CN114434216B

CN114434216B - Automatic feeding and discharging system of combined machine tool

Info

Publication number: CN114434216B
Application number: CN202210358301.6A
Authority: CN
Inventors: 金佩瑾
Original assignee: Ningbo Jiabijia Intelligent Technology Co ltd
Current assignee: Ningbo Jiabijia Intelligent Technology Co ltd
Priority date: 2022-04-07
Filing date: 2022-04-07
Publication date: 2022-06-28
Anticipated expiration: 2042-04-07
Also published as: CN114434216A

Abstract

The application discloses unloading system in automation of combined machine tool, combined machine tool has arranged a plurality of processing parts along the fore-and-aft direction, includes: a stock assembly arranged behind the combined machine tool, the stock assembly being adapted to place a workpiece to be machined; a feeding assembly in a beam structure and arranged above the combined machine tool, wherein the feeding assembly is suitable for conveying workpieces from back to front between the stock assembly and a plurality of machining parts; the blanking assembly is arranged in front of the combined machine tool and is suitable for bearing the machined workpiece on the feeding assembly. Has the advantages of reasonable layout, high working efficiency and low cost.

Description

Automatic feeding and discharging system of combined machine tool

Technical Field

The application relates to the field of machining equipment, in particular to a feeding and discharging system.

Background

The differential mechanism of the automobile can realize a mechanism that left and right (or front and rear) driving wheels rotate at different rotating speeds. A cross shaft (differential shaft) is one of key parts of an automobile differential and is used for transmitting torque and motion; as shown in fig. 1, the cross 10 includes a base 10a and shaft bodies 10b extending from the base 10a in the front-rear and left-right directions, and a circular hole 10c is usually formed through the base 10 a. The existing cross shaft processing method generally adopts different numerical control lathes to process step by step, so that the problems of high production labor intensity, high cost, low efficiency, large production floor area, high energy consumption and the like exist.

Therefore, how to improve the existing cross shaft machining equipment to overcome the above problems is a problem to be urgently solved by those skilled in the art.

Disclosure of Invention

An object of this application is to provide a rationally distributed, the unloading system in automation of combined machine tool that work is high-efficient, with low costs.

In order to achieve the above purpose, the technical scheme adopted by the application is as follows: an automatic loading and unloading system of a combined machine tool, which has a plurality of processing parts arranged in a front-rear direction, comprising:

a stock assembly arranged behind the combined machine tool, the stock assembly being adapted to place a workpiece to be machined;

a feeding assembly in a beam structure and arranged above the combined machine tool, wherein the feeding assembly is suitable for conveying workpieces from back to front between the stock assembly and a plurality of machining parts;

the blanking assembly is arranged in front of the combined machine tool and is suitable for receiving a workpiece which is machined on the feeding assembly.

Preferably, the feeding assembly comprises a linear conveying module, and the linear conveying module comprises a first conveying belt, a first beam bracket, a first horizontal sliding block, a first vertical sliding block and a first gripper; the first conveying belt is arranged above the combined machine tool along the front-back direction and is suitable for receiving and conveying workpieces forwards, the first cross beam support is fixedly arranged above the combined machine tool, the first horizontal sliding block is arranged on the first cross beam support in a left-right sliding mode, the first vertical sliding block is arranged on the first horizontal sliding block in an up-down sliding mode, the first gripper is arranged at the lower end of the first vertical sliding block, and the power mechanism is suitable for driving the first horizontal sliding block and the first vertical sliding block to move linearly;

The first horizontal sliding block is matched with the first vertical sliding block to move and is suitable for driving the first gripper to grab the workpiece from the first conveying belt and place the workpiece on the processing component or driving the first gripper to grab the workpiece from the processing component and place the workpiece on the first conveying belt.

Furthermore, the processing component is provided with double stations distributed on the left and right, and the first horizontal sliding blocks, the first vertical sliding blocks and the first gripper are provided with two groups and arranged on the left and right sides of the first conveying belt.

Optionally, the feeding assembly includes a robot module, the robot module includes an extension bracket and a robot, the extension bracket is fixedly disposed above the combined machine tool along a front-back direction, the robot is slidably disposed on the extension bracket along the front-back direction, the robot is suitable for grabbing or placing a workpiece at any position within an operation range, and the power mechanism is suitable for driving the robot to move linearly;

the robot moves by itself and is matched with the extension bracket to move, and is suitable for grabbing workpieces from the stock component and placing the workpieces on the processing component, or grabbing workpieces from the former processing component and placing the workpieces on the latter processing component.

