CN212496688U - Get drop feed mechanism, get material manipulator and lathe - Google Patents

Abstract

The utility model discloses a get material mechanism, get material manipulator and lathe, get material mechanism and include: remove seat, slider drive assembly, slider, guide track, connecting rod and rotor, the one end of connecting rod rotationally installs on the slider and the other end of connecting rod rotationally installs and is used for driving the connecting rod push-and-pull to make the rotor rotate when the slider reciprocates on the swing connecting portion of rotor, is equipped with on the rotor to be used for getting of putting the sheet stock and puts the subassembly. The utility model discloses a thoroughly fix drive assembly's power part on removing the seat, and the slider has further improved the drive precision in also injecing the guide track, the mode that further drives the rotor upset of reciprocating cooperation connecting rod tractive of slider, great simplification overall structure, reciprocate moreover and can be favorable to improving rotor rotation angle's precision through the process of conversion formation tractive, overturned the cylinder direct drive's that adopts both ends movable mounting formula in the past mode.

Description

Get drop feed mechanism, get material manipulator and lathe

Technical Field

The utility model relates to a numerical control machine tool technical field, concretely relates to get material mechanism, get material manipulator and lathe.

Background

Numerical control machine tool has played huge effect in production, has greatly replaced the manual work, along with the development of intelligent era, electronic intelligent product is endless, and the glass sheet stock that is used in the display screen of electronic intelligent product is produced a large amount. Various numerical control machines for processing sheet materials are present in the production field like bamboo shoots in spring after rain.

In a numerical control machine tool, a link of taking and placing materials is always a focus of attention of technicians. The efficiency of getting the blowing has influenced the production efficiency of whole lathe to a certain extent, but the lathe among the prior art all has some problems or shortcoming in the structure optimization process of getting the blowing.

The patent document with the publication number of CN202357767U and the name of 'automatic loading and unloading device for engraving and milling carving machine' discloses a turnover type loading and unloading mechanism, wherein a rotary cylinder is adopted to drive a sucker to take and unload materials, although the rotary cylinder can simplify a turnover driving structure, the problems of unstable control and inaccurate execution exist, and particularly the matching of the rotary cylinder and other components is not easy to realize, so that the production is difficult; in the patent document with the publication number CN104526442A and the name "numerical control equipment for automatic panel taking and changing machining", there is disclosed an improvement to the problems of the prior art rotary cylinder, in which the rotary cylinder is replaced, and a direct-push cylinder is adopted to cooperate with a special T-shaped turnover block, although the use of the rotary cylinder is avoided, the structure is slightly complicated, and the problems of control stability and execution accuracy cannot be further solved, especially, the top end of the direct-push cylinder is rotatably mounted, so that the whole cylinder is in a non-movable state, the air pipe of the cylinder is easy to loosen after long-term operation, and the movable cylinder can generate a large error, the trough cooperating with the movable cylinder must have a large trough width to tolerate a large error when feeding, however, in an environment requiring more accuracy, or when the trough width of the trough is narrowed, the movable direct-push cylinder still adopts the movable cylinder to easily collide with the sheet, or the sheet stock cannot be inserted into the trough. Furthermore, the material taking and placing mechanisms are all arranged on the processing machine head, and the balance weight of the material taking and placing mechanisms can obviously interfere and influence the processing of the processing machine head.

The inventor discovers through investigation that in the prior art, because the response speed of the cylinder is better, the control is more direct, therefore it is the consensus of technical personnel to adopt the cylinder structure in the convertible mechanism of putting the sheet stock, and the motor is the rotation output, but if horizontal setting can increase the space occupation of manipulator, is unfavorable for the removal efficiency of manipulator. If other methods are adopted, the whole overturning structure is complicated, the cost is high, and the mobility is poor. If the high space utilization rate, the simplified structure and the high movement precision are ensured, the problem that the existing material taking and placing mechanism cannot solve is solved.

In addition, the design of the material rack and the material tray does not consider the mutual scratch problem caused by the lamination of the sheet materials, and the problem that the sheet materials are deviated when the sucking disc takes out and puts the material from the material tank is not solved in the prior art.

SUMMERY OF THE UTILITY MODEL

The utility model provides a get drop feed mechanism to solve above-mentioned problem.

The utility model provides a pair of get and put material mechanism, include: the device comprises a moving seat used as a bearing body, a guide rail arranged on the moving seat along the up-down direction, a slide block arranged on the guide rail, a slide block driving assembly fixed on the moving seat and used for driving the slide block to move up and down along the guide rail, a rotating body rotatably arranged on the moving seat, a swinging connecting part formed by extending outwards along the radial direction of the rotating body, a taking and placing assembly arranged on the rotating body and used for taking and placing sheet materials, and a connecting rod, wherein one end of the connecting rod is rotatably connected to the slide block, and the; the sliding block driving assembly drives the sliding block to move up and down along the guide rail and simultaneously push and pull the connecting rod to enable the connecting rod to drive the rotating body to turn.

Preferably, the slider driving assembly includes: the driving motor is fixed on the moving seat, one end of the screw rod is driven by the driving motor, the other end of the screw rod is installed on the screw rod bearing seat, and the sliding block and the screw rod form threaded installation.

Preferably, the slider driving assembly includes: the driving wheel and the driven wheel are arranged on the moving seat along the up-down direction, the synchronous belt is sleeved on the driving wheel and the driven wheel, the driving wheel is driven by the driving motor to rotate, and the sliding block is fixedly arranged on the synchronous belt.

Preferably, the slider drive assembly comprises a drive cylinder which is fixedly mounted on the movable seat, and a piston rod of the drive cylinder is connected with the slider.

Preferably, a stopper for limiting the limit position of the slider is provided at both ends or one end of the guide rail.

Preferably, the device further comprises a sensor for detecting the moving position of the sliding block, the driving assembly is fixed on the moving seat through the driving mounting plate, and the sensor is fixed on the driving mounting plate and used for detecting whether the sliding block is located at a specified position on the track.

Preferably, the top of slider is provided with the nut adaptation piece with lead screw rod complex, nut adaptation piece and slider demountable installation.

Preferably, joint bearings are adopted at two ends of the connecting rod, the joint bearings at the two ends are movably connected with the connecting rod body, and the joint bearings at the two ends of the connecting rod are respectively and rotatably arranged on the swing connecting parts of the sliding block and the rotating body through pin shafts.

