CN211072869U - Integrated material taking and placing manipulator for numerical control machine tool - Google Patents

Integrated material taking and placing manipulator for numerical control machine tool Download PDF

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Publication number
CN211072869U
CN211072869U CN201921825444.3U CN201921825444U CN211072869U CN 211072869 U CN211072869 U CN 211072869U CN 201921825444 U CN201921825444 U CN 201921825444U CN 211072869 U CN211072869 U CN 211072869U
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tool
supporting
pick
place
manipulator
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沈耀强
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沈耀强
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Abstract

The utility model discloses a get integration and put material manipulator for among digit control machine tool, including the supporting body, be provided with the portion of getting that is used for getting to put the sheet on the supporting body, still be provided with the cutter holder group that is used for getting to put the processing tool bit on the supporting body, cutter holder group gets the cutter holder of old tool bit and the cutter holder of getting new tool bit including the cutter holder of clamp when being used for changing the tool bit with getting the homonymy side that the portion is not on the supporting body of getting, cutter holder. Adopt on the same supporting body to integrate and set up get put portion and sword clamp group, the integrated structure of a manipulator comprehensive trade material and tool changing has been realized, and sword clamp group and get the same side that put portion is not on the supporting body, can further guarantee that the manipulator can not take place to disturb when trading material and tool changing, the stability and the accurate nature of manipulator trade material and tool changing have been guaranteed, can accomplish the adaptation effect more efficiently in subsequent and digit control machine tool adaptation in-process, can effectually promote the operating efficiency of whole digit control machine tool, also can be favorable to compressing the spatial structure of whole digit control machine tool.

Description

Integrated material taking and placing manipulator for numerical control machine tool
Technical Field
The utility model relates to an electronic product numerical control processing technology field, concretely relates to get that integrates that is arranged in digit control machine tool puts material manipulator.
Background
As is well known, in the numerical control machine tool industry, a tool magazine is generally set as an independent standard functional unit and is installed near a spindle to realize tool changing; the loading and unloading operation of the machine tool workpiece is completed by arranging an independent manipulator or robot at a proper position of the machine tool.
The multi-spindle fixed-beam gantry machining center is widely applied to the field of machining of batch small parts, and although various existing manners for taking and placing material manipulators exist in the existing numerical control machine tool, the existing manipulator is only used for taking and placing materials, for example, application number 201510316063.2 discloses an automatic loading and unloading device, which mainly solves the problem of automatic loading and unloading of multi-spindle machine tool plate parts; although the problem of replacing the tool bit of the spindle to machine materials with different shapes and materials needs to be solved in the current numerical control machine tool, the existing tool magazine is also provided with an independent tool bit picking and placing manipulator, for example, application number 201811521214.8 discloses a tool magazine device, a machine tool and a tool changing method for a fixed beam gantry multi-spindle machine tool. In view of the technical personnel in the field, the precision and stability of the numerical control machine tool need a first guarantee, most technical personnel design idea is how to realize that the pick-and-place manipulator can transport more materials at one time, or how to realize that the tool bit pick-and-place manipulator can transport more tool bits at one time, so as to improve production efficiency, because the pick-and-place objects of the pick-and-place manipulator and the tool bit pick-and-place manipulator have shapes and great differences in materials, the two manipulators can be completely different structures, for example, in the numerical control machine tool for sheet processing, the pick-and-place manipulator is equipped with a sucker, and the tool bit pick-and-place manipulator is equipped with a. Especially, the interference influence of the material taking and placing manipulator is reduced as much as possible in the machining process, so that the design idea that the machining precision is influenced is prevented from going deep into the mind of designers all the time, the existing numerical control machining tool still has the material taking and placing manipulator and the tool bit taking and placing manipulator which independently and orderly operate no matter the single spindle or the multiple spindles, the material changing and the tool changing are realized separately, and the material changing and the tool changing are realized by different mechanisms or independent functional units respectively.
However, with the time change and the technological development, the machine tool needs to have an automatic tool changing function and an automatic material changing function according to the requirements of the current machining process, and is realized by mechanisms, manipulators and robots with different functions, and the machine tool is long in moving line, complex in moving structure and high in cost.
SUMMERY OF THE UTILITY MODEL
The utility model provides an integrate and get material manipulator for among the digit control machine tool to solve above-mentioned problem.
The utility model provides an integrate and get material manipulator of putting for among digit control machine tool, including the supporting body, be provided with on the supporting body and be used for getting the portion of putting of getting of putting the sheet, still be provided with on the supporting body and be used for getting single cutter holder or the cutter holder group of putting the processing tool bit, single cutter holder or cutter holder group with get the homonymy that the portion of putting is not on the supporting body, the cutter holder group gets the cutter holder of old tool bit and gets the cutter holder of new tool bit including the cutter holder of clamp when.
Preferably, the supporting body extends in the width direction to form a pick-and-place table for mounting a pick-and-place part, the pick-and-place part is mounted on the front side of the end part of the pick-and-place table to enable the picked materials to be located on the front side of the supporting body, a knife clamp group is mounted on the back side of the supporting body, and two knife clamps of the knife clamp group are arranged side by side along the length direction of the supporting body or arranged side by side along the width direction of. The interference of materials and tool bits in the process of changing materials and changing tools is completely avoided by a reasonable structure.
Preferably, the bearing body extends in the width direction to form a pick-and-place platform for mounting the pick-and-place part, the pick-and-place part is mounted on the front surface of the end part of the pick-and-place platform, so that the picked materials are positioned on the front surface of the bearing body, and the tool holders of the single tool holder or the tool holder group are arranged on the back surface of the bearing body and are perpendicular to the pick-and-place platform extending in the width direction of the bearing body to form an L-shaped structure.
