CN209903214U - Horizontal joint mechanical arm for feeding and discharging materials in numerical control machining center and lathe - Google Patents

Abstract

This utility model relates to the field of mechanical technology, specifically a horizontal articulated robotic arm for loading and unloading CNC machining centers and lathes. It includes a main body composed of a base arm, a middle arm, an outer arm, and pneumatic fingers. The main body is installed at the outer edge of the machine tool door. This horizontal articulated robotic arm for loading and unloading CNC machining centers and lathes uses a Z-axis motor, a first motor, a second motor, a third motor, and a piston rod to drive a pair of gripping fingers to perform gripping actions. This allows the pneumatic fingers to move freely along the x, y, and z axes in space and to grip and place workpieces, thus achieving the purpose of workpiece gripping and placement. This horizontal articulated robotic arm for loading and unloading CNC machining centers and lathes is relatively small, maximizing space saving compared to traditional robotic arms and facilitating the debugging work of machine tool operators.

Description

Horizontally articulated robotic arms for loading and unloading on CNC machining centers and lathes

technical field

The utility model relates to the technical field of machinery, in particular to a numerical control machining center and a horizontal joint mechanical arm for unloading materials on a lathe.

Background technique

The robotic arm is a complex system with multiple inputs and multiple outputs, highly nonlinear and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof and other fields. In the mass production and processing of CNC machining centers and lathes, robotic arms with high stability, high safety and low error rate gradually replace traditional ones. people work. Since the traditional robotic arm needs to occupy a large area at the door of the machine tool when it is applied to the CNC machining center and lathe, it brings inconvenience to the debugging work of the machine tool debugging personnel. In view of this, we propose a horizontal joint robotic arm for unloading and unloading on the CNC machining center and the lathe. .

Utility model content

The purpose of the utility model is to provide a horizontal joint mechanical arm for loading and unloading on a numerical control machining center and a lathe, so as to solve the problem that the traditional mechanical arm proposed in the above-mentioned background technology needs to occupy a large area at the door of the machine tool when applied to the numerical control machining center and the lathe. The debugging work of the machine tool debugging personnel brings inconvenience.

To achieve the above object, the utility model provides the following technical solutions:

The horizontal joint mechanical arm for unloading and unloading of CNC machining centers and lathes includes a main body of the mechanical arm. The main body of the mechanical arm is composed of a bottom arm, a middle arm, an outer arm and a pneumatic finger. The inside of the bottom arm is sequentially provided with A z-axis motor, a ball screw coaxially connected to the z-axis motor, a moving block mounted on the ball screw and threadedly connected to the ball screw, and a bottom end position inside the bottom arm The first motor, a first reducer is installed at the bottom end position outside the bottom arm, a pair of line rails are installed on the side end of the bottom arm, and one end of the middle arm is installed with a fixing plate, the fixing plate A number of line rail sliders slidingly connected to the line rail are installed on the side end of the middle arm, a second motor and a third motor are installed side by side at the top of the middle arm, and a receiving device is installed at the bottom position of the other end of the middle arm. The second reducer driven by the second motor, one end of the outer arm is installed at the output end of the second reducer, and the other end of the outer arm is installed at the bottom position of the second reducer driven by the third motor. a third reducer, the pneumatic finger is installed at the output end of the third reducer;

The main body of the mechanical arm is installed at the outer edge of the door of the machine tool, a placement plate for placing workpieces is installed on the outer side of the machine tool, a vertical plate is installed at the outer edge of the door of the machine tool, and the top and bottom ends of the vertical plate are installed. A top boss and a bottom boss are respectively provided, and the bottom arm is installed between the top boss and the bottom boss.

Preferably, a rotating support seat is installed on the top end of the bottom arm through bolts, a rotating shaft is tightly welded on the top boss seat, the rotating shaft extends into the rotating support seat, and the output end of the first reducer is connected to the rotating support seat through bolts. The bottom boss is fixedly connected.

Preferably, the end of the output shaft of the z-axis motor is connected with the top end of the ball screw through a coupling, the top and bottom ends of the ball screw are provided with screw bases, and the ball screw is connected to the The screw base is rotatably connected.

Preferably, a screw nut is fixed at the middle position of the moving block by bolts, the middle position of the screw nut is in the shape of a threaded hole, and the threaded hole matches the shape of the thread on the ball screw, the The side end of the moving block is fixed with a fixing rod by bolts, and the end of the fixing rod is inserted into the fixing plate.