Preferably, the rotating body extends along the axial direction, and more than two picking and placing assemblies are arranged on the rotating body at intervals.

Preferably, the rotating body is a rotating rod, a lug extending outwards in the radial direction is arranged on the rotating rod and used as a swing connecting part, and the rotating rod is installed on the movable seat through a bearing seat.

Preferably, the movable base has a vertically extending vertical mounting block and a horizontally extending horizontal mounting block forming an inverted T-shaped movable base, and the rotor is rotatably mounted below the horizontal mounting block.

Preferably, the lower portion of the moving seat extends obliquely rearward and downward to form a support arm for mounting the rotor, and the rotor is rotatably mounted on the support arm.

Preferably, the movable seat is provided with a vertical installation block extending vertically and a transverse installation block extending transversely to form an inverted T-shaped movable seat, the lower part of the transverse installation block obliquely extends towards the rear lower part to form a support arm for installing a rotating body, the support arms are arranged to be 2 and are parallel to each other, the rotating body is a rotating rod, a lug extending radially outwards is arranged on the rotating rod to serve as a swinging connecting part, the rotating rod is installed on the 2 support arms through a bearing seat, the swinging connecting part is located between the 2 support arms, and more than two picking and placing components are arranged on the rotating rod at intervals.

Preferably, get and put the subassembly including installing and getting on the rotor and put the piece, get and set up sucking disc and be used for connecting the vacuum joint of negative pressure air supply on the piece, vacuum joint and sucking disc intercommunication.

Preferably, the pick-and-place block is provided with a positioning block at the circumferential position of the sucker, the middle part of the positioning block is provided with a through cavity for accommodating the sucker, the sucker is arranged in the through cavity of the positioning block, and the height of the positioning block is lower than the height of the sucker for limiting the contraction generated when the sucker sucks the sheet material.

Preferably, a plurality of protrusions are arranged on the periphery of the through cavity on the upper surface of the positioning block, and the upper surfaces of the protrusions are located on the same plane.

Preferably, the front end of the pick-and-place block extends downwards to form a return bending part, and the sucker is arranged below the return bending part.

Preferably, the front lower position of the return bending part is provided with an air jet hole, the inner bending side wall of the return bending part of the taking and placing block is provided with a vacuum joint for connecting a negative pressure air source, the outer side wall of the taking and placing block is provided with an air jet joint for connecting an air jet air source, and the air jet joint is communicated with the air jet hole; or the inner curved side wall of the return bending part of the taking and placing block is provided with an air injection joint used for connecting an air injection source, and the outer side wall of the taking and placing block is provided with a vacuum joint used for connecting a negative pressure air source.

The utility model also provides a get blowing manipulator, including foretell blowing mechanism of getting, still including being used for establishhing the vertical mount pad in processing region top both sides, the vertical track of setting on vertical mount pad, transversely stride the vertical slide of establishing on the vertical track of both sides, the vertical drive subassembly of the vertical slide of drive on vertical track removal, install the horizontal track on vertical slide, vertical slide and the vertical slide of drive are along horizontal rail movement's horizontal drive subassembly, install vertical track and the vertical drive subassembly on vertical slide, wherein, the removal seat of getting blowing mechanism is installed on vertical track and is driven along vertical rail movement by vertical drive subassembly.

The utility model also provides a machine tool, including foretell get material manipulator, still include the board and set up in the processing aircraft nose that lateral shifting can be followed in the board top, the anterior transverse arrangement of board sets up material loading district and unloading district, and the rear side position department that corresponds material loading district and unloading district on the board still transverse arrangement sets up the mobile workbench that two sets of longitudinal movement machining in turn.

Preferably, the machining head has two or more machining spindles, and two or more machining tables are provided for each of the movable tables.

Preferably, a stacked material tray is arranged in the material loading area, and a plurality of material grooves used for containing the to-be-processed sheet materials are arranged in the material tray in an array mode.

Preferably, the edge of the upper surface of the trough is provided with an emptying groove or an emptying bulge, and the bottom of the trough is provided with a drain hole and/or a multi-point support rib.

The technical proposal shows that the utility model adopts the technical proposal that the power component (the motor or the cylinder) of the driving component is thoroughly fixed on the movable seat, thereby effectively reducing the driving error caused by the great movement of the power component, the slide block is also limited in the guide track to further improve the driving precision, the up-and-down movement of the slide block is matched with the mode of pulling the connecting rod to further drive the rotating body to overturn, the integral structure is greatly simplified, and the process of forming traction by up-down movement through conversion can be beneficial to improving the precision of the turning angle of the rotator, the mode of directly driving by adopting cylinders with two movably-mounted ends in the past is overturned, the driving assembly can be accurately controlled, the structure is not complicated, the whole space occupation is not increased, and whole structure can adapt to more environment, and the combination of each part is also more reasonable more firm.

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 perspective view of a numerical control machine tool according to an embodiment of the present invention;

FIG. 2 is a schematic view of a three-dimensional joint of a numerically controlled machine tool with a manipulator and a processing head omitted in the embodiment of the present invention;

FIG. 3 is a schematic view of a three-dimensional structure of a tray in a loading area in an embodiment of the present invention;

FIG. 4 is an enlarged view of the portion A of FIG. 3;

FIG. 5 is a schematic diagram of a side view of a numerically controlled machine tool according to an embodiment of the present invention;

FIG. 6 is an enlarged view of the portion B of FIG. 5;

fig. 7 is a schematic perspective view of a material taking and placing mechanism in an embodiment of the present invention;

FIG. 8 is a schematic cross-sectional view of the pick-and-place assembly without the locating block and the absorbent sheet mounted thereon;

fig. 9 is an exploded view of a pick-and-place assembly with a positioning block according to an embodiment of the present invention;

FIG. 10 is a schematic cross-sectional view illustrating the operation of the pick-and-place assembly with the positioning block for absorbing the sheet material according to the embodiment of the present invention;

fig. 11 is an exploded view of another embodiment of a pick-and-place assembly having a plurality of suction cups.