Preferably, the blanking assembly comprises a door-shaped frame, a second horizontal sliding block, a second vertical sliding block, a second hand grip, a blanking frame and a loading piece; the gate-shaped frame is fixedly arranged in front of the combined machine tool, extends upwards and is higher than the combined machine tool, the second horizontal sliding block is arranged on the gate-shaped frame in a sliding mode along the front-back direction, the second vertical sliding block is arranged on the second horizontal sliding block in a sliding mode along the up-down direction, the second gripper is arranged at the lower end of the second vertical sliding block, the blanking frame is arranged below the gate-shaped frame, the material loading piece is arranged on the blanking frame in a sliding mode along the left-right direction, and the power mechanism is suitable for driving the second horizontal sliding block, the second vertical sliding block and the material loading piece to move linearly;

the second horizontal sliding block is matched with the second vertical sliding block to move and is suitable for driving the second hand grip to grip a workpiece from the feeding assembly and place the workpiece on the loading part; the loading part moves and is suitable for changing the placing position of the workpiece along the left and right directions.

As an improvement, the material loading part is provided with a finished material frame and a finished material plate, the finished material frame is suitable for horizontally placing a workpiece, the finished material plate is suitable for vertically placing the workpiece, the blanking assembly is further provided with a third gripper, the second gripper is suitable for horizontally gripping the workpiece, the third gripper is suitable for vertically gripping the workpiece, two groups of second horizontal sliders and two groups of second vertical sliders are arranged and are respectively connected with the second gripper and the third gripper, the gate-shaped frame extends backwards out of the yielding section, the yielding section is overlapped with the material loading assembly, and the latter group of second horizontal sliders and the latter group of second vertical sliders are suitable for moving to the yielding section, so that the former group of second horizontal sliders and the former group of second vertical sliders are suitable for gripping the workpiece from the material loading assembly.

As an extension, the portal frame further extends out of an auxiliary section along the front-back direction, one or more auxiliary processing devices are arranged below the auxiliary section, the second gripper is suitable for grabbing a workpiece from the feeding assembly or the loading part and placing the workpiece on the auxiliary processing device, and the second gripper is suitable for grabbing the workpiece from the auxiliary processing device and placing the workpiece on the loading part; the blanking assembly further comprises a second conveying belt, and the second conveying belt extends in the front-back direction and is arranged between the auxiliary processing devices.

Optionally, the power mechanism comprises a servo motor, a power gear, a power rack and a linear guide rail, the servo motor is mounted on the moving part and is suitable for driving the power gear to rotate, the power rack and the linear guide rail are mounted on the fixing part in parallel, and the power gear is meshed with the power rack; the servo motor rotates to drive the moving part to linearly move along the linear guide rail through the matching of the power gear and the power rack.

Preferably, the material storage assembly comprises a material storage frame, a rotary table, railings, push rods, a rotary power source and a lifting power source, the material storage frame is fixedly arranged on the rear side of the combined machine tool, the rotary table is rotatably arranged on the material storage frame, the rotary power source is suitable for driving the rotary table to rotate, the railings are fixedly arranged on the rotary table along the up-down direction, workpieces are suitable for being stacked between the railings along the up-down direction, multiple groups of the railings are uniformly distributed along the circumferential direction, the rotary table is provided with material pushing grooves at the positions where the workpieces are stacked, the push rods are arranged on the front side of the material storage frame in a sliding manner along the up-down direction, and the lifting power source is suitable for driving the push rods to lift; the rotary table rotates to enable the push rod to be located below the material pushing groove, and the push rod is lifted upwards and used for pushing the workpiece to move upwards and close to the feeding assembly.

Preferably, the combined machine tool is provided with a turning part and a milling part, the turning part is suitable for vertically placing a workpiece for processing, the milling part is suitable for horizontally placing the workpiece for processing, the robot module is arranged above the turning part, and the linear conveying module is arranged above the milling part;

the robot is suitable for moving to the rear end of the extension bracket and grabbing the workpiece from the material storage component, the robot moves forwards and places the workpiece on the turning part for machining, and after machining is finished, the robot grabs the workpiece from the turning part and continues to move forwards, and then places the workpiece on the first conveyor belt; the first conveying belt conveys workpieces forwards to the positions of the first horizontal sliding block and the first vertical sliding block, the first gripper grabs the workpieces from the first conveying belt and places the workpieces on the milling part for processing, after the processing is finished, the first gripper grabs the workpieces from the milling part and places the workpieces on the first conveying belt, and finally the first conveying belt conveys the workpieces forwards to the blanking assembly.

