CN115302271A

CN115302271A - Main shaft manipulator

Info

Publication number: CN115302271A
Application number: CN202211062096.5A
Authority: CN
Inventors: 庞勇
Original assignee: Xian Aeronautical Polytechnic Institute
Current assignee: Xian Aeronautical Polytechnic Institute
Priority date: 2021-03-20
Filing date: 2021-03-20
Publication date: 2022-11-08
Also published as: CN112917214B; CN115716208A; CN112917214A

Abstract

The invention relates to a device for continuously and automatically feeding a boring and milling numerical control machine tool or a boring and milling machining center, in particular to a simple automatic continuous feeding device for the boring and milling numerical control machine tool. The device is low in cost, convenient to operate and high in practicability.

Description

Main shaft manipulator

The invention is a divisional application of application number 202110317466.4.

[ technical field ] A method for producing a semiconductor device

The invention relates to a device for continuous automatic feeding of a boring and milling numerical control machine tool or a boring and milling machining center, in particular to a main shaft manipulator.

[ background of the invention ]

The vertical boring and milling numerical control machine tool with the tool magazine or the boring and milling machining center needs to realize continuous automatic feeding and discharging, further realizes continuous automatic machining of the machine tool and is realized by means of an external robot and a stereoscopic warehouse, the general working process is that the external robot takes out a part blank from the stereoscopic warehouse, then the boring and milling numerical control machine tool or the boring and milling machining center automatically opens a protective door, the robot puts the part blank at a determined position of a pneumatic or hydraulic clamp in the machine tool, the pneumatic or hydraulic clamp clamps clamp the part blank, then the robot returns to the original position, the machine tool protective door is closed, the machine tool starts to machine, after machining of the machine tool is finished, the protective door of the machine tool is opened, the pneumatic or hydraulic clamp releases the machined part, the robot takes the machined part out of the pneumatic or hydraulic clamp and returns to the specified position of the stereoscopic warehouse, the blank of the part is taken down from other positions and sent to the machine tool again for processing, the continuous automatic processing of the vertical boring and milling numerical control machine tool with a tool magazine or the boring and milling machining center realized by the method has the defects of complex mechanism, large investment and large occupied area of the robot and the three-dimensional warehouse, the technology is complex because of the related numerical control processing technology, the robot technology and the mutual combined debugging, certain processing time is wasted because the machine tool needs to open a protective door when loading and unloading the workpiece because the loading and unloading robot is outside the machine, the robot has at least 3-4 degrees of freedom and the position relation between the robot and the three-dimensional warehouse, the robot can move on a slide rail for clamping or placing the workpiece, the loss of the processing time can be caused by the points, and whether a robot and the three-dimensional warehouse are not needed can be designed, the invention aims to solve the problems that a device for continuously and automatically feeding, discharging and automatically processing a vertical boring and milling numerical control machine with a tool magazine or a boring and milling machining center can be realized only by simply transforming the vertical boring and milling numerical control machine with the tool magazine or the boring and milling machining center and adding simple accessories, whether the design cost is low or not, and a device for continuously and automatically feeding and discharging the boring and milling numerical control machine can be realized without a robot or a stereoscopic warehouse.

[ summary of the invention ]

The technical problem solved by the invention is as follows: the device for realizing continuous automatic feeding, discharging and automatic processing of the vertical type band-tool magazine boring and milling numerical control machine or the boring and milling machining center only needs to simply transform the vertical type band-tool magazine boring and milling numerical control machine or the boring and milling machining center and add simple accessories without a robot or a stereoscopic warehouse.

The technical scheme of the invention is as follows: the utility model provides a vertical take tool magazine boring and milling type digit control machine tool includes with simple and easy automatic continuous feedway, the main shaft manipulator is put things in good order the device with many parts workstation that can realize arbitrary inclination and is constituteed, the main shaft manipulator constitute by handle of a knife, blind rivet, clamping device, slip electrically conductive device, many parts workstation that can realize arbitrary inclination put things in good order the device and constitute by bottom plate, part mounting panel, stepless adjustable bottom plate, mullion, stepped adjustable bottom plate, mounting panel base, locking screw A, locking screw B, locking screw C, locking screw D, T type tank block.

The upper portion of handle of a knife have the blind rivet through threaded connection, blind rivet and handle of a knife take-up jointly in boring and milling type digit control machine tool main shaft taper hole, be equipped with square tenon piece at the head of the lower part extension rod of handle of a knife, be equipped with square recess in the inside of square tenon piece, be equipped with cylindric arch in the inside of square recess, cylindric arch is equipped with 2 ~ 4 wire guide holes that hold the conductor wire, the handle of a knife pass through the blind rivet just in time install in the taper hole of machine tool main shaft to be connected with the electric installation support through the intermediate junction pole in the lower part of handle of a knife. The hole at the top of the conductive device support is connected with a sleeve in an interference manner or through threads, the lower part of the sleeve is of a hole structure, the upper part of the sleeve is provided with 1-4 holes which are arranged in a straight line according to actual needs, each hole is internally provided with a conductive contact sleeved with a spring and is fastened in a step hole at the upper part of the sleeve through a screw, and when the spindle manipulator is arranged in a taper hole of the spindle, each conductive contact is tightly pressed on a corresponding conductive slide rail through the action of the spring. The clamping device consists of a clamping base, a push-pull electromagnet, a cross slide block and a quick-change chuck assembly.

