CN117415659A

CN117415659A - Self-storing main shaft manipulator for fast-assembling anti-toppling numerical control machining center

Info

Publication number: CN117415659A
Application number: CN202311360367.XA
Authority: CN
Inventors: 庞勇
Original assignee: Xian Aeronautical Polytechnic Institute
Current assignee: Xian Aeronautical Polytechnic Institute
Priority date: 2023-10-12
Filing date: 2023-10-12
Publication date: 2024-01-19

Abstract

The invention relates to a device for continuously and automatically feeding materials in a vertical machining center and a vertical-horizontal conversion machining center, in particular to a self-storage main shaft manipulator for a fast-assembly anti-toppling numerical control machining center. The device can realize continuous automatic feeding, discharging and automatic processing of the vertical machining center and the vertical-horizontal conversion machining center, and is convenient to operate and high in practicability.

Description

Self-storing main shaft manipulator for fast-assembling anti-toppling numerical control machining center

[ field of technology ]

The invention relates to a device for continuous automatic feeding of a vertical boring and milling type numerical control machining center and a vertical-horizontal conversion numerical control machining center, in particular to a self-storage main shaft manipulator for a fast-assembly anti-toppling numerical control machining center.

[ background Art ]

The boring and milling machining center is used for realizing continuous automatic feeding and discharging and further realizing continuous automatic machining of a machine tool by means of an off-machine robot and a stereoscopic warehouse, the general working process is that the off-machine robot takes out a part blank from the stereoscopic warehouse, then the boring and milling machining center automatically opens a protective door, the robot places the part blank at a determined position of a pneumatic or hydraulic clamp in the machine tool, the pneumatic or hydraulic clamp clamps the part blank, then the robot returns to the original position, the protective door of the machine tool is closed, the machine tool starts to machine, after the machine tool finishes machining, the protective door of the machine tool is opened, the pneumatic or hydraulic clamp releases the machined part, the robot takes down the machined part from the pneumatic or hydraulic clamp, returns to the specified position of the stereoscopic warehouse, takes down the part blank from other positions and sends the part blank into the machine tool again for machining, the continuous automatic processing of the boring and milling type processing center realized by the mode has the defects of complex mechanism, large investment of robots and stereoscopic warehouses and large occupied area, and because the robots which are involved in numerical control processing technology, robot technology and joint debugging among the robots are complex in technology, the machine tool has to open a protective door to waste a certain processing time when the workpieces are loaded and unloaded outside the machine tool, the robots have at least 3-4 degrees of freedom and the positional relation between the robots and the stereoscopic warehouses, the robots possibly need to move on a sliding rail in order to clamp or put the workpieces, the above points can possibly cause the loss of processing time, the design of a boring and milling type processing center can not need the robots and the stereoscopic warehouses, the structure is simple, only simple transformation and simple accessory installation are needed, the device can realize continuous automatic feeding, discharging and automatic processing of the boring and milling machining center, has low cost, is simple to use, can rapidly install workpieces, and is suitable for the devices used in the vertical machining center and the vertical-horizontal conversion machining center, and the problem to be solved by the invention is solved.

[ invention ]

The invention solves the technical problems that: the invention designs a device which can realize continuous automatic processing of a machine tool by simply modifying and additionally installing simple accessories on a boring and milling processing center without robots and a stereoscopic warehouse, has low cost, is simple to use, can rapidly install workpieces and can be used vertically or horizontally, and is suitable for the devices used in the vertical processing center and the vertical-horizontal conversion processing center, so that the problem to be solved by the invention is solved.

The technical scheme of the invention is as follows: the electromagnetic chuck comprises a tool handle assembly (1000), a storage device assembly (2000) and a clamping device assembly (3000), wherein the tool handle assembly (1000) consists of a tool handle (1001) and a conductive contact assembly (1100), the storage device assembly (2000) consists of a connecting seat (2112), a material sliding plate (2131), a material feeding plate (2135), a material feeding transverse plate (2139), fastening screws (2111), a material sliding plate adjusting screw (2132), a material sliding plate adjusting screw cover plate (2133), a material sliding plate cover plate screw (2134), a material feeding plate locking block (2136), a pin roll (2137), a cotter pin (2138), a material feeding transverse plate adjusting screw (3100), a material feeding transverse plate adjusting screw cover plate (2141) and a material feeding transverse plate adjusting screw cover plate screw (2142), the clamping device assembly (3000) consists of a clamping device frame assembly (3100), a clamping head assembly (3200), a clamping device frame fastening device and a clamping screw (3202), a clamping head 3200, a clamping head fixing seat (3200) and a clamping head (3205), a clamping head fixing seat (3200) and a clamping head (3200) which are composed of electromagnetic chuck screws (3201) and a clamping device frame fastening device and a clamping device (3202) The clamping head adjusting screw fastening screw (3210), the clamping head adjusting screw fastening cover plate (3211), the clamping head baffle plate (3212) and the clamping head baffle plate fastening screw (3213).

