CN116100364A

CN116100364A - 8 CNC integrated feeding and discharging mechanical arm and disc stacking and storing mechanism

Info

Publication number: CN116100364A
Application number: CN202211433595.0A
Authority: CN
Inventors: 江波; 陈国勇; 钟守荣
Original assignee: Guangdong Zhimu Technology Co ltd
Current assignee: Guangdong Zhimu Technology Co ltd
Priority date: 2022-11-16
Filing date: 2022-11-16
Publication date: 2023-05-12

Abstract

The invention discloses an 8-spindle CNC integrated feeding and discharging manipulator and a disc stacking and storing mechanism, which comprise a truss, an end effector part, a guide rod sliding sleeve part and a storage mechanism; the storage mechanism is arranged below the truss, and the end pick-up device is connected to the truss in a sliding manner through the guide rod sliding sleeve part. The truss manipulator has the advantages that the truss manipulator is partially structurally used, but the Z-direction operation is replaced by the air cylinder, the truss manipulator is simpler and more accurate, the truss manipulator and the storage stacking frame are integrally operated, and the cost is lower. The automatic and rapid feeding and discharging (namely the taking out of the finished product and the loading of the workpiece to be machined) of the numerical control machine tool (CNC) are realized. The integrated rear height does not exceed the host computer, and with workshop illumination, the power supply and air supply pipeline is not influenced and interfered, area is little, get the reliable stability of blowing, the installation is easy to maintain, the security is also good. The automatic CNC automatic machine has the advantages that the parts are not taken and placed from the front door, the man-machine coordination is good, and the CNC automatic machine is improved by one grade.

Description

8 CNC integrated feeding and discharging mechanical arm and disc stacking and storing mechanism

Technical Field

The invention relates to the field of single fiber measuring devices, in particular to an 8-spindle CNC (computer numerical control) integrated feeding and discharging manipulator and a disc stacking and storing mechanism.

Background

At present, automatic feeding and discharging (namely taking out a finished product and loading a workpiece to be machined) of a numerical control machine tool (CNC) is realized, and the automation is mainly realized by a manipulator or a robot, wherein the manipulator is mainly a truss manipulator, and has the defects of high space of a workshop, illumination with the workshop, interference of a power supply and air supply pipeline, large occupied area, high acquisition cost, poor operation precision, poor reliability and stability of taking and discharging, difficult installation and adjustment maintenance and poor safety. The joint multiaxial robot has the defects that the workpiece needs to be taken and placed from the front door, the time for taking and placing the workpiece when the door is opened is long, the human-machine is crowded in the front door area, the safety is poor, the purchase cost is high, and the human-machine is not friendly.

Disclosure of Invention

In order to overcome the defects of low reliability stability and large installation space of a numerical control machine tool in the prior art, the invention aims to solve the technical problems of providing an 8-spindle CNC integrated feeding and discharging manipulator and a disc stacking and storing mechanism, which are simple in structure, small in battlefield space and high in safety.

To achieve the purpose, the invention adopts the following technical scheme:

the invention provides an 8-spindle CNC integrated feeding and discharging manipulator and a disc stacking and storing mechanism, which comprise a truss, an end effector part, a guide rod sliding sleeve part and a storage mechanism; the storage mechanism is arranged below the truss, and the end pick-up device is connected to the truss in a sliding manner through the guide rod sliding sleeve part.

In a preferred technical scheme of the invention, the end picking device comprises a connecting plate and an end picking group arranged on the connecting plate, wherein the end picking group comprises a machine base, a rotary motor, a sucker component and a grabbing component, the machine base is fixed at the bottom of the connecting plate, the rotary motor is fixed on the machine base, and the grabbing component and the sucker component are both fixed at the free end of the rotary motor; the grabbing component comprises a telescopic cylinder and a grabbing claw, and the grabbing claw is fixed at the free end of the telescopic cylinder.

In a preferred technical scheme of the invention, the storage mechanism comprises a guide rail, a horizontal moving motor and a stacking frame; the two stacking frames are connected to form a stacking frame group, the two stacking frame groups are connected to the guide rail in a sliding mode, and a horizontal moving motor is arranged at the bottom of the stacking frame group.

