CN205673937U - Lathe loading and unloading manipulator and the online loading and unloading system of multiple stage lathe - Google Patents

Lathe loading and unloading manipulator and the online loading and unloading system of multiple stage lathe Download PDF

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Publication number
CN205673937U
CN205673937U CN201620582250.5U CN201620582250U CN205673937U CN 205673937 U CN205673937 U CN 205673937U CN 201620582250 U CN201620582250 U CN 201620582250U CN 205673937 U CN205673937 U CN 205673937U
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slide rail
loading
unloading
control
manipulator
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CN201620582250.5U
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张政权
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Suzhou Red Songjiang Precision Machinery Co Ltd
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Suzhou Red Songjiang Precision Machinery Co Ltd
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Abstract

The utility model discloses one and can reduce labor intensity of operating staff, improve loading and unloading positioning precision simultaneously, make constant product quality, and lathe loading and unloading manipulator and the online loading and unloading system of multiple stage lathe of potential safety hazard can be reduced.Described manipulator includes installing cabinet, X-direction slide rail, Y-direction skeleton, balladeur train, Z-direction slide rail and control system.By using manipulator described in the utility model to realize automatically, adding of part is expected and blanking, so, without manually carrying out operation of feeding and discharging, simultaneously by being set up in parallel multiple stage lathe, can be realized carrying out operation of feeding and discharging for multiple stage lathe by a manipulator simultaneously, can greatly reduce hand labor intensity, improve operating efficiency;In addition, after the utility model uses manipulator to carry out loading and unloading, it can improve the positional precision of loading and unloading, and then improves Product processing quality, and can reduce potential safety hazard.

Description

Lathe loading and unloading manipulator and the online loading and unloading system of multiple stage lathe
Technical field
The utility model relates to automation equipment field, particularly relates to the lathe loading and unloading manipulator of a kind of CNC machine And the online loading and unloading system of multiple stage lathe.
Background technology
Current CNC machine, when processing part product, needs feeding and the blanking of the long-time not timing of operating personnel, and One operating personnel typically can only operate 1-2 platform CNC machine, and not only human cost is higher, and adds the labor of operating personnel Fatigue resistance, and there is bigger potential safety hazard.In addition, from Product processing quality, due to artificial loading and unloading, thus it is upper and lower The precision controlling of material is poor, causes unstable product quality, thus affects product quality.
Utility model content
The utility model solves the technical problem that and is: existing CNC machine uses artificial loading and unloading, thus it is strong to there is work Degree is big, and efficiency is low, and human cost is high, loading and unloading low precision thus affect the problems such as Product processing quality;The utility model provides One can reduce labor intensity of operating staff, improves loading and unloading positioning precision simultaneously, makes constant product quality, and can reduce safety The lathe loading and unloading manipulator of hidden danger and the online loading and unloading system of multiple stage lathe using this manipulator to form are square with corresponding Method.
The utility model solves its technical problem the technical scheme is that lathe loading and unloading manipulator, including install Cabinet, is cashier's office in a shop provided with the X-direction slide rail of level installing, be provided with on X-direction slide rail level and can be by driving machine The Y-direction skeleton that after structure driving, slide rail slides along the X direction, described Y-direction skeleton is vertical with X-direction slide rail, and Y-direction bone Frame is positioned at the side of X-direction slide rail;It is provided with balladeur train on skeleton in the Y direction, balladeur train is provided with vertically arranged Z-direction sliding Rail, described Z-direction slide rail is mobile in vertically raised fall after can being driven by drive mechanism, is provided with in one end of Z-direction slide rail Rotating mechanism, is provided with on rotating mechanism and send blank mechanism and take finished parts mechanism, and changeable by rotating mechanism Send blank mechanism and take the position of finished parts mechanism;Also include control system, described control system respectively with drive Y-direction bone Frame slide drive mechanism, drive Z-direction slide rail slide drive mechanism, rotating mechanism, take finished parts mechanism and send blank Mechanism connects.
Further: described Y-direction skeleton is Y-direction slide rail, along Y after described balladeur train can be driven by drive mechanism Direction slide rail is slidably arranged on Y-direction slide rail;The drive mechanism that described drive carriage is slided is connected with control system.