Preferably, the carrier body extends along the length direction to form a long carrier body, more than two taking and placing parts are arranged in the length direction of the carrier body, and more than two single tool holders or tool holder groups are correspondingly arranged on the carrier body. The multi-spindle bearing is suitable for multi-spindle machining, the long-strip bearing body guarantees sufficient installation space, and machining load capacity is improved.
Preferably, the single cutter holder or the cutter holder group is arranged on the back surface of the bearing body, the front surface of the bearing body extends out of a pick-and-place platform for mounting a pick-and-place part in the width direction, and the pick-and-place part is arranged on the pick-and-place platform on the front surface of the bearing body so that the pick-and-place part deviates from the single cutter holder or the cutter holder group in the width direction of the bearing. The anti-interference between the taking and placing part and the cutter holder group is further ensured, and the mutual interference in the taking and placing of the material or the taking and placing of the cutter head is prevented.
Preferably, one pick-and-place part comprises two pickers, the two pickers of the same pick-and-place part are respectively arranged at two sides of the width direction of the bearing body, and the single cutter holder or the cutter holder group corresponding to the pick-and-place part is positioned between the two pickers of the pick-and-place part. The anti-interference between the taking and placing part and the tool holder group can be ensured while the materials are taken and placed as many as possible at one time.
Preferably, a single tool holder or a tool holder group corresponding to the pick-and-place part is positioned in the middle of the two pickers of the pick-and-place part to form an inverted T shape. The device realizes high-load material taking and discharging and tool bit taking and discharging with the simplest structure.
Preferably, two tool holders of the tool holder group are arranged in line along the length direction of the supporting body, and can be matched with the quick tool changing effect of the machining spindle in the motion of the XZ axis.
Preferably, the supporting body rotates along a rotation axis to form a rotary supporting body, so that a flexible feeding and discharging mode can be realized, and a wider application scene can be realized.
Preferably, the device further comprises a driving mechanism for driving the carrier to move relative to the arranged material area, the tool magazine area and the processing area. The manipulator with the driving mechanism can be directly adapted to a numerical control machine tool.
Preferably, the driving mechanism comprises a longitudinal sliding table which can move among the material area, the tool magazine area and the machining area, and a vertical sliding table which bears the bearing body and can move up and down on the longitudinal sliding table, and the driving mechanism can ensure that at least the full coverage is realized on a YZ axis, and is more favorable for being matched with a moving system of the existing machining main shaft for full coverage on the XZ axis.
Preferably, set up on the vertical slip table and can make the supporting body along a rotation axis pivoted rotation driver, the supporting body setting is favorable to nimble operation on rotating the driver, reduces the space and occupies, raises the efficiency.
Preferably, vertical slip table all set up two and correspond respectively and constitute planer-type actuating mechanism jointly with the supporting body in supporting body length direction's both sides, and the stability of supporting body can fully be guaranteed to this kind of planer-type structure, and furthest's reduction supporting body shakes, guarantees the machining precision, also can promote operating efficiency and speed.
Above-mentioned technical scheme can find out, because the utility model discloses an integration setting is used for getting the portion of putting and is used for getting the single cutter holder or the cutter holder group of putting the processing tool bit of putting of getting of putting the sheet on the same supporting body, the integrated structure of a manipulator comprehensive reloading and tool changing has been realized, and single cutter holder or cutter holder group and the same side of getting the portion of putting not on the supporting body, can further guarantee that the manipulator can not take place to disturb when reloading and tool changing, the stability and the accurate nature of manipulator reloading and tool changing have been guaranteed, can accomplish the adaptation effect more efficiently at subsequent and digit control machine tool adaptation in-process, can effectually promote the operating efficiency of whole digit control machine tool, also can be favorable to compressing the spatial.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of a three-dimensional structure of a numerical control machine tool including an integrated material taking and placing manipulator used in the numerical control machine tool in embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of a side view of the numerically controlled machine tool of FIG. 1;
fig. 3 is a schematic top view of a numerically controlled machine tool according to embodiment 1 of the present invention;
fig. 4 is a schematic structural view of a robot according to embodiment 1 of the present invention;
fig. 5 is an enlarged schematic view of the structure of the part a in fig. 4 in embodiment 1 of the present invention;
figure 6 is a schematic structural view of a carrier in another embodiment;
fig. 7 is a schematic structural view of the material changing in the material tank by the taking and placing part on the supporting body in embodiment 1 of the present invention;
fig. 8 is a schematic view of the operation of the loading and unloading unit on the carrier changing the material on the processing table in embodiment 1 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Example 1:
in this embodiment and the following other embodiments, the specific orientation is helpful for the reader to understand the technical solution more clearly, but the definition of the direction when the device is rearranged is not absolutely limited. Referring to fig. 1, the X-axis direction is a horizontal direction, i.e., a direction in which the supporting body extends, the Y-axis direction is a vertical direction, i.e., a direction in which the pick-and-place section is driven from the material zone to the processing zone, and the Z-axis direction is a vertical direction, i.e., an up-and-down direction of the processing spindle. In the embodiment, a machining device for a numerical control machine tool is introduced as a key part of the numerical control machine tool, and the structure and the principle of an integrated material taking and placing manipulator used in the machining device are specifically described.
The embodiment of the utility model provides a processingequipment for digit control machine tool, as shown in fig. 1 to 8, including processing main shaft 1, processing district, material district, manipulator 5 and tool magazine 6. The manipulator 5 is the integrated material taking and placing manipulator used in the numerical control machine tool, the manipulator can be independently applied to various machine tools, and the adaptability is high. The processing area is located below the processing main shaft, the material area is located in front of the processing area, the tool magazine is located in front of the processing main shaft and comprises a front upper portion or a front lower portion, and the front upper portion or the front lower portion is not necessarily required to be right in front.
