CN113878398A - CNC lathe automatic loading and unloading truss robot - Google Patents
CNC lathe automatic loading and unloading truss robot Download PDFInfo
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- CN113878398A CN113878398A CN202111268254.8A CN202111268254A CN113878398A CN 113878398 A CN113878398 A CN 113878398A CN 202111268254 A CN202111268254 A CN 202111268254A CN 113878398 A CN113878398 A CN 113878398A
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- 230000007246 mechanism Effects 0.000 claims description 35
- 210000000078 claw Anatomy 0.000 claims description 28
- 230000001360 synchronised effect Effects 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 16
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 3
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- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000007599 discharging Methods 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 10
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- 230000007306 turnover Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 241000209128 Bambusa Species 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
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Abstract
The invention provides an automatic loading and unloading truss robot of a numerical control lathe, wherein a four-rod XY-axis moving part is arranged at the top of a supporting seat, a Z-axis moving part is arranged on the four-rod XY-axis moving part, and the Z-axis moving part can move along the front and back direction of a horizontal plane, namely the X-axis direction, and the left and right direction of the horizontal plane, namely the Y-axis direction; the lower end of the Z-axis moving part is provided with a grabbing manipulator which can be driven to reciprocate along the vertical direction, namely the Z-axis direction; the grabbing manipulator is designed in an L shape, and is provided with two grippers, so that the feeding and discharging processes can be completed in one step; the rotary material table is arranged in front of the lathe and used for storing materials and can rotate, 64 material placing positions are arranged on the rotary material table, 64 materials can be placed in one-time feeding, and the truss robot mounting and positioning device is arranged on the rotary material table and can position and lift a workpiece; the invention can complete the process of feeding and discharging in one step, save time and improve the efficiency of taking and placing materials.
Description
Technical Field
The invention belongs to the field of automatic feeding and discharging auxiliary equipment of a machine tool, and particularly relates to an automatic feeding and discharging truss robot of a numerical control lathe.
Background
In the modern industry, automation has become a prominent topic of modern production and manufacturing, wherein robots are the mainstream trend of the development of the automated industry. In industrial production, the robot not only can improve industrial production efficiency and product quality, but also can replace human beings to finish simple, repeated and even dangerous work, thereby reducing the labor intensity of the human beings. In recent years, the combination of a numerical control machine tool and a robot has become an important development direction, and the truss robot belongs to a rectangular coordinate robot, can realize automatic control, and is based on a space XYZ rectangular coordinate system, a reprogrammable, multi-degree of freedom, mutual rectangular motion, a multifunctional and multipurpose robot.
However, most of the large-scale production workshops in China still rely on manual work to carry, load and unload workpieces, the working strength is high, the efficiency is low, and the manual production line cannot meet the development requirement of production automation.
Disclosure of Invention
In order to solve the problems, the invention aims to provide the automatic feeding and discharging truss robot for the numerical control lathe, which has the advantages of high automation degree, high production efficiency and one-step feeding and discharging of a manipulator by combining a numerical control lathe structure and a robot technology.
In order to solve the problems, the invention provides the following technical scheme:
a truss robot capable of automatically feeding and discharging materials for a numerical control lathe comprises a supporting seat, an XYZ-axis moving part, a grabbing manipulator, a rotary material platform and a truss robot mounting and positioning device, wherein the XYZ-axis moving part is arranged at the top of the supporting seat, the grabbing manipulator is mounted on the XYZ-axis moving part, and the XYZ-axis moving part can drive the grabbing manipulator to reciprocate along the front and back direction of a horizontal plane, namely the X-axis direction, the left and right direction of the horizontal plane, namely the Y-axis direction, and the vertical direction, namely the Z-axis direction; the grabbing manipulator is provided with two grippers, so that the feeding and discharging processes can be completed in one step; the rotary material platform is arranged in front of the lathe and located below the grabbing manipulator and used for storing materials and can rotate, 64 positions for placing the materials are arranged on the rotary material platform, and the truss robot mounting and positioning device is arranged on the rotary material platform and can position and lift the materials.
The further technical scheme comprises the following steps:
the supporting seat comprises a first supporting seat and a second supporting seat which are arranged at intervals in the vertical direction;
the XYZ-axis moving part comprises a first X axis, a second X axis, a first Y axis, a second Y axis and a Z-axis moving part, wherein the first X axis is fixed at the top of the first supporting seat, the second X axis is fixed at the top of the second supporting seat, one end of the first Y axis is fixed on the first X axis through a first Y-axis a fixing plate, and the other end of the first Y axis is fixed on the second X axis through a first Y-axis b fixing plate; one end of a second Y shaft is installed on the first X shaft through a first sliding block installation seat, and the other end of the second Y shaft is installed on the second X shaft through a second sliding block installation seat; the Z-axis moving part is arranged on a Z-axis moving part mounting seat of a second Y-axis, and the grabbing manipulator 6 is arranged on the Z-axis moving part 5; the first driving motor and the second driving motor rotate synchronously to drive the second Y-axis and the Z-axis moving part to move in the X-axis direction, the third driving motor and the fourth driving motor rotate synchronously to drive the Z-axis moving part to move along the Y-axis, and the Z-axis moving part drives the grabbing manipulator to move along the Z-axis, so that the grabbing manipulator moves along the X-axis, the Y-axis and the Z-axis.