The three material sliding plates (2131) and the material feeding plate (2135) are jointly enclosed into a rectangular area, the middle of the rectangular area is used for stacking and stacking the materials, the material sliding plate (2131) is of a 90-degree bending structure, a material sliding plate dovetail block (2131-1) is vertically arranged on a material sliding plate horizontal plate (2131-2) of the material sliding plate (2131), the material sliding plate dovetail block (2131-1) is matched with a material sliding plate connecting dovetail groove (2112-7) at the bottom of a rectangular bulge of the connecting seat (2112) in a sliding manner, the material sliding plate connecting dovetail grooves (2112-7) are mutually vertical and are vertical to the three sides of the bottom surface of the rectangular bulge of the connecting seat (2112), one end of each material sliding plate connecting dovetail groove (2112-7) is 4-8 mm away from the side edge of the rectangular bulge of the lower part of the connecting seat (2112), one end of each material sliding plate connecting groove (2112-7) is arranged between one end of each material sliding plate dovetail groove and the side edge of the rectangular bulge of the connecting seat (2) of the lower part of the connecting seat (2) in a sliding plate, a step of the sliding plate (2132-7) can be matched with the material sliding plate connecting plate (2112-7) in a sliding manner, the material sliding plate can be axially arranged in the large-hole of the screw rod (2132) through the large-end of the screw rod (2132) and the screw rod (2132) is prevented from being rotatably arranged in the large-threaded plate (2132) through the large-end plate adjusting screw rod end (2132, the head of the sliding plate adjusting screw rod (2132) is provided with an inner hexagonal hole, the middle part of the sliding plate adjusting screw rod cover plate (2133) is provided with a hole, the aperture is smaller than the diameter of the head of the sliding plate adjusting screw rod (2132) by 0.2-0.5 mm, a hexagonal wrench can slide the sliding plate adjusting screw rod (2132) through Kong Niudong in the middle part of the sliding plate adjusting screw rod cover plate (2133), two opposite side surfaces of the rectangular bulge at the lower part of the connecting seat (2112) and two opposite sliding plate connecting dovetail grooves (2112-7) are provided with two feeding transverse plate connecting dovetail grooves (2112-6), one end of each feeding transverse plate connecting dovetail groove (2112-6) is opened towards the direction far away from the sliding plate connecting dovetail grooves (2112-7), the end part of the other end is provided with a feeding diaphragm screw seat (2112-8), the feeding diaphragm screw seat (2112-8) is screwed with a feeding diaphragm adjusting screw (2140), a feeding diaphragm connecting dovetail groove (2112-6) is matched with a feeding diaphragm dovetail block (2139-1) arranged on the upper part of the feeding diaphragm (2139), one side adjacent edge of the feeding diaphragm dovetail block (2139-1) far away from the sliding plate (2131) is provided with a mounting groove of a feeding diaphragm adjusting screw cover plate (2141), the inside of the mounting groove is provided with a step through hole, a feeding diaphragm adjusting screw (2140) is rotatably arranged, the large end of the feeding diaphragm adjusting screw (2140) is provided with a hexagonal hole, and the big end is placed in the big hole of the step through hole of the mounting groove of feeding diaphragm adjusting screw cover plate (2141), feeding diaphragm adjusting screw (2140) prevent the axial cluster through buckling of feeding diaphragm adjusting screw cover plate (2141), feeding diaphragm adjusting screw cover plate screw (2142) fix feeding diaphragm adjusting screw cover plate (2141) through the hole in feeding diaphragm adjusting screw cover plate (2141) four corners, prevent feeding diaphragm adjusting screw (2140) axial cluster and move, be equipped with the hole that the diameter is less than feeding diaphragm adjusting screw (2140) big end diameter 0.2-0.5 millimeter in feeding diaphragm adjusting screw cover plate (2141) middle part, the hexagonal spanner can twist feeding diaphragm adjusting screw (2140) through this hole.

The utility model provides a feed diaphragm (2139) quantity be 2, feed diaphragm (2139) bilateral symmetry's setting is in the both sides of feed plate (2135), feed diaphragm (2139) be connected with feed plate flat axle (2135-1) through feed diaphragm lockhole groove (2139-2), feed diaphragm (2139) be rectangular plate structure, be equipped with rectangular columnar structure in one side, be close to feed diaphragm connection dovetail (2112-6) in rectangular columnar structure one side vertical be provided with feed diaphragm forked tail piece (2139-1), one side of feed diaphragm (2139) lean on to feed plate flat axle (2135-1) be equipped with feed diaphragm lockhole groove (2139-2), feed diaphragm lockhole groove (2139-2) by cylinder hole connection parallel groove, feed diaphragm (2139-2) cylinder hole lean on to feed plate vertical plate (5-5) one side, parallel groove make feed diaphragm (2135) be in the parallel with the horizontal axis (2135-2), can make feed diaphragm (2135) slide in order to make the feed diaphragm (2135-2) open the degree of sliding after the feed diaphragm can make the work piece open.

The feeding plate (2135) is of a 90-degree bending structure, round corners are arranged at the bending positions of the feeding plate (2135) and used for ensuring that the feeding plate (2135) cannot interfere with a workpiece when rotating around the feeding plate flat shaft (2135-1), the feeding plate vertical plate (2135-5) of the feeding plate (2135) is used for propping against the workpiece, the feeding plate horizontal plate (2135-4) of the feeding plate (2135) is used for pushing the workpiece in a sliding mode, feeding plate flat shafts (2135-1) are arranged on two sides of the end portions, far away from the bending positions of the feeding plate (2135), of the feeding plate horizontal plate (2135-4), two parallel surfaces on the feeding plate flat shafts (2135-1) are parallel to the feeding plate vertical plates (2135-5), the thickness of the feeding plate vertical plates is identical to the groove width of a parallel groove of a feeding transverse plate lock hole (2135) and can slide in the feeding transverse plate groove (2139-2), the feeding plate flat shaft (2135-1) is provided with the same diameter as the length of the transverse plate lock hole (2135-2), and the diameter of the feeding plate lock hole (2135-2) can be equal to the length of the transverse plate lock hole (2135-2) in the transverse plate (2135-20 mm).

The feeding plate locking piece seat (2135-2) is arranged on two sides of the end part of the feeding plate horizontal plate (2135-4) of the feeding plate (2135), a narrow groove parallel to the feeding plate horizontal plate (2135-4) is formed in the middle of the feeding plate locking piece seat (2135-2), holes are formed in the direction perpendicular to the narrow groove, the feeding plate locking piece (2136) is placed in the groove and connected through the pin shaft (2137), and the pin shaft (2137) is prevented from slipping through the cotter pin (2138).

The feeding plate locking piece (2136), the pin shaft (2137) and the cotter pin (2138) are matched with the feeding cross plate (2139) in pairs and are positioned on feeding plate locking piece seats (2135-2) on two sides of the feeding plate (2135), the feeding plate locking piece (2136) is of a platy L-shaped structure, the thickness of the platy L-shaped structure is equal to the widths of parallel grooves of the feeding cross plate locking hole groove (2139-2) and grooves of the feeding plate locking piece seats (2135-2) and can slide in the parallel grooves, spherical protrusions are arranged on the side face of the L-shaped long side of the feeding plate locking piece (2136), the spherical protrusions are matched with feeding plate spherical groove buckles (2135-3) to fix the feeding plate locking piece (2136), the feeding plate spherical groove buckles (2135-3) are spherical grooves with spherical diameters equal to the spherical protrusions of the feeding plate locking piece (2136) in the middle, and the outer portions of the trough bodies are rectangular and are provided with 2-5 spherical grooves so as to be matched with the spherical protrusions of the feeding plate locking piece (2136).

The extension length of the dovetail blocks (2131-1) of the sliding plates at the upper parts of the three sliding plates (2131) and the extension length of the dovetail blocks (2139-1) of the feeding cross plates (2135) on the two connected feeding cross plates (2139) to the lower surfaces of the rectangular plates (2112-1) are larger than the maximum thickness of the workpiece placed by the device, so that the workpiece can penetrate, and the three sliding plate horizontal plates (2131-2) are higher than the horizontal plates (2135-4) by 3-10 mm, so that the workpiece plays a guiding role when being pushed in along the horizontal plates (2135-4).