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:

it should be noted that, for the convenience of understanding of the reader, the directions are defined in this embodiment and other embodiments with reference to the drawings, and the machine tool placing direction in fig. 1 is taken as a reference, and the front-back direction, i.e., the longitudinal direction, is shown by the X axis direction, where the front side facing the reader is the front side, and the reverse side is the back side; the vertical direction is the Z-axis direction, the top is upper, and the bottom is lower; the left-right direction, i.e., the transverse direction, is shown along the X-axis, where the left of the reader is the left. It should be understood that the above-mentioned directions are only defined for the reader to understand the technical solution with the attached drawings, and if the orientation is changed in other environments, the structure and principle should not be affected.

The embodiment of the utility model provides a machine tool, specifically numerical control machine tool combines fig. 1 to 11 to show, including board 1 and set up in board 1 top can follow lateral shifting's processing aircraft nose 2, processing aircraft nose as the general name in this embodiment, the processing aircraft nose can contain a processing main shaft, and the processing aircraft nose also can contain 4 processing main shafts, outside this embodiment, also has the processing main shaft to be called processing aircraft nose, should not influence technical scheme's understanding to the definition separately of noun. In this embodiment, the machine platform is also called as the lathe bed, and is the supporting body of the lathe, also is the installation basis of all parts, and the machine platform can adopt the marble lathe bed in this embodiment, and the molding of machine platform can be moulded according to actual need. The front part of the machine table 1 is transversely arranged with a feeding area 3 and a discharging area 4, and the rear side positions of the machine table 1 corresponding to the feeding area 3 and the discharging area 4 are also transversely arranged with two groups of movable working tables 5 which can longitudinally move and alternately process. The longitudinal movement of the movable worktable can be realized by the prior art, and the detailed description is omitted here. In other embodiments, the two sets of movable work tables capable of moving longitudinally and alternately for machining further include two sets of movable work tables capable of moving longitudinally and alternately for machining, which are vertically arranged (arranged up and down) at positions on the machine table corresponding to the rear sides of the feeding area and the discharging area, and when the upper work table (one of the work tables) is used for machining, the lower work table (the other work table) is pushed forward for the manipulator to take and place materials. The alternating processing means that when a left movable workbench (one of the movable workbench) is in processing, a processing head is positioned above the left movable workbench to process the sheet materials, and a right movable workbench (the other movable workbench) is in an unprocessed state, but at the moment, a mechanical arm can take and place the right movable workbench, namely, the processed sheet materials are taken from the right movable workbench and placed in a blanking area, then the sheet materials to be processed are taken from a feeding area 3 and placed on the right movable workbench, and meanwhile, the left movable workbench does not stop running, the processing head can process the sheet materials on the left movable workbench, and the alternating processing of the movable workbench and the high-efficiency running of the processing head without stopping are realized.

In the embodiment, the feeding area is provided with a special material rack with a special structure, the material rack comprises a containing table 31, stacked material trays 32 are arranged on the containing table, and a plurality of material troughs 33 for containing the to-be-processed sheet materials are arranged in the material trays 32 in an array manner. A single sheet material is placed in each material groove 33, so that the problem that the stacked sheet materials in the prior art are damaged due to mutual friction can be well solved. The charging tray is a plate-type charging tray, and can be mutually stacked, so that the capacity of a charging area is improved.

The side of the containing table 31 close to the processing area is provided with a baffle 311 extending upwards, so that the sheet material to be processed can be separated from the processing area to a certain extent, and waste liquid or waste scraps can be splashed onto the sheet material to be processed. Furthermore, the two sides of the baffle are bent forward to form the positioning baffle 312 partially surrounding the accommodating table, so that the sheet to be processed can be further protected, and the tray on the accommodating table can be prevented from falling off. In order to further guarantee the stability of charging tray on the holding platform, holding platform surface undercut forms the storage tank with charging tray profile matching, guarantees that the charging tray is all-round can not remove, and the degree of depth of storage tank can highly match with the charging tray for the charging tray of bottommost layer does not take place the skew, has certain adsorption affinity just can not break away from between the ascending coiling of piece by piece, can set up the opening at the storage tank edge certainly, so that take out the charging tray more.

The bracket 313 that inclines to the upper has been set up to the front side at work or material rest 31, and the back is taken away to the sheet stock in the charging tray is whole, and the staff can be directly with empty charging tray in pulling the bracket of front side along with one's hand, and is swift convenient, if there is liquid in the charging tray, then the bracket of slope can be that the liquid in the charging tray flows out fast, keeps the charging tray clean, and the staff still more convenient picks up the range upon range of charging tray in the bracket simultaneously.

In order to further improve the material taking and placing efficiency, the material tray is specially designed in the embodiment, which is as follows.

The tray 32 is preferably a plate-shaped tray for stacking and increasing the capacity, and a plurality of material grooves 33 for accommodating the sheet materials to be processed are arranged in the tray 32 in an array manner. Looking at with the charging tray is kept flat, the upper surface edge about silo 33 has set up evacuation recess 331, and the adhesion appears between the charging tray can be guaranteed to the evacuation recess, if wait to process the sheet stock by the processing in the charging tray of the superiors and finish, then when moving away this superiors charging tray, if do not set up the evacuation recess, then appear easily from top to bottom the charging tray because of the reason of liquid or negative pressure glue together, set up the evacuation recess then can not appear the adhesion problem. The quantity of evacuation recess can be a plurality of, the upper surface edge that can be around the silo also sets up the evacuation recess, silo upper surface edge around edge or the silo or about the upper surface edge set up the evacuation recess promptly, each evacuation recess can also form the evacuation route when two charging trays are range upon range of, for example in the silo of foremost row, from the silo of leftmost side to the silo of rightmost side, the evacuation recess of the upper surface of its both sides can form for whole charging tray from a left side to the evacuation route of right side, to gaseous or liquid evacuation. Two rows of silos 33 that lie in left and right sides in this embodiment all correspond there is the evacuation recess, and the charging tray outside can communicate the silo through the evacuation recess, still is favorable to the liquid or the gaseous evacuation in the silo, and two rows of silos that lie in both sides around certainly also can correspond the evacuation recess that sets up the fore-and-aft direction. In fact, the effect of preventing adhesion is also achieved by replacing the emptying grooves with the emptying protrusions, but the emptying protrusions can cause the stacking thickness of the trays to be increased, and the overall feeding capacity is affected.