The first and second X-axes are identical in structure, the first X-axis including: the first linear guide rail sliding block set comprises a first driving motor, a first lead screw module, a first linear guide rail sliding block set, a first sliding block mounting seat, a first Y-axis a fixing plate and a first distance measuring sensor;
the second X-axis includes: the second driving motor, the second lead screw module, the second linear guide rail sliding block set, the second sliding block mounting seat, the first Y-axis b fixing plate and the second distance measuring sensor are arranged on the second linear guide rail sliding block set;
the first Y-axis includes: the third driving motor, the third linear guide rail sliding block set, the third lead screw module, the X-axis moving sliding seat, the X-axis moving sliding rod and the third sliding block mounting seat are arranged on the X-axis moving sliding seat;
the second Y-axis includes: the fourth driving motor, the fourth lead screw module and the Z-axis moving part mounting seat;
the Z-axis moving part comprises a hydraulic driving part and an electric driving part, wherein the hydraulic driving part comprises a hydraulic cylinder, a sliding sleeve and a sliding rod; the electric driving part comprises a first connecting plate, a second connecting plate, a third connecting plate, a motor, a first connecting rod, a second connecting rod, a sliding circular plate, a fixed rod, a lead screw and a moving plate;
the first lead screw module is installed on a first supporting seat, an output shaft of a first driving motor is connected with a lead screw of the first lead screw module through a coupler, two ends of the lead screw are installed on a bottom plate of the first lead screw module through bearing seats, a first linear guide rail group is installed on the bottom plate of the first lead screw module, a first slider installing seat is installed on a slider of the first linear guide rail group and a slider of the first lead screw module, a first Y-axis a fixing plate is fixed on the bottom plate of the first lead screw module, and a first distance measuring sensor is installed on the bottom plate of the first lead screw module; the second screw module is arranged on the second supporting seat, an output shaft of the second driving motor is connected with a screw of the second screw module through a coupler, two ends of the screw are arranged on a bottom plate of the second screw module through bearing seats, the second linear guide rail group is arranged on the bottom plate of the second screw module, the second slider mounting seat is arranged on a slider of the second linear guide rail group and a slider of the second screw module, the first Y-axis b fixing plate is fixed on the bottom plate of the second screw module, and the second distance measuring sensor is arranged on the bottom plate of the second screw module; two ends of a third lead screw module are respectively arranged on a first Y-axis a fixing plate and a first Y-axis b fixing plate, an output shaft of a third driving motor is connected with a lead screw of the third lead screw module through a coupler, and two ends of the lead screw are arranged on a bottom plate of the third lead screw module through a bearing seat; the third linear guide rail sliding block set is arranged on a bottom plate of the third lead screw module, the X-axis moving sliding seat is arranged on a third sliding block mounting seat, and the third sliding block mounting seat is arranged on a sliding block of the third linear guide rail set and a sliding block of the third lead screw module; two ends of a fourth lead screw module are respectively arranged on the first slider mounting seat and the second slider mounting seat, an output shaft of a fourth driving motor is connected with a lead screw of the fourth lead screw module through a coupler, two ends of the lead screw are arranged on a bottom plate of the fourth lead screw module through bearing seats, and a Z-axis moving part mounting seat is arranged on a slider of the fourth lead screw module; the cylinder body of a hydraulic cylinder in the hydraulic driving part of the Z-axis moving part is fixedly arranged in a Z-axis moving part mounting seat, the lower end of the cylinder body of the hydraulic cylinder is fixedly connected with the upper end of a sliding sleeve, one end of an X-axis moving slide rod is fixed on the sliding sleeve, and the other end of the X-axis moving slide rod is arranged in an X-axis moving slide seat, so that the X-axis moving slide rod can slide in the X-axis moving slide seat, and the X-axis moving slide rod can slide along the X-axis direction; a sliding rod of the hydraulic cylinder is arranged in the sliding sleeve, and the upper end of the sliding rod is fixedly connected with a hydraulic rod of the hydraulic cylinder, so that when the hydraulic cylinder runs, the sliding rod can move up and down in the sliding sleeve along with the movement of the hydraulic rod, and the primary movement of a Z-axis moving part along the Z-axis direction is realized;
in the electric drive part of the Z-axis moving part, a first connecting plate is fixedly connected with the bottoms of the sliding rods, the first connecting plate is fixedly connected with a second connecting plate through four first connecting rods, a motor is fixed on the second connecting plate through a motor mounting seat, an output shaft of the motor is connected with a screw rod through a coupler to drive the screw rod to operate, two ends of the screw rod are respectively installed on the second connecting plate and a third connecting plate through screw rod supporting seats, the second connecting plate and the third connecting plate are fixedly connected through four second connecting rods, a screw nut in the screw rod is fixedly connected with a sliding circular plate, the sliding circular plate is positioned between the second connecting plate and the third connecting plate and can move along with the screw nut of the screw rod to move up and down along the four second connecting rods, two fixed rods on the sliding circular plate penetrate through the third connecting plate to be fixedly connected with a moving plate, and the moving plate is fixedly connected with a rotary cylinder of a grabbing manipulator, the sliding circular plate moves up and down along with the operation of the screw rod, so that the moving plate is driven to move up and down, and the accurate movement of the Z-axis moving part is realized.
Snatch manipulator includes: the upper part of the rotating cylinder is mounted on a moving plate of the Z-axis moving part, the lower end of the rotating cylinder is fixedly connected with the L-shaped gripper overturning device, and the rotating cylinder rotates to drive the L-shaped gripper overturning device to rotate on the horizontal plane, so that the position of the gripper is converted on the horizontal plane; first tongs are installed on the second carousel of turning over, and the second tongs is installed on first carousel of turning over, and first carousel of turning over and second dish carry out the 90 upsets of vertical direction to change the direction of grabbing of second tongs and first tongs, realize that material is vertical and horizontal gets and put.
L type tongs turning device includes an L type fixing base, L type fixing base has two to be the shell that stretches out that 90 arrange, two stretch out shell internally mounted have two sets of tilting mechanism that the structure is the same, all include the turning device motor, worm gear mechanism and turnover disc, the turnover disc is installed in stretch out the shell outside and with the worm wheel shaft in the worm gear mechanism both ends and with the coaxial fixed connection of worm wheel shaft, two stretch out the shell offside and all be provided with the balancing weight, realize L type tongs turning device's balance, turning device motor drive worm gear mechanism moves, realize the turnover disc along the 90 upsets in the axle center of worm wheel.