The clamping device frame (3102) is provided with three clamping device frame vertical rods (3102-2), the end part of each clamping device frame vertical rod (3102-2) is respectively provided with a clamping device frame fastening seat (3102-1), the clamping device frame fastening seat (3102-1) is of a plate-shaped structure, the plate-shaped structure of the clamping device frame fastening seat (3102-1) is provided with four uniformly distributed screw holes, the clamping device frame vertical rods (3102-2) are fastened with the connecting holes (2112-4) on the connecting seat (2112) through clamping device frame fastening screws (3101), the positions of the three clamping device frame vertical rods (3102-2) and the three sliding plates (2131) are opposite, the lower part of the clamping device frame (3102) is provided with a rectangular clamping device frame (3102-3), the middle part of the outer sides of the four sides of the clamping device frame (3102-3) is provided with an outwards convex rectangle, three outwards convex rectangles are fixedly connected with a horizontal rod after bending a vertical rod (3102-2) of the clamping device frame, four corners of the outwards convex rectangle at the middle part of the outer sides of the four sides of the clamping device frame (3102-3) are provided with four clamping device frame dovetail grooves (3102-4), the clamping device frame dovetail grooves (3102-4) are opened towards the inner side of the clamping device frame (3102-3), the other side of the clamping device frame dovetail grooves (3102-4) is closed, the thickness is 3-8 mm, the clamping device frame buckle plate groove (3102-5) is arranged at the outer side of the closed end of the clamping device frame buckle plate groove (3102-4), threaded holes are arranged at four corners of the groove bottom of the clamping device frame buckle plate groove (3102-5), stepped through holes are arranged in the middle of the clamping device frame buckle plate groove (3102-5), the clamping head adjusting screw (3209) penetrates through the through holes in the middle of the clamping device frame buckle plate groove (3102-5) and is screwed with the threaded holes on the dovetail blocks at the tail of the clamping head fixing seat (3208), the head of the clamping head adjusting screw (3209) is placed in the stepped through holes in the middle of the clamping device frame buckle plate groove (3102-5) and limited to axially move in series through the clamping head adjusting screw fastening cover plate (3211), the clamping head adjusting screw fastening cover plate (3211) is fastened in the clamping device frame dovetail groove (3102-4) through clamping head adjusting screw fastening screws (3210), the middle of the clamping head adjusting screw fastening cover plate (3211) is provided with holes, the hole diameter of which is smaller than the diameter of the clamping head adjusting screw (3209) by a large head, the diameter of the clamping head adjusting screw (3200) can be screwed into the clamping head fixing seat (3208), the four dovetail blocks at the tail part of the clamping head fixing seat (3208) are matched with four clamping device frame dovetail grooves (3102-4) which are arranged on the clamping head mounting part (3201-6) in a sliding manner.

The electromagnetic plate (3207) is fastened in a threaded hole formed in the opposite angle of the clamping head fixing seat (3208) through an electromagnetic plate fastening screw (3206), four clamping head guide posts (3201-2) are arranged at the back of the clamping head (3201), a telescopic spring (3205), an electromagnetic plate (3207), the clamping head fixing seat (3208) and a spring collar (3204) are sequentially sleeved on the clamping head guide posts (3201-2), one end opening with a spacing of 3-10 mm and one end of the clamping head (3201) is provided with an I-shaped groove, a plurality of round holes with a longitudinal spacing of 3-6 mm are formed in the groove bottom of the I-shaped groove, a compression spring (3202) is placed in the round holes, a compression plate (3203) is placed in the I-shaped groove, the section of the compression plate (3203) is in a shape, the compression plate mounting groove (3201-3) can be placed in a sliding mode, the thickness of the compression plate mounting groove (1-5) in the middle of the I-shaped compression plate mounting groove (3201-3) is smaller than the width of the compression plate mounting groove (3203) between two adjacent compression plates (3203.0-3), and the thickness of the compression plate mounting groove (1-5) in the middle of the compression plate mounting groove is smaller than the width of the compression plate (3203) between two adjacent compression plates (3203.0.3 mm, and the compression plate (3) is guaranteed to act between the compression plate and the compression plate (3.3.3 between the compression plate and the compression plate (3.3.

The force of the spring of the compression spring (3202) enables a workpiece to be compressed by the compression plate (3203) instead of the clamping head (3201) contacting the workpiece, the expansion and contraction amount of the compression spring (3202) can ensure the requirement of the stroke of the compression plate (3203), the clamping head compression part (3201-1) is provided with a groove at the opening of the compression plate mounting groove (3201-3), the clamping head baffle (3212) is fastened in the groove through the clamping head baffle fastening screw (3213) so as to prevent the compression spring (3202) and the compression plate (3203) from sliding out but not prevent the compression plate (3203) from sliding under the action of the compression spring (3202) and the workpiece.

The number of the clamping head assemblies (3200) is four, one clamping head mounting part (3102-6) is arranged, and four sides of a workpiece can be simultaneously pressed.

The invention can be conveniently used in a vertical boring and milling machining center and a vertical and horizontal conversion machining center, the feeding plate (2135) can be opened, so that quick loading can be realized, meanwhile, because the feeding plate (2135) and the sliding plate (2131) can be adjusted, the surrounding and blocking workpieces can not topple even if the device is horizontally placed, the invention can be used in the vertical boring and milling machining center and the vertical and horizontal conversion machining center, in addition, the device can store the workpieces, a device for stacking the parts is not required to be arranged on a workbench, the limited use area of the workbench is saved, the workpieces can be added into the device at any time according to the requirement, the device has the advantages of simple structure, low cost, easy use, no occupation of the external space of a machine tool, quick loading and unloading can be realized, the workpieces can be vertically and horizontally used according to the requirement, a plurality of self-storage main shaft mechanical arms can be used for loading and unloading the workpieces, continuous automatic loading and unloading of the machine tool and automatic machining of the parts can be realized through a numerical control program, and the operation convenience is high in practicability.