In order to further solve the problem that the accumulated liquid in the trough affects the material taking, the trough bottom of the trough 33 in the embodiment is provided with at least one drain hole 332, and the number of the drain holes in one trough is four, and the drain holes are arranged at the vertexes of four corners of a rectangle, so that the drainage efficiency is high, and the appearance is attractive.

In order to further improve the material taking efficiency and prevent the sheet materials from adhering to the bottom of the material tank, the bottom of the material tank in this embodiment is provided with a multi-point support rib 333, where the multi-point support rib refers to two or more support ribs, including 2-point, 3-point or more support ribs, and the support rib may be a raised strip in the figure of this embodiment, or may be a punctiform protrusion, so as to ensure that the lower surface of the sheet materials is not adsorbed by liquid or negative pressure when the sheet materials are in the material tank. When the height of the supporting rib is higher than the bottom plane of the emptying groove, the effect of better emptying adhesion prevention is achieved. The supporting ribs and the drain holes can exist simultaneously or can exist in the trough independently.

In other embodiments, only the drain holes or only the support ribs can be arranged in the trough, and the anti-adhesion effect is slightly lower than that in the embodiment.

In order to further improve the automation efficiency, an adsorption plane area 334 which can be adsorbed is arranged on the bottom surface of the trough in a part of the trough, and the support ribs are arranged to avoid the adsorption plane area. In order to further ensure that the charging tray can be kept stable when being adsorbed and grabbed, the trough with the adsorption plane area is selectively arranged in the middle of the charging tray. The number of the material grooves with the adsorption plane areas in the material tray is consistent with that of the sucker groups on the manipulator and can be matched in the front-back direction, the sucker groups are formed by sucking one piece of sheet material by one sucker group, and if the manipulator can suck 4 pieces of sheet material simultaneously, the manipulator is provided with 4 sucker groups. After the material piece of treating processing on the charging tray is got, sucking disc group on the manipulator can absorb in the absorption plane area that corresponds the silo in the charging tray to move away in appointed area through the empty charging tray of mechanical hand (hold), promoted automatic efficiency, also need not to use other special manipulators to remove away the empty charging tray, but adopt the mode of sharing the material taking manipulator to remove away the empty charging tray, saved space and cost, optimized the structure, promoted performance and price/performance ratio.

In other embodiments, the present invention is applied to a specific processing scenario, for example, when a single-head processing spindle corresponds to a single pick-and-place assembly, only one trough for accommodating a sheet to be processed may be disposed in a material tray, that is, there is no need to arrange a plurality of troughs in an array manner, and when a double-head processing spindle corresponds to two pick-and-place assemblies, 2 troughs may be disposed in the material tray, and the structure of the troughs may be directly applied to the structure of the troughs arranged in an array manner.

The material trough in the embodiment has the best effect that the depth of the material trough is set to be matched with the thickness of a single sheet of material to be processed for storing only one sheet of material, so that the material trays arranged in the array type material trough can ensure that the sheets to be processed are spread out and do not overlap, and adhesion can not occur. In another embodiment, a plurality of pieces of sheet materials can be stacked in a single material groove, a partition plate for adhesion is arranged between the adjacent stacked sheet materials, and in the processing process, after the sheet materials are taken away by the taking and placing assembly, a processing path for taking away the partition plate and placing the partition plate in a storage space where the partition plate is specially placed is added.

The blanking area in this embodiment employs stacks for erecting the processed sheet stock in a longitudinal arrangement. If the processing main shaft of the processing machine head is provided with more than two processing main shafts to form multi-main-shaft processing, the material rest is provided with longitudinal array grooves which are equal to the number of the processing main shafts or are integral multiples of the processing main shafts, the longitudinal array grooves are transversely arranged in the material rest, and if the processing machine head is provided with only one processing main shaft, only one longitudinal array groove or a plurality of longitudinal array grooves can be arranged in the material rest.

Of course, when the number of the processing spindles of the processing head is more than two, the number of rows of the troughs in the material tray should be integral multiple (including 1 time) of the processing spindles.

In order to adapt to the processing of small-size sheet materials, the number of the groove rows in the material tray is at least a multiple of 2 times of the processing main shaft. The quantity of getting the subassembly of getting that is used for getting on the material taking manipulator and puts the sheet stock should be unanimous in the quantity of processing main shaft, get on the material taking manipulator adjacent get between the subassembly integral multiple (the multiple more than 2 times) of adjacent silo interval on the charging tray, for example, get to have 4 on the material taking manipulator and put the subassembly, there are 8 silos on the charging tray, get in 1 st of material taking manipulator then, 3, 5, the intraductal sheet stock of 7 rows of silo, get in the material taking second time and absorb in the charging tray, 4, 6, the intraductal sheet stock of 8 rows of silo, such design can make the interval of getting the subassembly on the manipulator can not accomplish just to accord with the interval of two adjacent silos so little.

Compared with the prior art in which the same structure is used for placing the sheet materials in the feeding area and the blanking area, the feeding area is flatly placed to spread and place the sheet materials, the sheet material stacking damage cannot exist, the blanking area is converted into vertical placement, the processed sheet materials are separated and vertically arranged without mutual influence, and the processed sheet materials can be directly taken away and applied to the next process.

In another embodiment, both the feeding area and the discharging area may be configured as the material racks in this embodiment, that is, both the feeding area and the discharging area adopt the material tray structure in the above embodiment, so that the material sheets in both the feeding area and the discharging area are flat.

The embodiment of the utility model provides an on adopting the manipulator to take out and carry the travelling platform with the sheet stock of treating processing in material loading district, accomplish processing by processing aircraft nose and travelling platform cooperation, the manipulator takes out the sheet stock of processing on the travelling platform again and puts into the unloading district, and this manipulator is promptly for getting material handling manipulator.