In the preferred technical scheme of the invention, the stacking frame comprises a feeding disc, a lifting screw, a first numerical control motor and a base; the first numerical control motor is fixed in the bottom of base, and the feed tray is placed on the chassis, and the upper end of lifting screw rotates to be connected in the bottom of feed tray, and the power take off end of first numerical control motor is connected on lifting screw.

In the preferred technical scheme of the invention, the guide rod sliding sleeve part comprises a moving cylinder, a top seat, a second numerical control motor and a mechanical arm; the footstock sliding connection in the bottom of truss, second numerical control motor is fixed in on the footstock, and second numerical control motor drive footstock slides in the truss bottom, the connecting plate passes through the arm and moves the bottom that the cylinder is connected in the footstock.

In a preferred technical scheme of the invention, both ends of the truss are connected to the ground through the upright posts.

In the preferred technical scheme of the invention, the truss further comprises a main machine main shaft, wherein the main machine main shaft and a bottom cutter of the main machine main shaft are arranged on two sides of the truss.

In the preferred technical scheme of the invention, at least two end picking groups are arranged on the connecting plate, and two gripper groups are connected to the rotating motor.

The beneficial effects of the invention are as follows:

the 8-spindle CNC integrated feeding and discharging manipulator and the storage and stacking disc mechanism provided by the invention use part of the structure of the truss manipulator, but replace Z-direction operation by using the air cylinder, so that the 8-spindle CNC integrated feeding and discharging manipulator is simpler and more accurate, and is integrally operated with the storage and stacking frame, so that the cost is lower. The automatic and rapid feeding and discharging (namely the taking out of the finished product and the loading of the workpiece to be machined) of the numerical control machine tool (CNC) are realized. The integrated rear height does not exceed the host computer, and with workshop illumination, the power supply and air supply pipeline is not influenced and interfered, area is little, get the reliable stability of blowing, the installation is easy to maintain, the security is also good. The automatic CNC automatic machine has the advantages that the parts are not taken and placed from the front door, the man-machine coordination is good, and the CNC automatic machine is improved by one grade.

Drawings

FIG. 1 is a schematic structural view of an 8-spindle CNC integrated feeding and discharging manipulator and a disc stacking and storing mechanism according to an embodiment of the present invention;

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a schematic diagram I of the end effector component of FIG. 1;

FIG. 4 is a schematic side elevational view of FIG. 3;

FIG. 5 is a schematic diagram II of the end effector component of FIG. 1;

FIG. 6 is a schematic movement I of the storage mechanism;

fig. 7 is a schematic movement II of the storage mechanism.

In the figure:

the device comprises an 11-truss, a 12-upright post, a 2-end effector component, a 3-guide rod sliding sleeve component, a 4-storage mechanism, a 5-host main shaft, a 21-connecting plate, a 22-base, a 23-rotating motor, a 24-sucker assembly, a 25-telescopic cylinder, a 26-gripper, a 31-top seat, a 32-second numerical control motor, a 33-moving cylinder, a 34-mechanical arm, a 41-guide rail, a 42-base, a 43-first numerical control motor, a 44-feeding disc, a 45-lifting screw and a 46-horizontal movement motor.

Detailed Description

The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.

As shown in fig. 1-5, an embodiment provides an 8-spindle CNC integrated feeding and discharging manipulator and a disc stacking and storing mechanism, which comprises a truss 11, an end effector component 2, a guide rod sliding sleeve component 3 and a storage mechanism 4; the storage mechanism 4 is arranged below the truss 11, and the end pick-up device is connected to the truss 11 in a sliding manner through the guide rod sliding sleeve part 3.

The end effector part 2 slides in the truss 11 through the guide rod sliding sleeve part 3, so that the end effector part is adjusted to a proper position, products on the storage mechanism 4 are grabbed downwards, the storage mechanism moves along with the products, and the storage mechanism moves to a position suitable for grabbing. The device uses part of the structure of the truss 11 manipulator, but uses the cylinder to replace Z-direction operation, is more concise and accurate, and is operated integrally with the storage and stacking frame, so that the cost is lower. The automatic and rapid feeding and discharging (namely the taking out of the finished product and the loading of the workpiece to be machined) of the numerical control machine tool (CNC) are realized. The integrated rear height does not exceed the host computer, and with workshop illumination, the power supply and air supply pipeline is not influenced and interfered, area is little, get the reliable stability of blowing, the installation is easy to maintain, the security is also good. The automatic CNC automatic machine has the advantages that the parts are not taken and placed from the front door, the man-machine coordination is good, and the CNC automatic machine is improved by one grade.