Further: described set-up of control system is in installing cabinet, and described control system includes being arranged on outside installation cabinet The controller in portion.
Further: described controller is touch-screen display.
The utility model also provides a kind of online loading and unloading system of multiple stage lathe, and it includes above-mentioned lathe loading and unloading machinery Hand, also includes multiple stage CNC machine, and described multiple stage CNC machine slide rail in X direction interval is arranged, and every CNC machine with control is all System connect, described send blank mechanism and take finished parts mechanism can be corresponding with the chuck in every CNC machine respectively.
Further, described in this online loading and unloading system of multiple stage lathe, the quantity of CNC machine is more than 2.
In addition, also provide a kind of multiple stage lathe online loading and unloading method, it includes the above-mentioned online loading and unloading of multiple stage lathe System, and comprise the steps:
After wherein a CNC machine completes converted products, control system receives this CNC machine processing part and completes letter Control manipulator after number and holding state entered duty, and control manipulator successively and carry out following steps:
A, control manipulator move, and make the blank mechanism that send on manipulator move to taking blank position;Then control again Zhi Song blank mechanism captures blank to be processed;
B, control Z-direction slide rail rise to upper limit position;
C, control Y-direction skeleton slide rail along the X direction move to corresponding with the above-mentioned CNC machine having completed Product processing First specific bit postpones stopping;
D, control Z-direction slide rail decline, and until take in finished parts mechanism and the above-mentioned CNC machine having completed Product processing Chuck stop when being positioned on same axis;
E, control Y-direction skeleton slide rail along the X direction move as the above-mentioned CNC machine having completed Product processing corresponding Second specific bit postpones stopping;This second appointment position than above-mentioned first specify be located closer to described in completed Product processing CNC machine;
The finished parts mechanism that takes on F, control manipulator will complete processing in the above-mentioned CNC machine having completed Product processing After finished product take off;
G, control Y-direction skeleton slide rail along the X direction move to above-mentioned first specific bit and postpone stopping;
H, by rotating mechanism Shi Qu finished parts mechanism with send blank mechanism position to switch;
I, control Y-direction skeleton slide rail along the X direction move near the above-mentioned CNC machine having completed Product processing the Two specific bit postpone stopping;
The blank to be processed that J, control send blank mechanism to be captured is sent in above-mentioned chuck, and controls chuck general Blank clamps;
K, control manipulator move, and make the finished parts mechanism that takes on manipulator move to recovery finished parts position;Then again Control takes finished parts mechanism and unclamps the clamping to finished product, makes finished product reclaim;
L, afterwards control manipulator reset, and have duty to enter holding state.
Further: in step D, when Y-direction skeleton is Y-direction slide rail, slided along the Y direction by controlling balladeur train The chuck that rail moves in Shi Qu finished parts mechanism and the above-mentioned CNC machine having completed Product processing is positioned on same axis.
Further: in steph, by control Z-direction slide rail lifting moving so that send blank mechanism with above-mentioned Complete the chuck in the CNC machine of Product processing to be positioned on same axis.
Further: in step L, control manipulator to reset, including by rotating mechanism Shi Qu finished parts mechanism and Blank mechanism position is sent to switch.
The beneficial effects of the utility model are: expected adding of part and blanking by using manipulator to realize automatically, So, it is not necessary to manually carry out operation of feeding and discharging, simultaneously by being set up in parallel multiple stage lathe, can be realized simultaneously by a manipulator Carry out operation of feeding and discharging for multiple stage lathe, can greatly reduce hand labor intensity, improve operating efficiency;In addition, this practicality is new After type uses manipulator to carry out loading and unloading, it can improve the positional precision of loading and unloading, and then improves Product processing quality, and can drop Lower security hidden danger.In addition, loading and unloading system described in the utility model and method, its manipulator passes through in an operating process Control Z-direction slide rail rotates, by taking after finished parts mechanism takes off the finished product machining, and and then can be by sending blank Part mechanism starts new processing in new blank to be processed is sent into lathe, therefore further increases working (machining) efficiency, simplifies Control process.
Brief description
Fig. 1 is front view of the present utility model;
Fig. 2 is top view of the present utility model;
Fig. 3 is side view of the present utility model;
Figure is labeled as: cabinet the 1st, X-direction slide rail the 2nd, Y-direction slide rail the 3rd, balladeur train the 4th, Z-direction slide rail the 5th, controller 6 are installed.