Preferably, both the end of the output shaft of the second motor and the input end of the second reducer are equipped with a first synchronous pulley, and the two first synchronous pulleys are connected by a synchronous belt.

Preferably, a synchronous rotating shaft with a hollow structure is sleeved in the middle of the second reducer, a signal line protection tube is sleeved inside the synchronous rotating shaft, the end of the output shaft of the third motor, and the top of the synchronous rotating shaft are sleeved. Both the bottom ends and the input end of the third reducer are equipped with second synchronous pulleys, and the two pairs of the second synchronous pulleys located in the middle arm and the outer arm are respectively connected to each other through a synchronous belt. connect.

Preferably, the pneumatic fingers include a top seat fixed on the output end of the third reducer by bolts, a piston rod extending into the top seat, and a pair of clamping fingers slidably connected with the top seat.

Preferably, the top of the top seat is provided with a cavity, the side end surface of the top seat is provided with a bottom air hole communicating with the bottom of the cavity, and a sealing ring is overlapped at the edge of the mouth of the cavity. A notch is bent at a corner of the sealing ring, a top cover is installed on the top of the cavity through bolts, and a top air hole communicated with the notch is opened at the top edge of the top cover.

Preferably, the top end of the piston rod is installed with a piston matching the size of the cavity through bolts, and the bottom end of the piston rod is installed with a guide block through bolts.

Preferably, the top end of the clip finger is provided with a guide seat, the bottom of the top seat is provided with a guide groove for installing the guide seat, the inner wall of the guide groove is in a tooth-like structure, and the outer wall of the guide seat is in the shape of a tooth. The guide grooves are engaged with each other, and the corner of the top of the guide seat is provided with an oblique groove matching the outer dimension of the guide block, and the clip finger is slidably connected to the guide block through the oblique groove.

Compared with the prior art, the beneficial effects of the present utility model are:

1. The CNC machining center and the horizontal joint mechanical arm for loading and unloading on the lathe are driven by the first motor to drive the bottom arm to rotate outside the machine tool, the z-axis motor drives the middle arm to move in the vertical direction, and the second motor drives the outer arm to rotate , The third motor drives the pneumatic fingers to rotate and the piston movement of the piston rod drives a pair of clamping fingers to do the clamping action, so that the pneumatic fingers can freely move the x, y and z axes in the space, so as to achieve the purpose of clamping and placing the workpiece ;

2. The CNC machining center and the horizontal joint robotic arm for loading and unloading on the lathe are smaller in size, which maximizes space saving compared with the traditional robotic arm, which solves the problem that the traditional robotic arm needs to occupy a large area at the door of the machine tool when it is applied to the CNC machining center and lathe. This will bring inconvenience to the debugging work of the machine tool debugging personnel.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present utility model;

Fig. 2 is the installation schematic diagram of the main body of the manipulator in the utility model;

Fig. 3 is the bottom arm structure schematic diagram of the present utility model;

Fig. 4 is the middle arm installation schematic diagram of the present invention;

Fig. 5 is the transmission schematic diagram of the second motor and the second reducer in the utility model;

Fig. 6 is the transmission schematic diagram of the third motor and the third reducer in the utility model;

7 is a schematic structural diagram of a pneumatic finger of the present invention;

Fig. 8 is the structural representation of the top seat in the utility model;

FIG. 9 is a schematic view of the top structure of the top seat in the present invention.

In the figure: 1. Robot arm body; 11. Bottom arm; 111. Rotation support base; 112, Z-axis motor; 1121, Coupling; 113, Ball screw; 1131, Screw base; 114, Movement block; , screw nut; 1142, fixed rod; 115, first motor; 116, first reducer; 17, line rail; 12, middle arm; 121, fixing plate; 1211, line rail slider; 122, second motor ; 123, the third motor; 124, the second reducer; 125, the first synchronous pulley; 126, the synchronous shaft; 1261, the signal line protection tube; 127, the second synchronous pulley; 13, the outer arm; 131, the first Three reducers; 14, pneumatic finger; 141, top seat; 1411, cavity; 1412, bottom air hole; 1413, sealing ring; 1414, notch; 1415, top cover; 1416, top air hole; 1417, guide groove; 142 , piston rod; 1421, piston; 1422, guide block; 143, clip finger; 1431, guide seat; 1432, chute; 2, machine tool; 21, placing plate; 22, vertical plate; 221, top boss; 222, Bottom boss; 3. Workpiece.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise" etc. Or the positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed in a specific orientation and operation, so it cannot be construed as a limitation to the present invention.