The material taking and placing manipulator 6 in this embodiment includes: the device comprises longitudinal installation seats arranged on two sides above a processing area, longitudinal rails 61 arranged on the longitudinal installation seats, longitudinal sliding seats transversely spanned on the longitudinal rails 61 on two sides, longitudinal driving assemblies for driving the longitudinal sliding seats to move on the longitudinal rails, transverse rails 62 arranged on the longitudinal sliding seats, vertical sliding seats, transverse driving assemblies for driving the vertical sliding seats to move along the transverse rails, vertical rails 63 arranged on the vertical sliding seats and vertical driving assemblies. The processing area comprises a movable workbench area and a loading and unloading area, and is a relevant area for finishing the processing process. While the figures show the corresponding moving parts protected by a bellows, it will be appreciated that the corresponding carriage and drive assembly are not fully shown. The material taking and placing mechanism for taking and placing the sheet material in the embodiment is installed on the vertical track and is driven by the vertical driving assembly to move along the vertical track. Under the driving of the structure, the material taking and placing mechanism can pick up the sheet materials and then move in the three directions of XYZ, so that the moving range of material taking and placing is larger, and the efficiency of material taking and placing is higher. Especially, the longitudinal rails which are parallel to each other are arranged on the two sides of the machine tool body, so that the operation of the manipulator can be more stable, the transverse rails span between the two parallel longitudinal rails, the coverage area can be enlarged, and the structure is stable.

The longitudinal installation seat comprises two upright posts 601 arranged front and back and a longitudinal extension table 602 arranged at the top ends of the two upright posts 601, and the corresponding driving structure and the corresponding track structure are installed on the longitudinal extension table. The longitudinal mounting seat is simple in structure, small in occupied space and high in stability.

Specifically, the material taking and placing mechanism 7 includes: a moving base 71, a driving motor 72, a lead screw 73, a lead screw bearing base 74, a slider 75, a guide rail 76, a connecting rod 77, and a rotating body 78; the driving motor 72, the guide rail 76 and the screw bearing seat 74 are sequentially installed on the moving seat 71 in the up-down direction, the screw rod 73 is installed on the screw rod bearing seat 74 and can be driven by the driving motor 72 to rotate, the slider 75 is installed in cooperation with the screw rod 73, the slider 75 can move along the guide rail 76, the rotating body 78 is rotatably installed on the moving seat 71, the swinging connecting part 781 is arranged on the rotating body 78, one end of the connecting rod 77 is rotatably installed on the slider 75, the other end of the connecting rod 77 is rotatably installed on the swinging connecting part 781 of the rotating body 78 and used for driving the connecting rod 77 to push and pull the rotating body 78 to rotate when the slider 75 moves up and down, and the taking and placing assembly 8 for taking.

The mobile seat, which is called mobile seat because it moves along with the manipulator, is actually a carrier for carrying the components with respect to the pick-and-place mechanism itself, and the corresponding components of the pick-and-place mechanism are mounted on the mobile seat.

In the practice of the existing numerical control machine tool, the mode of driving the taking and placing component to realize overturning and material taking is common by adopting the air cylinder, the driving mode of the air cylinder is direct, the air cylinder directly realizing the rotating function also exists, and the driving of the screw rod component is mostly applied to the driving of the linear stroke. However, this kind of lead screw subassembly in this embodiment is applied to in the scheme of manipulator, motor cooperation lead screw subassembly and other corresponding parts have been realized, the mode of lead screw subassembly realization upset unloading in the manipulator has been accomplished, driving motor can vertical installation, driving motor output shaft's axial is along vertical setting promptly, can not increase horizontal width and occupy, and the structure has obtained the biggest optimization, the space that the manipulator was occupied can not increase, and lead screw subassembly can adopt the stainless steel work piece, can expose completely in abominable environment, has higher durability, and is waterproof, prevent corrosion.

Further explaining how to be able to move up and down to form the process of pulling through conversion in the embodiment can be beneficial to improving the precision of the turning angle of the rotating body, that is, the pick-and-place assembly (including the sucker) is driven to rotate by 90 degrees through linear motion, in fig. 5, assuming that the linear motion 47.8mm of the slider pushes the pick-and-place assembly to rotate by 90 degrees, the angle change of the connecting rod therebetween causes slight change of the rotating angle of the rotating body corresponding to the moving distance of the slider, but the turning angle of the pick-and-place assembly is about 2 degrees when the slider averagely moves by 1mm, and the lead screw lead is 4mm, that is, the slider runs by 4mm when the motor rotates by one turn, therefore: if the motor rotates 10 degrees more (i.e. 10/360 circles), the slider will move 4 × 1/36mm more, and the corresponding rotating angle error of the rotating body is 2 × 4 × 1/36, i.e. 0.25 degrees. If that kind motor (or revolving cylinder) direct-coupled mode, the deviation of motor (or revolving cylinder) can all react to get to put on the subassembly, so the vertical precision of sheet stock when the subassembly had absorbed the sheet stock is hardly guaranteed to get to the precision of traditional direct-coupled mode, and the vertical manipulator of inserting the frame mode in batch charging groove must guarantee when inserting the sheet stock into the work or material rest, every time all is vertical, accurate, stable, consequently prior art hardly realizes the high accuracy blowing, but this embodiment can accomplish certainly.

Further, in order to ensure that the material taking and discharging have high accuracy in the material feeding and discharging process, the material taking and discharging mechanism in the embodiment is further provided with a sensor 711 for detecting the moving position of the sliding block, and the sensor can adopt a proximity induction type or photoelectric type sensor, so that the position of the sliding block can be accurately determined.

The driving motor 72 is fixed on the moving base 71 through the driving mounting plate 721, the sensor 711 is fixed on the driving mounting plate 721 and used for detecting whether the sliding block 75 is located at a specified position on the guide rail 76, and the driving mounting plate can fix the motor and the sensor, so that the dual-purpose plate is realized, and the space is saved. The designated position set in this embodiment is the top end of the guide rail 76, and in practice, the designated position can be adjusted as required, and two sensors can be provided, and it is also feasible to install sensors at both the upper and lower ends of the guide rail.

The top end of the slider 75 is provided with a nut fitting block 751 which is fitted with the lead screw 73, a side of the nut fitting block 751 facing the sensor 711 is provided with a plane for fitting the sensor position detection, and the nut fitting block and the slider are detachably mounted, for example, by a bolt. The combined block combination structure can simplify production and is more favorable for adapting to more occasions, and the sliding block can adopt an internal cavity type sliding block and can be connected with a connecting rod. For lead screw rods with different sizes, only the nut adapting block can be replaced, and the original sliding block can be used as the sliding block, so that the application is more flexible.