Compared with the prior art, the method has the following beneficial effects: the feeding assembly is arranged above the combined machine tool, so that on one hand, the vertical space of a workshop can be fully and effectively utilized, and on the other hand, the combined machine tool is used as a mounting base, so that the combined machine tool has sufficient mounting strength and stability; therefore, through the reasonable layout of the automatic feeding and discharging system, the investment cost is greatly reduced, and the high-efficiency and energy-saving production of a production line can be ensured.

Drawings

FIG. 1 is a perspective view of a cross according to a preferred embodiment of the present application.

Fig. 2 is a perspective view showing a structure of a combined machine tool according to a preferred embodiment of the present application, and indicates six directions of front, rear, left, right, up, and down.

Fig. 3 is a perspective view of a preferred embodiment according to the present application.

Fig. 4 is a side view of a preferred embodiment according to the present application.

Figure 5 is a schematic perspective view of a reservoir assembly according to a preferred embodiment of the present application.

FIG. 6 is an enlarged view at A in FIG. 5 according to a preferred embodiment of the present application.

Fig. 7 is a perspective view of a robot module according to a preferred embodiment of the present application.

Fig. 8 is a schematic diagram of the construction of the power mechanism in a preferred embodiment according to the present application.

Fig. 9 is a perspective view of a linear transport module in accordance with a preferred embodiment of the present application.

FIG. 10 is a top view of a linear transport module in accordance with a preferred embodiment of the present application.

Fig. 11 is a perspective view of a blanking assembly in accordance with a preferred embodiment of the present application.

Fig. 12 is a top view of a blanking assembly in accordance with a preferred embodiment of the present application.

FIG. 13 is an enlarged view at B of FIG. 11 in accordance with a preferred embodiment of the present application.

Fig. 14 is a perspective view of a first hand grip in accordance with a preferred embodiment of the present application.

Fig. 15 is a perspective view of a second hand grip in accordance with a preferred embodiment of the present application.

Fig. 16 is a perspective view of a third hand grip in accordance with a preferred embodiment of the present application.

Fig. 17 is a side view of a third hand grip in accordance with a preferred embodiment of the present application.

In the figure: 100. a combined machine tool; 101. turning the part; 102. milling a part; 200. grinding machine; 300. marking machine; 10. a cross shaft; 10a, a substrate; 10b, a shaft body; 10c, a round hole; 1. a stock component; 11. a material storage rack; 12. a turntable; 13. a railing; 14. a push rod; 15. a source of rotational power; 16. a lifting power source; 121. a material pushing groove; 2. a feeding assembly; 21. a robot module; 22. a linear transport module; 211. an extension bracket; 212. a robot; 221. a first conveyor belt; 222. a first beam bracket; 223. a first horizontal slider; 224. a first vertical slider; 225. a first gripper; 2251. a magnetic chuck; 2252. positioning seats; 225a, a first accommodating cavity; 225b, a second accommodating cavity; 3. a blanking assembly; 31. a gate frame; 32. a second horizontal slider; 33. a second vertical slider; 34. a second gripper; 35. a blanking frame; 36. a loading member; 37. a third gripper; 38. a second conveyor belt; 311. a bit-yielding segment; 312. an auxiliary section; 341. a movable seat; 342. a claw; 361. a finished product material frame; 362. a finished material plate; 371. a connecting seat; 372. a gantry support; 373. lifting and placing the plate; 3731. an arc groove; 4. a power mechanism; 41. a servo motor; 42. a power gear; 43. a power rack; 44. a linear guide rail.

Detailed Description

The present application is further described below with reference to specific embodiments, and it should be noted that, without conflict, any combination between the embodiments described below or between the technical features may form a new embodiment.