[ description of the drawings ]

FIG. 1 is a diagram of a self-storing spindle manipulator in a machine tool installation position for a fast-assembling anti-toppling numerical control machining center

FIG. 2 is an enlarged view of a portion U of FIG. 1

Figure 3 is an exploded view of the conductive contact assembly

FIG. 4 is an overall isometric view of a self-storing spindle manipulator for a fast-assembling anti-toppling numerical control machining center

FIG. 5 is an exploded view of a self-storing spindle manipulator for a fast-assembling anti-toppling numerical control machining center

FIG. 6 is an isometric view of a shank feature

FIG. 7 is an overall view of a storage device assembly and a gripper assembly

FIG. 8 is an exploded view of a magazine assembly and a gripper assembly

Fig. 9 is an isometric view of a connector part

FIG. 10 is an isometric view of a portion of a part of a magazine assembly

FIG. 11 is an enlarged partial view of the portion of FIG. 10D

FIG. 12 is an enlarged partial view of the portion F of FIG. 10

FIG. 13 is an enlarged partial view of the portion of FIG. 10E

FIG. 14 is an enlarged view of a portion of FIG. 10G

FIG. 15 is another angular perspective view of a connector base member

FIG. 16 is an enlarged view of the portion M of FIG. 15

FIG. 17 is an enlarged view of the N portion of FIG. 15

FIG. 18 is an enlarged partial view of portion 150

FIG. 19 is an enlarged partial view of the portion H of FIG. 21

FIG. 20 is an exploded view of the clamping device assembly

FIG. 21 is an isometric view of a gripping device holder

FIG. 22 is an exploded view of the gripper assembly

FIG. 23 is an enlarged partial view of the portion L of FIG. 24

FIG. 24 is an exploded view of a portion of a collet assembly

FIG. 25 is an isometric view of a pinch plate and a pinch roller element

FIG. 26 is a partial detail view of a storage device assembly

FIG. 27 is an enlarged partial view of the portion of FIG. 26B

FIG. 28 is an enlarged partial view of the portion of FIG. 26C

Fig. 29 is an isometric view of a workpiece clamping caliper

FIG. 30 is an enlarged partial view of the portion I of FIG. 31

FIG. 31 is an exploded view of the gripper assembly

In the figure:

0001. shaft motor 0002, headstock 0002-1, conductive ring 0003, table 0004, self-contained anti-toppling machining center, self-storing spindle robot 1000, tool shank assembly 1001, tool shank 1001-1, taper shank 1001-2, conductive bracket 1001-3, tenon block 1001-4, fixed hole 1001-5, plug 1001-6, straight shank 1100, conductive contact assembly 1101, conductive head 1102, spring 1103, screw 1104, sleeve 2000, storage assembly 2111, fastening screw 2112, connection seat 2112-1, rectangular plate 2112-2, screw hole 2112-3, groove 2112-4, connection seat 2112-5, socket 2112-6, feed cross plate connection dovetail 2112-7, slide plate connection dovetail 2112-8, feed cross plate screw seat 2131, slide plate 2131-1 a slide plate dovetail block 2131-2, a slide plate horizontal plate 2131-3, a slide plate vertical plate 2132, a slide plate adjustment screw 2133, a slide plate adjustment screw cover 2134, a slide plate cover screw 2135, a feed plate 2135-1, a feed plate flat shaft 2135-2, a feed plate lock block seat 2135-3, a feed plate ball groove buckle 2135-4, a feed plate horizontal plate 2135-5, a feed plate vertical plate 2136, a feed plate lock block 2137, a pin 2138, a cotter pin 2139, a feed diaphragm 2139-1, a feed diaphragm dovetail block 2139-2, a feed diaphragm lock hole groove 2140, a feed diaphragm adjustment screw 2141, a feed diaphragm adjustment screw cover 2142, a feed diaphragm adjustment screw cover screw 2143, a workpiece 3000, a gripping device assembly 3100, the clamping device frame assembly 3101, the clamping device frame fastening screw 3102, the clamping device frame 3102-1, the clamping device frame fastening seat 3102-2, the clamping device frame upright bar 3102-3, the clamping device frame 3102-4, the clamping device frame dovetail groove 3102-5, the clamping device frame buckle groove 3102-6, the clamping head mounting portion 3200, the clamping head assembly 3201, the clamping head 3201-1, the clamping head compressing portion 3201-3, the clamping head guide post 3201-3, the clamping plate mounting groove 3201-4, the clamping spring mounting hole 3201-5, the clamping plate mounting groove partition plate 3202, the clamping spring 3203, the clamping plate 3203-1, the clamping plate guide groove 3204, the spring 3205, the expansion spring 3206, the electromagnetic plate fastening screw 3207, the electromagnetic plate 3208, the clamping head fixing seat 3209, the clamping head adjusting screw 3210, the clamping head adjusting screw fastening screw 3211, the clamping head fastening screw 3212, the clamping head blocking plate 3213, the clamping head blocking screw 4000, and the clamping head blocking screw 4000

[ detailed description ] of the invention

Description of embodiments of the invention with reference to the accompanying drawings

One end of the knife handle (1001) is provided with a taper consistent with a taper hole of the main shaft and is matched with the main shaft, the other end of the knife handle is provided with a protruding tenon block with a cross section consistent with that of a groove on the upper portion of the connecting seat (2112), a plug pin or a socket which is inserted in the groove corresponding to the connecting seat (2112) is arranged in the tenon block, the plug pin or the socket is insulated from the knife handle (1000) and the connecting seat (2112) according to the conductive requirement, the middle part of the straight handle (1000-6) is connected with a conductive bracket (1001-2), the upper part of the vertical part of the conductive bracket (1001-2) is provided with a round hole, a sleeve (1104) is connected with the round hole in an interference or threaded manner, the lower part of the sleeve (1104) is of a large-hole structure, two small holes are arranged on the upper part of the sleeve, a conductive head (1101) is slidably arranged in the small hole, the upper part of the conductive head (1101) is sleeved with a spring (1102), the lowest end of the conductive head (1101) is fixed by a screw (1103), and the conductive head (1101) stretches out under the action of the spring (1102) to press the conductive head (1101) to get electricity on the conductive ring (0002-1).

The lower part of one feeding plate (2135) and the lower part of three sliding plates (2131) jointly form a rectangle, the middle of the rectangle is used for accommodating a workpiece, the feeding plate (2135) is of a 90-degree bending structure, the sliding plates (2131) are of 90-degree bending structures, the planes of the three sliding plate horizontal plates (2131-2) are 3-10 mm higher than the planes of the feeding plate horizontal plates (2135-4), and when the workpiece is slid and pushed on the feeding plate horizontal plates (2135-4) to enter the enclosed rectangular cavity, the three sliding plate horizontal plates (2131-2) are higher than the feeding plate horizontal plates (2135-4), so that the sliding plate vertical plates (2131-3) positioned on two sides of the workpiece sliding forwards guide the workpiece pushed forwards, and the sliding plate vertical plates (2131-3) positioned in front of the side of the workpiece pushing forwards limit the workpiece. When a workpiece is placed in a rectangular cavity formed by the lower parts of one feeding plate (2135) and three sliding plates (2131) in a surrounding mode, the workpiece can be placed through a clamping clamp (4000), and when the workpiece is placed through the clamping clamp (4000), the workpiece can be prevented from being pushed through the horizontal plate (2135-4) of the feeding plate, and the workpiece possibly generated due to the influence of the gravity of the workpiece can not be stacked in sequence due to the vertical falling of the workpiece.

