Filing date: 2021-03-30
Publication date: 2021-07-02

Abstract

The invention discloses a manipulator used on a numerical control machine tool, which comprises a numerical control machine tool main body and a frame fixed on the numerical control machine tool main body, and also comprises a clamping device arranged on the numerical control machine tool main body, wherein the clamping device comprises a vertical rod and a horizontal rod, the lower end of the frame is provided with a first moving component, the vertical rod is externally sleeved with a regulating block, the regulating block is in sliding fit with the vertical rod, the horizontal rod is provided with a second moving component, the horizontal rod penetrates through the regulating block, a third moving component is arranged in the regulating block, a third motor is fixed on the horizontal rod, an output shaft of the third motor penetrates through the horizontal rod, a connecting rod is fixed on the output shaft of the third motor, a section of the connecting rod, which is far away from the third motor, is fixed with a fixed plate, the lower surface of the fixed plate is fixed with a, and a second limiting component is arranged in the second sliding groove and has the function of simultaneously clamping a plurality of workpieces so as to increase the efficiency.

Description

Manipulator for numerical control machine tool

Technical Field

The invention relates to a manipulator, in particular to a manipulator for a numerical control machine tool.

Background

A robot refers to an automatic operating device that can simulate some action functions of human hands and arms and is used for grabbing, carrying objects or operating tools according to a fixed program. The device mainly comprises an executing mechanism, a driving mechanism and a control system. It can replace human to carry out heavy work to realize mechanization and automation of production, and is widely applied to departments of mechanical manufacturing, light industry, atomic energy and the like.

The multi-station numerical control machine tool can process a plurality of workpieces at the same time, the existing manipulator can only move a single workpiece at the same time, the workpiece can be moved twice, and the efficiency is low.

Disclosure of Invention

The invention aims to provide a manipulator for a numerical control machine tool, which has the function of simultaneously clamping a plurality of workpieces so as to increase the efficiency.

The technical purpose of the invention is realized by the following technical scheme:

a manipulator used on a numerical control machine tool comprises a numerical control machine tool main body and a frame fixed on the numerical control machine tool main body, and further comprises a clamping device arranged on the numerical control machine tool main body, wherein the clamping device comprises a vertical rod and a horizontal rod, the lower end of the frame is provided with a first moving component for moving the vertical rod, an adjusting block is sleeved outside the vertical rod and is in sliding fit with the vertical rod, a second moving component for driving the adjusting block to ascend and descend is arranged on the horizontal rod, the horizontal rod penetrates through the adjusting block and is in sliding fit with the adjusting block, the horizontal rod is vertically arranged with the vertical rod, a third moving component for horizontally moving the horizontal rod is arranged in the adjusting block, a third motor is fixed on the horizontal rod, an output shaft of the third motor penetrates through the horizontal rod, a connecting rod is fixed on an output shaft of the third motor, and, the lower surface of the fixing plate is fixedly provided with a first clamping plate, the lower surface of the fixing plate is slidably provided with a second clamping plate, the fixing plate is provided with a driving assembly for driving the second clamping plate to move, the side wall of the first clamping plate is provided with a first sliding groove and a second sliding groove, the first sliding groove is internally provided with a first limiting assembly for limiting the position of a workpiece, and the second sliding groove is internally provided with a second limiting assembly for limiting the position of the workpiece.

By adopting the technical scheme, firstly, the vertical rod is driven to move by the moving component, the vertical rod is moved into the working range of the numerical control machine tool main body, the motor III is started, the output shaft of the motor III rotates to drive the connecting rod to rotate, the connecting rod rotates to drive the fixed plate to rotate until the fixed plate rotates to the outer side of the numerical control machine tool main body, the motor III is turned off, then the moving component III drives the transverse rod to move, the transverse rod moves to drive the fixed plate to move horizontally until the fixed plate is positioned above a workpiece, then the moving component II drives the adjusting block to lift, the adjusting block lifts to drive the transverse rod to lift, the transverse rod lifts to drive the fixed plate to lift until the fixed plate moves to the workpiece, at the moment, the clamping plate I and the clamping plate II are positioned at two sides of the workpiece, the workpiece is, until splint two with splint one clip the work piece, then through removing the subassembly two upwards moving back the fixed plate, reverse start motor three, the output shaft antiport of motor three drives the connecting rod and turns back, the connecting rod turns back and drives the fixed plate and turns back, until the fixed plate rotates the digit control machine tool main part inboard, drive the fixed plate through removing subassembly two and removing subassembly three and remove, until the position of fixed plate is unanimous with the anchor clamps in the digit control machine tool main part, loosen drive assembly, the work piece falls on the anchor clamps, can process the work piece this moment.