Further, the end effector comprises a connecting plate 21 and an end effector group arranged on the connecting plate 21, wherein the end effector group comprises a machine base 22, a rotary motor 23, a sucker assembly 24 and a grabbing assembly, the machine base 22 is fixed at the bottom of the connecting plate 21, the rotary motor 23 is fixed on the machine base 22, and the grabbing assembly and the sucker assembly 24 are both fixed at the free end of the rotary motor 23; the gripping assembly comprises a telescopic cylinder 25 and a gripper 26, the gripper 26 being fixed to the free end of the telescopic cylinder 25.

Further, the storage mechanism 4 includes a guide rail 41, a horizontal movement motor 46, and a stacker; the two stacks are connected to form a stack group, the two stacks are slidably connected to the guide rail 41, and a horizontal moving motor 46 is arranged at the bottom of the stack group.

Further, the stacking frame comprises a feeding disc 44, a lifting screw 45, a first numerical control motor 43 and a base 42; the first numerical control motor 43 is fixed in the bottom of base 42, and the feed tray 44 is placed on the chassis, and the upper end of lifting screw 45 rotates to be connected in the bottom of feed tray 44, and the power take off end of first numerical control motor 43 is connected on lifting screw 45.

Further, the guide rod sliding sleeve part 3 comprises a moving cylinder 33, a top seat 31, a second numerical control motor 32 and a mechanical arm 34; the top seat 31 is slidably connected to the bottom of the truss 11, the second digital motor 32 is fixed on the top seat 31, and the second digital motor 32 drives the top seat 31 to slide on the bottom of the truss 11, and the connecting plate 21 is connected to the bottom of the top seat 31 through the mechanical arm 34 and the moving cylinder 33.

Further, both ends of the truss 11 are connected to the ground through the columns 12.

Further, the device also comprises a main machine main shaft 5, wherein the main machine main shaft 5 is arranged on two sides of the truss 11, and a bottom cutter of the main machine main shaft 5.

Further, at least two end picking groups are arranged on the connecting plate 21, and two gripper 26 groups are connected to the rotating motor

As shown in fig. 6 to 7, the processing is completed by the host computer, the work piece blowing and cutting cleaning procedure is executed, and after the completion, the processing returns to G0 or the detection of the state of the tool and the tool changing are executed, and the manipulator receives the operation command and moves to the position right above the work table.

The end picking device descends from the upper part of the workpiece table, the workpiece table is released in vacuum, the end picking device ascends after obtaining the product piece,

then, the gripper 26 with the raw material is turned by 90 degrees to face downwards, then the gripper descends again, the material plate is placed, the host machine workpiece table is sucked in vacuum, the gripper ascends, and then the truss 11 linear motor drives the mechanical arm 34 to move outwards of the host machine shell.

When the guide rod sliding sleeve part 3 passes through the air curtain door opening of the host shell, the inductive switch sends a signal to the host, and the host executes the processing operation again.

The end effector moves over the stack and descends, lifting the product on the two grippers 26 after placing it in A1, B1 respectively.

The whole stacking frame moves towards the Y+ direction, so that C1 and D1 of the raw material frame are respectively aligned with the upper end picking device.

The end effector descends, grabs the raw material plate, then ascends, rotates for 90 degrees and stands by. The whole stacking frame moves to the Y-direction for standby.

When the guide rod sliding sleeve part 3 brings the product back for the 2 nd time, the blank positions of the stacking racks A2 and B2 green discs are aligned with the end picking devices, and the end picking devices downwards move to place the product in the positions A2 and B2 and then upwards return.

The whole stack moves in the y+ direction to align the stock C2, D2 with the upper end effector, respectively.