In the description of the present application, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate orientations and positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

The terms "comprises," "comprising," and "having," and any variations thereof, in the description and claims of this application, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

As shown in fig. 1, the cross 10 includes a base 10a and shaft bodies 10b extending from the base 10a in the front-rear and left-right directions, respectively, and a circular hole 10c is formed through the base 10 a. The combined machine tool 100 of the present embodiment is designed according to an automatic production line, and is a combined device specially used for machining a cross shaft 10, and mainly comprises a turning part 101, a milling part 102, and an automatic loading and unloading system. The original design of the loading and unloading system is a robot operation and is divided into a left loading and unloading line and a right loading and unloading line. After the workpiece enters the material storage assembly, the robot loads and unloads the combined machine tool 100; however, the distance between the material storage assembly and the turning component 101 is 2700mm, the distance between the turning component 101 and the milling component 102 is 3750mm, the distance between the production line is long, the robot reciprocates on a 6450mm rail, the time is long, the occupied area is large, the investment is large, and most importantly, the whole production process flow is not reasonable.

For this reason, the applicant has made an optimization and improvement on the basis of the structure of the combined machine tool 100, specifically as follows:

as shown in fig. 2 to 17, an automatic loading and unloading system according to a preferred embodiment of the present application includes:

the stock assembly 1, the stock assembly 1 is arranged behind the combined machine tool 100, and the stock assembly 1 is suitable for placing a cross shaft 10 to be machined.

A feeding assembly 2, the feeding assembly 2 being of a beam structure and arranged above the combined machine tool 100, the feeding assembly 2 being adapted to convey the cross 10 from the rear to the front between the stock assembly 1 and the plurality of machining components.

And the blanking assembly 3 is arranged in front of the combined machine tool 100, and the blanking assembly 3 is suitable for receiving the cross shaft 10 processed on the feeding assembly 2.

And the power mechanism 4 is used for driving the material storage assembly 1, the material loading assembly 2 and the material unloading assembly 3 to move.

It should be noted that the combined machine tool 100 of the present embodiment is a completely new structure (specifically described in other patents applied on the same date as the present application), and the automatic loading and unloading system of the present embodiment is designed according to the structure of the combined machine tool 100, and is also a completely new structure. The key point of the design is that the feeding assembly 2 of the embodiment is arranged above the combined machine tool 100, so that on one hand, the vertical space of a workshop can be fully and effectively utilized, and on the other hand, the combined machine tool 100 is used as an installation base and has enough installation strength and stability.

Wherein the feeding assembly 2 is provided with a robot module 21 and/or a linear conveying module 22, and the specific structure is as follows:

as shown in fig. 7 and 8, the robot module 21 includes an extension bracket 211 and a robot 212, the extension bracket 211 is fixedly disposed above the combined machine tool 100 in the front-back direction, the robot 212 is slidably disposed on the extension bracket 211 in the front-back direction, the robot 212 is adapted to grip or place the cross shaft 10 at any position within the working range, and the power mechanism 4 is adapted to drive the robot 212 to move linearly. The robot 212, moving itself and cooperating with the extension support 211, is adapted to grasp the cross 10 from the magazine assembly 1 and place it on a processing part, or grasp the cross 10 from a previous processing part and place it on a subsequent processing part.

As shown in fig. 9 and 10, the linear transport module 22 includes a first transport belt 221, a first beam bracket 222, a first horizontal slider 223, a first vertical slider 224, and a first gripper 225; the first conveying belt 221 is arranged above the combined machine tool 100 in the front-back direction, the first conveying belt 221 is adapted to receive and convey the cross shaft 10 forward, the first cross beam bracket 222 is fixedly arranged above the combined machine tool 100, the first horizontal slider 223 is arranged on the first cross beam bracket 222 in the left-right direction in a sliding manner, the first vertical slider 224 is arranged on the first horizontal slider 223 in the up-down direction in a sliding manner, the first gripper 225 is arranged at the lower end of the first vertical slider 224, and the power mechanism 4 is adapted to drive the first horizontal slider 223 and the first vertical slider 224 to move linearly. The first horizontal slide 223, the first vertical slide 224, and the first gripper 225 form a robot, and the first horizontal slide 223 is movable in cooperation with the first vertical slide 224 and is adapted to drive the first gripper 225 to grip the cross 10 from the first conveyor belt 221 and place the cross on the work piece, or drive the first gripper 225 to grip the cross 10 from the work piece and place the cross on the first conveyor belt 221. In this embodiment, the processing unit has two stations distributed left and right, and the first horizontal sliding block 223, the first vertical sliding block 224 and the first gripper 225 have two sets and are disposed on the left and right sides of the first conveyor belt 221.

In general, the loading assembly 2 can be equipped with all the robot modules 21, but the cost is high; the linear transport modules 22 may also be configured entirely, but sometimes are not able to operate smoothly because of insufficient intelligence.