Furthermore, the terms "first", "second" and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first", "second", "third" may expressly or implicitly include one or more of that feature. In the description of the present invention, "a number of" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

Please refer to Fig. 1-9, the utility model provides a technical solution:

The horizontal joint manipulator arm of CNC machining center and lathe, including manipulator main body 1, the manipulator main body 1 consists of a bottom arm 11, a middle arm 12, an outer arm 13 and a pneumatic finger 14, and the interior of the bottom arm 11 is from top to bottom. A z-axis motor 112 , a ball screw 113 coaxially connected to the z-axis motor 112 , a moving block 114 mounted on the ball screw 113 and threadedly connected to the ball screw 113 , and a bottom end of the bottom arm 11 are arranged in sequence. The first motor 115 at the position, the first reducer 116 is installed at the bottom end position outside the bottom arm 11, the side end of the bottom arm 11 is installed with a pair of line rails 17, and one end of the middle arm 12 is installed with a fixing plate 121, which is fixed A number of line rail sliders 1211 slidably connected to the line rail 17 are installed on the side end of the plate 121 , the top of the middle arm 12 is installed with a second motor 122 and a third motor 123 side by side through bolts, and the bottom position of the other end of the middle arm 12 A second reducer 124 driven by the second motor 122 is installed at the position, one end of the outer arm 13 is mounted on the output end of the second reducer 124 through bolts, and a third motor 123 is installed at the bottom of the other end of the outer arm 13 The driven third speed reducer 131, the pneumatic finger 14 is installed on the output end of the third speed reducer 131;

The main body 1 of the robot arm is installed at the outer edge of the door of the machine tool 2, the outer side of the machine tool 2 is installed with a placing plate 21 for placing the workpiece 3 through bolts, and the outer edge of the door of the machine tool 2 is installed with a vertical plate 22 through bolts. Both ends of the top and bottom are respectively provided with a top boss 221 and a bottom boss 222. The vertical plate 22, the top boss 221 and the bottom boss 222 are integrally formed. The bottom arm 11 is installed between the top boss 221 and the bottom boss 222. between.

In this embodiment, the top end of the bottom arm 11 is mounted with the rotating support seat 111 by bolts, the top boss 221 is tightly welded with a rotating shaft, the rotating shaft extends into the rotating support seat 111, and the first motor 115 is fixedly connected to the bottom arm 11 by bolts , the end of the output shaft of the first motor 115 is fixedly connected to the input end of the first reducer 116 through bolts, and the output end of the first reducer 116 is fixedly connected to the bottom boss 222 through bolts, so that the first motor 115 is connected to the external power supply. When turned on, the first motor 115 starts to work and drives the input end of the first reducer 116 to rotate. Since the output end of the first reducer 116 is fixed on the base boss 222, with the Under the deceleration of the first speed reducer 116 , the first speed reducer 116 drives the bottom arm 11 to rotate as a whole between the bottom boss 222 and the top boss 221 .

Specifically, the end of the output shaft of the z-axis motor 112 is connected with the top end of the ball screw 113 through a coupling 1121 , and the top and bottom ends of the ball screw 113 are provided with a screw base 1131 . The ball screw 113 and the screw The base 1131 is rotatably connected, the z-axis motor 112 is installed on the top of the box by bolts, the box is installed in the bottom arm 11 by bolts, the screw base 1131 at the top is fixed at the bottom of the box by bolts, the wire at the bottom The rod base 1131 is fixed on the fixed seat by bolts, the fixed seat is fixed in the bottom arm 11 at the bottom end of the ball screw 113 by bolts, and the coupling 1121 is located in the box. When the z-axis motor 112 is connected to the external power supply When turned on, the z-axis motor 112 drives the ball screw 113 to rotate through the coupling 1121 .

Further, a screw nut 1141 is fixed at the middle position of the moving block 114 by bolts, and the middle position of the screw nut 1141 is in the shape of a threaded hole, and the threaded hole matches the shape of the thread on the ball screw 113, so that the ball screw The rotation of 113 can be converted into the vertical movement of the moving block 114 along the ball screw 113 under the action of the thread. In the fixing plate 121 , the moving block 114 can toggle the middle arm 12 while moving.