Preferably, the first limiting component comprises a first bidirectional threaded rod and a first motor, the first motor is fixed on the first clamping plate, an output shaft of the first motor penetrates through a side wall of a sliding groove, a first bevel gear is fixed on an output shaft of the first motor, the first bidirectional threaded rod rotates and is arranged in the first sliding groove, a second bevel gear is fixed on the first bidirectional threaded rod, the first bevel gear is meshed with the second bevel gear, a first sliding block and a second sliding block are arranged in the first sliding groove in a sliding mode, the first sliding block is in threaded fit with the two ends of the second sliding block and the first bidirectional threaded rod, and the first clamping plate slides one by one to be provided with a first limiting plate fixed with the first sliding block and a second.

By adopting the technical scheme, the first motor is started, the first bevel gear is rotated by the output shaft of the first motor, the second bevel gear is rotated by the first bevel gear, the first bidirectional threaded rod is rotated by the second bevel gear, the first slider and the second slider are driven to move relatively by the rotation of the first bidirectional threaded rod, the first limiting plate is driven to move by the first slider, the second limiting plate is driven to move by the second slider, and the workpieces are limited by the first limiting plate and the second limiting plate.

Preferably, the second limiting component comprises a second bidirectional threaded rod and a second motor, the second motor is fixed on the first clamping plate, an output shaft of the second motor penetrates through a side wall of the first sliding groove, a third bevel gear is fixed on an output shaft of the second motor, the second bidirectional threaded rod rotates and is arranged in the second sliding groove, a fourth bevel gear is fixed on the second bidirectional threaded rod, the third bevel gear is meshed with the fourth bevel gear, a third sliding block and a fourth sliding block are arranged in the second sliding groove in a sliding mode, the third sliding block is in threaded fit with the four sliding blocks and the two ends of the second bidirectional threaded rod, and the first clamping plate slides one by one to be provided with a third limiting plate fixed with the third sliding block and a.

By adopting the technical scheme, the motor II is started, the output shaft of the motor II rotates to drive the bevel gear III to rotate, the bevel gear III rotates to drive the bevel gear IV to rotate, the bevel gear IV rotates to drive the bidirectional threaded rod I to rotate, the bidirectional threaded rod I rotates to drive the sliding block III and the sliding block IV to move relatively along the sliding groove II, the sliding block III moves to drive the limiting plate III to move, the sliding block IV moves to drive the limiting plate IV to move, and the limiting plate III and the limiting plate IV limit the workpiece.

Preferably, the first moving assembly comprises a first gear and a first rack, a first groove is formed in the bottom wall of the frame, the first rack is fixed in the first groove, a moving block is arranged in the first groove in a sliding mode, the moving block is fixed with a vertical rod, a cavity is formed in the moving block, a fourth motor is fixed in the cavity, an output shaft of the fourth motor penetrates through the upper wall of the cavity and is fixed with the first gear, limiting grooves are formed in the side walls of two sides of the first groove, and limiting blocks fixed with the moving block are arranged in the limiting grooves in a sliding mode.

Adopt above-mentioned technical scheme, starter motor four, motor four's output shaft rotates and drives gear one and rotates, because the rack is first fixed, gear one can remove in fluting one when the pivoted, and gear shifting drives motor four and removes, and motor four removes and drives the removal piece and remove, and the stopper can only remove in the spacing inslot for in the movable block can not shift out fluting one, the removal piece removes and drives the montant and remove, has played the effect of removing the montant.