First tongs and second tongs structure are the same, all includes: the anti-collision device comprises a gripper motor, a positive and negative screw rod, two groups of fixed rods, four groups of arc-shaped rods, an anti-collision sensor, four groups of moving rods, four gripping claws and a fixed rod plate, wherein an output shaft of the gripper motor is connected with the positive and negative screw rod through a coupler; one end of each of the two groups of moving rods is hinged to the inner side of one of the nuts, one end of each of the other two groups of moving rods is hinged to the inner side of the other nut, and the other ends of the four groups of moving rods are respectively hinged to the middle positions of the corresponding arc-shaped rods; one end of two sets of fixed rods is hinged on the fixed rod fixing plate, the other end of the two sets of fixed rods is hinged on the grabbing claw, the fixed rod fixing plate is fixed on the upper end face of the turnover disc, the grabbing motor drives the positive and negative screw rods, so that the two nuts of the positive and negative screw rods move, when the two nuts move towards two sides, the grabbing claw tightens up to grab a workpiece, when the two nuts move towards each other, the grabbing claw loosens the workpiece, so that the workpiece is taken and placed, the anti-collision sensor is installed on the outer side of one grabbing claw, the distance between the grabbing claw and other parts can be detected in real time when the workpiece is taken and placed, and the grabbing claw is prevented from colliding with other parts.
The rotary material platform comprises a support, a driving device, a conveying device, a rotating device, a workpiece mounting and positioning device and a positioning and jacking mechanism, wherein the support is a main body supporting structure of the rotary material platform and comprises a support inner ring and a support outer ring;
the conveying device comprises a driving wheel, a driven wheel, a synchronous belt and a synchronous chain, wherein an output shaft of the driving device is connected with the driving wheel through a coupler, the driving wheel is connected with the driven wheel through the synchronous belt, the synchronous chain is sleeved on the outer side of the synchronous belt and moves synchronously with the synchronous belt, the driving wheel is driven to rotate by the driving device, and the driven wheel is driven to rotate through the synchronous belt and the synchronous chain, so that the conveying device rotates;
the rotating device includes: the rotary table is provided with a pulley at the bottom and is arranged in a slide way in the rotary rail; rotatory material platform is provided with 32 work piece installation positioner, and every work piece installation positioner has two work piece lift section of thick bamboos of symmetry setting for laying material, consequently has 64 material mounted positions, and work piece installation positioner includes: the workpiece lifting cylinder comprises a workpiece cylinder and a movable bottom, the movable bottom is arranged in the workpiece cylinder and can slide up and down in the workpiece cylinder, and the workpiece is lifted by a positioning and lifting device.
Location and climbing mechanism includes: the support, the jacking pneumatic cylinder, a slide rail, the thimble board, location thimble and jacking thimble, the slide rail is installed on the support side, the support is fixed on the support, jacking pneumatic cylinder fixed mounting is on the bottom plate of support, the thimble board is fixed on the piston rod of jacking pneumatic cylinder, there is the spout that corresponds with slide rail complex in the thimble board side, can make the thimble board slide on the slide rail, location thimble and jacking thimble fixed mounting are on the thimble board, the piston rod stretches out when the jacking pneumatic cylinder moves, spout on the thimble board moves up along the slide rail, the location thimble corresponds four holes on the mounting panel, realize the locate function to work piece installation positioner, the jacking top is carried out the jacking to the movable bottom, realize the jacking effect to the work piece in the work piece lift section of thick bamboo.
The truss robot mounting and positioning device comprises an L-shaped fixing plate and a positioning plate, wherein the vertical part of the fixing plate is fixed on the inner side of the first supporting seat, when the second Y axis is located at the initial position moving along the X axis, namely, the position closest to the first Y axis, the central line of a sliding rod on the Z axis moving part is perpendicular to the central line of the fixing plate along the Y axis direction and is in the same plane, and the positioning plate is vertically arranged and is fixedly connected with the end part of the horizontal part of the fixing plate.
Compared with the prior art, the invention has the beneficial effects that:
the automatic feeding and discharging truss robot for the numerical control lathe is driven by a motor, and the running precision and running stability of a workbench can be improved by the aid of a combination form of a lead screw and a guide rail; the Z-axis moving part adopts an electric and hydraulic combined operation mode, the lifting is controlled by a hydraulic cylinder in the first stage, the operation is stable and fast, the preset part can be quickly reached, the lifting is controlled by an electric drive lead screw in the second stage, the lifting speed can be controlled, the precision is high, the grabbing manipulator can stably and accurately reach the grabbing position, and an anti-collision sensor is arranged on the gripper, so that the position information of the gripper can be timely fed back, and the gripper is prevented from colliding other parts; for making things convenient for operating personnel to operate, can leave the space before the lathe, add the rotatory material platform and place before the lathe, for traditional material platform place the mode on the lathe limit, save space more, and rotatory material platform makes to snatch the manipulator and can get at fixed position and put the work piece, has the function that work piece automatic centering and control work piece go up and down, can improve the speed and the accuracy that the work piece snatched for the work piece is got and is put convenient and fast more, the last unloading of specially adapted long axle class work piece.
Drawings
The invention is further described with reference to the accompanying drawings in which:
fig. 1 is a schematic structural diagram of an automatic loading and unloading truss robot of a numerically controlled lathe provided by the invention.
Fig. 2 is an axonometric view of the automatic loading and unloading truss robot of the numerically controlled lathe provided by the invention.
Fig. 3 is a partial enlarged view of a portion a in fig. 1, that is, a schematic structural view of an electric driving portion of the Z-axis moving part in the present invention.
Fig. 4 is a schematic structural view of a grasping robot in the present invention.
Fig. 5 is a partial enlarged view of a part B in fig. 1, namely a schematic diagram of the workpiece mounting and positioning device and the positioning and jacking mechanism in the rotary material table in the invention.
FIG. 6 is a schematic view of the structure of the workpiece lifting cylinder in the rotary material table of the present invention
FIG. 7 is a schematic view of a positioning and jacking mechanism in a rotating material of the present invention.
Fig. 8 is a plan view of the rotary material table in the present invention.
Fig. 9 is a partial structural schematic view of the rotary material table in the present invention.
Fig. 10 is a schematic structural view of a Z-axis moving unit in the present invention.