The upper part of the clamping device frame (3102) is provided with a clamping device frame fixing seat (3102-1) which is fixedly connected with the connecting seat (2112), the clamping device frame fixing seat (3102-1) corresponds to the three sliding plates (2131) at the positions of the three side surfaces of the connecting seat (2112), and the opening position corresponds to the opening position of the feeding plate (2135).

Because the three slide plate vertical plates (2131-3) and one feed plate vertical plate (2135-5) are adjusted to be clung to the workpiece and only leave a small gap, even if the device is horizontally placed or vertically and horizontally placed, the situation that the workpiece is scattered or falls off can not be caused according to the working requirement, so the device can be used in a vertical machining center and a vertical-horizontal conversion machining center.

The four electromagnetic plates (3205) are connected with a socket in the middle of the connecting seat (2112) through wires for taking electricity.

The first using method is as follows:

when the self-storing main shaft manipulator is used, the change of the self-storing main shaft manipulator between the tool magazine and the main shaft, the loosening of the workpiece and the movement of the self-storing main shaft manipulator are controlled by a program, and the automatic loading clamp for clamping the workpiece on the machine tool for processing can be controlled by the program, so that the automatic circulation of loading, workpiece processing and unloading can be realized.

1. The automatic storage main shaft manipulator is adjusted to adapt to the specification and the size of the workpiece, and the workpiece is stacked in the automatic storage main shaft manipulator.

The sliding plates (2131) and the feeding plates (2135) are adjusted to just enclose the stacked and stacked workpieces, a gap between 0.15-0.3 mm is reserved between the sliding plates and the workpieces, and the size enclosed between the three sliding plate vertical plates (2131-3) and the feeding plate vertical plates (2135-5) is adjusted to adapt to the workpieces by twisting three sliding plate adjusting screws (2132) and one feeding transverse plate adjusting screw (2140) during adjustment.

According to the size of the workpiece, the opening size of the four clamping heads (3201) is adjusted, the extending distance of the clamping head fixing seats (3206) is adjusted by twisting four clamping head adjusting screws (3207) on each clamping head (3201), the clamping heads (3201) can clamp the workpiece under the action of the compression springs (3202) after adjustment, a plurality of compression plates (3203) are densely distributed on the clamping heads (3201) under the action of the compression springs (3202) and can simultaneously compress the workpieces with different sizes, the clamping heads (3201) retract after the electromagnetic plates (3205) are electrified to loosen the workpiece, and the positions of the four clamping heads (3201) after clamping the workpiece are consistent with the sizes enclosed between the three sliding plate vertical plates (2131-3) and one feeding plate vertical plate (2135-5).

After adjustment is completed, the self-storage main shaft manipulator can be arranged in a tool magazine, then workpieces are sequentially pushed onto the horizontal plate (2135-4) of the feeding plate to enter a cavity surrounded by the vertical plate (2135-5) of the feeding plate and the vertical plate (2131-3) of the sliding plate, two sides of the workpieces can be clamped by using a clamping pliers (4000) when the workpieces are fed, when the pliers are loosened, the workpieces horizontally drop, if the workpieces fall and are not stacked after being inclined, the workpieces can be clamped out by using pliers tools and are put into the cavity again, and all the stacked workpieces are guaranteed to be placed.

The feeding plate locking blocks (2136) can be moved firstly, the feeding plate ball groove buckles (2135-3) clamp spherical protrusions on the feeding plate locking blocks (2136), at the moment, the feeding plate (2135) is in an unlocking state, when the feeding plate flat shaft (2135-1) is located in a cylindrical hole of the feeding transverse plate locking hole groove (2139-2), the feeding plate (2135) is opened in a 90-degree rotation mode, the parallel face of the feeding plate flat shaft (2135-1) is pushed to be located in a parallel groove of the feeding transverse plate locking hole groove (2139-2), at the moment, the feeding plate (2135) is continuously opened, after the feeding plate (2135) is placed in a workpiece in order, the feeding plate (2135) is pushed to enable the feeding plate flat shaft (2135-1) to be located in the cylindrical hole of the feeding transverse plate locking hole groove (2139-2) to be rotated by 90 degrees, the feeding plate vertical plate (2135-5) is aligned with the workpiece, and the feeding plate locking blocks (2136) are moved to be located in the parallel groove of the feeding transverse plate locking hole groove (2139-2) and locked.

2. And (3) replacing the mechanical arm of the self-storage main shaft into the main shaft by utilizing a numerical control program, moving to the position of the automatic loading clamp, loosening the clamping of the workpiece, re-clamping the workpiece after falling, replacing the machining tool into the main shaft, and machining the workpiece.

After the multi-layer stacked workpieces are placed, the process is utilized to adjust the self-storage spindle manipulator into the spindle, the spindle is oriented according to the workpiece clamping direction on the clamp, the four clamping heads (3201) are guaranteed to be parallel to the side edges of the clamping positions of the workpieces, the moving instruction of the machine tool is utilized to adjust the position, above the blanking position of the clamp, of the self-storage spindle manipulator and the distance, above which the workpiece thickness is added, of the workpiece to be exposed, of the lower end of the clamping head (3201), the electromagnetic plate (3207) is electrified through the process, the four clamping heads (3201) retract, the retraction distance of the clamping heads (3201) is guaranteed to loosen all the workpieces, the clamping heads clamp the workpieces after the workpieces fall into the workpiece stations of the clamp due to manufacturing errors, at the moment, the automatic clamping device clamps clamp the workpieces, the clamping heads (3201) are located at the positions of the workpiece upper part, the workpiece thickness is added at the distance, above which the workpiece thickness is to be exposed to the lower end of the clamping heads (3201), the next to be located at the position of the workpiece upper part, the workpiece upper end of the clamping heads (3201) is arranged at the position of the workpiece upper part, the next workpiece to be exposed, the electromagnetic plate (3207) is electrified through the process, the clamping heads (3201) are arranged at the position of the workpiece upper part, the workpiece clamping heads (3201) is not to be pressed down, and the workpiece clamping heads (3201) are arranged at the position of the position, the workpiece clamping heads (workpiece clamping heads) are arranged at the position, the positions are arranged at the position, and the position of the workpiece station is not to be pressed into the position, and the position of the workpiece clamping station position is not to be in the position, and the position is adjacent to be adjacent to the workpiece clamping heads. After the workpiece is installed, the mechanical arm of the self-storing main shaft is adjusted into the tool magazine through a program, and the corresponding processing tool is adjusted into the main shaft to process the workpiece.