Detailed description of the invention
With detailed description of the invention, the utility model is further illustrated below in conjunction with the accompanying drawings.
As shown in Figure 1 to Figure 3, lathe loading and unloading manipulator described in the utility model, including install cabinet 1, is installing It is provided with the X-direction slide rail 2 of level on cabinet 1, X-direction slide rail 2 is provided with level and can be driven by drive mechanism After along the X direction slide rail 2 slide Y-direction skeleton, described Y-direction skeleton is vertical with X-direction slide rail 2, and Y-direction skeleton position Side in X-direction slide rail 2;It is provided with balladeur train 4 in the Y direction on skeleton, balladeur train 4 is provided with vertically arranged Z-direction sliding Rail 5, described Z-direction slide rail 5 is mobile in vertically raised fall after can being driven by drive mechanism, arranges in one end of Z-direction slide rail 5 There is rotating mechanism, rotating mechanism is provided with and send blank mechanism and take finished parts mechanism, and can be cut by rotating mechanism Huan Song blank mechanism and the position taking finished parts mechanism;Also include control system, described control system respectively with drive Y-direction Skeleton slide drive mechanism, drive Z-direction slide rail 5 slide drive mechanism, rotating mechanism, take finished parts mechanism and send blank Part mechanism connects.
Wherein, take finished parts mechanism and be configured to take off from CNC machine the mechanism of manufactured finished product;And send hair Blank mechanism be then configured to blank to be processed can be fed through above-mentioned take off finished product after CNC machine on be processed. As for the concrete structure taking finished parts mechanism and send blank mechanism, the setting of routine can be used, and can be by with control being System connects, and is controlled it by control system and carries out corresponding actions.
In addition, above-mentioned control system is by drive mechanism, the driving Z-direction slide rail 5 with driving Y-direction balladeur train slip respectively The rotating mechanism that rotates, take finished parts mechanism and send blank mechanism to connect, with the action control to above-mentioned each mechanism for the realization;Example As sent control signal by control system, driving Z-direction slide rail 5 to rotate to control rotating mechanism.In addition, more specifically, this Can be by described set-up of control system in cabinet 1 be installed in utility model, now, installation cabinet 1 should have can accommodate control system The space installed, certainly, control system itself can use PLC control system or PC system etc..
In addition, for the ease of the duty of real-time monitored control system and control control system itself, this practicality is newly Type has controller at described set-up of control system further, be can control the duty of system by controller 6 one aspect, additionally Also by controller, control system can be operated accordingly.General, above-mentioned by set-up of control system in cabinet 1 is installed When, controller 6 can be arranged on installation cabinet 1 outside, specifically as shown in Figure 1.In addition, controller 6 preferably shows for touch-screen Device.
In addition, above-mentioned Y-direction balladeur train may be configured as Y-direction slide rail 3, described balladeur train 4 can be driven by drive mechanism simultaneously After Dong, slide rail 3 is slidably arranged on Y-direction slide rail 3 along the Y direction;The drive mechanism that described drive carriage 4 is slided and control system System connects.So, can realize sliding on balladeur train 4 slide rail 3 in the Y direction.Certainly, by by corresponding drive mechanism and control system Connect, to be realized automatically controlling by control system.
The online loading and unloading system of multiple stage lathe described in the utility model, it includes above-mentioned lathe described in the utility model Loading and unloading manipulator, also includes multiple stage CNC machine, by multiple stage CNC machine slide rail 2 in X direction is spaced setting, and simultaneously will be every Platform CNC machine is all connected with control system, has been achieved in that the signal communication of every CNC machine and control system;Certainly, in order to Realize carrying out operation of feeding and discharging to above-mentioned every CNC machine by manipulator, therefore it is required that manipulator send blank mechanism Can be corresponding with the chuck in every CNC machine respectively with taking finished parts mechanism, both by manipulator send blank mechanism Respectively operation of feeding and discharging can be carried out to the chuck in every CNC machine with taking finished parts mechanism.