The upper part of the clamping base is provided with a square connecting groove which is matched with the square tenon block at the lower part of the knife handle, a lead is arranged in the connecting groove and is connected with the conductive wire in the conductive wire hole in the cylindrical bulge of the knife handle, the number of the conductive wires in the conductive wire hole in the cylindrical bulge of the knife handle is equal, the conductive wire is finally used for connecting a numerical control device of a machine tool with a push-pull electromagnet, a circular ring structure in the connecting groove is just matched with the cylindrical bulge in the square tenon block of the knife handle, the middle part of a rectangular body of the clamping base is provided with a cross sliding groove for accommodating a cross sliding block, the side surface of the rectangular body is provided with a pressing plate sliding groove which is provided with a pressing plate and is communicated with the cross sliding groove, the cross sliding groove is arranged in the largest groove of the cross sliding groove of the clamping base and can slide in the largest groove, the width of the two square bulges on the upper surface of the push-pull electromagnet is equal to the narrow groove of the pressing plate sliding groove, the height of the square bump is 0.03-0.08 mm less than the height of the narrow groove of the press plate sliding groove, the middle part of the square bump is provided with a threaded hole and can be fastened at any position of the press plate sliding groove through the press plate and a fastening screw, the cross section of the crosshead shoe is consistent with the cross section of the crosshead groove and can slide in the cross chute, one end of the crosshead shoe is provided with a counter bore and is fastened at the thinner diameter part of the push-pull rod through the crosshead shoe fastening screw, the other end of the crosshead shoe is also provided with the cross section of which is exactly equal to the cross section of the quick-change clamping head mounting seat in shape and size, the quick-change clamping head mounting seat can slide in the cross chute inside the crosshead shoe, the end surface of the cross chute of the quick-change clamping head mounting seat is fastened on the end surface of the crosshead shoe end cover fastening screw, install quick change clamping head mount seat position adjusting screw in the downthehole of crosshead shoe end cover middle part, the middle part of quick change clamping head mount seat position adjusting screw is equipped with the screw thread and matches with the screw hole at quick change clamping head mount seat middle part, the thin shaft diameter of tip is installed downthehole and can rotate in the bottom of the crosshead shoe's crosshead chute, the short cylinder structure of the major diameter of the quick change clamping head mount seat position adjusting screw's the other end is pressed in the round hole of installing the one end at the crosshead shoe end cover through quick change clamping head mount seat position adjusting screw end cover and housing screw, and can rotate, the upper most of quick change clamping head mount seat position adjusting screw is the interior hexagonal structure that is used for carrying on the rotation.

The quick-change chuck assembly comprises a quick-change chuck mounting seat, a quick-change chuck mounting seat fastening screw, a quick-change chuck quick locking pin, a compression spring, a mesh surface quick-change chuck, a horizontal arc quick-change chuck and a vertical arc quick-change chuck, and is mounted in a cross sliding groove of a crosshead shoe, the position of the quick-change chuck assembly in the cross sliding groove of the crosshead shoe can be adjusted by rotating a position adjusting screw of the quick-change chuck mounting seat, and the quick-change chuck assembly is locked by fastening the quick-change chuck mounting seat fastening screw at the rear part of the quick-change chuck mounting seat after being in place.

The quick-change clamping head mounting seat is mounted in a cross sliding groove of the crosshead shoe and fastened in a narrow groove beside the cross sliding groove of the crosshead shoe through a quick-change clamping head mounting seat fastening screw, the other end of the quick-change clamping head mounting seat is rectangular, the end of the quick-change clamping head mounting seat is provided with a rectangular bulge with the shape identical to that of the outline rectangle, but the length and width of the rectangular bulge is 1-3 mm smaller than that of the outline rectangle, the rectangular bulge is of a cavity structure and used for accommodating a part of the quick-change clamping head quick locking pin and a compression spring, the quick-change clamping head quick locking pin is provided with four cylinders with two long and two short ends, a rectangular plate is connected with the four cylinders at the bottom, the rectangular plate is provided with four shallow holes corresponding to the backs of the four cylinders, the four shallow holes are internally used for placing the compression spring, a cylinder with the diameter smaller than the inner diameter of the compression spring by 0.1-0.2 mm is arranged in the middle of the quick-change clamping head quick locking pin, holes are formed in the cylinders, the cylinders are matched with the cylinders, when the quick-change clamping head quick locking pin is used for releasing the maximum quick locking pin, the effect of the compression spring, the quick locking pin, and the back of the quick-change clamping head mounting seat can not be popped into a small contact pin, and can not be deviated, and can not be ensured.