The machining spindle 1 comprises a spindle motor 11 and a machining tool bit 12, the machining tool bit 12 being replaceable for machining different types of workpiece material.
In some cases, only one processing table is provided in the processing area, and the processing table is a processing area. The processing area is positioned below the processing spindle 1, the processing area is a manually-defined area and is distinguished from the material area, materials are processed by the processing spindle in the area of the processing area, in the embodiment, a movable workbench 20 is arranged in the processing area, a processing table 2 is arranged on the movable workbench, the materials are actually processed on the processing table on the movable workbench, the processing table can be adjusted according to the type of the materials, therefore, the processing table is detachably arranged on the movable workbench, the movable workbench 20 can move longitudinally of the machine table, a longitudinal slide rail for moving the movable workbench longitudinally is arranged in the processing area, the movable workbench is driven by a workbench driver to move longitudinally along the longitudinal slide rail, on one hand, the stroke of a manipulator can be shortened, on the other hand, the processing area can be flexible, and the movable workbench moves forwards to avoid the position of the processing spindle for material changing, interference is reduced, and material change is quicker.
For convenience of understanding, it should be further explained that the embodiment is an example of a processing spindle for engraving, milling and carving, but other processing machines may be a sweeping machine, a polishing machine, and a glass screen of an electronic product is taken as an example, and of course in other embodiments, the processing spindle may be other spindles, and the material is not limited to the screen material. As a processing device needing closed environment processing, the processing device further comprises a machine table 9, the machine table can be a marble machine table or a metal machine table, and a protective cover can be arranged on the machine table to enable the processing environment to be closed, so that safety is guaranteed. One end (one side in the longitudinal direction) of the machine platform is provided with a portal frame, the portal frame adopts a fixed beam type portal frame 91, the fixed beam type portal frame 91 is provided with a transverse rail and a transverse driver 92 for driving the processing spindle to move on the transverse rail, the processing spindle 1 can move in the vertical direction and the transverse direction relative to the processing area, and the machine platform 9 is provided with a movable workbench 20 which can move on the machine platform in the longitudinal direction and is positioned below the processing spindle 1. The tool magazine frame is a part of the portal frame in the embodiment, the tool magazine frame and the portal frame are integrated in a shared mode, space can be saved, the tool magazine frame enables the tool magazine to be located between the machining area and the material area, the movement stroke of the manipulator can be further reduced, and efficiency is improved.
For a numerical control machine tool, different materials need to be processed, or different processing needs to be performed on the same material, then tool bit replacement needs to be performed in a facing design, in this embodiment, the portal frame 91 extends forwards to form a tool magazine frame 93 for fixedly mounting the tool magazine 6, so that the tool magazine is located above a space between a processing spindle and a material area, a tool bit mounting seat 61 corresponding to the processing spindle 1 is arranged in the tool magazine 6, for more efficient tool changing, the tool bit mounting seats in the tool magazine are two groups corresponding to one processing spindle, that is, one processing spindle corresponds to one row of tool bit mounting seat groups, and because one processing spindle corresponds to two tool bits 62 of one tool bit clamping group, two tool bits of one tool bit clamping group also correspond to one tool bit mounting seat group.
The fact that the replacement of two tool holders in a group of tool holders into a single tool holder is only halved in terms of efficiency, and the structure and principle are not substantially changed, for example, the single tool holder is arranged in L configuration perpendicular to the pick-and-place part of the carrier, the group of tool holders is arranged in L configuration perpendicular to the pick-and-place part, and the structure of the single tool holder may be identical to the structure of the tool holder in the group of tool holders, but only one tool holder less in number than the group of tool holders, the two tool holders in the group of tool holders are artificially defined as a whole, and are matched with each other when the tool head is replaced, so that the replacement of an old tool head and a new tool head can be synchronously replaced, and the efficiency is doubled.
In addition, in the embodiment, the structure and the principle are explained by taking the front and the back of the supporting body as an example of the tool holder and the taking and placing part, but in other embodiments, the structure that the single tool holder or the tool holder group and the taking and placing part are not on the same side of the supporting body comprises the taking and placing part on the front of the supporting body, the tool holders are arranged on the left side and the right side of the supporting body, a picker can be arranged in the middle of the front of the supporting body to pick up materials, and the two sides of the supporting body can still clamp the tool bit.
The manipulator is used for providing a material taking and placing function for a processing device, and the processing device comprises a material box 3 in a material groove area and a manipulator 5 used for taking and placing materials 4 between the material box 3 and a processing area (a movable workbench 20).
The manipulator is the existence of special design in this embodiment, and manipulator 5 includes supporting body 51, sets up the portion of getting 510 of getting that is used for getting to put the material on the supporting body front, sets up the tool holder group that is used for getting to put the tool bit on the supporting body back, and the tool holder group is got the tool holder 62 of getting old tool bit and is got the tool holder 63 of getting new tool bit including the clamp when being used for changing the tool bit, and the supporting body removes between processing district and material district and between processing main shaft and the tool magazine and is used for trading the material and changing the. The manipulator is integrated with a knife clamp group and a taking and placing part, and the front and the back of a bearing body are respectively provided with parts with different functions, so that the working interference between the parts with different functions can be effectively avoided. The front surface of the carrier is artificially defined, and fig. 1 shows that the downward surface of the carrier is the front surface and the upward surface of the carrier is the back surface.