Preferably, the second moving assembly comprises a fifth motor and a third threaded rod, a lifting groove is formed in the side wall of the vertical rod, the fifth motor is fixed to the bottom end of the lifting groove, an output shaft of the fifth motor is fixed to one end of the third threaded rod, a lifting block is arranged in the lifting groove in a sliding mode, the lifting block is in threaded fit with the third threaded rod, and the lifting block is fixed to the adjusting block.

By adopting the technical scheme, the motor V is started, the output shaft of the motor V rotates to drive the threaded rod III to rotate, the threaded rod III rotates to drive the lifting block to move along the lifting groove, and the lifting block moves to drive the adjusting block to move.

Preferably, the moving assembly III comprises a motor six, a gear II and a rack II, a placing opening is formed in the adjusting block, the motor six is fixed in the placing opening, an output shaft of the motor six is fixed with the gear II, a horizontal groove is formed in the side wall of the cross rod, the rack II is fixed in the horizontal groove, and the gear II is meshed with the rack II.

By adopting the technical scheme, the motor six is started, the output shaft of the motor six rotates to drive the gear two to rotate, the gear two rotates to drive the rack two to move, and the rack two moves to drive the cross rod to move.

Preferably, the driving assembly comprises an air cylinder and a pressing block, a driving groove is formed in one side, close to the first clamping plate and the second clamping plate, of the fixing plate, the air cylinder is fixed on the fixing plate, a piston rod of the air cylinder penetrates through the outer wall of one end of the driving groove, the pressing block is arranged in the driving groove in a sliding mode, the piston rod of the air cylinder is fixed with the pressing block, and the pressing block is fixed with the second clamping plate.

By adopting the technical scheme, the air cylinder is started, the piston rod of the air cylinder stretches out to drive the pressing block to move along the driving groove, and the pressing block moves to drive the clamping plate to move towards the first clamping plate until the clamping plate II and the clamping plate I clamp the workpiece.

Preferably, a controller is fixed on the numerical control machine tool body.

By adopting the technical scheme, the controller controls the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor and the cylinder.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment;

FIG. 2 is a schematic structural diagram for showing a first moving assembly;

FIG. 3 is a schematic structural diagram for showing a third moving assembly;

FIG. 4 is a schematic structural diagram for showing a first limiting assembly;

fig. 5 is a schematic structural view for showing the second limiting assembly.

Reference numerals: 1. a numerically controlled machine tool body; 2. framing; 3. a gripping device; 4. a vertical rod; 5. a cross bar; 6. moving the first component; 7. an adjusting block; 8. a second moving component; 9. a moving component III; 10. a third motor; 11. a connecting rod; 12. a fixing plate; 13. a first clamping plate; 14. a second clamping plate; 15. a drive assembly; 16. a first sliding chute; 17. a second chute; 18. a first limiting component; 19. a second limiting component; 20. a first bidirectional threaded rod; 21. a first motor; 22. a first bevel gear; 23. a second bevel gear; 24. a first sliding block; 25. a second sliding block; 26. a first limiting plate; 27. a second limiting plate; 28. a two-way threaded rod II; 29. a second motor; 30. a third bevel gear; 31. a fourth bevel gear; 32. a third sliding block; 33. a fourth sliding block; 34. a third limiting plate; 35. a fourth limiting plate; 36. a first gear; 37. a first rack; 38. grooving I; 39. a moving block; 40. a cavity; 41. a fourth motor; 42. a limiting groove; 43. a limiting block; 44. a fifth motor; 45. a third threaded rod; 46. a lifting groove; 47. a lifting block; 48. a sixth motor; 49. a second gear; 50. a second rack; 51. a placement port; 52. a horizontal groove; 53. a cylinder; 54. briquetting; 55. a drive slot; 56. and a controller.

Detailed Description

The following description is only a preferred embodiment of the present invention, and the protection scope is not limited to the embodiment, and any technical solution that falls under the idea of the present invention should fall within the protection scope of the present invention. It should also be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention.