The quick locking pin of the quick-change clamping head is characterized in that two short cylinders of the quick-change clamping head are matched with two pairs of corresponding pin holes of the quick-change clamping head of the flat head, the quick-change clamping head of the flat head can be replaced by a net-shaped quick-change chuck, a horizontal arc quick-change chuck or a vertical arc quick-change chuck according to different shapes of clamping parts, a rectangular groove in the back of the quick-change clamping head of the flat head can be replaced by a net-shaped quick-change chuck, a horizontal arc quick-change chuck or a vertical arc quick-change chuck, the rectangular groove is just matched with a corresponding rectangular protrusion of a quick-change clamping head mounting seat, and a connecting handle between two long cylinders of the quick-change clamping head is pressed by hands during use, so that the quick-change clamping head of the flat head can be disassembled to replace the net-shaped quick-change chuck or the horizontal arc quick-change chuck or the vertical arc quick-change chuck.

The part mounting plate is of a rectangular plate structure, a cross-shaped groove is formed in the upper surface of the part mounting plate, two ends of the cross-shaped groove are designed into a structure with stepped size adjustment, specifically, sharp teeth are arranged on two groove sides of two grooves, a stepped adjustable bottom plate is arranged in each groove, a stepped elongated slot is arranged in the middle of the stepped adjustable bottom plate, a locking screw C is arranged in each stepped adjustable bottom plate and tightened in a threaded hole, a vertical dovetail groove is arranged at the end part of the outer side of the stepped adjustable bottom plate, a vertical frame is tightened in each vertical frame through the locking screw D, each vertical frame is of a long strip-shaped block structure, the middle of each vertical frame is provided with the stepped elongated slot and used for installing the locking screw D, a closed T-shaped groove structure is arranged at the other two ends of the cross-shaped groove of the part mounting plate, a stepless adjustable bottom plate is arranged in each vertical dovetail groove and locked on the closed T-shaped groove structure through the locking screw B, and the vertical dovetail grooves are arranged at the end parts of the stepless adjustable bottom plates, the vertical frame penetrates through the part installing plate and is locked through the locking screw D, a circular groove is formed in the middle of the upper surface of the part installing plate, a through hole cylindrical hole is formed in the middle of the upper surface of the part installing plate, a round boss with sharp teeth is arranged in the middle of the lower surface of the part installing plate, sharp teeth are arranged on the circumference of the round boss with sharp teeth and matched with sharp teeth of the circle of the circular groove in the middle of the installing plate base, a groove with the circumferential sharp teeth is formed in the front surface of the installing plate base, strip-shaped bosses with the sharp teeth on two sides are arranged on the back surface of the installing plate base, the strip-shaped bosses with the sharp teeth on the back surface of the installing plate base are matched with sharp teeth on two sides of the bottom plate in the strip-shaped groove of the bottom plate, the strip-shaped groove of the bottom plate can be placed at any position, and the T-shaped groove of the bottom plate of the part installing plate is fastened through the locking screw A and the T-shaped groove block after the mounting plate is moved to the right position.

The bottom plate is of a rectangular plate-shaped structure, 6-14 grooves surrounded by sharp teeth on two sides of the bottom plate and T-shaped grooves of the bottom plate are arranged on the bottom plate to form strip-shaped long grooves, protruding blocks are arranged at two ends of each strip-shaped long groove of the bottom plate, each protruding block is provided with a flat long groove with a semicircle and used for being fastened on a workbench through a T-shaped groove screw and a T-shaped groove screw nut, the sharp teeth on two sides of the bottom plate are triangular sharp teeth, an included angle is 60 degrees, the space between the teeth is equal, and the space is 1 mm, 2 mm or 3 mm.

The included angle of the sharp teeth in the circumferential groove of the mounting plate base is 30 degrees, 40 degrees or 60 degrees, and is the same as and matched with the included angle of the sharp teeth with the sharp tooth circular bosses at the bottom of the part mounting plate, and the part mounting plate rotates 3 degrees, 5 degrees or 10 degrees when the sharp teeth with the sharp tooth circular bosses rotate one tooth position relative to the sharp teeth in the circumferential groove of the mounting plate base.

The invention can be conveniently used on a boring and milling numerical control machine tool or a machining center with a tool magazine, a multi-part workbench stacking device capable of realizing any inclination angle can be fixed on a workbench according to actual needs, a workpiece can be arranged on the multi-part workbench stacking device capable of realizing any inclination angle, the workpiece can be inclined randomly by rotating the installation angle of a part installation plate according to needs, the spindle manipulator is placed in the tool magazine when not used, and is automatically transferred into a spindle taper hole from the tool magazine when needing to assemble and disassemble the workpiece according to the needs of assembling and disassembling the workpiece, and the spindle manipulator clamps the workpiece from the multi-part workbench stacking device capable of realizing any inclination angle and is arranged at a fixed position of a pneumatic or hydraulic clamp by the clamping part of the spindle manipulator in cooperation with the movement of the workbench.

Compared with the mode of continuously and automatically loading and unloading workpieces of a boring and milling numerical control machine tool realized by the traditional method, the invention has the characteristics of low cost, no need of independently configuring a stereoscopic warehouse and a robot or a manipulator, simple installation and disassembly, no occupation of the external space of the machine tool, capability of directly realizing continuous and automatic loading and unloading of the machine tool and automatic processing of parts through a numerical control program, convenient operation, strong practicability and the like.