Based on this and in conjunction with the specific structure of the turning part 101 and the milling part 102 arranged in the combination machine 100, the turning part 101 is adapted to machine the cross 10 upright and the milling part 102 is adapted to machine the cross 10 flat. It is foreseeable that the robot module 21 has a high degree of intelligence and a greater degree of freedom, and can meet the requirements of more complicated working conditions, but the cost is higher; the linear transport module 22, however, can only perform linear movements, but is considerably less expensive to manufacture. Meanwhile, the stock component 1 generally needs to be manually placed at the rear of the combined machine tool 100, and the position precision is not high, and the placement precision of the cross shaft 10 on the stock component 1 is not high. Therefore, the linear transport module 22, and particularly the robot assembly consisting of the first horizontal slider 223, the first vertical slider 224 and the first gripper 225, is hardly sufficient for grasping the cross 10 from the stock assembly 1.

In combination with the above-described factors, the robot module 21 is disposed above the turning unit 101 and the linear transport module 22 is disposed above the milling unit 102 in the present embodiment. In the subsequent feeding and discharging system, the cross shaft 10 is conveyed strictly according to the set parameters of position, speed, time and the like under the programming control of a control system (software), so that the requirements of assembly line conveying precision and machining precision can be met, the investment cost is greatly reduced, and the high-efficiency and energy-saving production of the assembly line can be ensured. The working process is as follows:

The robot 212 is adapted to move to the rear end of the extension bracket 211 and grab the cross 10 from the stock component 1, the robot 212 moves forward and places the cross 10 on the turning part 101 for machining, after machining, the robot 212 grabs the cross 10 from the turning part 101 and continues moving forward, and then places the cross 10 on the first conveyor belt 221; the first conveyor belt 221 conveys the cross shaft 10 forward to the positions of the first horizontal slide block 223 and the first vertical slide block 224, the first gripper 225 grips the cross shaft 10 from the first conveyor belt 221 and places the cross shaft on the milling part 102 for processing, after the processing is finished, the first gripper 225 grips the cross shaft 10 from the milling part 102 and places the cross shaft on the first conveyor belt 221, and finally the first conveyor belt 221 conveys the cross shaft 10 forward to the blanking assembly 3.

As shown in fig. 11 to 13, the blanking assembly 3 is designed into a row cart type structure, which includes a gate-shaped frame 31, a second horizontal slider 32, a second vertical slider 33, a second gripper 34, a blanking frame 35 and a loading piece 36; the gate-shaped frame 31 is fixedly arranged in front of the combined machine tool 100, extends upwards and is higher than the combined machine tool 100, the second horizontal sliding block 32 is arranged on the gate-shaped frame 31 in a sliding manner along the front-back direction, the second vertical sliding block 33 is arranged on the second horizontal sliding block 32 in a sliding manner along the up-down direction, the second hand grip 34 is arranged at the lower end of the second vertical sliding block 33, the blanking frame 35 is arranged below the gate-shaped frame 31, the material loading piece 36 is arranged on the blanking frame 35 in a sliding manner along the left-right direction, and the power mechanism 4 is suitable for driving the second horizontal sliding block 32, the second vertical sliding block 33 and the material loading piece 36 to move linearly. The second horizontal sliding block 32, the second vertical sliding block 33 and the second gripper 34 also form a manipulator, and the second horizontal sliding block 32 is matched with the second vertical sliding block 33 to move and is suitable for driving the second gripper 34 to grip the cross shaft 10 from the feeding assembly 2 and place the cross shaft on the loading part 36; the carrier 36 moves and is adapted to change the placement position of the cross 10 in the left-right direction to lie full on the carrier 36.

As an improvement, the loading member 36 is provided with a finished material frame 361 and a finished material plate 362, the finished material frame 361 is suitable for horizontally placing the cross-shaped shaft 10, the finished material plate 362 is suitable for vertically placing the cross-shaped shaft 10, the blanking assembly 3 is further provided with a third hand grip 37, the second hand grip 34 is suitable for horizontally gripping the cross-shaped shaft 10, the third hand grip 37 is suitable for vertically gripping the cross-shaped shaft 10, two groups of second horizontal sliders 32 and two groups of second vertical sliders 33 are arranged and connected with the second hand grip 34 and the third hand grip 37 respectively, the gate-shaped frame 31 extends backwards to form a yielding section 311, the yielding section 311 is overlapped with the loading assembly 2, and the latter group of second horizontal sliders 32 and second vertical sliders 33 are suitable for moving to the yielding section 311, so that the former group of second horizontal sliders 32 and second vertical sliders 33 are suitable for gripping the cross-shaped shaft 10 from the loading assembly 2.