General, according to actual conditions, a manipulator can process the operation of feeding and discharging of multiple stage CNC machine simultaneously, accordingly By multiple stage CNC machine interval the direction being installed to slide rail 2 in X direction on, and be positioned at manipulator operable scope be Can.General, the quantity that can arrange CNC machine is more than 2, for example preferably arranges 4-8 platform CNC machine.
The method that the online loading and unloading system of above-mentioned multiple stage lathe specifically carries out loading and unloading is as follows: owing to manipulator is to every The course of action that CNC machine carries out loading and unloading is the same, therefore, describes manipulator below and carries out loading and unloading behaviour to a CNC machine The process made:
After wherein a CNC machine completes converted products, control system receives this CNC machine processing part and completes letter Control manipulator after number and holding state entered duty, and control manipulator successively and carry out following steps:
A, control manipulator move, and make the blank mechanism that send on manipulator move to taking blank position;Then control again Zhi Song blank mechanism captures blank to be processed;
B, control Z-direction slide rail 5 rise to upper limit position;
C, control Y-direction skeleton slide rail 2 along the X direction move to corresponding with the above-mentioned CNC machine having completed Product processing The first specific bit postpone stopping;
D, control Z-direction slide rail 5 decline, and until take finished parts mechanism and the above-mentioned CNC machine having completed Product processing On chuck stop when being positioned on same axis;
E, control Y-direction skeleton slide rail 2 along the X direction move as the above-mentioned CNC machine correspondence having completed Product processing The second specific bit postpone stopping;This second appointment position than above-mentioned first specify be located closer to described in completed Product processing CNC machine;
The finished parts mechanism that takes on F, control manipulator will complete processing in the above-mentioned CNC machine having completed Product processing After finished product take off;
G, control Y-direction skeleton slide rail 2 along the X direction move to above-mentioned first specific bit and postpone stopping;
H, by rotating mechanism Shi Qu finished parts mechanism with send blank mechanism position to switch;
I, control Y-direction skeleton slide rail 2 along the X direction move near the above-mentioned CNC machine having completed Product processing Second specific bit postpones stopping;
The blank to be processed that J, control send blank mechanism to be captured is sent in above-mentioned chuck, and controls chuck general Blank clamps;
K, control manipulator move, and make the finished parts mechanism that takes on manipulator move to recovery finished parts position;Then again Control takes finished parts mechanism and unclamps the clamping to finished product, makes finished product reclaim;
L, afterwards control manipulator reset, and have duty to enter holding state.
Natural, after the loading and unloading of a Robot actions complete CNC machine, it reenters holding state, treats next CNC machine sends after part machines signal to control system, and manipulator is during entering next operation of feeding and discharging.This Sample, the online loading and unloading method of multiple stage lathe described in the utility model is actual can be realized automatically to the multiple stage CNC machine in system The operation of loading and unloading.
General, be provided with near slide rail in X direction can grip blank take blank position, think and send on manipulator Blank mechanism is mobile in step can grip blank to this position.In like manner, being provided with near slide rail in X direction can Reclaim the recovery finished parts position of finished product, make the finished parts mechanism that takes on manipulator move in step K to behind this position, can be by The finished parts taking off from CNC machine puts down, to realize the reclaimer operation of finished product.
Above-mentioned first appointment position and the second appointment position, actual for setting according to CNC machine actual installation space Two positions, wherein, the first appointment position, it is mainly used for the position adjustment taking finished parts mechanism and send blank mechanism Journey, space of this position tool there are certain requirements by it, has both needed to meet and facilitates adjustment take finished parts mechanism and send blank mechanism Position;And the second appointment position, then it is mainly used for being installed to blank in the chuck of CNC machine just to process Part is taken off from the chuck of CNC machine.Therefore, above-mentioned two position, it needs to set according to actual conditions.
More specifically, in step D, there may come a time when only to be declined by controlling Z-direction slide rail 5, it is impossible to realize taking finished product Part mechanism is positioned on same axis, now, when Y-direction skeleton is Y with the chuck in the above-mentioned CNC machine having completed Product processing During the slide rail 3 of direction, balladeur train 4 slide rail 3 along the Y direction can be controlled simultaneously and move cooperative achievement.