In this embodiment, the carrier 51 extends in the width direction to form a pick-and-place platform 501 for mounting a pick-and-place part, the width direction refers to that the carrier shown in fig. 1 extends in the longitudinal direction, that is, the width direction extends, the pick-and-place part is mounted on the front surface of the end part of the pick-and-place platform, so that the picked material is located on the front surface of the carrier, and a tool holder set is mounted on the back surface of the carrier, two tool holders of the tool holder set are arranged side by side in the length direction of the carrier so that a clamped tool bit is located on the back surface of the carrier, during tool changing, the tool holder set on the manipulator is stationary at a tool changing point, and the machining spindle moves in the transverse direction to implement a transverse tool changing manner.
In order to increase the load capacity of the robot, the carrier 51 is elongated in the longitudinal direction to form a long carrier, 4 pick-and-place units are arranged in the longitudinal direction of the carrier, and 4 tool holder sets (8 tool holders) are correspondingly arranged on the carrier 51.
In order to make the manipulator more suitable for the material arrangement type trough, a rotation driver 52 for driving the supporting body 51 to turn over with the length direction as an axis and a manipulator driving mechanism 53 for driving the rotation driver and the supporting body to move in the vertical direction and the longitudinal direction are further provided in the embodiment. The setting of rotation driver makes the supporting body rotate along a horizontal rotation axis and forms rotatory supporting body, can realize nimble last unloading mode, has wider adaptation application scene.
The carrier 51 is provided with a pick-and-place part 510, the pick-and-place part 510 is used for picking and placing materials, the pick-and-place part includes two pickers 511 and 512 for picking and placing materials, the two pickers are actually used as two modules of the pick-and-place part, the pick-and-place part may have specific structural characteristics, or may only include two pickers and a bearing or mounting structure, which plays a role of picking and placing or picking, one picker is responsible for picking and placing a piece of material correspondingly, the picker may adopt a sucker, one picker may adopt a large sucker, or may include several small suckers, for example, in fig. 1, 4 small suckers are used and distributed in a rectangular shape to serve as one picker. Therefore, one pick-and-place part comprises two pickers, the two pickers of the same pick-and-place part are respectively arranged on two sides of the width direction of the bearing body, one picker can pick up the processed materials in the processing area, then the other picker can horizontally move relative to the processing area to fill the materials to be processed in the processing area, and the tool holder group corresponding to the pick-and-place part is located between the two pickers of the pick-and-place part. The anti-interference between the taking and placing part and the tool holder group can be ensured while the materials are taken and placed as many as possible at one time.
The pick-and-place unit 510 in this embodiment reverses the conventional design, two pickers 511 and 512 of the pick-and-place unit 510 are respectively disposed on two sides of the carrier 51 along the direction perpendicular to the length direction of the carrier 51, which is equivalent to a cross structure formed by intersecting one pick-and-place unit and the carrier, and fig. 1 shows a structure in which 4 pick-and-place units are extended and arranged along the length direction (transverse direction) of the carrier, for example, the carrier 51 rotates until the two pickers 511 and 512 of the pick-and-place unit 510 face downward, and the two pickers are disposed on the front and rear sides of the carrier in the longitudinal direction one after the other, so that the two pickers are disposed on the same surface of the carrier, and after one of the pickers 511 picks up the processed material 4 in the processing area (processing table 2), the other picker 512 can fill the processed material into the processing area in a manner of being capable of being translated relative to the processing area, the pickup device can be used for placing the materials into the processing area in a translation mode relative to the processing area, and the pickup device is lifted and placed down to translate in the air; as a special adaptation, the magazine 3 has troughs for arranging the material, so-called for arranging the material, that is, the material is placed in sequence, the troughs are the same as and corresponding to the number of the pick-and-place parts on the manipulator for picking and placing the material, for example, if there is only one pick-and-place part, there is only one trough, and the troughs are arranged on the traveling route of the pick-and-place part to form corresponding arrangement, so that the pick-and-place part has the best and fast radial trough to pick and place the material, the magazine 3 in fig. 1 has 4 troughs, the four troughs are arranged side by side horizontally, either the troughs are assembled together independently or one magazine is divided into four troughs, and fig. 1 also shows 4 pick-and-place parts corresponding to the 4 troughs. The processing device is used for processing materials, therefore, a movable working table 20 and a processing table 2 are arranged, the materials 4 are processed on the processing table 2, the processing table 2 is arranged in a processing area and corresponds to a trough, and also corresponds to the advancing route of the taking and placing part 510, so that the starting point and the ending point of the materials are the best short cut of a line of two points, and the advancing route of the taking and placing part for taking and placing the materials is favorably shortened. In the processing apparatus of other embodiments, can be not suitable for the magazine, but regard as the material district with the cooperation of material transmission band, the material district sets up the magazine and can save more later stage processes certainly.
It is understood that the two pickers 511 and 512 on the two sides are disposed on the same plane, which may be the same plane in the same plane, as shown in fig. 2, but of course, the two pickers may also be different planes on the same plane, and the different planes refer to two planes having a certain height difference but the same direction, so as to prevent the two pickers in front and behind and the material on the pickers from interfering and colliding with the auxiliary devices such as the fixture during the switching process when the auxiliary devices such as the positioning fixture higher than the workpiece are disposed on the processing table.
In fig. 6, the carrier 51 is shown as a carrier plate, the pick-and-place units 510 are transversely distributed on the carrier plate, one transverse end of the carrier plate is mounted on the rotary driver, and the two pickers of each group of pick-and-place units are directly arranged on the two same sides of the carrier plate by taking the transverse turning axis of the rotary driver as the center line. As an improvement in this embodiment, as shown in fig. 3, an avoiding groove 515 with an outward opening is disposed between adjacent pick-and-place portions of the carrier board. The design of the avoiding groove can reduce the weight of the whole taking and placing part and can also reduce the interference between the taking and placing part and the material area.