3. After the workpiece is machined, the workpiece is clamped by the storage main shaft manipulator (after the machined workpiece is clamped, the rest unprocessed workpiece in the storage main shaft manipulator moves upwards), the thickness of the workpiece is added at the idle position of the workbench, the machined workpiece is loosened at the distance position where the workpiece is exposed out of the lower end of the clamping head (3201), the unprocessed workpiece falls to the lowest position of the clamping head (3201), after the unprocessed workpiece is clamped by the storage main shaft manipulator, the workpiece is put down from the storage main shaft manipulator to the upper part of the clamp, and after the next unprocessed workpiece is clamped by the storage main shaft manipulator, the workpiece is machined by the main shaft.

After the machining is finished, the machining process is carried out, the mechanical arm of the storage main shaft moves to a position above the workpiece, the thickness of the workpiece is added at a distance from the lower end of the clamping head (3201), at the moment, the electromagnetic plate (3207) is electrified, the clamping head (3201) is retracted, an unprocessed workpiece in the clamping head (3201) falls on the upper surface of the machined workpiece in the clamp, after the main shaft moves downwards to the clamping height of the machined part, the electromagnetic plate (3207) is powered off, the machined workpiece is clamped, after the main shaft of the machine tool moves to the position above the idle position of the workbench, the thickness of the workpiece is added, and the next layer of workpiece extends out of the height of the clamping head (3201), the electromagnetic plate (3207) is electrified, the machined workpiece falls down, the unprocessed workpiece also falls down, the electromagnetic plate (3205) clamps the unprocessed workpiece at the lowest layer after being powered off, the machine tool main shaft moves to the position above the workpiece mounting position of the clamp, the electromagnetic plate (3207) is electrified after the workpiece with the workpiece thickness stretches out of the height of the clamping head (3201), the workpiece to be machined falls down to the machining position, the clamp clamps the workpiece, the tool magazine is replaced by the mechanical arm of the storage main shaft, the machining tool is transferred into the main shaft, the workpiece is machined, and the actions are circularly performed, so that the machining cycle is realized.

The second application method is as follows:

when two or more self-storing spindle manipulators are adopted, one self-storing spindle manipulator is used for placing a workpiece to be processed, and the other self-storing spindle manipulator clamps and places the processed workpiece. Firstly, opening openings of a sliding plate (2131) and a feeding plate (2135) are adjusted to be suitable for the sizes of workpieces, then the workpieces to be processed are sequentially placed in a self-storage main shaft manipulator, the self-storage main shaft manipulator is replaced by a main shaft through a program, the distance between a workpiece mounting position on a clamp and the lower end of a clamping head (3201) where the workpieces are exposed is adjusted, an electromagnetic plate (3207) is electrified, the workpieces fall into the mounting position of the clamp, the workpieces stacked at the back fall down in sequence, the last second part is positioned at the bottommost end of the clamping head (3201), the electromagnetic plate (3207) is powered off, and the self-storage main shaft manipulator clamps the workpieces. When the workpiece is taken down, another self-storage spindle manipulator is adjusted to be positioned at a position 5 mm above the workpiece, an electromagnetic plate (3207) is electrified, next, after the self-storage spindle manipulator moves downwards to the clamping height of the workpiece (the upper part of the workpiece to be clamped should be exposed out of a clamp so as to be convenient for clamping a clamping head (3201), the clamp clamping the workpiece is loosened, the electromagnetic plate (3207) is powered off, the workpiece is clamped on the clamping head (3201), then another self-storage spindle manipulator placing the workpiece to be machined is replaced into the spindle, the same is moved to a position above the clamp and above the distance that the workpiece is exposed out of the lower end of the clamping head (3201), the clamp is fed into the workpiece, after the operation is finished, the spindle is replaced into the tool to machine the workpiece, the other self-storage spindle manipulator used for storing the machined workpiece is replaced, the machined workpiece is taken down, and the workpiece is fully stopped by the manual spindle manipulator to be placed down to the idle position after the self-storage spindle is used for storing the machined workpiece, and the workpiece is completely put down by the manual spindle.

When a plurality of self-storing main shaft manipulators are adopted, 2+1 or 3+1 modes and the like can be adopted, 2 or 3 are used for storing workpieces to be processed, one is used for storing processed workpieces, after the processed workpieces are stored fully, the processed workpieces are placed at the idle positions of the workbench, the self-storing main shaft manipulators for storing the processed workpieces are emptied, and at the moment, processing program design is carried out according to the adopted 2+1 or 3+1 modes and the like, so that the requirement of automatic circulation is met. The workpiece can be clamped or the application number can be adopted: CN202110317466.4 is a spindle manipulator of a simple continuous automatic feeding device for a vertical boring and milling numerical control machine tool with a tool magazine, but the manipulator can only clamp a workpiece and cannot place the workpiece, and the clamped workpiece needs to be placed on a workbench.

Claims

1. The utility model provides a quick-assembling anti-toppling numerical control machining center is with from storage main shaft manipulator, its characterized in that includes handle of a knife assembly (1000), storage device assembly (2000) and clamp get device assembly (3000), handle of a knife assembly (1000) constitute by handle of a knife (1001) and conductive contact assembly (1100), storage device assembly (2000) constitute by connecting seat (2112), slide plate (2131), charge plate (2135), feed diaphragm (2139), fastening screw (2111), slide plate adjustment screw (2132), slide plate adjustment screw apron (2133), slide plate apron screw (2134), charge plate locking piece (2136), round pin (2137), cotter pin (2138), feed diaphragm adjustment screw (2140), feed diaphragm adjustment screw apron (2141), feed diaphragm adjustment screw apron screw (2142), clamp device assembly (3000) constitute by clamp device frame assembly (3100), clamp head assembly (3200) constitute by clamp head assembly (3201), electromagnetic clamp head (3200), clamp head (3201), spring clamp head (3200) compression joint (3201) The clamping head fixing seat (3208), the clamping head adjusting screw (3209), the clamping head adjusting screw fastening screw (3210), the clamping head adjusting screw fastening cover plate (3211), the clamping head baffle plate (3212) and the clamping head baffle plate fastening screw (3213).