Further, the end of the output shaft of the second motor 122 and the input end of the second reducer 124 are equipped with a first synchronous pulley 125, and the two first synchronous pulleys 125 are connected by a synchronous belt. When the 122 is connected to the external power supply, the second motor 122 starts to work and drives the first synchronous pulley 125 to rotate, and drives the input end of the second reducer 124 to rotate through another first synchronous pulley 125 under the transmission of the synchronous belt. , under the deceleration of the second reducer 124, the output end of the second reducer 124 drives the outer arm 13 to rotate.

It should be added that the middle of the second reducer 124 is sleeved with a synchronous rotating shaft 126 with a hollow structure, the inside of the synchronous rotating shaft 126 is sleeved with a signal line protection tube 1261 for protecting the signal line, and the end of the output shaft of the third motor 123 , Both the top and bottom ends of the synchronizing shaft 126 and the input end of the third reducer 131 are equipped with second synchronous pulleys 127 , and the two pairs of second synchronous pulleys 127 located in the middle arm 12 and the outer arm 13 pass through respectively. When the synchronous belt is connected, and the third motor 123 is connected to the external power supply, the third motor 123 starts to work and drives the synchronous shaft 126 to rotate through the synchronous belt in the middle arm 12 under the action of the second synchronous pulley 127, and at the same time As the synchronous shaft 126 rotates, the synchronous shaft 126 drives the input end of the third reducer 131 to rotate through the second synchronous pulley 127 under the action of the synchronous belt.

In addition, the pneumatic finger 14 includes a top seat 141 fixed on the output end of the third reducer 131 by bolts, a piston rod 142 extending into the top seat 141, and a pair of clamping fingers 143 slidably connected with the top seat 141. The top end of the top seat 141 A cavity 1411 is opened, and a bottom air hole 1412 communicated with the bottom of the cavity 1411 is opened on the side end face of the top seat 141, so that the gas can enter the cavity 1411 through the bottom air hole 1412, and the edge of the mouth of the cavity 1411 overlaps There is a sealing ring 1413, a notch 1414 is bent at a corner of the sealing ring 1413, a top cover 1415 is installed on the top of the cavity 1411 by bolts, and a top air hole 1416 connected to the notch 1414 is opened at the top edge of the top cover 1415 , so that the gas can enter the cavity 1411 through the top gas hole 1416 through the notch 1414 .

Further, the top end of the piston rod 142 is installed with a piston 1421 that matches the size of the cavity 1411 through bolts. The piston 1421 is located between the bottom air hole 1412 and the top air hole 1416, and the bottom air hole 1412 and the top air hole 1416 are connected to the orifices. The trachea is ventilated into the cavity 1411 through the trachea to drive the piston 1421 to perform piston movement in the cavity 1411 under the action of air pressure. The bottom end of the piston rod 142 is installed with a guide block 1422 through bolts, and the piston 1421 performs piston movement. The piston 1421 drives the guide block 1422 to move through the piston rod 142 .

Specifically, the top of the clip finger 143 is provided with a guide seat 1431, and the bottom of the top seat 141 is provided with a guide groove 1417 for installing the guide seat 1431. The corners of the top of the guide seat 1431 are provided with a chute 1432 that matches the outer dimensions of the guide block 1422, and the clamping finger 143 is slidably connected to the guide block 1422 through the chute 1432. When the piston 1421 drives the guide block 1422 through the piston rod 142 When moving upward, the clamping finger 143 pulls the two clamping fingers 143 to approach each other along the guide groove 1417 under the action of the inclined plane of the inclined groove 1432, so as to achieve the purpose of clamping the workpiece 3. When the piston 1421 drives the guide block 1422 to the direction through the piston rod 142 During the downward movement, the clamping fingers 143 push the two clamping fingers 143 away from each other along the guide groove 1417 under the action of the inclined plane of the inclined groove 1432 , so as to achieve the purpose of loosening the workpiece 3 .

It is worth noting that the utility model is smaller in size, and saves space compared to the traditional mechanical arm. The z-axis motor 112, the first motor 115, the second motor 122 and the third motor 123 involved in the present In the prior art, the first reducer 116, the second reducer 124 and the third reducer 131 all use the hollow harmonic reducer in the prior art, which can be fully realized by those skilled in the art. Needless to say, the present invention does not involve electronic Circuit improvements.