Referring to fig. 1 to 5, a manipulator for a numerical control machine tool comprises a numerical control machine tool body 1 and a frame 2 fixed on the numerical control machine tool body 1, and further comprises a clamping device 3 arranged on the numerical control machine tool body 1, the clamping device 3 comprises a vertical rod 4 and a cross rod 5, a first moving assembly 6 for moving the vertical rod 4 is arranged at the lower end of the frame 2, the first moving assembly 6 comprises a first gear 36 and a first rack 37, a first slot 38 is formed in the bottom wall of the frame 2, the first rack 37 is fixed in the first slot 38, a moving block 39 is slidably arranged in the first slot 38, the moving block 39 is fixed with the vertical rod 4, a cavity 40 is formed in the moving block 39, a fourth motor 41 is fixed in the cavity 40, a controller 56 is fixed on the numerical control machine tool body 1, the fourth motor 41 is started by firstly pressing down the controller 56, an output shaft of the fourth motor 41 penetrates through the upper wall of the, because the first rack 37 is fixed, the first gear 36 can move in the first open groove 38 while rotating, the first gear 36 moves to drive the fourth motor 41 to move, the fourth motor 41 moves to drive the moving block 39 to move, the side walls of the two sides of the first open groove 38 are both provided with the limiting grooves 42, the limiting grooves 42 are internally provided with the limiting blocks 43 fixed with the moving block 39 in a sliding manner, the limiting blocks 43 can only move in the limiting grooves 42, the moving block 39 can not move out of the first open groove 38, the moving block 39 moves to drive the vertical rod 4 to move, and the vertical rod 4 is moved into the working range of the numerical control machine main body 1.

As shown in fig. 3, an adjusting block 7 is sleeved outside a vertical rod 4, the adjusting block 7 is in sliding fit with the vertical rod 4, a cross rod 5 penetrates through the adjusting block 7, a cross rod 5 is in sliding fit with the adjusting block 7, the cross rod 5 is vertically arranged with the vertical rod 4, a motor three 10 is fixed on the cross rod 5, a controller 56 is pressed down to start the motor three 10, an output shaft of the motor three 10 penetrates through the cross rod 5, a connecting rod 11 is fixed on an output shaft of the motor three 10, the output shaft of the motor three 10 rotates to drive the connecting rod 11 to rotate, a fixing plate 12 is fixed on a section of the connecting rod 11 far away from the motor three 10, the connecting rod 11 rotates to drive the fixing plate 12 to rotate until the fixing plate 12 rotates to the outer side of the numerical control machine tool main body 1, the motor three 10 is closed, a moving assembly three 9 for horizontally moving the cross rod 5 is arranged in the adjusting block, the motor six 48 is fixed in the placing opening 51, the controller 56 is pressed to start the motor six 48, an output shaft of the motor six 48 is fixed with the gear two 49, the output shaft of the motor six 48 rotates to drive the gear two 49 to rotate, the side wall of the cross rod 5 is provided with the horizontal groove 52, the rack two 50 is fixed in the horizontal groove 52, the gear two 49 is meshed with the rack two 50, the gear two 49 rotates to drive the rack two 50 to move, the rack two 50 moves to drive the cross rod 5 to move, and the cross rod 5 moves to drive the fixing plate 12 to horizontally move until the fixing plate 12 is located above a workpiece.

As shown in fig. 1, 4 and 5, a second moving assembly 8 for driving the adjusting block 7 to ascend and descend is arranged on the cross bar 5, the second moving assembly 8 comprises a fifth motor 44 and a third threaded rod 45, a lifting groove 46 is formed in the side wall of the vertical bar 4, the fifth motor 44 is fixed at the bottom end of the lifting groove 46, the fifth motor 44 is started by pressing the controller 56, an output shaft of the fifth motor 44 is fixed with one end of the third threaded rod 45, the third threaded rod 45 is driven to rotate by the output shaft of the fifth motor 44, a lifting block 47 is arranged in the lifting groove 46 in a sliding manner, the lifting block 47 is in threaded fit with the third threaded rod 45, the third threaded rod 45 drives the lifting block 47 to move along the lifting groove 46, the lifting block 47 is fixed with the adjusting block 7, the adjusting block 7 is driven to ascend and descend, the cross bar 5 is driven to ascend and descend by the cross bar 5 until the fixing plate 12 moves to a workpiece, the lower surface of the fixed plate 12 is provided with a second clamping plate 14 in a sliding manner, and the first clamping plate 13 and the second clamping plate 14 are positioned on two sides of the workpiece.