As an expansion, the portal frame 31 further extends out of the auxiliary section 312 along the front-back direction, one or more auxiliary processing devices are arranged below the auxiliary section 312, the second gripper 34 is adapted to grip the cross 10 from the feeding assembly 2 or the loading member 36 and place the cross 10 on the auxiliary processing device, and the second gripper 34 is adapted to grip the cross 10 from the auxiliary processing device and place the cross 10 on the loading member 36; the blanking assembly 3 further comprises a second conveyor belt 38, and the second conveyor belt 38 extends in the front-rear direction and is arranged among the plurality of auxiliary processing devices. As shown in fig. 2 and 3, the auxiliary processing apparatuses of the present embodiment are a grinder 200 and a marking machine 300, respectively. The structure enables the feeding and discharging system to be extended, more auxiliary processing equipment can be connected, and the functions of the combined machine tool 100 can be supplemented and expanded.

Alternatively, as shown in fig. 8, taking the power mechanism 4 on the robot module 21 as an example, the power mechanism 4 of the embodiment includes a servo motor 41, a power gear 42, a power rack 43 and a linear guide 44, the servo motor 41 is mounted on the moving portion, the servo motor 41 is adapted to drive the power gear 42 to rotate, the power rack 43 and the linear guide 44 are mounted on the fixed portion in parallel, and the power gear 42 is engaged with the power rack 43; the servo motor 41 is rotatably adapted to linearly move along the linear guide 44 by means of the cooperative driving movement of the power gear 42 and the power rack 43. The power mechanism 4 has the advantages of stable movement, accurate positioning and low noise.

As shown in fig. 5 and 6, the material storing assembly 1 includes a material storing frame 11, a rotating table 12, rails 13, a push rod 14, a rotating power source 15 and a lifting power source 16, the material storing frame 11 is fixedly disposed at the rear side of the combined machine tool 100, the rotating table 12 is rotatably disposed on the material storing frame 11, the rotating power source 15 is adapted to drive the rotating table 12 to rotate, the rails 13 are fixedly disposed on the rotating table 12 in the up-down direction, the cross shafts 10 are adapted to be stacked between the rails 13 in the up-down direction, the rails 13 have multiple groups and are uniformly distributed in the circumferential direction, the rotating table 12 is provided with a push material groove 121 at the stacked position of the cross shafts 10, the push rod 14 is slidably disposed at the front side of the material storing frame 11 in the up-down direction, and the lifting power source 16 is adapted to drive the push rod 14 to lift; the turntable 12 is rotated so that the push rod 14 is positioned below the push channel 121 and the push rod 14 is raised upward for pushing the cross 10 upward and closer to the loading assembly 2. The turntable 12 can store a large number of cross shafts 10 and can rotate to realize circular feeding; the push rod 14 and the pushing groove 121 can push materials upwards, so that the feeding assembly 2 can grab the materials conveniently.

It should be noted that, as shown in fig. 14 to 17, the first hand 225, the second hand 34, and the third hand 37 of the present embodiment are specially designed to grip the cross 10. The method comprises the following specific steps:

as shown in fig. 14, the first grip 225 of the present embodiment includes a magnetic disc 2251 and a positioning seat 2252 disposed on the circumferential side of the magnetic disc 2251 in a cross shape, the magnetic disc 2251 is adapted to be powered on to control the magnetic attraction force, the magnetic disc 2251 is adapted to accommodate the base 10a of the cross 10, and the positioning seat 2252 is adapted to accommodate the shaft body 10b of the cross 10. The positioning seat 2252 is disposed higher than the magnetic disc 2251, and is defined by the magnetic disc 2251 and the positioning seat 2252 to form a first accommodating cavity 225a, and the base 10a is adapted to be fitted in the first accommodating cavity 225 a; the positioning seat 2252 is recessed to form a semicircular second accommodation cavity 225b, and the shaft body 10b is fitted in the second accommodation cavity 225 b. It is foreseeable that first tongs 225 can be fixed in the lower extreme of first vertical slider 224 horizontally, can grasp and release cross 10 horizontally this moment, and first tongs 225 also can be fixed in the lower extreme of first vertical slider 224 vertically this moment, can grasp and release cross 10 vertically this moment, and first tongs 225 can also be articulated to be set up in the lower extreme of first vertical slider 224, can grasp and release horizontally this moment and can grasp and release the cross vertically again.