2. The self-storing spindle manipulator for a quick-assembling anti-toppling numerical control machining center according to claim 1, wherein three slide plates (2131) and one feeding plate (2135) are jointly enclosed to form a rectangular area, the middle of the rectangular area is used for stacking and stacking a workpiece, the slide plates (2131) are of 90-degree bending structures, slide plate horizontal plates (2131-1) of the slide plates (2131) are vertically provided with slide plate dovetail blocks (2131-1), the slide plate dovetail blocks (2131-1) are matched with slide plate connecting dovetail grooves (2112-7) at the bottom of rectangular protrusions at the lower parts of connecting seats (2112) in a sliding manner, the slide plate connecting dovetail grooves (2112-7) are mutually perpendicular and are perpendicular to three sides of the bottom of rectangular protrusions at the lower parts of the connecting seats (2112), one ends of the slide plate connecting grooves (2112-7) are separated from the rectangular protrusions at the lower sides of the connecting seats (2112) by 4-8 mm, the slide plates are arranged at the two ends of the two sides of the connecting seats (2112) in a sliding plate adjusting screw rod (2132) and can be axially adjusted, the slide plates are axially connected with the large-threaded screw rod (2132) at the two ends of the two end adjusting screw rods (2132) and the large-threaded rod end plate (2) is adjusted, the sliding plate adjusting screw cover plate (2133) is fixed through a sliding plate cover plate screw (2134), the head of the sliding plate adjusting screw (2132) is provided with an inner hexagonal hole, the middle part of the sliding plate adjusting screw cover plate (2133) is provided with a hole, the aperture is smaller than the diameter of the head of the sliding plate adjusting screw (2132) by 0.2-0.5 mm, a hexagonal wrench can slide the sliding plate adjusting screw (2132) through Kong Niudong in the middle part of the sliding plate adjusting screw cover plate (2133), two opposite side surfaces of the rectangular bulge at the lower part of the connecting seat (2112) and two opposite sliding plate connecting dovetail grooves (2112-7) are provided with two feeding transverse plate connecting dovetail grooves (2112-6), one end of the feeding diaphragm connecting dovetail groove (2112-6) is opened towards the direction far away from the sliding plate connecting dovetail groove (2112-7), the end part of the other end is provided with a feeding diaphragm screw seat (2112-8), the feeding diaphragm screw seat (2112-8) is screwed with a feeding diaphragm adjusting screw (2140), the feeding diaphragm connecting dovetail groove (2112-6) is matched with a feeding diaphragm dovetail block (2139-1) arranged on the upper part of the feeding diaphragm (2139), the adjacent side of one side of the feeding diaphragm dovetail block (2139-1) far away from the sliding plate (2131) is provided with a mounting groove of the feeding diaphragm adjusting screw cover plate (2141), the inside of the mounting groove is provided with a step through hole, the feeding diaphragm adjusting screw (2140) is rotatably mounted, the large end of the feeding diaphragm adjusting screw (2140) is provided with a hexagonal hole, the large end of the feeding diaphragm adjusting screw is placed in a large hole of a step through hole of a mounting groove of the feeding diaphragm adjusting screw cover plate (2141), the feeding diaphragm adjusting screw (2140) is buckled through the feeding diaphragm adjusting screw cover plate (2141) to prevent axial movement, a feeding diaphragm adjusting screw cover plate screw (2142) is fixed to the feeding diaphragm adjusting screw cover plate (2141) through holes in four corners of the feeding diaphragm adjusting screw cover plate (2141), the feeding diaphragm adjusting screw (2140) is prevented from axially moving in a stringing mode, and a hole with the diameter smaller than 0.2-0.5 mm of the large end of the feeding diaphragm adjusting screw (2140) is formed in the middle of the feeding diaphragm adjusting screw cover plate (2141), and a hexagonal wrench can twist the feeding diaphragm adjusting screw (2140) through the hole.

3. The self-storing spindle manipulator for a quick-assembling anti-toppling numerical control machining center according to claim 1, wherein the number of the feeding cross plates (2139) is 2, the feeding cross plates (2139) are symmetrically arranged on two sides of the feeding plate (2135), the feeding cross plates (2139) are connected with the feeding plate flat shaft (2135-1) through feeding cross plate lockhole grooves (2139-2), the feeding cross plates (2139) are of rectangular plate-shaped structures, rectangular columnar structures are arranged on one sides of the rectangular columnar structures, feeding cross plate dovetail blocks (2139-1) are vertically arranged on one sides of the rectangular columnar structures, close to the feeding cross plate connecting dovetail grooves (2112-6), the rectangular plate-shaped structures of the feeding cross plates (2139) lean against the two sides of the feeding plate flat shaft (2135-1), the feeding cross plate lockhole grooves (2139-2) are formed by cylindrical hole connecting parallel grooves, and the feeding cross plate lockhole grooves (2139-2) can be conveniently and horizontally opened to the feeding plate flat shaft (2135-1) after the feeding cross plates (2135-2) are enabled to be parallel to slide to the feeding cross plates (2135-2).

4. The self-storing spindle manipulator for a fast-assembling anti-toppling numerical control machining center according to claim 1, wherein the feeding plate (2135) has a 90-degree bent structure, a round corner is formed at the bent part of the feeding plate (2135) to ensure that the feeding plate (2135) does not interfere with a workpiece when rotating around the feeding plate flat shaft (2135-1), the feeding plate vertical plate (2135-5) of the feeding plate (2135) is used for abutting against the workpiece, the feeding plate horizontal plate (2135-4) of the feeding plate (2135) is used for pushing the workpiece in a sliding manner, a feeding plate flat shaft (2135-1) is arranged on two sides of the end part of the feeding plate horizontal plate (2135-4) far away from the bending part of the feeding plate (2135), two parallel surfaces on the feeding plate flat shaft (2135-1) are parallel to the feeding plate (2135-5) of the feeding plate (2135), the thickness of the feeding plate vertical plate is the same as the groove width of a feeding plate lock hole groove (2135-2) parallel to the workpiece, the feeding plate horizontal plate can slide in the same diameter as the feeding plate flat shaft (2135-2) and can slide in the horizontal plate (2135-2) at the same diameter as the horizontal plate (2135-2) and the diameter is the same as the horizontal plate (2135-2) and the diameter is equal to the diameter of the horizontal plate (2135-2) and the horizontal plate (2132) is the horizontal plate 2).