In order to promote machining efficiency, simultaneously the embodiment of the utility model provides an in the supporting body along horizontal extension form certain length, also for the portion of getting is put to the extension installation on it provides the condition, the supporting body is arranged along length direction on the same side and is got the portion of getting more than two sets of at least, the silo in the magazine also correspondingly has more than two. The same plane of the carrier refers to the same plane with respect to the turning, i.e. the pickers on the carrier all face the same plane. Taking the processing device in fig. 1 as an example, four pick-and-place parts are provided on the same carrier, which corresponds to eight pickers, and four material troughs are provided in the material box. The material box is a carrier of the material groove, the material groove can also be independently formed into the material box, or the material boxes are assembled by a plurality of material grooves, and the material boxes are assembled by a plurality of material grooves and are easy to uniformly install, disassemble and maintain. The material groove in the material box can be a vertical type material groove, namely the material groove is provided with separating grooves which enable the materials to be horizontally placed and vertically arranged, and also can be a horizontal type material groove, namely the material groove is provided with separating grooves which enable the materials to be vertically arranged and longitudinally arranged. The materials are horizontally arranged and vertically arranged, the trough is a vertical trough, and the height of the trough determines the capacity of the materials. The materials are vertically and horizontally arranged, the material groove is a horizontal material groove, and the length of the material groove determines the material capacity.
Because get the material in-process, the silo probably will have a bit position skew on horizontal, if adopt artifical debugging then need too many manpower and time cost, set up one in this embodiment and be used for adjusting the silo position on horizontal so that silo vertically with get the magazine adjustment drive arrangement who puts the portion alignment, magazine adjustment drive arrangement includes the horizontal track of magazine and drives the magazine and move on the horizontal track of magazine (not shown in the figure) in the magazine bottom. As shown in fig. 1, a magazine mounting base 901 on which a magazine is mounted is provided on the machine base 9. The cartridge adjustment drive device described above may be provided on the cartridge mount 901.
In this embodiment, the manipulator driving mechanism is used for driving the carrier to move relative to the material area, the tool magazine area and the processing area. The manipulator driving mechanism 53 includes a longitudinal rail 531, a longitudinal carrier 532, a longitudinal driver for driving the longitudinal carrier 532 to move on the longitudinal rail 531, a vertical rail 533 disposed on the longitudinal carrier 532, a vertical carrier 534, and a vertical driver 535 for driving the vertical carrier 534 to move on the vertical rail 533, wherein the rotary driver 52 is mounted on the vertical carrier 534, and thus, the manipulator driving mechanism includes a longitudinal sliding table (i.e., a longitudinal carrier) capable of moving among the material area, the tool magazine area, and the processing area, and a vertical sliding table (i.e., a vertical carrier) carrying a carrier capable of moving up and down on the longitudinal sliding table. The driving mechanism can ensure that the full coverage is realized at least at the YZ axis, and is more favorable for being matched with a moving system of the existing processing main shaft at the XZ axis full coverage. The linear stroke driving mode can be realized by adopting a driving motor to be matched with a lead screw assembly, and the running distance and the running speed of the controlled component can be controlled very accurately. The rotary driver can adopt a driving motor, the turning angle and the turning speed of the bearing body are accurately controlled, more taking and placing parts and pickers are naturally arranged on the bearing plate so as to expand a plurality of main shafts, and the rotary driver can be additionally provided with a boosting speed reducer so as to output larger torque and drive more taking and placing parts.
In this embodiment, the longitudinal sliding table and the vertical sliding table are both provided with two sliding tables, and the two sliding tables respectively correspond to two sides of the length direction of the supporting body to form a gantry type manipulator driving mechanism together with the supporting body. The gantry structure can fully ensure the stability of the bearing body, reduce the shaking of the bearing body to the maximum extent, ensure the processing precision and also improve the operation efficiency and speed.
In the embodiment, the number of the processing spindles 1, the pick-and-place part 510 and the material grooves are consistent and are arranged in one-to-one correspondence in the longitudinal direction, so that the components in the longitudinal direction are neatly matched and have the shortest stroke distance, and the processing efficiency is highest.
It can be seen that the processing device in this embodiment has a manipulator with a special structure, and cooperates with the material tank for orderly discharging the materials, so that the pick-and-place part shuttles between the material tank and the processing area to carry the materials, and it can be ensured that the pick-and-place part in the processing area moves a little distance in the longitudinal direction relative to the processing table, thereby realizing the replacement process of the materials by one pick-and-place. Obviously, the manipulator that processing device adopted in this embodiment can be very big improvement machining efficiency. In addition, for the manipulator to take materials from the trough or discharge materials to the trough, the manipulator structure in the embodiment is also very efficient, no matter the manipulator is a vertical trough or a horizontal trough, if one picker of the pick-and-place part takes the materials to be processed upwards, and the other pick-and-place part takes the processed materials back, the picker can downwards place the processed materials into the empty trough area of the trough, and then the picker is turned upwards to continue to pick the materials to be processed, and the processing state of the processing spindle is not affected in the process of taking and discharging materials from the trough area, so that the manipulator maneuvering time is reasonably distributed, that is, more operation time is allowed for the manipulator in the trough area, and the shutdown waiting time of the processing spindle in the processing area is reduced. Compared with the distribution problem that the material taking and placing time and the processing waiting time are not considered in the current processing equipment, the method makes great contribution from the perspective of reasonably distributing the time of each stage.