[ description of the drawings ]

FIG. 1 is a mounting position diagram of a simple automatic continuous feeding device for a boring and milling numerical control machine tool on the machine tool

FIG. 2 is a partially enlarged view of a portion A of FIG. 1

FIG. 3 is an overall perspective view of a multi-part workbench stacking device capable of realizing any inclination angle

FIG. 4 is an enlarged view of part B of FIG. 3

FIG. 5 is an isometric view of the base plate and T-slot screw as a whole

FIG. 6 is an enlarged view of a portion C of FIG. 5

FIG. 7 is an axonometric view of part of a simple automatic continuous feeding device for a boring and milling numerical control machine tool

FIG. 8 is an isometric view of a part mounting plate and a portion of the part

FIG. 9 is a perspective view of a part of the parts mounting plate

FIG. 10 is an isometric view of a stepless adjustable base plate and parts

FIG. 11 is an isometric view of a stepped adjustable base plate and portions of the parts

FIG. 12 is an isometric view of a part mounting plate and a portion of the part

FIG. 13 is another perspective view of the component mounting plate

FIG. 14 is an enlarged view of a portion D of FIG. 13

FIG. 15 is an isometric view of a mounting plate base member

FIG. 16 is an enlarged partial view of portion E of FIG. 15

FIG. 17 is another angular perspective view of a mounting plate base component

FIG. 18 is an overall perspective view of the spindle robot

FIG. 19 is an isometric view of a shank component

FIG. 20 is an enlarged partial view of portion A of FIG. 19

FIG. 21 is an isometric view of a conductive contact and portions of parts

FIG. 22 is an exploded view of the conductive contact and portions of the components

FIG. 23 is an isometric view of a clamp base and portions of parts

FIG. 24 is an isometric view of a sleeve member

FIG. 25 is an exploded view of the clamping base and part of the component

FIG. 26 is an isometric view of a clamp base and parts

FIG. 27 is an isometric view of a crosshead shoe and portions of the parts

FIG. 28 is an exploded view of a push-pull electromagnet, crosshead shoe and some parts

FIG. 29 is an isometric view of the quick-change gripping head for quick locking and partial parts

FIG. 30 is an exploded view of the quick-change clamp head for quick locking and part of the components

FIG. 31 is an exploded view of the quick-change clamp head for quick locking and part of the component from another angle

FIG. 32 is an exploded view of the quick-change clamp head for quick locking and another angle of part

FIG. 33 is an exploded view of the quick-change holder mount and some of the components

FIG. 34 is a partially enlarged view of the portion B in FIG. 33

FIG. 35 is another perspective view of a machine tool and spindle robot

FIG. 36 is an enlarged view of the portion C of FIG. 35

FIG. 37 is a PMC ladder diagram of a FANUC 0I-C system push-pull electromagnet

FIG. 38 is a FANUC 0I-C system electrical appliance wiring diagram

FIG. 39 is a FANUC 0I-C system electrical appliance wiring diagram

In the figure: 1. <xnotran> 2, 2-1, 3, 4, 5, 6, 6-1, T 6-2, 7, T 7-1, T 8, 8-1, 8-2, T 8-3, 8-4, 8-5, 8-6, 9, A10, 11, 12, B13, C14, 15, 16, T 16, D51, 51-1, 51-2, 52, 53, 53-1, 53-2, 53-2-1, 53-2-2, 53-2-3, 53-2-4, 53-3, 53-4, 53-5, 53-6, 53-7, 53-8, 53-9, 53-10, 53-11, 53-12, 53-13, 53-14, </xnotran> 53-15 parts of compression spring, 53-16 parts of crosshead shoe end cover, 53-17 parts of crosshead shoe end cover fastening screw, 53-18 parts of quick-change clamping head mounting seat position adjusting screw rod end cover, 53-19 parts of reticular surface quick-change chuck, 53-20 parts of horizontal arc quick-change chuck, 54 parts of vertical arc quick-change chuck, 54-1 parts of sliding conductive device, 54-2 parts of conductive contact, 54-3 parts of spring, 54-4 parts of sleeve and screw

[ detailed description ] embodiments

Example one

Embodiments of the present invention will be described with reference to the accompanying drawings

Firstly, the plurality of component mounting plates (8) arranged on the bottom plate (6) can be arranged at equal intervals according to the sharp teeth (6-2) on the two sides of the bottom plate, and the inclination angles of the plurality of component mounting plates (8) can be adjusted to be consistent as the circular sharp tooth structure of the component mounting plate base (15) is matched with the convex circular sharp tooth structure at the bottom of the component mounting plate (8). The extension lengths of two stepped adjustable bottom plates (14) on the part mounting plate (8) can be adjusted according to the size and the shape of a workpiece to be placed, the extension lengths of the two stepped adjustable bottom plates (14) on each part mounting plate (8) are kept consistent, then the heights of the vertical frames (11) attached to the stepped adjustable bottom plates (14) are adjusted to ensure that clamping positions are reserved for the spindle manipulator and the heights of all the attached vertical frames (11) are consistent, and the extension lengths of the two stepless adjustable bottom plates (10) are adjusted to just fix the workpiece and adjust the heights of the vertical frames (11) on the workpiece to be placed.