5. The self-storing spindle manipulator for the quick-assembling anti-toppling numerical control machining center according to claim 1, wherein two sides of the end part of a feeding plate horizontal plate (2135-4) of the feeding plate (2135) are provided with feeding plate locking block seats (2135-2), a narrow groove parallel to the feeding plate horizontal plate (2135-4) is formed in the middle of the feeding plate locking block seats (2135-2), holes are formed in the direction perpendicular to the narrow groove, the feeding plate locking blocks (2136) are placed in the groove and are connected through pin shafts (2137), and the pin shafts (2137) are prevented from slipping through cotter pins (2138);

6. The self-storing spindle manipulator for a quick-assembling anti-toppling numerical control machining center according to claim 1, wherein the extending length of the dovetail blocks (2131-1) of the upper parts of the three sliding plates (2131) and the extending length of the dovetail blocks (2139-1) of the feeding plates (2135) and the lower surfaces of the two connected feeding cross plates (2139) are larger than the maximum thickness of the workpiece placed by the device, so that the workpiece can penetrate, and the three sliding plate horizontal plates (2131-2) are 3-10 mm higher than the feeding plate horizontal plates (2135-4) to enable the workpiece to play a guiding role when pushing along the feeding plate horizontal plates (2135-4).

7. The self-holding main shaft manipulator for a quick-loading anti-tilting numerical control machining center according to claim 1, wherein the clamping device frame (3102) is provided with three clamping device frame vertical rods (3102-2), one clamping device frame fastening seat (3102-1) is respectively arranged at the end part of each clamping device frame vertical rod (3102-2), the clamping device frame fastening seat (3102-1) is of a plate-shaped structure, four uniformly distributed screw holes are arranged on the plate-shaped structure of the clamping device frame fastening seat (3102-1), the clamping device frame is fastened with connecting holes (2112-4) on the connecting seat (2112) through the clamping device frame fastening screws (3101), the three clamping device frame vertical rods (3102-2) are respectively opposite to the positions of three sliding plates (2131), the lower part of the clamping device frame (3102) is provided with a clamping device frame (2-3), the middle part of the clamping device frame (3102-3) is provided with four screw holes uniformly distributed on the plate-shaped structure, the middle part of the clamping device frame (3102-1) is fixedly connected with the outer side of the rectangular frame (3102-2) to the outer side of the rectangular frame (3102-4), the four protruding frames (3102-2) are fixedly connected with the outer side of the rectangular frame (3102-2) through the connecting holes (3102-4), the other side of the clamping device frame dovetail groove (3102-4) is closed, the thickness is 3-8 mm, the clamping device frame dovetail groove (3102-5) is arranged at the outer side of the closed end of the clamping device frame dovetail groove (3102-4), threaded holes are arranged at four corners of the groove bottom of the clamping device frame dovetail groove (3102-5), stepped through holes are arranged in the middle of the clamping device frame dovetail groove, a clamping head adjusting screw (3209) penetrates through the through holes in the middle of the clamping device frame dovetail groove (3102-5) and is screwed with the threaded holes on the dovetail blocks at the tail of the clamping head fixing seat (3208), the head of the clamping head adjusting screw (3209) is placed in the stepped through holes in the middle of the clamping device frame dovetail groove (3102-5) and is limited to axially move in a series mode through the clamping head adjusting screw fastening cover plate (3211), the clamping head adjusting screw fastening cover plate (3211) is fastened in the clamping device frame dovetail groove (3102-4) through clamping head adjusting screw fastening screws (3210), the clamping head adjusting cover plate (3211) is provided with holes at the diameter of the tail of the clamping head adjusting screw (3208) which is smaller than that of the clamping head adjusting screw (3200), the four dovetail blocks at the tail part of the clamping head fixing seat (3208) are matched with four clamping device frame dovetail grooves (3102-4) which are arranged on the clamping head mounting part (3201-6) in a sliding manner.

8. The self-storing spindle manipulator for a quick-assembly anti-toppling numerical control machining center according to claim 1, wherein the electromagnetic plate (3207) is fastened in a threaded hole diagonally arranged on the clamping head fixing seat (3208) through an electromagnetic plate fastening screw (3206), four clamping head guide posts (3201-2) are arranged at the back of the clamping head (3201), the telescopic spring (3205), the electromagnetic plate (3207), the clamping head fixing seat (3208) and a spring clamping ring (3204) are sleeved on the clamping head guide posts (3201-2) in sequence, the front surface of the clamping head (3201) is provided with an I-shaped groove with an opening at one end and a closed section at one end at a distance of 3-10 mm, a plurality of round holes with a longitudinal spacing of 3-6 mm are arranged at the bottom of the I-shaped groove, a compression spring (3202) is arranged in the round holes, a compression plate (3203) is arranged in the I-shaped groove, the section of the compression plate (3203) is I-shaped and can be placed in the compression plate mounting groove (3201-3) in a sliding mode, the thickness of a compression plate mounting groove partition plate (3201-5) in the middle of the I-shaped compression plate mounting groove (3201-3) is smaller than the width of a compression plate guide groove (3203-1), the movement amount of the compression plate (3203) between 0.3 and 2 mm is guaranteed, the compression plate (3203) protrudes out of the compression plate (3203) under the action of the compression spring (3202), the spacing between every two adjacent compression plates (3203) is between 0.3 and 0.8 mm.

9. The self-storing spindle manipulator for a quick-assembling anti-toppling numerical control machining center according to claim 1, wherein the force of the spring of the compression spring (3202) is such that the workpiece can be compressed by the compression plate (3203) instead of being contacted by the clamping head (3201), the expansion and contraction amount of the compression spring (3202) can ensure the requirement of the stroke of the compression plate (3203), the clamping head compression part (3201-1) is provided with a groove at the opening of the compression plate mounting groove (3201-3), and the clamping head baffle (3212) is fastened in the groove by the clamping head baffle fastening screw (3213) so as to prevent the compression spring (3202) and the compression plate (3203) from sliding out but not to prevent the compression plate (3203) from sliding under the action of the compression spring (3202) and the workpiece.

10. The self-storing spindle manipulator for a quick-assembling anti-toppling numerical control machining center according to claim 1, wherein the number of the clamping head assemblies (3200) is four, one clamping head assembly is arranged on each clamping head installation part (3102-6), and four sides of a workpiece can be simultaneously pressed.