In addition, a tool bit mounting seat group which is in one-to-one correspondence with the taking and placing part and the trough in the longitudinal direction is correspondingly arranged in the tool magazine, and a tool bit mounting seat in the tool bit mounting seat group corresponds to a tool holder in the tool holder group. Specifically, the tool magazine in this embodiment can have the best adaptation by using a matrix tool magazine, the matrix tool magazine has a plurality of tool bit mounting seats, each machining spindle can correspond to more than 2 tool bit mounting seats respectively, at least one tool bit mounting seat can be guaranteed to bear a new tool bit, another tool bit mounting seat can bear an old tool bit replaced by the spindle, the new tool bit refers to a tool bit to be replaced on the spindle, the old tool bit refers to a tool bit replaced on the spindle, for the sake of distinction, the tool bit mounting seats are arranged in a matrix form. The so-called matrix magazine of course comprises a row matrix form in which only one row of tool bit mounts is present in the magazine. Because need take off old tool bit from the main shaft and put back in the tool magazine, still need take out new tool bit dress sword main shaft from the tool magazine on, consequently, every main shaft need correspond two tool bit mount pads at least, and the tool bit mount pad has socket down, and the tool bit accessible is inserted the mode from top to bottom and is installed on the tool bit mount pad, can promote getting of tool bit and put efficiency.
According to the special layout of the tool bit mounting seats of the matrix tool magazine, the tool holder group needs to be designed adaptively, for example, the arrangement of a plurality of tool bit mounting seats in the matrix tool magazine is as follows: the tool bit mounting seats are arranged along the left and right directions, and each two tool bit mounting seats correspond to one main shaft; in this embodiment, 4 spindles correspond to 8 tool bit mounting seats, and the 8 tool bit mounting seats are arranged in a row along the left-right direction. Every two tool bit mount pads are left right direction and arrange and regard as a combination and correspond with a main shaft in the place ahead, 8 cutter holders in the cutter holder group, every two cutter holders are arranged about being and regard as a combination and correspond with a main shaft in the place ahead. When the tool needs to be changed, the main shafts can move in the left and right directions of the machine tool, so that one main shaft can be respectively aligned with two corresponding tool holders to realize tool changing. Because the distance between two cutter head installation seats of the same combination is equal to the distance between two cutter holders of the same corresponding combination, the cutter holders and the cutter head installation seats are always aligned one by one in the longitudinal direction. In order to further ensure that the main shaft is quickly positioned to a tool changing position and improve tool changing efficiency, the distance between two tool holders corresponding to the same main shaft and the distance between two tool bit mounting seats are equal to each other and are one half of the distance between two adjacent main shafts. At this time, in the front and back direction (longitudinal direction) of the machine tool, 8 tool bit mounting seats and 8 tool holders are respectively longitudinally aligned, 4 spindles can be longitudinally aligned with 4 corresponding tool bit mounting seats and 4 corresponding tool holders at the same time, 4 spindles can be longitudinally aligned with the other 4 tool bit mounting seats and 4 corresponding tool holders again only by moving one tool location distance in the left and right direction (transverse direction), and the tool location distance refers to the distance between two adjacent tool bit mounting seats in the tool magazine.
In order to accurately perform tool setting and realize quick tool changing, the tool magazine 6 is also provided with a tool setting driving mechanism for driving the tool magazine to move along a tool magazine track which is transversely arranged, and the tool setting can be realized by arranging a transverse track and a transverse driver on a tool magazine frame. In other embodiments, the robot may be provided with a robot traversing mechanism that drives the carrier to move laterally relative to the tool magazine. The tool magazine can double the tool changing efficiency relative to the design that the manipulator can be transversely moved.
When the manipulator supporting body integrates the integrated tool changing and material changing functional component in the embodiment, the tool magazine is further arranged in the region between the processing main shaft and the material area, so that the manipulator can complete the full coverage of the tool changing path and the material changing path, the space utilization rate is high, the structure is simple and compact, the moving circuit is short, the functions are shared, the production efficiency is high, the cost is low, and the operation is fast. In particular, fig. 1 actually shows a processing island, i.e. a processing device for a numerically controlled machine tool as described above, wherein two processing zones, two sets of processing spindles and two tool magazines are arranged on both sides of the material zone in the longitudinal direction, and a manipulator is movable between the two processing spindles. The material area is not required to be at the exact center of the machine, and can be near the center. So, a manipulator can move between the processing main shaft of platform both sides, that is to say a manipulator can carry out the full coverage to two processingequipment's tool changing route and reloading route simultaneously, and two processingequipment can also share a material district moreover, and it is little really to have realized occupation space, and simple structure is compact, and the removal circuit is short, and the function sharing, production efficiency is high, and cost is economical, utilizes swift automatic machining center.
In the embodiment, an optimal structure matched with the manipulator is provided, that is, the tool magazine is located between the material area and the machining area in front of the machining spindle, and it can be understood that even if the tool magazine is not arranged as in the embodiment, for example, the tool magazine is arranged behind the machining spindle, the manipulator in the embodiment can still be applied, but the motion path of the manipulator is lengthened, and the working efficiency cannot reach the highest.
Example 2:
this embodiment is for above-mentioned embodiment 1, has reduced the rotation driver, and the supporting body is nonrotatable promptly, and the manipulator is only responsible for getting material and blowing in the material district, and the material district sets up to the transmission band, and the material is transmitted to the material district on the transmission band or is transmitted to the subsequent handling by the material district in, and the material district sets up to the manual work even and places the material and also can realize.
It can be understood that if the pick-and-place part only adopts one picker, the material changing can be realized, only the material changing process is complicated, only one piece of material can be picked at a time, and after the material in the processing area is picked back to the material area, the processing spindle needs to be stopped for waiting.
Example 3:
the present example provides a processing method applied to the processing apparatus of example 1, and is specifically as follows.