Fig. 11 is a schematic view of the first X-axis structure in the present invention.
Fig. 12 is a schematic diagram of a second Y-axis structure in the present invention.
Fig. 13 is a schematic structural view of the first gripper in the present invention.
In the figure: 1. a first X axis, 2, a second X axis, 3, a first Y axis, 4, a second Y axis, 5, a Z axis moving part, 6, a grabbing manipulator, 7, a rotating material table, 8, a truss robot mounting and positioning device, 9, a supporting seat, 10, a four-rod type XY axis moving part, 11, a first driving motor, 12, a first lead screw module, 13, a first linear guide rail sliding block set, 14, a first sliding block mounting seat, 15, a first Y axis a fixing plate, 16, a first distance measuring sensor, 21, a second driving motor, 22, a second lead screw module, 23, a second linear guide rail sliding block set, 24, a second sliding block mounting seat, 25, a first Y axis b fixing plate, 26, a second distance measuring sensor, 31, a third driving motor, 32, a third linear guide rail sliding block set, 33, a third lead screw module, 34, an X axis moving sliding block, 35, 36, a third sliding block mounting seat, 41. a fourth driving motor, 42, a fourth screw module, 43, a Z-axis moving part mounting base, 51, a hydraulic cylinder, 52, a sliding sleeve, 53, a sliding rod, 55, a motor, 57, a sliding circular plate, 58, a screw rod, 59, a moving plate, 61, a rotating cylinder, 62, an L-shaped gripper overturning device, 63, a first gripper, 64, a second gripper, 71, a bracket, 72, a driving device, 73, a transmission device, 74, a rotating device, 75, a workpiece mounting and positioning device, 76, a positioning and jacking mechanism, 81, a fixing plate, 82, a positioning plate, 91, a first supporting base, 92, a second supporting base, 541, a first connecting plate, 542, a second connecting plate, 543, a third connecting plate, 561, a first connecting rod, 562, a second connecting rod, 571, a fixing rod, 621, an L-shaped fixing base, 622, a first overturning device motor, 623, a first worm gear mechanism, 624, a first overturning plate, 625. a second turning device motor, 626. a second worm and gear mechanism, 627. a second turning disc, 631. a first gripper motor, 632. a first positive and negative lead screw, 633. a first fixed rod, 634. a first arc-shaped rod, 635. a first anti-collision sensor, 636. a first moving rod, 637. a first gripper claw, 638. a first fixed rod fixing plate, 641. a second gripper motor, 642. a second positive and negative lead screw, 643. a second fixed rod, 644. a second arc-shaped rod, 645. a second anti-collision sensor, 646. a second moving rod, 647. a second gripper claw, 648. a second fixed rod fixing plate, 731. a driving wheel, 732. a driven wheel, 733. a synchronous belt, 734. a synchronous chain, 741. a rotating rail, 742. a rotating table, 751. a mounting plate, 752. a workpiece centering chuck, 753. a workpiece lifting cylinder, 761. a 76support, 762. a lifting hydraulic cylinder, 763. a slide rail, 764. a top needle plate, 7531. a workpiece cylinder, 7532. and 7641, positioning and jacking, 7642, jacking the thimble.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
the present invention will be further described with reference to the following embodiments.
As shown in fig. 1 and 2, the invention provides an automatic loading and unloading truss robot for a numerically controlled lathe, which comprises a supporting seat 9, an XYZ-axis moving part 10, a grabbing manipulator 6, a rotary material table 7 and a truss robot mounting and positioning device 8. Wherein, an XYZ shaft moving part 10 is installed on the supporting seat 9, the grasping robot 6 is installed on the XYZ shaft moving part 10, and the XYZ shaft moving part 10 can drive the grasping robot 6 to reciprocate along the front and back direction of the horizontal plane, i.e. the X shaft direction, the left and right direction of the horizontal plane, i.e. the Y shaft direction, and the vertical direction, i.e. the Z shaft direction; the grabbing manipulator 6 is provided with two grippers, and the process of feeding and discharging can be completed in one step. The rotary material table 7 is arranged in front of the lathe and located below the grabbing manipulator 6 to store materials and rotate, 64 positions for placing the materials are arranged on the rotary material table 7, 64 materials can be placed in one-time feeding, and the number of times of feeding and discharging of workers can be reduced. The X-axis, Y-axis and Z-axis movement of the workpiece is realized through the XYZ-axis moving part 10, the material is grabbed at a fixed position through the rotary material table 7 and the two grabs, and the loading and unloading are realized in one step.