As shown in fig. 4 and 5, a first sliding groove 16 and a second sliding groove 17 are formed in the side wall of a first clamping plate 13, a first limiting component 18 for limiting the position of a workpiece is arranged in the first sliding groove 16, the first limiting component 18 comprises a first bidirectional threaded rod 20 and a first motor 21, the first motor 21 is fixed on the first clamping plate 13, a first motor 21 is started by pressing a controller 56, an output shaft of the first motor 21 penetrates through the side wall of the first sliding groove 16, a first bevel gear 22 is fixed on the output shaft of the first motor 21, the output shaft of the first motor 21 rotates the first bevel gear 22 to rotate, the first bidirectional threaded rod 20 is rotatably arranged in the first sliding groove 16, a second bevel gear 23 is fixed on the first bidirectional threaded rod 20, the first bevel gear 22 is meshed with the second bevel gear 23, the first bevel gear 22 rotates to drive the second bevel gear 23 to rotate, the second bevel gear 23 rotates to drive the first bidirectional threaded rod 20 to rotate, a first sliding block 24 and, the first bidirectional threaded rod 20 rotates to drive the first sliding block 24 and the second sliding block 25 to move relatively, one side of the first clamping plate 13 is slidably provided with a first limiting plate 26 fixed with the first sliding block 24 and a second limiting plate 27 fixed with the second sliding block 25, the first sliding block 24 moves to drive the first limiting plate 26 to move, the second sliding block 25 moves to drive the second limiting plate 27 to move, the first limiting plate 26 and the second limiting plate 27 limit a workpiece, the second sliding groove 17 is internally provided with a second limiting component 19 for limiting the position of the workpiece, the second limiting component 19 comprises a second bidirectional threaded rod 28 and a second motor 29, the second motor 29 is fixed on the first clamping plate 13, the second motor 29 is started by pressing the controller 56, an output shaft of the second motor 29 penetrates through the side wall of the first sliding groove 16, the third bevel gear 30 is fixed on the output shaft of the second motor 29, the output shaft of the second, a bevel gear four 31 is fixed on the two-way threaded rod two 28, a bevel gear three 30 is meshed with the bevel gear four 31, the bevel gear three 30 rotates to drive the bevel gear four 31 to rotate, the bevel gear four 31 rotates to drive the two-way threaded rod one 20 to rotate, a sliding block three 32 and a sliding block four 33 are arranged in the sliding groove two 17 in a sliding mode, the sliding block three 32, the sliding block four 33 and two ends of the two-way threaded rod two 28 are in threaded fit, the two-way threaded rod one 20 rotates to drive the sliding block three 32 and the sliding block four 33 to move relatively along the sliding groove two 17, a limiting plate three 34 fixed with the sliding block three 32 and a limiting plate four 35 fixed with the sliding block four 33 are arranged on one side of the clamping plate one 13 in a sliding mode, the sliding block three 32 moves to drive the limiting plate three.

As shown in fig. 4 and 5, a workpiece is moved to a designated position by the first limit plate 26 and the second limit plate 27, another workpiece is moved to a designated position by the third limit plate 34 and the fourth limit plate 35, the fixing plate 12 is provided with the driving assembly 15 for driving the second clamping plate 14 to move, the driving assembly 15 comprises an air cylinder 53 and a pressing block 54, one side of the fixing plate 12, which is close to the first clamping plate 13 and the second clamping plate 14, is provided with a driving groove 55, the air cylinder 53 is fixed on the fixing plate 12, the air cylinder 53 is started by pressing the controller 56, a piston rod of the air cylinder 53 penetrates through the outer wall of one end of the driving groove 55, the pressing block 54 is slidably arranged in the driving groove 55, a piston rod of the air cylinder 53 is fixed with the pressing block 54, the piston rod of the air cylinder 53 extends out to drive the pressing block 54 to move along the driving groove 55, the pressing block.