As shown in FIG. 15, the second hand 34 of the present embodiment is relatively conventional and includes a movable base 341 and a plurality of jaws 342 slidably disposed on the movable base 341, the jaws 342 are closed and adapted to grip the cross 10, the jaws 342 are open and adapted to release the cross 10, and the second hand 34 is generally horizontally fixed on the lower end of the second vertical sliding block 33 for horizontally gripping and releasing the cross 10.

As shown in fig. 16 and 17, the third gripper 37 of the present embodiment includes a connecting seat 371, a door-shaped bracket 372 horizontally fixed on the connecting seat 371, and two lifting plates 373 fixed on the lower end of the door-shaped bracket 372 and extending inward, the third gripper 37 moves horizontally, the lifting plates 373 are adapted to be inserted under the shaft bodies 10b on the left and right sides of the cross 10, the third gripper 37 moves vertically upward, and the lifting plates 373 are adapted to lift the cross 10 and enable the cross 10 to rotate to or keep in a vertical state under the action of gravity, so as to vertically grip the cross 10. The raising plate 373 is formed with an arc groove 3731 in a recessed manner, and the shaft body 10b is adapted to fit in the arc groove 3731. The arc 3731 extends into the door-shaped support 372, and two sides of the door-shaped support 372 are suitable for abutting against or approaching the shaft bodies 10b at two sides. The maximum depth H of the arc groove 3731 is slightly smaller than the clearance D between the shaft body 10b on the upper side of the cross shaft 10 and the door-shaped bracket 372; due to the arrangement of the structure, when the third gripper 37 needs to put down the cross shaft 10, the third gripper 37 can vertically move downwards, so that the lower shaft body 10b of the cross shaft 10 contacts the material carrying part 36, and moves upwards to separate from the arc groove 3731 by depending on the gap between the upper shaft body 10b and the door-shaped support 372, and discharging is realized. The door type holder 372 has two and is disposed on both sides of the connection holder 371 to simultaneously hold and release the two cross shafts 10.

The foregoing has described the principles, principal features, and advantages of the application. It will be understood by those skilled in the art that the present application is not limited to the embodiments described above, which are merely illustrative of the principles of the application, but that various changes and modifications may be made without departing from the spirit and scope of the application, and such changes and modifications are intended to be within the scope of the application as claimed. The scope of protection claimed by this application is defined by the following claims and their equivalents.

Claims

1. The utility model provides a unloading system in automation of combined machine tool, combined machine tool has arranged a plurality of processing parts along the fore-and-aft direction, its characterized in that includes:

a feeding assembly in a beam structure and arranged above the combined machine tool, the feeding assembly being adapted to convey workpieces from back to front between the stock assembly and the plurality of processing components;

the blanking assembly is arranged in front of the combined machine tool and is suitable for bearing a machined workpiece on the feeding assembly;

The feeding assembly comprises a linear conveying module, and the linear conveying module comprises a first conveying belt, a first beam support, a first horizontal sliding block, a first vertical sliding block and a first gripper; the first conveying belt is arranged above the combined machine tool along the front-back direction and is suitable for bearing and conveying workpieces forwards, the first cross beam support is fixedly arranged above the combined machine tool, the first horizontal sliding block is arranged on the first cross beam support in a left-right sliding manner, the first vertical sliding block is arranged on the first horizontal sliding block in an up-down sliding manner, the first gripper is arranged at the lower end of the first vertical sliding block, and the power mechanism is suitable for driving the first horizontal sliding block and the first vertical sliding block to move linearly;

the first horizontal sliding block is matched with the first vertical sliding block to move and is suitable for driving the first gripper to grab the workpiece from the first conveying belt and place the workpiece on the processing component or driving the first gripper to grab the workpiece from the processing component and place the workpiece on the first conveying belt;

the feeding assembly comprises a robot module, the robot module comprises an extension support and a robot, the extension support is fixedly arranged above the combined machine tool along the front-back direction, the robot is arranged on the extension support in a sliding mode along the front-back direction, the robot is suitable for grabbing or placing workpieces at any position in an operation range, and a power mechanism is suitable for driving the robot to move linearly;