Knuckle bearings 771 are arranged at two ends of the connecting rod 77, and the knuckle bearings 771 at the two ends are movably connected with the connecting rod body 772, for example, the connecting rod is connected in a screw and nut mode, replacement and installation are convenient, and the length of the connecting rod can be adjusted. Joint bearings at both ends of the link 77 are rotatably installed at the swing connection portions 781 of the slider 75 and the rotator 78, respectively, by means of pin shafts, and are pivotally connected at both ends thereof so that one end of the link is rotatably engaged with the other end thereof while moving up and down.

In order to improve the processing efficiency, the rotating body is a supporting body which rotates along a rotating shaft, the rotating body 78 in the embodiment extends along the axial direction so as to facilitate space expansion, more than two picking and placing assemblies 8 are arranged on the rotating body 78 at intervals, specifically, 4 picking and placing assemblies are arranged at equal intervals, the corresponding processing machine head 2 also has 4 processing main shafts, 4 processing stations are also arranged on the movable workbench 5, and a clamp for fixing a sheet material can be arranged on each processing station. Of course, when other numbers of pick-and-place assemblies are adopted in other embodiments, the number of the corresponding processing spindles and the number of the corresponding processing positions can be correspondingly adjusted.

The rotating body is a rotating rod in the embodiment, the rotating resistance of the rod body is the minimum, the rotating body can also be a rotating block in other embodiments, a radially outward extending protruding block is arranged on the rotating rod in the embodiment to serve as a swing connecting portion 781, and the rotating rod is installed on the moving seat through a bearing seat 782, so that the rotating rod can rotate conveniently.

In order to save more space and achieve a stable structure, the moving base 71 in this embodiment has a vertically extending vertical mounting block 712 and a laterally extending lateral mounting block 713 forming an inverted T-shaped moving base, below which the rotor 78 is rotatably mounted. To further simplify the structure and improve stability, the lower portion of the movable seat extends obliquely rearward and downward to form a support arm 714 for mounting the rotor 78, and the rotor 78 is rotatably mounted on the support arm 714.

Particularly, the movable seat is provided with a vertical installation block extending vertically and a transverse installation block extending transversely to form an inverted T-shaped movable seat, the structure is very simple, the space can be utilized to the utmost, the lower part of the transverse installation block obliquely extends towards the rear lower part to form a supporting arm for installing a rotating body, the supporting arms are arranged into 2 pieces and are parallel to each other, a fork structure is formed so as to be convenient for installation, and an accommodating space is formed. The rotor is a dwang, sets up the lug of radially outwards extending on the dwang and as swing connecting portion, can guarantee turning moment's maximize. The dwang passes through the bearing frame to be installed on 2 support arms and swing connecting portion and lie in between 2 support arms, and interval arrangement sets up the subassembly of getting more than two on the dwang, and all mid points that get the subassembly and use 2 support arms position set up as the symmetry point symmetry. If there are an odd number of pick-and-place assemblies, the intermediate pick-and-place assembly may be disposed intermediate the two support arms.

The picking and placing assembly in the embodiment is used for sucking the sheet materials, and the structure of the picking and placing assembly is optimized. The taking and placing assembly comprises a taking and placing block 81, a sucker 82 and a vacuum connector 83 used for being connected with a negative pressure air source are arranged on the taking and placing block 81, the vacuum connector 83 is communicated with the sucker 82, a corresponding pipe hole path can be arranged in the taking and placing block, so that the vacuum connector 83 can be communicated with the sucker 82, and the vacuum connector can be connected to an air pump. The pick-and-place block 81 is mounted on the rotor. The pick-and-place block 81 is provided with a mounting hole for mounting on the rotating body, a slit opening 84 is provided at a position corresponding to the mounting hole at one end of the pick-and-place block 81, and the pick-and-place block is locked on the rotating body by a bolt at a position corresponding to the slit opening 84. The slit opening is more favorable for the installation and the disassembly of the pick-and-place block.

The suction cup assembly in the prior art usually adopts a mode of directly mounting a suction cup 102 through a suction cup mounting block 101, as shown in fig. 8 (the design of the bending part is not the prior design), because the front end of the suction cup is provided with an elastic folding part with a length of L, when the suction cup is close to and adsorbs the sheet material, once the sheet material is slightly inclined (a certain groove gap width exists on a material rack), the front end folding part of the suction cup can not correct the inclined sheet material, and further the sheet material adsorption is unstable, even the sheet material adsorption fails. In view of the above problem, the pick-and-place assembly is optimized in this embodiment, a positioning block 85 is disposed on the pick-and-place block 81 at a circumferential position of the suction cup 82, a through cavity for accommodating the suction cup is disposed in a middle portion of the positioning block 85, the positioning block may be an integral block hollowed in the middle portion to form the through cavity, or may be a plurality of split blocks disposed around the suction cup, the split blocks also form a through cavity around the suction cup, only the side walls of the through cavity are not completely and tightly connected, but have a certain distance. The sucking disc is arranged in the through cavity of the positioning block, the positioning block is lower than the sucking disc and used for limiting the contraction of the sucking disc when the sucking disc sucks the sheet material, namely the sucking disc is slightly higher than the positioning block, the part of the sucking disc higher than the positioning block belongs to the elastic folding part at the front end of the sucking disc (but the whole elastic folding part is not required to be higher than the positioning block), the sucking disc has certain flexibility and can protect the sheet material, when the sheet material slightly inclines in the material rack, the flexible part at the front end of the sucking disc contacts the sheet material, the higher part can retract into the positioning block, and the top surface of the positioning block can help the sheet material to correct the sheet material, so that the sheet material is. Thereby avoiding the situation that the suction cup is not successfully sucked. Tests show that the height of the sucker is 0.5mm to 5mm higher than that of the positioning block, and 1mm is preferably selected in the embodiment.

In order to further ensure that no adhesion occurs between the positioning block and the sheet material, in this embodiment, a plurality of protrusions 851 are disposed on the upper surface of the positioning block 85 at the periphery of the through cavity, that is, the protrusions are disposed around the circumference of the through cavity, and the upper surfaces of the plurality of protrusions are located on the same plane. Of course, recesses must also be formed between the projections, which is also a way of emptying the projections or the recesses. The positioning block 85 is fixed on the pick-and-place block 81 by bolts for assembly. Specifically, the four corners of the positioning block are provided with inwards recessed positions 852 which form clearance positions, the upper surface of the positioning block is greatly reduced due to the clearance positions of the four corners, so that the positioning block is more suitable for taking and placing small-sized sheet materials, screw hole positions can be further arranged on the clearance positions, and bolts enter the screw hole positions to fix the positioning block on the taking and placing block.