As shown in fig. 3, 4 and 5, the motor five 44 is started reversely, the output shaft of the motor five 44 reversely rotates to drive the threaded rod three 45 to reversely rotate, the threaded rod three 45 reversely rotates to drive the lifting block 47 to lift, the lifting block 47 lifts to drive the adjusting block 7 to lift, the adjusting block 7 lifts to drive the cross rod 5 to lift, the cross rod 5 lifts to drive the fixing plate 12 to lift, the fixing plate 12 drives the workpiece to lift, the motor three 10 is started reversely, the output shaft of the motor three 10 reversely rotates to drive the connecting rod 11 to rotate back, the connecting rod 11 rotates back to drive the fixing plate 12 to rotate back until the fixing plate 12 rotates to the inner side of the numerical control machine body 1, the motor six 48 is started, the output shaft of the motor six 48 rotates to drive the gear two 49 to rotate, the gear two 49 rotates to drive the rack two 50 to move, the rack two 50 moves to drive the cross, and then starting a fifth motor 44, rotating an output shaft of the fifth motor 44 to drive a third threaded rod 45 to rotate, rotating the third threaded rod 45 to drive a lifting block 47 to descend, descending the lifting block 47 to drive an adjusting block 7 to descend, descending the adjusting block 7 to drive a transverse rod 5 to descend, descending the transverse rod 5 to drive a workpiece to descend until the workpiece moves to a clamp, extending a piston rod of a cylinder 53 to drive a pressing block 54 to move out, moving the pressing block 54 out to drive a second clamping plate 14 to move out, loosening the workpiece at the moment, and clamping the workpiece by the clamp.

Claims

1. The manipulator for the numerical control machine tool comprises a numerical control machine tool main body (1) and a frame (2) fixed on the numerical control machine tool main body (1), and is characterized by further comprising a clamping device (3) arranged on the numerical control machine tool main body (1), wherein the clamping device (3) comprises a vertical rod (4) and a transverse rod (5), a first moving assembly (6) used for moving the vertical rod (4) is arranged at the lower end of the frame (2), an adjusting block (7) is sleeved outside the vertical rod (4), the adjusting block (7) is in sliding fit with the vertical rod (4), a second moving assembly (8) used for driving the adjusting block (7) to ascend and descend is arranged on the transverse rod (5), the transverse rod (5) penetrates through the adjusting block (7), the transverse rod (5) is in sliding fit with the adjusting block (7), the transverse rod (5) is vertically arranged with the vertical rod (4), a third moving assembly (9) used for horizontally moving the transverse rod (5) is arranged in the adjusting block (, the automatic clamping device is characterized in that a motor III (10) is fixed on the cross rod (5), an output shaft of the motor III (10) penetrates through the cross rod (5), a connecting rod (11) is fixed on the output shaft of the motor III (10), a fixing plate (12) is fixed on one section, away from the motor III (10), of the connecting rod (11), a clamping plate I (13) is fixed on the lower surface of the fixing plate (12), a clamping plate II (14) is arranged on the lower surface of the fixing plate (12) in a sliding mode, a driving assembly (15) for driving the clamping plate II (14) to move is arranged on the fixing plate (12), a sliding groove I (16) and a sliding groove II (17) are formed in the side wall of the clamping plate I (13), a limiting assembly I (18) for limiting the position of a workpiece is arranged in the sliding groove I (16), and.