In the present embodiment, the XYZ shaft transfer unit 10 includes a first X shaft 1, a second X shaft 2, a first Y shaft 3, a second Y shaft 4, and a Z shaft transfer unit 5. The first X-axis 1 is fixed at the top of the first supporting seat 91, the second X-axis 2 is fixed at the top of the second supporting seat 92, and one end of the first Y-axis 3 is fixed on the first X-axis 1 through a first Y-axis a fixing plate 15; the other end of the first Y-axis 3 is fixed on the second x-axis 2 by a first Y-axis b fixing plate 25; one end of a second Y shaft 4 is installed on the first X shaft 1 through a first slider installing seat 14, the other end of the second Y shaft 4 is installed on the second X shaft 2 through a second slider installing seat 24, a Z-shaft moving part 5 is installed on a Z-shaft moving part installing seat 43 of the second Y shaft 4, and a grabbing manipulator 6 is installed on the Z-shaft moving part 5; the first driving motor 11 and the second driving motor 21 synchronously rotate to drive the second Y-axis 4 and the Z-axis moving part 5 to move in the X-axis direction, the third driving motor 31 and the fourth driving motor 41 synchronously rotate to drive the Z-axis moving part 5 to move along the Y-axis, and the Z-axis moving part 5 drives the grabbing manipulator 6 to move along the Z-axis, so that the grabbing manipulator 6 moves along the X-axis, the Y-axis and the Z-axis;
in this embodiment, the first X-axis 1 and the second X-axis 2 have the same composition structure, and the first X-axis 1 includes: the device comprises a first driving motor 11, a first lead screw module 12, a first linear guide rail sliding block set 13, a first sliding block mounting seat 14, a first Y-axis a fixing plate 15 and a first distance measuring sensor 16; the second X axis 2 includes: the second linear guide rail slide block device comprises a second driving motor 21, a second lead screw module 22, a second linear guide rail slide block group 23, a second slide block mounting seat 24, a first Y-axis b fixing plate 25 and a second distance measuring sensor 26. The first Y axis 3 includes: a third driving motor 31, a third linear guide rail sliding block set 32, a third lead screw module 33, an X-axis moving sliding seat 34, an X-axis moving sliding rod 35 and a third sliding block mounting seat 36; the second Y axis 4 includes: a fourth driving motor 41, a fourth lead screw module 42, and a Z-axis moving section mounting base 43;
the Z-axis moving section 5 includes a hydraulic driving section and an electric driving section, wherein the hydraulic driving section includes: a hydraulic cylinder 51, a sliding sleeve 52 and a sliding rod 53; the electric drive section includes: a first connecting plate 541, a second connecting plate 542, a third connecting plate 543, a motor 55, a first link 561, a second link 562, a sliding circular plate 57, a fixing lever 571, a screw 58, and a moving plate 59;
as shown in fig. 11, a first lead screw module 12 is mounted on a first supporting seat 91, an output shaft of a first driving motor 11 is connected to a lead screw of the first lead screw module 12 through a coupler, two ends of the lead screw are mounted on a bottom plate of the first lead screw module 12 through bearing seats, a first linear guide rail set 13 is mounted on the bottom plate of the first lead screw module 12, a first slider mounting seat 14 is mounted on a slider of the first linear guide rail set 13 and a slider of the first lead screw module 12 to ensure that the first lead screw module 12 and the first linear guide rail set 13 can move synchronously, a first Y-axis a fixing plate 15 is fixedly mounted on the bottom plate of the first lead screw module 12, and a first distance measuring sensor 16 is mounted on the bottom plate of the first lead screw module 12; the second lead screw module 22 is mounted on the second support seat 92, the output shaft of the second driving motor 21 is connected with the lead screw of the second lead screw module 22 through a coupler, two ends of the lead screw are mounted on the bottom plate of the second lead screw module 22 through bearing seats, the second linear guide rail group 23 is mounted on the bottom plate of the second lead screw module 22, the second slider mounting seat 24 is mounted on the slider of the second linear guide rail group 23 and the slider of the second lead screw module 22, so that the second lead screw module 22 and the second linear guide rail group 23 can move synchronously, the first Y-axis b fixing plate 25 is fixedly mounted on the bottom plate of the second lead screw module 22, and the second distance measuring sensor 26 is mounted on the bottom plate of the second lead screw module 22; two ends of a third screw module 33 are respectively installed on the first Y-axis a fixing plate 15 and the first Y-axis b fixing plate 25, an output shaft of a third driving motor 31 is connected with a screw of the third screw module 33 through a coupler, two ends of the screw are installed on a bottom plate of the third screw module 33 through bearing seats, a third linear guide rail group 32 is installed on the bottom plate of the third screw module 33, an X-axis moving slide 34 is installed on a third slide block installation seat 36, and the third slide block installation seat 36 is installed on a slide block of the third linear guide rail group 32 and a slide block of the third screw module 33; two ends of the fourth lead screw module 42 are respectively mounted on the first slider mounting seat 14 and the second slider mounting seat 24; as shown in fig. 12, an output shaft of the fourth driving motor 41 is connected to a lead screw of the fourth lead screw module 42 through a coupler, two ends of the lead screw are mounted on a bottom plate of the fourth lead screw module 42 through a bearing seat, and the Z-axis moving portion mounting seat 43 is mounted on a slider of the fourth lead screw module 42;
the cylinder body of the hydraulic cylinder 51 in the hydraulic driving part of the Z-axis moving part 5 is fixedly installed in the Z-axis moving part installation seat 43, the lower end of the cylinder body of the hydraulic cylinder 51 is fixedly connected with the upper end of the sliding sleeve 52, one end of the X-axis moving slide bar 35 is fixed on the sliding sleeve 52, and the other end is installed in the X-axis moving slide 34, so that the X-axis moving slide bar 35 can slide in the X-axis moving slide 34, and can slide along the X-axis direction; a sliding rod 53 of the hydraulic cylinder is arranged in the sliding sleeve 52, the upper end of the sliding rod 53 is fixedly connected with a hydraulic rod of the hydraulic cylinder 51, and when the hydraulic cylinder 51 operates, the sliding rod 53 can move up and down in the sliding sleeve 52 along with the movement of the hydraulic rod, so that the primary movement of the Z-axis moving part 5 along the Z-axis direction is realized;
when the first driving motor 11 and the second driving motor 21 run synchronously, the first lead screw module 12 drives the first slider mounting seat 14 to move along the X-axis, the second lead screw module 22 drives the second slider mounting seat 24 to move along the X-axis, so that the second Y-axis 4 moves along the X-axis, the X-axis moving slide bar 35 slides in the X-axis moving slide seat 34 at the same time, and the movement of the Z-axis moving part 5 in the X-axis direction is realized; when the third driving motor 31 and the fourth driving motor 41 run synchronously, the third lead screw module 33 drives the third slider mounting seat 36 to move along the Y-axis, and the fourth lead screw module 42 drives the Z-axis moving part mounting seat 43 to move along the Y-axis, so as to realize the Y-axis movement of the Z-axis moving part 5; the first distance measuring sensor 16 can detect the distance from the sensor to the slider of the first linear guide rail group 13 on the first X axis 1 in real time, and the second distance measuring sensor 26 can detect the distance from the slider of the second linear guide rail group 23 on the second X axis 2 in real time, so that the second Y axis 4 can be prevented from colliding with other parts when moving in the X axis direction.