And starting to prepare for machining, assuming that a machining main shaft is not provided with a tool bit, a movable workbench is not provided with materials, a manipulator is not provided with a clamping material and a tool bit, the tool magazine is internally provided with the required tool bits with different specifications, a material groove is fully loaded with the materials to be machined, and a control system of the machining device is in an initialization standby state. The processing main shaft, the tool magazine, the mechanical arm and the material groove are controlled by a control system program.
The machining spindle is used for installing a tool, the mechanical arm is located below the tool magazine, the pick-up devices arranged in tandem are suspended downwards and are parallel to the workbench, the tool holders face upwards, the mechanical arm enables the bearing body to move upwards, the longitudinal driving of the mechanical arm can be matched, one tool holder of the tool holder set can obtain a first required tool bit from the tool magazine, the machining spindle reaches a tool changing point, and the mechanical arm is used for installing the tool bit obtained by the tool holder into the machining spindle to finish the first tool installation of the machining spindle.
The processing district loads, and the manipulator drives to get the portion of putting and moves to the silo top, rotates the rotatory to settlement angle of driver drive supporting body, and the manipulator drives one of them picker of getting the portion of putting and takes out the material from the silo, rotates the driver redrive supporting body and rotates and make the picker down and parallel with the processing platform, and the shift table moves to the settlement position, and the manipulator drives to get the portion of putting and pack the material shift table into, and anchor clamps are fixed a position the material, accomplish and load.
The loading of the machining main shaft and the loading of the machining area are completed respectively by the manipulator which can drive the supporting body to complete the loading and loading simultaneously, and the loading and loading time sequence can be adjusted by program setting.
The tool changing method comprises the steps of changing a tool bit on a main shaft in the machining process, replacing the tool bit on the main shaft aiming at materials needing to be machined by a plurality of different tool bits to realize machining mode switching, moving a mechanical arm to a tool taking point of a tool magazine when the tool bit on the main shaft is machined before a tool changing instruction is carried out, moving a transverse sliding table of the tool magazine to be matched with the mechanical arm to enable one tool holder of a tool holder group to grab a target tool bit from an upper matrix tool magazine, pausing machining of a machining main shaft when the tool changing instruction is carried out, completing machining of the materials by the tool bit used by the main shaft, moving the machining main shaft to the tool changing point, moving the mechanical arm to the tool changing point, taking an old tool bit from the main shaft by another idle tool holder of the tool holder group on the mechanical arm under the matching of the machining main shaft, moving the machining main shaft in a parabolic mode (commonly called frog leaping-jumping, and the manipulator leaves the tool changing point, the changed old tool bit is loaded into the matrix tool magazine under the coordination of the transverse movement of the tool magazine, and the manipulator moves to the next target tool bit position for preparing the tool or moves to the position above the material groove to pick up the target material for preparing the material.
And (5) finishing tool changing, tool changing required by subsequent processing and the like.
The processing materials are changed, when the materials loaded for the first time or the last time are processed, one group of pickers of the manipulator obtains the second piece or the Nth piece of materials to be processed in the material groove by using proper time points, the other group of pickers are idle, and in the subsequent process, the tool changing is not influenced by material changing because the tool holder group on the manipulator is arranged on the back of the bearing body. The control system sends a material changing instruction, the last material is processed, one group of pickers in the picking and placing parts on the mechanical arm picks up the material to be processed, the other group of pickers is idle, the mechanical arm drives the picking and placing parts to enter the processing area, the workbench moves to the position below the picking and placing parts of the mechanical arm, the idle pickers pick up the processed material on the workbench, the mechanical arm is slightly lifted, the workbench moves to a designated position to receive the second or Nth material to be processed, the clamp positions the loaded material, the mechanical arm leaves the processing area to complete material changing, the processing main shaft starts processing, meanwhile, the manipulator drives the taking and placing part to load the finished materials into a finished material area in the groove, the other group of pickers of the manipulator continuously takes the next material to be processed from the groove, the manipulator moves to a waiting area or a tool storage for preparing tools, and the material taking and changing are carried out in a circulating mode until the materials in the groove are completely processed.
It can be understood that, in the initial process, the multiple groups of pickers on the manipulator, any one of the pickers in tandem can obtain one material to be processed, and the two groups of pickers in tandem can also respectively obtain two materials to be processed, wherein one material to be processed can be loaded into the workbench as a first material to be processed, and the other material to be processed can be replaced as a second material to be processed after the first material to be processed is completed, namely, two materials to be processed are obtained at one time respectively.
In the initial process, no matter a material or two materials are obtained on the manipulator taking and placing part, the tool holder group can also be used for taking a tool bit or a group of tool bits in the tool magazine for standby, the tool bit can be taken firstly and then the material is taken, or the material is taken firstly and then the tool bit is taken, and related programs can be adjusted according to technological requirements.
According to the scheme, when the tool is changed, one tool holder in the tool holder group on the back of the bearing body inserts the old tool bit into the tool magazine, the other tool holder takes out the new tool bit in the tool magazine, the bearing body moves to a tool changing point below the machining main shaft, the idle tool holder takes out the old tool bit on the machining main shaft, and the tool holder clamping the new tool bit is arranged on the machining main shaft;
when the materials are changed, the material-taking part on the front side of the bearing body picks up the processed materials in the processing area and puts the processed materials back to the material area, and the material-taking part on the front side of the bearing body picks up the materials to be processed in the material area and puts the materials into the processing area.
When the processing main shaft processes materials in the processing area, one of the pickers of the taking and placing part is idle, and the other picker picks up a material to be processed from the material area and waits in the processing area.