When the simple automatic continuous feeding device for the vertical boring and milling numerical control machine tool with the tool magazine is used, the multi-part workbench stacking device capable of realizing any inclination angle is arranged on the left side or the right side of a workbench on a numerical control milling machine or a machining center of the vertical boring and milling numerical control machine tool with the tool magazine, wherein the workbench is provided with a main shaft pulse encoder and can realize main shaft stop and main shaft indexing, a pneumatic or hydraulic clamp for installing a workpiece is arranged in the middle of the workbench, a rectangular, circular, elliptic or hexagonal workpiece and other workpieces in shapes which can be positioned and placed in the multi-part workbench stacking device capable of realizing any inclination angle are arranged on the installation position of the workpiece (3) of the multi-part workbench stacking device capable of realizing any inclination angle, and the workpieces are placed at a certain inclination angle according to the actual placement form of the workpieces in the clamp, the corner of the part mounting plate (8) of the multi-part workbench stacking device capable of realizing any inclination angle is adjusted to be consistent with the corner, when a workpiece needs to be assembled and disassembled, the spindle manipulator (5) is adjusted into the spindle and executes a spindle orientation command through an automatic tool changing command of a numerical control program, the corner of the spindle manipulator in the circumferential direction of the spindle is adjusted to be consistent with the workpiece placing corner on the clamp through the numerical control program, namely, the corner is consistent with the workpiece placing position on the multi-part workbench stacking device capable of realizing any inclination angle, then the hand quick-change heads of the spindle manipulator (5) are adjusted to two sides of the workpiece to be clamped, two push-pull electromagnets (53-7) are pushed to act to clamp the workpiece through the control of the numerical control program, and the quick-change heads can be mesh surface quick-change heads (53-18) or horizontal arc quick-change heads (53-19) or vertical arc quick-change heads (53-7) according to requirements -20) or a flat-head quick-change clamping head (53-6), then the spindle manipulator (5) clamps the workpiece and moves to a position 3-8 mm above the workpiece placing position of the pneumatic or hydraulic clamp, the workpiece is put down, the tool is changed after the pneumatic or hydraulic clamp clamps the workpiece, the spindle manipulator (5) is put into a tool magazine, the workpiece to be machined is called out and needs to be machined by using the tool, after machining is completed, the workpiece can be put back to the original position of the multi-part workbench stacking device capable of realizing any inclination angle through the spindle manipulator (5), the machined workpiece can be put into an empty fixed position of the workbench and stacked or the other side of the workbench which is not provided with the multi-part workbench stacking device capable of realizing any inclination angle, the steps are executed again to clamp the workpiece to be machined and put onto the hydraulic clamp to clamp tightly, the machining tool is replaced to continue machining a new workpiece, when the workpiece to be machined on all the part mounting plates (8) on the multi-part stacking device capable of realizing any inclination angle installed on one side of the workbench, the machining is completed, a numerical control program is completed, and a machining cycle is completed, and the workpiece to be manually put into the multi-part stacking device capable of realizing any inclination angle.

Example two

When the simple automatic continuous feeding device for the vertical boring and milling numerical control machine tool with the tool magazine is used, the multi-part workbench stacking device capable of realizing any inclination angle is arranged at two sides of a workbench on a numerical control milling machine or a machining center of the vertical boring and milling numerical control machine tool with the tool magazine, wherein the workbench is provided with a main shaft pulse encoder and can realize main shaft stop and main shaft indexing, a pneumatic or hydraulic clamp for installing a workpiece is arranged in the middle of the workbench, a rectangular, circular, elliptic or hexagonal workpiece and other workpieces which can be positioned and placed in the multi-part workbench stacking device capable of realizing any inclination angle are arranged at the installation position of the workpiece (3) of the multi-part workbench stacking device capable of realizing any inclination angle, and the workpieces are placed at a certain angle according to the actual placement form of the workpieces in the clamp, adjusting the corner of a part mounting plate (8) of a multi-part workbench stacking device capable of realizing any inclination angle to be consistent with the corner, when a workpiece needs to be assembled and disassembled, adjusting a spindle manipulator (5) into a spindle and executing a spindle orientation command through an automatic tool changing command of a numerical control program, adjusting the corner of the spindle manipulator along the circumferential direction of the spindle to be consistent with the workpiece placing corner on a clamp through the numerical control program, namely consistent with the workpiece placing position on the multi-part workbench stacking device capable of realizing any inclination angle, then adjusting the hand of the spindle manipulator (5) to the upper part of the workpiece to be clamped, and pushing two push-pull electromagnets (53-7) push rods to open a quick-change clamping head on the spindle manipulator through the control of the numerical control program, wherein the quick-change clamping head can be a net-shaped surface quick-change clamping head (53-18), a horizontal arc quick-change clamping head (53-19) or a vertical arc quick-change clamping head (53-7) according to requirements -20) or a flat head quick-change clamping head (53-6), then a main shaft mechanical arm (5) reaches a proper position for clamping a workpiece, then the workpiece is placed at a position where a pneumatic or hydraulic clamp is used for placing the workpiece, then the workpiece is placed, after the pneumatic or hydraulic clamp clamps the workpiece, the workpiece is replaced, the main shaft mechanical arm (5) is placed in a tool magazine, a tool is required to be used for machining the workpiece after being called out, after machining is finished, the workpiece can be placed back to the original position of a multi-part workbench stacking device capable of achieving any inclination angle through the main shaft mechanical arm (5), the machined workpiece can also be placed at an empty fixed position of a workbench and stacked, after the steps are executed again, the workpiece to be machined is placed on the pneumatic or hydraulic clamp for clamping, the machining tool is replaced to continuously machine a new workpiece, when the workpieces to be machined on all the part mounting plates (8) on the two multi-part workbench stacking devices capable of achieving any inclination angle are machined on two sides of the workbench stacking device, the numerical control program is finished, a machining cycle is completed, and the workpiece to be manually placed in any multi-part workbench stacking device again and the workpiece to be machined in any inclination angle and the machined workpiece can be taken out.