In the electric driving part of the Z-axis moving part 5, a first connecting plate 541 is fixedly connected with the bottom of the sliding rod 53, the first connecting plate 541 is fixedly connected with a second connecting plate 542 through four first connecting rods 561, the motor 55 is fixed on the second connecting plate 542 through a motor mounting seat, the output shaft of the motor 55 is connected with the lead screw 58 through a shaft coupling to drive the lead screw 58 to run, two ends of the lead screw 58 are respectively installed on the second connecting plate 542 and the third connecting plate 543 through lead screw supporting seats, the second connecting plate 542 and the third connecting plate 543 are fixedly connected through four second connecting rods 562, wherein a lead screw nut in the lead screw 58 is fixedly connected with a sliding circular plate 57, the sliding circular plate 57 is positioned between the second connecting plate 542 and the third connecting plate 543 and can move up and down along with the movement of the lead screw nut of the lead screw 58, two fixing rods 571 on the sliding circular plate 57 pass through the third connecting plate 543 to be fixedly connected with the moving plate 59, the moving plate 59 is fixedly connected with a rotary cylinder 61 of the grabbing manipulator 6, and the motor 55 drives the lead screw 58 to operate, so that the sliding circular plate 57 moves up and down, and the moving plate 59 is driven to move up and down, and the accurate movement of the Z-axis moving part 5 is realized. The hydraulic cylinder runs quickly and stably, but only can realize preset motion, and cannot control the running in real time, so the invention adopts a mode of combining hydraulic drive and electric drive, firstly adopts hydraulic drive to enable the Z-axis moving part 5 to drive the grabbing manipulator 6 to quickly reach a preset position, and then adopts electric drive to feed back the position of the grabbing hand in real time and adjust the running speed and the running distance, thereby enabling the grabbing hand to accurately and quickly reach a correct position.
In this embodiment, the grasping robot 6 includes: the device comprises a rotary cylinder 61, an L-shaped gripper overturning device 62, a first gripper 63 and a second gripper 64, wherein the upper part of the rotary cylinder 61 is installed on the moving plate 59 of the Z-axis moving part 5, the lower end of the rotary cylinder 61 is fixedly connected with the L-shaped gripper overturning device, and the rotary cylinder 61 rotates to drive the L-shaped gripper overturning gripper to rotate on the horizontal plane, so that the switching of the gripper position on the horizontal plane is realized. The first gripper 63 is installed on the second overturning plate 627, the second gripper 64 is installed on the first overturning plate 624, and the first overturning plate 624 and the second overturning plate 627 are overturned for 90 degrees in the vertical direction, so that the grabbing directions of the second gripper 64 and the first gripper 63 are changed, and the vertical and horizontal taking and placing of materials can be realized.
In this embodiment, as shown in fig. 4, the L-shaped gripper turning device 62 includes an L-shaped fixing seat 621, the L-shaped fixing seat 621 has two extending shells arranged at 90 °, two sets of turning mechanisms with the same structure are installed inside the two extending shells, wherein the turning mechanism in the transverse extending shell in fig. 4 includes a first turning device motor 622, a first worm and gear mechanism 623 and a first turning disc 624, and the first turning disc 624 is installed outside the extending shell and coaxially and fixedly connected with two ends of a worm gear shaft in the first worm and gear mechanism 623; the turning device longitudinally extending out of the shell comprises a second turning device motor 625, a second worm and gear mechanism 626 and a second turning disc 627, wherein the second turning disc 627 is installed on the outer side of the extending out shell and is coaxially and fixedly connected with two ends of a worm gear shaft in the second worm and gear mechanism 626, and balancing weights are arranged on opposite sides of the two extending out shells to realize the balance of the L-shaped gripper turning device 62. The positions of the first flipping disk 624 and the second flipping disk 627 in fig. 6 are two switching positions of the flipping disks. The motor drives the worm and gear mechanism to operate, so that the turnover disc is turned over for 90 degrees along the axis of the worm gear, and the two positions of the turnover disc are switched.
In this embodiment, the first gripper 63 and the second gripper 64 have the same structure and are respectively mounted on the second flipping disk 624 and the first flipping disk 627. The first gripper 63, as shown in fig. 13, includes: the anti-collision device comprises a first gripper motor 631, a first positive and negative lead screw 632, two groups of first fixed rods 633, four groups of first arc-shaped rods 634, a first anti-collision sensor 635, four groups of first fixed rods 636, four groups of first grabbing claws 637 and a first fixed rod fixing plate 638, wherein an output shaft of the first gripper motor 631 is fixedly connected with the first positive and negative lead screw 632 through a coupler, the turning directions of external threads uniformly distributed on two sections of the first positive and negative lead screw 632 are opposite, two sections of external threads of the first positive and negative lead screw 632 are respectively provided with a nut in threaded connection, one ends of the two groups of first arc-shaped rods 634 are hinged to the outer side of one nut of the first positive and negative lead screw 632, one ends of the other two groups of first arc-shaped rods 634 are hinged to the outer side of the other nut of the first positive and negative lead screw 632, and the other ends of the four groups of first arc-shaped rods 634 are respectively hinged to one first grabbing claw 637; one end of each of the two groups of first moving rods 636 is hinged to the inner side of one of the nuts, one end of each of the other two groups of first moving rods 636 is hinged to the inner side of the other nut, the other ends of the four groups of first moving rods 636 are respectively hinged to the middle positions of the corresponding first arc-shaped rods 634, one end of each of the two groups of first fixed rods 633 is hinged to the first fixed rod fixing plate 638, the other ends of the two groups of first fixed rods 633 are hinged to the first grabbing claw 637, and the first fixed rod fixing plate 638 is fixed to the upper end face of the turnover disc;
the second gripper 64 includes: the output shaft of the second gripper motor 641 is fixedly connected with the second positive and negative screw rod 642 through a coupler, the turning directions of two sections of uniformly distributed external threads of the second positive and negative screw rod 642 are opposite, two sections of external threads of the second positive and negative screw rod 642 are respectively provided with a nut in threaded connection, one ends of two groups of second arc-shaped rods 644 are hinged to the outer side of one nut of the second positive and negative screw rod 642, one ends of the other two groups of second arc-shaped rods 644 are hinged to the outer side of the other nut of the second positive and negative screw rod 642, and the other ends of the four groups of second arc-shaped rods 644 are respectively hinged to one second gripper claw 647; one end of each of the two second moving rods 646 is hinged to the inner side of one of the nuts, one end of each of the other two second moving rods 646 is hinged to the inner side of the other nut, the other ends of the four second moving rods 646 are respectively hinged to the middle of the corresponding second arc-shaped rod 644, one end of each of the two second fixed rods 643 is hinged to the second fixed rod fixing plate 648, the other ends of the two second fixed rods 643 are hinged to the second grabbing claw 647, and the second fixed rod fixing plate 648 is fixed on the upper end face of the turnover disc; the motor drives the positive and negative screw rods to enable the two nuts of the positive and negative screw rods to move, and when the two nuts move towards two sides, the grabbing claws are tightened to grab workpieces; when the two nuts move in opposite directions, the grabbing claws loosen the workpiece, and the workpiece is taken and placed. First crashproof sensor 635 installs in the first claw 637 outside of grabbing, and second crashproof sensor 645 installs in the second claw 647 outside of grabbing, can get when putting the work piece real-time detection hand claw and the distance of other positions, prevents that the hand claw from colliding with other positions.