The robot moves in a matched manner on the extension bracket and is suitable for grabbing workpieces from the stock component and placing the workpieces on the processing component, or grabbing workpieces from the previous processing component and placing the workpieces on the next processing component;

the combined machine tool is provided with a turning part and a milling part, the turning part is suitable for vertically placing a workpiece for processing, the milling part is suitable for horizontally placing the workpiece for processing, the robot module is arranged above the turning part, and the linear conveying module is arranged above the milling part;

2. The automatic loading and unloading system of the combined machine tool as claimed in claim 1, wherein: the processing component is provided with double stations which are distributed left and right, and the first horizontal sliding blocks, the first vertical sliding blocks and the first grippers are provided with two groups and arranged on the left side and the right side of the first conveying belt.

3. The automatic loading and unloading system of the combined machine tool as claimed in claim 1, wherein: the blanking assembly comprises a door-shaped frame, a second horizontal sliding block, a second vertical sliding block, a second hand grip, a blanking frame and a loading piece; the gate-shaped frame is fixedly arranged in front of the combined machine tool, extends upwards and is higher than the combined machine tool, the second horizontal sliding block is arranged on the gate-shaped frame in a sliding manner along the front-back direction, the second vertical sliding block is arranged on the second horizontal sliding block in a sliding manner along the up-down direction, the second gripper is arranged at the lower end of the second vertical sliding block, the blanking frame is arranged below the gate-shaped frame, the material loading part is arranged on the blanking frame in a sliding manner along the left-right direction, and the power mechanism is suitable for driving the second horizontal sliding block, the second vertical sliding block and the material loading part to move linearly;

4. The automatic loading and unloading system of the combined machine tool as claimed in claim 3, wherein: the material loading component is provided with a finished material frame and a finished material plate, the finished material frame is suitable for horizontally placing a workpiece, the finished material plate is suitable for vertically placing the workpiece, the blanking component is further provided with a third gripper, the second gripper is suitable for horizontally gripping the workpiece, the third gripper is suitable for vertically gripping the workpiece, two groups of second horizontal sliders and two groups of second vertical sliders are arranged and are respectively connected with the second gripper and the third gripper, the door-shaped frame extends backwards out of the yielding section, the yielding section is overlapped with the feeding component, and the latter group of second horizontal sliders and the second vertical sliders are suitable for moving to the yielding section, so that the former group of second horizontal sliders and the second vertical sliders are suitable for gripping the workpiece from the feeding component.

5. The automatic loading and unloading system of the combined machine tool as claimed in claim 3, wherein: the gate-shaped frame further extends out of an auxiliary section along the front-back direction, one or more auxiliary processing devices are arranged below the auxiliary section, the second gripper is suitable for gripping a workpiece from the feeding assembly or the loading part and placing the workpiece on the auxiliary processing device, and the second gripper is suitable for gripping the workpiece from the auxiliary processing device and placing the workpiece on the loading part; the blanking assembly further comprises a second conveying belt, and the second conveying belt extends in the front-back direction and is arranged between the auxiliary processing devices.

6. The automatic loading and unloading system of the combined machine tool as claimed in any one of claims 1 to 5, wherein: the power mechanism comprises a servo motor, a power gear, a power rack and a linear guide rail, the servo motor is arranged on the moving part and is suitable for driving the power gear to rotate, the power rack and the linear guide rail are arranged on the fixed part in parallel, and the power gear is meshed with the power rack; the servo motor rotates to drive the moving part to linearly move along the linear guide rail through the matching of the power gear and the power rack.

7. The automatic loading and unloading system of the combined machine tool as claimed in claim 1, wherein: the material storage assembly comprises a material storage frame, a rotary table, a rail, a push rod, a rotary power source and a lifting power source, the material storage frame is fixedly arranged on the rear side of the combined machine tool, the rotary table is rotatably arranged on the material storage frame, the rotary power source is suitable for driving the rotary table to rotate, the rail is fixedly arranged on the rotary table along the up-down direction, workpieces are suitable for being stacked between the rails along the up-down direction, the rails are provided with a plurality of groups and are uniformly distributed along the circumferential direction, the rotary table is provided with material pushing grooves at the stacking positions of the workpieces, the push rod is arranged on the front side of the material storage frame in a sliding mode along the up-down direction, and the lifting power source is suitable for driving the push rod to lift; the rotary table rotates to enable the push rod to be located below the material pushing groove, and the push rod rises upwards and is used for pushing the workpiece to move upwards and to be close to the feeding assembly.