EXAMPLE III

When the simple automatic continuous feeding device for the vertical boring and milling numerical control machine tool with the tool magazine is used, the multi-part workbench stacking device capable of realizing any inclination angle is arranged at two sides of a workbench on a numerical control milling machine or a machining center of the vertical boring and milling numerical control machine tool with the tool magazine, wherein the workbench is provided with a main shaft pulse encoder and can realize main shaft stop and main shaft indexing, a pneumatic or hydraulic clamp for installing a workpiece is arranged in the middle of the workbench, a rectangular, circular, elliptic or hexagonal workpiece and other workpieces which can be positioned and placed in the multi-part workbench stacking device capable of realizing any inclination angle are arranged at the installation position of the workpiece (3) of the multi-part workbench stacking device capable of realizing any inclination angle, and the part installation plate (8) of the multi-part workbench stacking device capable of realizing any inclination angle is completely upright, when a workpiece needs to be assembled and disassembled, the main shaft manipulator (5) is transferred into the main shaft and executes a main shaft orientation command through an automatic tool changing command of a numerical control program, the rotation angle of the main shaft manipulator along the circumferential direction of the main shaft is adjusted through the numerical control program to be matched with the installation position of the part installation plate (8) so as to be convenient for clamping the workpiece, then the hand of the main shaft manipulator (5) is adjusted to be above the workpiece to be clamped, two push-pull electromagnets (53-7) are pushed through the control of the numerical control program to open a quick-change clamping head on the main shaft manipulator, the quick-change clamping head can be a net-shaped surface quick-change clamping head (53-18), a horizontal arc quick-change clamping head (53-19), a vertical arc quick-change clamping head (53-20) or a flat-head quick-change clamping head (53-6) according to requirements, then, after the main shaft mechanical arm (5) reaches a proper position for clamping a workpiece, the main shaft mechanical arm controls the main shaft rotation angle to adapt to the required placing rotation angle of the workpiece of the clamp through a numerical control program, the main shaft mechanical arm is placed at the position where the pneumatic or hydraulic clamp places the workpiece to put down the workpiece, the pneumatic or hydraulic clamp clamps the workpiece tightly and then exchanges tools, the main shaft mechanical arm (5) is placed into a tool magazine, the tool is called out to be used for machining the workpiece, and after machining is finished, the clamp loosens the workpiece. After the main shaft mechanical arm (5) clamps the workpiece, the main shaft corner adapts to the placement angle of the parts of the part mounting plate (8), the workpiece is placed back to the original position of the multi-part workbench stacking device capable of achieving any inclination angle, the machined workpiece can also be placed at an empty fixed position of the workbench for stacking, the steps are executed again, the workpiece to be machined is clamped and placed on a pneumatic or hydraulic clamp for clamping, a machining cutter is replaced to continue machining a new workpiece, when the workpieces to be machined on all the part mounting plates (8) on the two multi-part workbench stacking devices capable of achieving any inclination angles arranged on the two sides of the workbench are machined, the numerical control program is finished, one machining cycle is finished, and the numerical control program is waited to manually place the workpieces to be machined in the multi-part workbench stacking device capable of achieving any inclination angle again and take out the machined workpieces.