In this embodiment, the rotary material table 7 is shown in fig. 1, and includes: the device comprises a support 71, a driving device 72, a conveying device 73, a rotating device 74, a workpiece mounting and positioning device 75 and a positioning and jacking mechanism 76, wherein the support 71 is a main body supporting structure of the rotary material table 7 and comprises a support inner ring 711 and a support outer ring 712, the conveying device 73 is mounted on the support inner ring 711, the rotating device 74 is mounted on the support outer ring 712, a mounting plate 751 of the workpiece mounting and positioning device 75 is fixedly mounted on a rotating table 742 of the rotating device 74, and the inner side of the workpiece mounting and positioning device 75 is connected with the conveying device 73 through bolts. Two positioning and jacking mechanisms 76 are arranged on the rotary material table 7, wherein one positioning and jacking mechanism 76 is arranged on the bracket 71 below the fixed grabbing position of the grabbing manipulator 6, and the other positioning and jacking mechanism 76 is arranged at the edge position of the rotary material table 7;
in this embodiment, the conveying device 73 is shown in fig. 9 and includes a driving wheel 731, a driven wheel 732, a synchronous belt 733, and a synchronous chain 734, the driving device 72 is connected to the driving wheel 731 through a coupler, the driving wheel 731 is connected to the driven wheel 732 through the synchronous belt 733, the synchronous chain 734 is sleeved on the outer side of the synchronous belt 733 and moves synchronously with the synchronous belt 733, the driving device 72 drives the driving wheel 731 to rotate, and the driven wheel 733 is driven to rotate through the synchronous belt 733 and the synchronous chain 734, so that the conveying device 73 rotates.
In the present embodiment, the rotating device 74 includes: the rotating table 742 is provided with a pulley at the bottom of the rotating table 741, and the pulley is mounted in a slide way inside the rotating table 741 to enable the rotating table 742 to slide in the rotating table 741; the rotary material table 7 is provided with 32 workpiece mounting and positioning devices 75, each workpiece mounting and positioning device 75 has two symmetrically arranged workpiece lifting barrels 753 for placing materials, so that there are 64 material placing positions, and the workpiece mounting and positioning device 75 is shown in fig. 6 and 8 and comprises: the workpiece lifting device comprises a mounting plate 751, a workpiece centering chuck 752, workpiece lifting barrels 753, wherein the bottoms of the workpiece centering chucks 752 are fixedly connected with the top plate of the workpiece barrel 7531, the bottom of the top plate of the workpiece barrel 7531 is fixedly mounted on the mounting plate 751, the two workpiece lifting barrels 753 are symmetrically mounted on the mounting plate 751, the workpiece lifting barrels 753 comprise workpiece barrels 7531 and movable bottoms 7532, and the movable bottoms 7532 are mounted in the workpiece barrel 7531 and can slide up and down in the workpiece barrel 7531, so that the positioning and lifting device 76 can lift workpieces conveniently.
In this embodiment, as shown in fig. 7, the positioning and jacking mechanism 76 includes: a support 761, a jacking hydraulic cylinder 762, a slide rail 763, an ejector plate 764, a positioning ejector pin 7641, a jacking ejector pin 7642, the slide rail 763 is installed on the side of the support 761, the support 761 is fixed on the support 71, the jacking hydraulic cylinder 762 is fixedly installed on the bottom plate of the support 761, the ejector plate 764 is fixed on the piston rod of the jacking hydraulic cylinder 762, there is a corresponding chute matched with the slide rail 763 on the side of the ejector plate 764, the ejector plate 764 can slide on the slide rail 763, the positioning ejector pin 7641 and the jacking ejector pin 7642 are fixedly installed on the ejector plate 764, the piston rod stretches out when the jacking hydraulic cylinder 762 operates, the chute on the ejector plate 764 moves up along the slide rail 763, the positioning ejector pin 7641 corresponds to four holes on the mounting plate, the positioning function of the workpiece mounting and positioning device 75 is realized, the jacking ejector pin 7642 jacks up the movable bottom 7532, and realizes the jacking function of the workpiece in the workpiece lifting cylinder 753. The workpiece cylinder is suitable for materials with the diameter of 15-35 mm and the length of 150-300 mm, and the jacking size of the positioning and jacking mechanism 76 is adjusted according to the size of the materials.