In the embodiment, the two sides of the bearing body of the manipulator are provided with the taking and placing devices with different functions, wherein the downward-arranged picking device is used for taking and placing materials; the tool holder group that sets up is used for getting of tool bit to put, corresponds with it, and in workstation the place ahead, get and put a below and set up shared silo, and main shaft the place ahead, tool holder group top or workstation, silo top set up the tool magazine, and the supporting body of manipulator wears handsome reloading and tool changing between them. Due to the compact structural layout, the occupied space is reduced, and the space utilization rate of the field is improved; different fetching devices are arranged on the rotating parallel surface of the manipulator bearing body, so that the motion function of the manipulator is shared, and the time utilization rate of the manipulator is improved; the tool magazine and the material groove are arranged one above the other, so that the movement path of material changing and tool changing is shortened, and the efficiency of material changing and tool changing is improved.
The above detailed description is made on the processing device, the processing island and the processing method for the numerical control machine tool provided by the present invention, and the specific examples are applied herein to explain the principle and the implementation of the present invention, and the description of the above embodiments is only used to help understand the core idea of the present invention; meanwhile, for the person skilled in the art, according to the idea and method of the present invention, there may be changes in the specific embodiments and the application scope, and in summary, the content of the present specification should not be understood as a limitation to the present invention.

Claims (12)

1. A get and put material manipulator integratedly for among the digit control machine tool, a serial communication port, including the supporting body, be provided with the portion of getting and put that is used for getting and put the sheet on the supporting body, still be provided with single cutter holder or the cutter holder group that is used for getting and puts the processing tool bit on the supporting body, single cutter holder or cutter holder group and get the homonymy that the portion is not on the supporting body with getting, cutter holder group gets the cutter holder of old tool bit and the cutter holder of getting new tool bit including the clamp when being.
2. An integrated material taking and placing manipulator used in a numerical control machine tool as claimed in claim 1, wherein the supporting body extends in a width direction to form a taking and placing platform for mounting a taking and placing part, the taking and placing part is mounted on the front surface of the end part of the taking and placing platform to enable the picked materials to be located on the front surface of the supporting body, a tool holder group is mounted on the back surface of the supporting body, and two tool holders of the tool holder group are arranged side by side along the length direction of the supporting body or arranged side by side along the width direction of the supporting body to enable.
3. An integrated material pick-and-place manipulator used in numerical control machine tools according to claim 1, wherein the supporting body extends in the width direction to form a pick-and-place platform for mounting the pick-and-place part, the pick-and-place part is mounted on the front surface of the end part of the pick-and-place platform to enable the picked materials to be located on the front surface of the supporting body, and the tool holders of the single tool holder or the tool holder group are arranged on the back surface of the supporting body and are perpendicular to the pick-and-place platform extending in the.
4. An integrated material pick-and-place manipulator used in numerical control machine tools as claimed in claim 1, wherein the supporting body extends along the length direction to form a long supporting body, more than two pick-and-place parts are arranged in the length direction of the supporting body, and more than two single tool holders or tool holder groups are correspondingly arranged on the supporting body.
5. An integrated material pick-and-place manipulator for numerical control machine tools according to claim 4, wherein the single tool holder or the tool holder set is mounted on the back surface of the supporting body, the front surface of the supporting body extends in the width direction to form a pick-and-place table for mounting the pick-and-place part, and the pick-and-place part is arranged on the pick-and-place table on the front surface of the supporting body to make the pick-and-place part deviate from the single tool holder or the tool holder set in the width direction of.
6. An integrated material pick-and-place manipulator for numerical control machine tools according to claim 5, wherein one pick-and-place part comprises two pickers, the two pickers of the same pick-and-place part are respectively arranged at two sides of the width direction of the supporting body, and a single tool holder or a tool holder group corresponding to the pick-and-place part is positioned between the two pickers of the pick-and-place part.
7. An integrated material pick and place manipulator for numerical control machine tools according to claim 6, wherein a single tool holder or a tool holder group corresponding to the pick and place part is located in the middle of two pickers of the pick and place part to form an inverted T shape.
8. An integrated material taking and placing manipulator for a numerical control machine tool according to any one of claims 1 to 7, wherein the supporting body rotates along a rotating shaft to form a rotating supporting body.
9. An integrated material taking and placing manipulator used in a numerical control machine tool according to any one of claims 1 to 7, further comprising a driving mechanism for driving the carrying body to move relative to the arranged material area, the tool magazine area and the processing area.
10. An integrated material pick-and-place manipulator for numerically controlled machine tools as claimed in claim 9, wherein the driving mechanism comprises a longitudinal slide movable between the material zone, the tool magazine zone and the machining zone, and a vertical slide carrying the carrier movable up and down on the longitudinal slide.
11. An integrated material taking and placing manipulator for use in a numerical control machine tool according to claim 10, wherein a rotary driver is provided on the vertical slide table to rotate the carrier along a rotary shaft, and the carrier is provided on the rotary driver to form a rotary carrier.
12. An integrated material taking and placing manipulator used in a numerical control machine tool according to claim 10 or 11, wherein two longitudinal sliding tables and two vertical sliding tables are arranged and respectively correspond to two sides of the length direction of the supporting body to form a gantry type driving mechanism together with the supporting body.
CN201921825444.3U 2019-10-25 2019-10-25 Integrated material taking and placing manipulator for numerical control machine tool Active CN211072869U (en)

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Application Number Priority Date Filing Date Title
CN201921825444.3U CN211072869U (en) 2019-10-25 2019-10-25 Integrated material taking and placing manipulator for numerical control machine tool

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921825444.3U CN211072869U (en) 2019-10-25 2019-10-25 Integrated material taking and placing manipulator for numerical control machine tool

Publications (1)

Publication Number Publication Date
CN211072869U true CN211072869U (en) 2020-07-24

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