In addition, in steph, by rotating mechanism so that taking finished parts mechanism and sending blank mechanism position to switch;This Sample can take finished parts mechanism by switching and send the position of blank mechanism by taking after finished product mechanism takes finished product away, making to send Blank mechanism is corresponding with taking the chuck after finished product away, to send into blank in chuck;Certainly, typically require that switching takes finished parts machine Structure and after sending blank mechanism position, send blank mechanism and chuck to be positioned on same axis.Concrete knot as rotating mechanism Structure, and rotation mode and angle, can be according to actual conditions depending on, as long as meet rotate after the changeable finished parts mechanism and giving of taking The position of blank mechanism.For example according to the difference taking finished parts mechanism with the relative position sending blank mechanism, can lead to Cross and rotate 180 ° or above-mentioned to taking finished parts mechanism and send the position of blank mechanism to cut by realizing after upset modes such as 90 ° Change.
In view of there may come a time when only also cannot be realized above-mentioned requirements by rotating mechanism, control Z therefore can be coordinated further The modes such as direction slide rail 5 lifting moving, so that sending blank mechanism and the chuck in the above-mentioned CNC machine having completed Product processing It is positioned on same axis.
It in addition, above-mentioned steps L, is to realize the operation of the reset to manipulator, so that manipulator is operation of feeding and discharging next time Prepare.General, control in manipulator reseting procedure in step L, including by rotating mechanism Shi Qu finished parts mechanism and Blank mechanism position is sent to switch.To reach the effect resetting.

Claims (6)

1. lathe loading and unloading manipulator, it is characterised in that: include cabinet (1) is installed, the X side that cabinet (1) is provided with level is being installed To slide rail (2), X-direction slide rail (2) is provided with level and slide rail along the X direction after can being driven by drive mechanism (2) the Y-direction skeleton sliding, described Y-direction skeleton is vertical with X-direction slide rail (2), and Y-direction skeleton is positioned at X-direction slide rail (2) side;It is provided with balladeur train (4) in the Y direction on skeleton, balladeur train (4) is provided with vertically arranged Z-direction slide rail (5), Described Z-direction slide rail (5) is mobile in vertically raised fall after can being driven by drive mechanism, arranges in one end of Z-direction slide rail (5) There is rotating mechanism, rotating mechanism is provided with and send blank mechanism and take finished parts mechanism, and can be cut by rotating mechanism Huan Song blank mechanism and the position taking finished parts mechanism;Also include control system, described control system respectively with drive Y-direction Skeleton slide drive mechanism, drive Z-direction slide rail (5) slide drive mechanism, rotating mechanism, take finished parts mechanism and send hair Blank mechanism connects.
2. lathe loading and unloading manipulator as claimed in claim 1, it is characterised in that: described Y-direction skeleton is Y-direction slide rail (3) after, described balladeur train (4) can be driven by drive mechanism, slide rail (3) is slidably arranged on Y-direction slide rail (3) along the Y direction; The drive mechanism that described drive carriage (4) is slided is connected with control system.
3. lathe loading and unloading manipulator as claimed in claim 1, it is characterised in that: described set-up of control system is installing cabinet (1), in, described control system includes being arranged on installs the outside controller (6) of cabinet (1).
4. lathe loading and unloading manipulator as claimed in claim 3, it is characterised in that: described controller (6) is that touch-screen shows Device.
5. the online loading and unloading system of multiple stage lathe, it is characterised in that: include the machine according to any one of the claims 1 to 4 Bed loading and unloading manipulator, also includes multiple stage CNC machine, and described multiple stage CNC machine slide rail in X direction (2) interval is arranged, every CNC machine is all connected with control system, described send blank mechanism and take finished parts mechanism can respectively with in every CNC machine Chuck is corresponding.
6. the online loading and unloading system of multiple stage lathe as claimed in claim 5, it is characterised in that: the quantity of described CNC machine is 2 More than platform.
CN201620582250.5U 2016-06-16 2016-06-16 Lathe loading and unloading manipulator and the online loading and unloading system of multiple stage lathe Active CN205673937U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105945635A (en) * 2016-06-16 2016-09-21 苏州红松江精密机械设备有限公司 Machine tool loading unloading mechanical hand, multi-machine tool linked loading unloading system and method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105945635A (en) * 2016-06-16 2016-09-21 苏州红松江精密机械设备有限公司 Machine tool loading unloading mechanical hand, multi-machine tool linked loading unloading system and method

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