When the numerical control machining center and the horizontal joint mechanical arm for unloading and unloading on the lathe of the present invention are in use, when the first motor 115 is connected to the external power supply, the first motor 115 starts to work and drives the input end of the first reducer 116 Rotation, since the output end of the first reducer 116 is fixed on the bottom boss 222, with the operation of the first motor 115, the first reducer 116 drives the bottom arm 11 as a whole under the deceleration of the first reducer 116. The bottom boss 222 and the top boss 221 rotate. When the second motor 122 is connected to the external power supply, the second motor 122 starts to work and drives the second motor 122 through the first synchronous pulley 125 under the drive of the synchronous belt. The input end of the second reducer 124 rotates, so that the output end of the second reducer 124 drives the outer arm 13 to rotate. When the third motor 123 is connected to the external power supply, the third motor 123 starts to work and passes through the middle arm 12 The inner synchronous belt drives the synchronous shaft 126 to rotate under the action of the second synchronous pulley 127. At the same time, with the rotation of the synchronous shaft 126, the synchronous shaft 126 drives the third reducer through the second synchronous pulley 127 under the action of the synchronous belt. The input end of 131 rotates, so that the pneumatic finger 14 rotates, and then the air is ventilated into the cavity 1411 through the trachea, so as to drive the piston 1421 to do piston movement in the cavity 1411 under the action of air pressure, and the bottom end of the piston rod 142 passes through the bolt. The guide block 1422 is installed. As the piston 1421 moves the piston, the piston 1421 drives the guide block 1422 to move through the piston rod 142. When the piston 1421 drives the guide block 1422 to move upward through the piston rod 142, the clamping finger 143 is in the inclined groove 1432. Under the action of the inclined plane, the two clamping fingers 143 are moved close to each other along the guide groove 1417, so as to achieve the purpose of clamping the workpiece 3. When the piston 1421 drives the guide block 1422 to move downward through the piston rod 142, the clamping fingers 143 are on the inclined plane of the inclined groove 1432. Under the action, the two clamping fingers 143 are pushed away from each other along the guide groove 1417, so as to achieve the purpose of loosening the workpiece 3. Finally, when the z-axis motor 112 is connected to the external power supply, the z-axis motor 112 drives the ball wire through the coupling 1121. The rod 113 rotates so that the moving block 114 can move the middle arm 12 while moving, so that the vertical z direction of the manipulator main body 1 is driven by the lead screw and the wire rail, and the horizontal x and y directions are driven by the middle arm 12 and the outside. The arm 13 is completed, the clamping and releasing of the workpiece are completed by the pneumatic fingers 14, and the overall structure of the robot arm main body 1 is small, which maximizes the space saving.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Under the premise of the spirit and scope, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. A horizontal joint mechanical arm for loading and unloading on a CNC machining center and a lathe, comprising a main body (1) of the mechanical arm, characterized in that: the main body (1) of the mechanical arm is composed of a bottom arm (11), a middle arm (12), an outer arm (13) and a pneumatic finger (14), the bottom arm (11) is provided with a z-axis motor (112) and a ball screw coaxially connected to the z-axis motor (112) in sequence from top to bottom (113), a moving block (114) mounted on the ball screw (113) and threadedly connected with the ball screw (113), and a first block mounted at the inner bottom end of the bottom arm (11) A motor (115), a first reducer (116) is installed at the bottom end position outside the bottom arm (11), a pair of wire rails (17) are installed on the side end of the bottom arm (11), and the A fixing plate (121) is installed at one end of the middle arm (12), and a plurality of line rail sliders (1211) slidingly connected with the line rail (17) are installed at the side end of the fixing plate (121). A second motor (122) and a third motor (123) are installed side by side at the top of the middle arm (12), and a motor driven by the second motor (122) is installed at the bottom position of the other end of the middle arm (12). A second speed reducer (124), one end of the outer arm (13) is installed at the output end of the second speed reducer (124), and the other end of the outer arm (13) is installed at the bottom of the A third speed reducer (131) driven by a third motor (123), the pneumatic finger (14) is mounted on the output end of the third speed reducer (131); The main body (1) of the mechanical arm is installed at the outer edge of the door of the machine tool (2), and a placing plate (21) for placing the workpiece (3) is installed on the outer side of the machine tool (2). A vertical plate (22) is installed at the outer edge of the vertical plate (22), and the top and bottom ends of the vertical plate (22) are respectively provided with a top boss (221) and a bottom boss (222), and the bottom arm (11) is installed on the between the top boss (221) and the bottom boss (222). 