In order to further optimize the space of the structure, the front end of the placing block 81 is extended downward to form a bent back portion 811, and for the sake of clarity, the exploded view is shown with the suction cup facing upward, but this does not affect the understanding of the technical principle and structure, and the suction cup 82 is installed below the bent back portion 811. The taking and placing block with the structure is similar to an L-shaped taking and placing block when seen from the side, and the L-shaped taking and placing block can be suitable for taking and placing small troughs for small-specification sheet materials, and is more flexible in rotation.

In this embodiment, the front lower position of the bent portion 811 is provided with an air injection hole 812, the inner bent side wall 813 of the bent portion of the pick-and-place block 81 is provided with a vacuum connector for connecting a negative pressure air source, the outer side wall of the pick-and-place block is provided with an air injection connector 814 for connecting an air injection source, and the air injection connector 814 is communicated with the air injection hole 812. The pick-and-place block with the return bending part can enable the vacuum connector and the air injection structure to avoid each other, and is beneficial to minimizing the structure of the whole pick-and-place block.

In other embodiments, an air injection joint for connecting an air injection source is installed on the inward-bent side wall of the return portion of the pick-and-place block, a vacuum joint for connecting a negative pressure air source is installed on the outer side wall of the pick-and-place block, that is, the position of the air injection joint and the position of the vacuum joint are interchanged, and the internal pipeline is adjusted correspondingly.

In other embodiments, a plurality of suction cups may be provided on the pick-and-place block, and a positioning block having a plurality of through cavities adapted to facilitate the suction of larger size sheet material may be used, as shown in fig. 11.

Example 2:

it can be seen from the above embodiment 1 that the movable base is used as a supporting body for mounting each component of the material taking and placing mechanism thereon, and the slider driving assembly adopts a mode of driving a motor, a screw assembly and a screw bearing base. With the best results.

In this embodiment, based on embodiment 1, only the slider driving unit is changed, and other components may be implemented according to embodiment 1.

The slider driving assembly in this embodiment includes: the driving motor is longitudinally fixed on the moving seat, namely, the output shaft of the motor is longitudinal, the axial direction of the output shaft of the driving motor is optimally set along the longitudinal direction of the machine tool, and the transverse width of the material taking and placing mechanism can be ensured not to be increased. The driving wheel and the driven wheel are arranged on the moving seat along the up-down direction, the synchronous belt is sleeved on the driving wheel and the driven wheel, the driving wheel is driven by the driving motor to rotate, and the sliding block is fixedly arranged on the synchronous belt. Can set up clamping device in this embodiment on the slider and be used for the centre gripping to fix on the hold-in range, the hold-in range cover is established at the action wheel and is formed the both sides hold-in range of vertical parallel from the driving wheel, the slider no matter fix on the hold-in range of which one side all can, select according to actual installation environment can, drive action wheel rotates when driving motor's output shaft rotates, driving motor's output shaft can add and establish the speed reducer in order to increase the torque in other embodiments, but this embodiment includes that driving motor among the above-mentioned embodiment 1 does not adopt the error increase that the speed reducer brought, further guarantee control accuracy. The sliding block on the synchronous belt moves up and down and is stabilized on the guide rail, so that the control is stable and the precision is high.

Example 3:

the difference between this embodiment and the above embodiments 1 and 2 is that the slider driving assembly includes a driving cylinder, the driving cylinder is fixedly mounted on the movable base, and a piston rod of the driving cylinder is connected with the slider. The vertical setting of piston rod that drives actuating cylinder, the slider is connected on the piston rod and is stabilized on the guide rail, drives actuating cylinder itself and fixes completely on removing the seat, and flexible activity about only the piston rod can, and the end portion of piston rod is still injectd on the guide rail by stable through the slider in addition, therefore whole drive actuating cylinder just activity can not appear, control that can be very accurate has reduced control error, simple structure and operation are stable.

In order to further increase the precision control and prevent the driving cylinder from exceeding the control range, the two ends of the guide rail are provided with stop blocks for limiting the limit position of the slide block in the embodiment. The stroke of the sliding block on the piston rod can be limited by setting the distance between the two stop blocks, and then the accurate overturning of the rotating body by 90 degrees can be limited. In other embodiments, it is possible to choose to provide a stop only at one of the ends of the guide track, so that the corresponding rotor stops at a specific position.

The material taking and placing mechanism, the material taking and placing manipulator and the machine platform in the above embodiments can be individually applied to other embodiments, and can also be combined into a specific structural unit to be applied to other embodiments.

The above detailed description is made on a numerical control machine tool provided by the embodiment of the present invention, and the principle and the implementation of the present invention are explained by applying a specific example, and the description of the above embodiment 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 (23)

1. Get drop feed mechanism, its characterized in that includes: the device comprises a moving seat used as a bearing body, a guide rail arranged on the moving seat along the up-down direction, a slide block arranged on the guide rail, a slide block driving assembly fixed on the moving seat and used for driving the slide block to move up and down along the guide rail, a rotating body rotatably arranged on the moving seat, a swinging connecting part formed by extending outwards along the radial direction of the rotating body, a taking and placing assembly arranged on the rotating body and used for taking and placing sheet materials, and a connecting rod, wherein one end of the connecting rod is rotatably connected to the slide block, and the; the sliding block driving assembly drives the sliding block to move up and down along the guide rail and simultaneously push and pull the connecting rod to enable the connecting rod to drive the rotating body to turn.

2. The pick-and-place mechanism of claim 1, wherein the slider drive assembly comprises: the driving motor is fixed on the moving seat, one end of the screw rod is driven by the driving motor, the other end of the screw rod is installed on the screw rod bearing seat, and the sliding block and the screw rod form threaded installation.