Example four

When the simple automatic continuous feeding device for the vertical boring and milling numerical control machine tool with the tool magazine is used, the multi-part workbench stacking device capable of realizing any inclination angle is arranged on one side of a workbench on a numerical control milling machine or a machining center of the vertical boring and milling numerical control machine tool with the tool magazine, wherein the workbench is provided with a main shaft pulse encoder and can realize main shaft stop and main shaft indexing, a pneumatic or hydraulic clamp for mounting a workpiece is arranged in the middle of the workbench, when the device is used, a part mounting plate (8) of the multi-part workbench stacking device is firstly rotated to have the same inclination angle with the pneumatic or hydraulic clamp, the workpiece is mounted on a plurality of part mounting plates (8), and then a main shaft manipulator (5) is mounted on a main shaft of the machine tool through a numerical control program instruction tool changer, the angle that a main shaft is accurately stopped at a main shaft mechanical arm (5) and can clamp a workpiece is instructed by a numerical control program, then a flat head quick-change clamping head (53-6) or a horizontal arc quick-change clamping head (53-19) or a vertical arc quick-change clamping head (53-20) or a reticular surface quick-change clamping head (53-18) of the main shaft mechanical arm (5) is adjusted to the clamping position of the workpiece placed on a multi-part workbench stacking device by the numerical control program, because the main shaft mechanical arm (5) is contacted with a main shaft box (2) and a circular conductive slide rail (2-1) on the main shaft box through a sliding conductive device (54) and a conductive contact (54-1) of the main shaft mechanical arm, and the conductive slide rail (2-1) is connected with a corresponding intermediate relay through a lead, after the numerical control program sends an instruction to control the intermediate relay to be electrified, a push-pull electromagnet (53-7) on a spindle manipulator (5) is electrified, two opposite push-pull electromagnets (53-7) are electrified and simultaneously clamp a workpiece, then the spindle manipulator is controlled by a numerical control program to clamp the workpiece to move to a position 3-8 mm higher than the clamping position of a hydraulic or pneumatic clamp for mounting the workpiece, when the push-pull electromagnet (53-7) is controlled by the numerical control program to be powered off, the workpiece falls to the mounting position of the hydraulic or pneumatic clamp at the moment, the hydraulic or pneumatic clamp clamps the workpiece, the push-pull electromagnet (53-7) resets under the action of a spring after being powered off, then the spindle manipulator (5) can be placed into a tool magazine and simultaneously calls out a machining tool to machine the workpiece through a command of the numerical control program, after machining is finished, the pneumatic or hydraulic clamp loosens the workpiece, the spindle manipulator (5) is transferred into a spindle through the tool changing command, clamps the workpiece to be clamped by the spindle manipulator to be placed on an idle position on a workbench, and then the workpiece to be machined on a multi-part workbench is repeatedly subjected to the action through the spindle manipulator (5) and clamped on the pneumatic or hydraulic clamp, and then the workpiece is clamped by the spindle, and the tool is clamped and then the workpiece is clamped by the spindle manipulator.

In order to control the action of the push-pull electromagnet of the spindle manipulator (5) by a program, taking a FANUC 0I-C system as an example, after a ladder diagram is compiled and a SUB25 functional instruction is decoded, an M64 instruction is that two opposite push-pull electromagnets (53-7) are electrified, and an M65 instruction is that the push-pull electromagnets are de-electrified, so that the clamping or loosening of the spindle manipulator (5) can be controlled by a numerical control program, and the action can not be repeated with the point position of the original ladder diagram when the ladder diagram is used.

Claims

1. A spindle manipulator comprises a tool shank (51), a rivet (52), a clamping device (53) and a sliding conductive device (54), wherein the clamping device (53) consists of a clamping base (53-2), a push-pull type electromagnet (53-7), a cross slide block (53-5) and a quick-change chuck assembly;

the upper part of the clamping base (53-2) is provided with a square connecting groove (53-2-3) which is matched with a square tenon block at the lower part of the tool handle (51), a lead (53-2-4) is arranged inside the connecting groove (53-2-3) and is connected with a conductive wire in a conductive wire hole in a cylindrical protrusion of the tool handle (51) and is equal to the number of the conductive wires in the conductive wire hole in the cylindrical protrusion of the tool handle (51), the conductive wire is finally used for connecting a numerical control device of a machine tool and a push-pull electromagnet (53-7), a circular ring structure in the connecting groove (53-2-3) is just matched with a cylindrical protrusion in the square tenon block of the tool handle (51), the middle part of a rectangular body of the clamping base (53-2) is provided with a cross sliding groove (53-2-1) for accommodating a cross sliding block (53-5), the side surface of the rectangular body is provided with a pressing plate sliding groove (53-2-2) which is provided with a mounting pressing plate (53-4) and is communicated with the cross sliding groove (53-2-1), the two pressing plates (53-2) which can slide in the cross sliding groove (53-2-2) are equal to the narrow groove (53-2) on the surface, the height of the square bump is 0.03-0.08 mm less than the height of the narrow groove of the pressure plate sliding groove (53-2-2), the middle part of the square bump is provided with a threaded hole and can be fastened at any position of the pressure plate sliding groove (53-2-2) through a pressure plate (53-4) and a fastening screw (53-1), the cross section of the crosshead shoe (53-5) is consistent with the cross sliding groove (53-2-1) and can slide in the cross sliding groove, one end of the crosshead shoe (53-5) is provided with a counter bore and is fastened at the thinner diameter part of the push-pull rod (53-8) through the crosshead shoe fastening screw (53-9), the other end of the crosshead shoe (53-5) is also provided with a cross sliding groove, the cross section of the quick-change clamping head mounting seat is exactly equal to that of a quick-change clamping head mounting seat (53-10) in size, the quick-change clamping head mounting seat (53-10) can slide in a cross sliding groove in a cross sliding block (53-5), the end face of the cross sliding groove of the quick-change clamping head mounting seat (53-10) is fastened with a cross sliding block end cover (53-15) on the end face of the cross sliding groove through a cross sliding block end cover fastening screw (53-16), a quick-change clamping head mounting seat position adjusting screw rod (53-12) is installed in a hole in the middle of the cross sliding block end cover (53-15), threads are arranged in the middle of the quick-change clamping head mounting seat position adjusting screw rod (53-12) and a threaded hole in the middle of the quick-change clamping head mounting seat (53-10) The end part of the quick-change clamping head mounting seat position adjusting screw rod (53-12) is arranged in a hole at the bottom of a cross sliding groove of a cross sliding block (53-5) in a thin shaft diameter mode and can rotate, a short cylindrical structure with a large diameter at the other end of the quick-change clamping head mounting seat position adjusting screw rod (53-12) is pressed in a round hole at one end of a cross sliding block end cover (53-15) through a quick-change clamping head mounting seat position adjusting screw rod end cover and a compression screw (53-17) and can rotate, and the uppermost part of the quick-change clamping head mounting seat position adjusting screw rod (53-12) is of an inner hexagonal structure used for rotating.