2. The CNC machining center and the horizontal joint mechanical arm for loading and unloading on a lathe according to claim 1, wherein the top end of the bottom arm (11) is mounted with a rotating support seat (111) through bolts, and the top is convex. A rotating shaft is tightly welded on the seat (221), and the rotating shaft extends into the rotating support seat (111). 3. The CNC machining center and the horizontal joint mechanical arm for unloading and unloading on a lathe according to claim 1, characterized in that: the end of the output shaft of the z-axis motor (112) passes through the top of the ball screw (113) The coupling (1121) is connected, the top and bottom ends of the ball screw (113) are provided with a screw base (1131), and the ball screw (113) rotates with the screw base (1131). connect. 4. The CNC machining center and the horizontal joint mechanical arm for loading and unloading on a lathe according to claim 1, characterized in that: a screw nut (1141) is fixed at the middle position of the moving block (114) by bolts, and the The middle position of the screw nut (1141) is in the shape of a threaded hole, the threaded hole matches the shape of the thread on the ball screw (113), and the side end of the moving block (114) is fixed with a fixing rod ( 1142), the end of the fixing rod (1142) is inserted into the fixing plate (121). 5. The horizontal articulated manipulator for loading and unloading on a CNC machining center and a lathe according to claim 1, characterized in that: the end of the output shaft of the second motor (122) and the input of the second reducer (124) A first synchronous pulley (125) is installed on both ends, and the two first synchronous pulleys (125) are connected by a synchronous belt. 6. The CNC machining center and the horizontal joint mechanical arm for loading and unloading on a lathe according to claim 1, characterized in that: the middle of the second reducer (124) is sleeved with a synchronous rotating shaft (126) of a hollow structure, so A signal line protection tube (1261) is sleeved inside the synchronizing shaft (126), the end of the output shaft of the third motor (123), the top and bottom ends of the synchronizing shaft (126), and the third deceleration A second synchronous pulley (127) is installed at the input end of the device (131), and is located between the two pairs of the second synchronous pulley (127) in the middle arm (12) and the outer arm (13). They are connected by synchronous belts respectively. 7. The CNC machining center and the horizontal joint mechanical arm for loading and unloading on a lathe according to claim 1, wherein the pneumatic finger (14) comprises a top fixed to the output end of the third reducer (131) by bolts A seat (141), a piston rod (142) extending into the top seat (141), and a pair of clamping fingers (143) slidably connected with the top seat (141). 8. The CNC machining center and the horizontal joint robotic arm for unloading and unloading on a lathe according to claim 7, wherein a cavity (1411) is provided at the top of the top seat (141), and the top seat (141) A bottom air hole (1412) communicated with the bottom of the cavity (1411) is opened at the side end face of the cavity (1411), and a sealing ring (1413) is overlapped at the edge of the mouth of the cavity (1411). The sealing ring (1413) A notch (1414) is bent at a corner of the cavity (1411), a top cover (1415) is installed on the top of the cavity (1411) through bolts, and the top edge of the top cover (1415) is provided with the notch (1415). 1414) connected top vents (1416). 9. The CNC machining center and the horizontal joint mechanical arm for unloading and unloading on a lathe according to claim 8, characterized in that: the top end of the piston rod (142) is mounted with bolts that match the size of the cavity (1411). The piston (1421) is provided with a guide block (1422) at the bottom end of the piston rod (142) through bolts. 10. The CNC machining center and the horizontal joint mechanical arm for loading and unloading on a lathe according to claim 9, wherein a guide seat (1431) is provided at the top of the gripper finger (143), and the top seat (141) A guide groove (1417) for installing the guide seat (1431) is provided at the bottom of the guide groove (1417). ) are engaged, the corner of the top of the guide seat (1431) is provided with an oblique groove (1432) matching the external dimensions of the guide block (1422), and the clamping finger (143) passes through the oblique groove (1432). ) is slidably connected with the guide block (1422).

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