2. The manipulator for the numerical control machine tool is characterized in that the first limiting component (18) comprises a first bidirectional threaded rod (20) and a first motor (21), the first motor (21) is fixed on the first clamping plate (13), an output shaft of the first motor (21) penetrates through the side wall of the first sliding groove (16), a first bevel gear (22) is fixed on the output shaft of the first motor (21), the first bidirectional threaded rod (20) is rotatably arranged in the first sliding groove (16), a second bevel gear (23) is fixed on the first bidirectional threaded rod (20), the first bevel gear (22) is meshed with the second bevel gear (23), a first sliding block (24) and a second sliding block (25) are arranged in the first sliding groove (16) in a sliding mode, the first sliding block (24) and the second sliding block (25) are in threaded fit with two ends of the first bidirectional threaded rod (20), and a first limiting plate (26) fixed with the first sliding block (24) and a first sliding block (26) and a sliding block are arranged on one side of the first clamping plate (13 A second limit plate (27) fixed by the second limit plate (25).

3. The manipulator as claimed in claim 2, wherein the second limiting component (19) includes a second bidirectional threaded rod (28) and a second motor (29), the second motor (29) is fixed to the first clamping plate (13), an output shaft of the second motor (29) penetrates through a side wall of the first sliding slot (16), a third bevel gear (30) is fixed to the output shaft of the second motor (29), the second bidirectional threaded rod (28) is rotatably disposed in the second sliding slot (17), a fourth bevel gear (31) is fixed to the second bidirectional threaded rod (28), the third bevel gear (30) is meshed with the fourth bevel gear (31), a third slider (32) and a fourth slider (33) are slidably disposed in the second sliding slot (17), the third slider (32) and the fourth slider (33) are in threaded fit with two ends of the second bidirectional threaded rod (28), and a third limiting plate (34) fixed to the third slider (32) and a third slider (34) are slidably disposed on one side of the first clamping plate (13) And a fourth limiting plate (35) fixed by the fourth (33).

4. The manipulator used on the numerical control machine tool is characterized in that the first moving assembly (6) comprises a first gear (36) and a first rack (37), the first frame (2) is provided with a first groove (38) in the bottom wall, the first rack (37) is fixed in the first groove (38), a moving block (39) is arranged in the first groove (38) in a sliding manner, the moving block (39) is fixed with a vertical rod (4), a cavity (40) is formed in the moving block (39), a fourth motor (41) is fixed in the cavity (40), an output shaft of the fourth motor (41) penetrates through the upper wall of the cavity (40) and is fixed with the first gear (36), limiting grooves (42) are formed in the side walls of the first groove (38), and a limiting block (43) fixed with the moving block (39) is arranged in the limiting grooves (42) in a sliding manner.

5. The manipulator used on the numerical control machine tool is characterized in that the second moving assembly (8) comprises a fifth motor (44) and a third threaded rod (45), a lifting groove (46) is formed in the side wall of the vertical rod (4), the fifth motor (44) is fixed at the bottom end of the lifting groove (46), an output shaft of the fifth motor (44) is fixed with one end of the third threaded rod (45), a lifting block (47) is arranged in the lifting groove (46) in a sliding mode, the lifting block (47) is in threaded fit with the third threaded rod (45), and the lifting block (47) is fixed with the adjusting block (7).

6. The manipulator of claim 5, wherein the third moving assembly (9) comprises a sixth motor (48), a second gear (49) and a second rack (50), the adjusting block (7) is internally provided with a placing opening (51), the sixth motor (48) is fixed in the placing opening (51), an output shaft of the sixth motor (48) is fixed with the second gear (49), a horizontal groove (52) is formed in the side wall of the cross bar (5), the second rack (50) is fixed in the horizontal groove (52), and the second gear (49) is meshed with the second rack (50).

7. The manipulator of claim 6, wherein the driving assembly (15) comprises an air cylinder (53) and a pressing block (54), a driving groove (55) is formed in one side of the fixing plate (12) close to the first clamping plate (13) and the second clamping plate (14), the air cylinder (53) is fixed on the fixing plate (12), a piston rod of the air cylinder (53) penetrates through the outer wall of one end of the driving groove (55), the pressing block (54) is slidably arranged in the driving groove (55), the piston rod of the air cylinder (53) is fixed with the pressing block (54), and the pressing block (54) is fixed with the second clamping plate (14).

8. The manipulator for numerical control machine tool according to claim 7, wherein the controller (56) is fixed on the numerical control machine tool body (1).