2. The spindle robot as claimed in claim 1, wherein the quick-change chuck assembly is composed of a quick-change chuck mount (53-10), a quick-change chuck mount fastening screw (53-11), a quick-change chuck quick-locking pin (53-13), a compression spring (53-14), a web quick-change chuck (53-18), a horizontal arc quick-change chuck (53-19), and a vertical arc quick-change chuck (53-20), and is installed in the cross-shaped sliding slot of the crosshead shoe (53-5), and the quick-change chuck assembly can adjust its position in the cross-shaped sliding slot of the crosshead shoe (53-5) by rotating a quick-change chuck mount position adjusting screw (53-12), and is locked by a quick-change chuck mount fastening screw (53-11) fastening the rear portion of the crosshead chuck mount (53-10) after being in place.

3. A spindle manipulator as claimed in claim 2, characterized in that the quick-change gripping head mount (53-10) is mounted in the cross runner of the crosshead (53-5) and fastened by means of quick-change gripping head mount fastening screws (53-11) in a narrow groove beside the cross runner of the crosshead (53-5), the quick-change gripping head mount (53-10) is rectangular at its other end and is provided at its end with a rectangular projection of the same shape as its rectangular outline but having a length and width dimension of less than 1 to 3 mm than the rectangular outline, and is internally of a hollow structure for accommodating a part of the quick-change gripping head locking pin (53-13) and the hold-down spring (53-14), the quick-change gripping head locking pin (53-13) has four cylinders, two long and two short, a rectangular plate connecting the four cylinders, four shallow holes are provided in the rectangular plate on the back side with respect to the four cylinders for accommodating the hold-down springs (53-14), and in the middle part there is a quick-change gripping head locking pin (53-14) having a diameter of less than the hold-down spring (53-14) and a locking sleeve with a diameter of 0.1 to 0.2 mm below the diameter of the corresponding cylinder, and the quick-change gripping head locking pin (53-13) is provided to ensure that the corresponding quick-locking head locking pin acts against the corresponding quick-locking pin (53-14) when the quick-change gripping head locking pin (13) is engaged with the corresponding quick-locking pin (13) and the quick-change head locking pin (13) and the quick-locking pin The cylindrical holes cannot be disengaged, and the thinner cylindrical column cannot touch the bottom of the other cylindrical column in the minimum stroke, so that the compression springs (53-14) cannot be inclined or even ejected.

4. A spindle robot as claimed in claim 2, characterized in that the two short cylinders of the pair of opposing quick-change gripping head quick-locking pins (53-13) are fitted with two pairs of corresponding pin holes of a flat-head quick-change gripping head (53-6), and depending on the shape of the gripping elements, the flat-head quick-change gripping head (53-6) can be exchanged for a web-faced quick-change gripping head (53-18), a horizontal circular arc quick-change gripping head (53-19) or a vertical circular arc quick-change gripping head (53-20), and the rectangular recess in the back of the flat-head quick-change gripping head (53-18), the horizontal circular arc quick-change gripping head (53-19) or the vertical circular arc quick-change gripping head (53-20) can be exchanged for exactly matching with the corresponding rectangular projection of the mounting block (53-10), and the connection handle between the two long cylinders of the flat-head quick-change gripping head quick-locking pins (53-6) can be pressed by hand, and the flat-head (53-18), and the flat-head can be removed.

5. The spindle manipulator according to claim 1, wherein a blind rivet (52) is connected to the upper portion of the shank (51) through a screw, the blind rivet (52) and the shank (51) are tightened together in a spindle taper hole of a boring and milling numerical control machine tool, a square tenon block is arranged at the head of an extension rod at the lower portion of the shank (51), a square groove is formed in the square tenon block, a cylindrical protrusion is arranged in the square groove, 2-4 wire guide holes for accommodating a conductive wire are formed in the cylindrical protrusion, the shank (51) is just installed in the spindle taper hole of the machine tool spindle through the blind rivet (52), and a conductive device support (51-1) is connected to the lower portion of the shank (51) through an intermediate connection rod. The hole in the top of the conductive device support (51-1) is in interference fit or is connected with a sleeve (54-3) through threads, the lower part of the sleeve (54-3) is in a hole structure, the upper part of the sleeve is provided with 1-4 holes which are arranged in a straight line according to actual needs, each hole is internally provided with a conductive contact (54-1) sleeved with a spring (54-2), the conductive contacts are fastened in a step hole in the upper part of the sleeve (54-3) through screws (54-4), and when the spindle manipulator is arranged in a taper hole of a spindle, each conductive contact (54-1) is tightly pressed on a corresponding conductive slide rail (2-1) through the action of the spring (54-2).