The end picking device descends, grabs the raw material plate, then ascends, and then descends to suck up the empty disc and then ascends after rotating 180 degrees (the sucker faces downwards), after the whole figure moves to the Y-direction, the end picking device descends with the empty disc to place the empty disc and then returns, and then reversely rotates 90 degrees (the empty gripper faces downwards) to stand by.

One cycle is completed and the initial steps are repeated.

The pallet on the storage and taking stacking frame is controlled by the inductive switch, the uniform height is always kept, and when the raw materials of the stacking frame are detected to be used up, the finished products are stacked to be full of 10 layers, and then a robot or manual delivery is called.

If any link actions are incomplete due to reasons, the automatic stop and the alarm are given.

Other techniques of this embodiment employ the prior art.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. The invention is not to be limited by the specific embodiments disclosed herein, and other embodiments are within the scope of the invention as defined by the claims of the present application.

Claims

1. 8 main shaft CNC integration business turn over material manipulator and access stack dish mechanism, its characterized in that: comprises a truss (11), an end pick-up component (2), a guide rod sliding sleeve component (3) and a storage mechanism (4);

the storage mechanism (4) is arranged below the truss (11), and the end pick-up device is connected to the truss (11) in a sliding manner through the guide rod sliding sleeve component (3).

2. The 8-spindle CNC integrated feeding and discharging manipulator and disc stacking and storing mechanism according to claim 1, wherein:

the end picking device comprises a connecting plate (21) and an end picking group arranged on the connecting plate (21), wherein the end picking group comprises a machine seat (22), a rotary motor (23), a sucker assembly (24) and a grabbing assembly,

the machine seat (22) is fixed at the bottom of the connecting plate (21), the rotary motor (23) is fixed on the machine seat (22), and the grabbing component and the sucking disc component (24) are both fixed at the free end of the rotary motor (23);

the grabbing component comprises a telescopic cylinder (25) and a grabbing claw (26), and the grabbing claw (26) is fixed to the free end of the telescopic cylinder (25).

3. The 8-spindle CNC integrated feeding and discharging manipulator and disc stacking and storing mechanism according to claim 2, wherein:

the storage mechanism (4) comprises a guide rail (41), a horizontal moving motor (46) and a stacking frame;

the two stacks are connected to form a stack group, the two stacks are connected to the guide rail (41) in a sliding way, and a horizontal moving motor (46) is arranged at the bottom of the stack group.

4. The 8-spindle CNC integrated feeding and discharging manipulator and disc stacking and storing mechanism according to claim 3, wherein:

the stacking frame comprises a feeding disc (44), a lifting screw (45), a first numerical control motor (43) and a base (42);

the first numerical control motor (43) is fixed in the bottom of base (42), and feed tray (44) are placed on the chassis, and the upper end of lifting screw (45) rotates to be connected in the bottom of feed tray (44), and the power take off end of first numerical control motor (43) is connected on lifting screw (45).

5. The 8-spindle CNC integrated feeding and discharging manipulator and disc stacking and storing mechanism as set forth in claim 4, wherein: the guide rod sliding sleeve part (3) comprises a moving cylinder (33), a top seat (31), a second numerical control motor (32) and a mechanical arm (34);

the footstock (31) sliding connection in the bottom of truss (11), second numerical control motor (32) are fixed in on footstock (31), and second numerical control motor (32) drive footstock (31) slide in truss (11) bottom, connecting plate (21) are connected in the bottom of footstock (31) through arm (34) and motion cylinder (33).

6. The 8-spindle CNC integrated feeding and discharging manipulator and disc stacking and storing mechanism as set forth in claim 5, wherein:

both ends of the truss (11) are connected to the ground through upright posts (12).

7. The 8-spindle CNC integrated feeding and discharging manipulator and disc stacking and storing mechanism as set forth in claim 6, wherein:

the machine also comprises a main machine main shaft (5), wherein the main machine main shaft (5) is arranged on two sides of the truss (11), and a bottom cutter of the main machine main shaft (5).

8. The 8-spindle CNC integrated feeding and discharging manipulator and disc stacking and storing mechanism according to claim 3, wherein:

at least two end picking groups are arranged on the connecting plate (21), and two gripper (26) groups are connected to the rotating motor.