The driving device 72 drives a driving wheel 731 of the conveying device 73, the driving wheel drives a driven wheel 732 to rotate through a synchronous belt 733, and drives the workpiece mounting and positioning device 75 to slide along a rotating rail 741 of the rotating device 74, so that the rotating function of the material table is realized, a worker can perform a feeding process on the material table once, a machine tool is started to perform a material processing process, 64 material placing positions are provided, time can be saved, and working efficiency is improved; the positioning and jacking mechanism 76 is used for positioning the mounting plates 751, jacking materials in the two workpiece lifting cylinders 753 on each mounting plate 751 simultaneously after the rotary material table 7 rotates to a fixed position, so that the workpieces are lifted to the fixed position, centering the workpieces by the respective workpiece centering chucks 752, jacking and positioning the workpieces at the fixed positions, enabling the grippers to accurately grab the materials at the determined positions, and loosening the centering devices after the grippers grab the workpieces to grab the materials, as shown in fig. 5. Another positioning and jacking mechanism 76 is installed at the edge position of the rotary material table 7, and the device does not work in the material table rotating and feeding processes, and the purpose of the device is that after all materials on the whole material table 7 are processed, the device can jack the workpiece, so that a worker or a robot can conveniently take down the processed workpiece and place the material to be processed, and convenience is provided for the preparation work of the worker or the robot.
In this embodiment, the truss robot mounting and positioning device 8 includes: an L-shaped fixing plate 81 and a positioning plate 82, as shown in fig. 2, the vertical portion of the fixing plate 81 is fixed inside the first supporting seat 91, and when the second Y-axis 4 is at the initial position of movement along the X-axis, i.e., the position closest to the first Y-axis, the center line of the slide rod 53 on the Z-axis moving portion 5 is perpendicular to and in the same plane as the center line of the fixing plate 81 along the Y-axis direction, and the positioning plate 82 is vertically disposed and fixedly connected to the end of the horizontal portion of the fixing plate 81. The installation accuracy of the truss robot can be improved, and the debugging time is reduced. The large hole on the positioning plate 82 is the same as the main shaft hole of the machine tool, before installation, the positioning plate 82 is firstly superposed with the main shaft hole of the machine tool, and the lower end hole of the positioning plate is correspondingly positioned and drilled on the machine tool. After the holes on the machine tool are drilled, the positioning plate 82 can be directly installed on the machine tool, so that the robot can be installed on the machine tool, the main axis of the machine tool and the initial central line of the Z-axis moving part of the truss robot can be ensured to be on the same plane, and the truss robot is simple to install, high in efficiency and high in reliability.
The following illustrates the loading and unloading process of the automatic loading and unloading truss robot of the numerically controlled lathe according to the present invention.
After the automatic loading and unloading truss robot of the numerical control lathe is installed on the lathe through the installation plate, the truss robot is debugged according to the position and the size of the lathe, the position of the rotary material table and the size between the rotary material table and the lathe, and on the basis, the automatic loading and unloading process of the lathe is carried out by using the device.
After the automatic feeding and discharging truss robot of the numerical control lathe is installed, the Z-axis moving part at the initial position drives the grabbing manipulator 6 to be located above a machined workpiece of the machine tool, and the grabbing manipulator is moved to a position above a material at a corresponding fixed position of the rotary material table before formal work is started.
After the workpiece is processed, the electric driving part of the Z-axis moving part 5 controls the gripper 6 to descend, and after the workpiece descends to a fixed position, the first gripper motor 631 of the first gripper 63 drives the two nuts of the first positive and negative lead screws 632 to move the gripper to both sides to tighten, and grip the unprocessed material clamped on the workpiece centering chuck 752, at this time, the workpiece centering chuck 752 releases the blank, the hydraulic cylinder 51 piston rod retracts rapidly, and drives the gripper 6 to ascend, then the third driving motor 31 and the fourth driving motor 41 run synchronously to drive the Z-axis moving part to move along the Y-axis direction, and simultaneously the first driving motor 11 and the second driving motor 21 rotate synchronously to drive the Z-axis moving part to move along the X-axis direction to reach above the material, the rotary cylinder 61 rotates to rotate the second gripper 64 to be parallel to the lathe spindle, the hydraulic cylinder 51 piston rod extends, so as to realize that the Z-axis moving part descends to an initial position, then the electric driving part of the Z-axis moving part 5 controls the gripper 6 to continuously descend to reach the position of the workpiece. The second gripper motor 641 of the second gripper 64 drives the two nuts of the second positive and negative lead screw 642 to move towards two sides, the gripper tightens, grips, and the spindle chuck releases the workpiece, and then the third driving motor 31 and the fourth driving motor 41 run synchronously to drive the Z-axis moving portion to move along the Y-axis direction, and take out the workpiece.
The rotary cylinder 61 rotates to rotate the first gripper 63 to be parallel to the lathe spindle, then the third driving motor 31 and the fourth driving motor 41 synchronously operate to drive the Z-axis moving part to move along the Y-axis direction, the unprocessed material is installed in the spindle, the piston rod of the hydraulic cylinder 51 rapidly retracts to drive the gripper 6 to ascend, then the third driving motor 31 and the fourth driving motor 41 synchronously operate to drive the Z-axis moving part to move along the Y-axis direction, simultaneously the first driving motor 11 and the second driving motor 21 synchronously rotate to drive the Z-axis moving part to move along the X-axis direction to reach above the workpiece centering chuck 752 corresponding to the previously-taken unprocessed material, the electric driving part of the Z-axis moving part 5 controls the gripper 6 to descend to a fixed position, and then the second gripper motor 641 of the second gripper 64 drives two nuts of the second positive and negative lead screws 642 to move towards each other, and releasing the hand grip and releasing the material.
At this time, the piston rod of the jacking hydraulic cylinder 762 in the positioning and jacking device 76 below the workpiece mounting and positioning device moves downward, and the ejector plate is driven to descend. The driving device 72 drives the driving wheel 731, the driving wheel 731 drives the driven wheel 732 through the synchronous belt 733, the next workpiece positioning and mounting device 75 is rotated to a fixed position, then a piston rod of the jacking hydraulic cylinder 762 in the positioning and jacking device 76 moves upwards to drive the jacking needle plate to ascend, a blank in the workpiece lifting cylinder is jacked, then the workpiece centering chuck 752 clamps the blank, and then the workpiece loading and unloading process of the next round is performed.
Claims (8)
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