3. The pick-and-place mechanism of claim 1, wherein the slider drive assembly comprises: the driving wheel and the driven wheel are arranged on the moving seat along the up-down direction, the synchronous belt is sleeved on the driving wheel and the driven wheel, the driving wheel is driven by the driving motor to rotate, and the sliding block is fixedly arranged on the synchronous belt.

4. The pick-and-place mechanism as claimed in claim 1, wherein the slider driving assembly comprises a driving cylinder fixedly mounted on the movable base, and a piston rod of the driving cylinder is connected with the slider.

5. The material taking and discharging mechanism as claimed in claim 4, wherein a stop block for limiting the limit position of the slide block is provided at both ends or one end of the guide rail.

6. The pick-and-place mechanism as claimed in any one of claims 1 to 5, further comprising a sensor for detecting the moving position of the slider, wherein the driving assembly is fixed on the moving base by a driving mounting plate, and the sensor is fixed on the driving mounting plate for detecting whether the slider is located at a designated position on the track.

7. The material taking and placing mechanism as claimed in claim 2, wherein the top end of the sliding block is provided with a nut adapting block matched with the screw rod of the screw rod, and the nut adapting block and the sliding block are detachably mounted.

8. The material taking and discharging mechanism as claimed in any one of claims 1 to 5, wherein joint bearings are adopted at two ends of the connecting rod, the joint bearings at the two ends are movably connected with the connecting rod body, and the joint bearings at the two ends of the connecting rod are respectively and rotatably installed on the swing connecting parts of the sliding block and the rotating body through pin shafts.

9. The pick-and-place mechanism as claimed in any one of claims 1 to 5, wherein the rotor extends in an axial direction, and more than two pick-and-place assemblies are arranged on the rotor at intervals.

10. The pick-and-place mechanism as claimed in claim 9, wherein the rotating body is a rotating rod provided with a radially outwardly extending projection as the swing connecting portion, the rotating rod being mounted on the movable base through a bearing seat.

11. The pick and place mechanism as claimed in any one of claims 1 to 5, wherein the movable mount has a vertically extending vertical mounting block and a laterally extending lateral mounting block forming an inverted T-shaped movable mount, the rotor being rotatably mounted below the lateral mounting block.

12. The pick-and-place mechanism as claimed in any one of claims 1 to 5, wherein the lower portion of the movable mount extends obliquely rearwardly and downwardly to form a support arm for mounting a rotor, the rotor being rotatably mounted on the support arm.

13. The material taking and placing mechanism as claimed in any one of claims 1 to 5, wherein the movable base has a vertically extending mounting block and a horizontally extending mounting block forming an inverted T-shaped movable base, the lower portion of the horizontally extending mounting block extends obliquely rearward and downward to form a support arm for mounting the rotor, the support arms are arranged in 2 parallel, the rotor is a rotating rod, a radially outwardly extending projection is arranged on the rotating rod as a swing connecting portion, the rotating rod is mounted on the 2 support arms through a bearing seat, the swing connecting portion is located between the 2 support arms, and more than two material taking and placing assemblies are arranged on the rotating rod at intervals.

14. The taking and placing mechanism as claimed in any one of claims 1 to 5, wherein the taking and placing assembly comprises a taking and placing block arranged on the rotating body, a sucking disc and a vacuum joint for connecting a negative pressure air source are arranged on the taking and placing block, and the vacuum joint is communicated with the sucking disc.

15. The pick-and-place mechanism as claimed in claim 14, wherein the pick-and-place block is provided with a positioning block at a circumferential position of the suction cup, a through cavity for accommodating the suction cup is provided at a middle portion of the positioning block, the suction cup is installed in the through cavity of the positioning block, and the positioning block is lower than the suction cup for limiting the contraction of the suction cup when the suction cup sucks the sheet material.

16. The pick-and-place mechanism as claimed in claim 15, wherein the positioning block has a plurality of protrusions formed on the periphery of the through cavity, and the upper surfaces of the plurality of protrusions are located on the same plane.

17. The pick-and-place mechanism as claimed in claim 14, wherein the pick-and-place block has a front end extending downward to form a return portion, and a suction cup is mounted below the return portion.

18. The pick-and-place mechanism as claimed in claim 17, wherein an air jet hole is provided at a front lower position of the return portion, a vacuum joint for connecting a negative pressure air source is installed on an inner curved side wall of the return portion of the pick-and-place block, an air jet joint for connecting an air jet source is installed on an outer side wall of the pick-and-place block, and the air jet joint is communicated with the air jet hole; or the inner curved side wall of the return bending part of the taking and placing block is provided with an air injection joint used for connecting an air injection source, and the outer side wall of the taking and placing block is provided with a vacuum joint used for connecting a negative pressure air source.

19. The material taking and discharging mechanical arm is characterized by comprising the material taking and discharging mechanism as claimed in any one of the claims 1 to 18, and further comprising longitudinal installation seats for being established at two sides above a processing area, longitudinal rails arranged on the longitudinal installation seats, longitudinal sliding seats transversely spanned on the longitudinal rails at two sides, a longitudinal driving assembly for driving the longitudinal sliding seats to move on the longitudinal rails, transverse rails arranged on the longitudinal sliding seats, a transverse driving assembly for driving the vertical sliding seats and the transverse sliding seats to move along the transverse rails, and vertical rails arranged on the vertical sliding seats and a vertical driving assembly, wherein the moving seats of the material taking and discharging mechanism are arranged on the vertical rails and driven by the vertical driving assembly to move along the vertical rails.

20. A machine tool, comprising the material taking and placing manipulator as claimed in claim 19, further comprising a machine table and a processing machine head which is arranged above the machine table and can move along a transverse direction, wherein the front part of the machine table is transversely provided with a feeding area and a discharging area, and two sets of moving working tables which can move longitudinally and alternately are transversely arranged at positions on the machine table corresponding to the rear sides of the feeding area and the discharging area.

21. A machine tool according to claim 20, wherein the machine head has two or more machining spindles, and two or more machining stations are provided for each of the movable tables.

22. A machine tool according to claim 20 or 21 wherein stacked trays are provided in the loading zone, the trays being arranged in an array to receive a plurality of pockets for receiving sheet material to be processed.

23. The machine tool of claim 22, wherein the trough is provided with an evacuation groove or an evacuation protrusion at the periphery of the upper surface thereof, and a drain hole and/or a multi-point support rib at the bottom thereof.

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