CN215150562U

CN215150562U - Take cnc engraving and milling machine of automatic feeding and discharging manipulator

Info

Publication number: CN215150562U
Application number: CN202121197993.8U
Authority: CN
Inventors: 冯广; 李朴; 吕才智; 尚明文
Original assignee: Dongguan United Barley Intelligent Equipment Co ltd; Dongguan Smooth Technology Co ltd
Current assignee: Dongguan United Barley Intelligent Equipment Co ltd; Dongguan Smooth Technology Co ltd
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2021-12-14
Anticipated expiration: 2031-05-31

Abstract

The utility model discloses a take automatic cnc engraving and milling machine of unloading manipulator, go up unloading manipulator and positioner including base, workstation, vertical support, main shaft mechanism, automation. The positioning device is assembled on the base and positioned in front of the workbench, the automatic feeding and discharging mechanical arm is assembled on the base and positioned in front of the vertical support, the automatic feeding and discharging mechanical arm transfers a workpiece to be processed to the positioning device from the upper part and then transfers the workpiece to the workbench after positioning, and the automatic feeding and discharging mechanical arm also discharges the processed workpiece on the workbench from the upper part; the automatic feeding and discharging mechanical arm is used for transferring a workpiece to be processed to the workbench, and the workpiece is positioned in advance by the positioning device positioned in front of the workbench, so that the influence of processing scraps mixed in cutting fluid during processing on the positioning device is effectively prevented; and the machining precision of the main shaft mechanism is ensured.

Description

Take cnc engraving and milling machine of automatic feeding and discharging manipulator

Technical Field

The utility model relates to an engraving and milling field especially relates to an automatic engraving and milling machine who goes up unloading manipulator in area.

Background

As is well known, the glass applied to electronic products such as screens or back shells has the characteristics of high hardness, thin body, light weight and small area, and due to the particularity of the application field, the production of the glass often needs rapid and batch fine processing, so that the use of the engraving and milling machine cannot be avoided.

The CNC engraving and milling machine is a kind of numerical control machine tool, because it has the stable and reliable, processing quality is good, efficient, easy operation and maintenance advantage such as convenient that move for it can be used to the screen of electronic product or glass on the dorsal scale and process.

The automatic feeding and discharging device comprises a feeding and discharging manipulator, a discharging and discharging manipulator, a feeding and discharging manipulator, a discharging and discharging manipulator and a discharging and discharging manipulator. However, in the existing engraving and milling machine, because the positioning device for positioning the workpiece to be processed is mounted on the workbench of the engraving and milling machine, the cutting fluid used by the engraving and milling machine is a certain corrosive alkaline fluid, and the workpiece to be processed is usually glass, the dust and the sweeps in processing are mixed in the cutting fluid and circularly flow along with the cutting fluid, so that the positioning device is corroded and the movement of the positioning device is obstructed, and the positioning accuracy of the subsequent workpiece to be processed is affected. In addition, in the existing engraving and milling machine, because the positioning device is assembled on the workbench, and correspondingly, the used loading and unloading manipulator is assembled on the gantry bracket of the engraving and milling machine for fixing the spindle mechanism, the load of the gantry bracket is increased, and the processing precision of the spindle mechanism is influenced due to the loading and unloading work of the loading and unloading manipulator.

Therefore, there is a need to provide an engraving and milling machine with an automatic loading and unloading robot that can avoid corrosion and obstacles and ensure the machining precision of the spindle mechanism to overcome the above-mentioned drawbacks.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an avoid corroding and the obstacle and ensure the automatic cnc engraving and milling machine who goes up feeding mechanical arm in area of main shaft mechanism machining precision.

In order to achieve the above object, the utility model discloses an automatic cnc engraving and milling machine who goes up feeding mechanical arm in area includes base, workstation, vertical support, main shaft mechanism, automatic feeding mechanical arm and positioner. The workbench is movably assembled on the base in the horizontal direction, the vertical support is assembled on the base, and the spindle mechanism is assembled on the vertical support and positioned above the workbench; the positioning device is assembled on the base and positioned in front of the workbench; the automatic feeding and discharging mechanical arm is assembled on the base and located in front of the vertical support, a workpiece to be machined is transferred to the workbench after being positioned by the positioning device from the upper side, and the workpiece machined on the workbench is discharged from the upper side.

Preferably, the utility model discloses an automatic cnc engraving and milling machine who goes up unloading manipulator in area still including assemble in the level of base moves and carries the mechanism and assemble in vertical support moves the mechanism from top to bottom, the workstation from the top install in the level moves the output that carries the mechanism, the workstation is in the level moves the drive that carries the mechanism down by vertical support with the translation of horizontal direction is done in the space that the base encloses, spindle unit assemble in move the output that carries the mechanism from top to bottom, move from top to bottom and carry the mechanism and order about spindle unit follows the upper and lower direction of base is done and is close to or keeps away from the sliding of workstation.

Preferably, the plurality of spindle mechanisms are arranged in a line along the left-right direction of the base, and each spindle mechanism corresponds to one of the up-down transfer mechanisms.

Preferably, the automatic loading and unloading manipulator comprises a loading and carrying manipulator, a transfer manipulator and a gantry support, the gantry support is assembled on the base and spans over the workbench along the left and right directions of the base, the gantry support is also positioned in front of the vertical support, the transfer manipulator is assembled on the gantry support, the positioning device is positioned in front of the gantry support, the loading and carrying manipulator is assembled on the base and positioned in front of the gantry support, the loading and carrying manipulator transfers the workpiece to be processed to the positioning device, the transfer manipulator takes away the workpiece to be processed at the positioning device from the top and transfers the workpiece to the workbench, and the transfer manipulator also discharges the processed workpiece on the workbench from the top.

Preferably, the loading and carrying manipulator comprises a loading and taking mechanism and a left and right transfer mechanism for driving the loading and taking mechanism to slide back and forth along the left and right direction of the base, the left and right transfer mechanism is arranged along the left and right direction of the base, the loading and taking mechanism is assembled at the output end of the left and right transfer mechanism, the positioning devices are arranged in a line at intervals along the left and right direction of the base to form a positioning device row, and the positioning device row is positioned in front of or behind the left and right transfer mechanism.

Preferably, the automatic loading and unloading manipulator further comprises a door-shaped support, foot rests on two sides of the door-shaped support are fixedly assembled with the base, the left and right transfer mechanisms are assembled on the foot rests on the two sides from the front of the door-shaped support, and the positioning device is assembled on a top beam of the door-shaped support from the upper side of the door-shaped support.

Preferably, the automatic loading and unloading manipulator further comprises a loading bin mechanism assembled on the base and located beside the left side or the right side of the left and right transfer mechanisms, and an unloading temporary storage mechanism located between the gantry support and the positioning device row along the front-back direction of the base, wherein the unloading temporary storage mechanism comprises temporary storage units which are the same in number as the positioning devices and are arranged in a row along the left-right direction of the base.

Preferably, the feed bin mechanism includes a bin frame, a jacking device and a stacking cavity formed by stacking the workpieces to be processed and surrounded by the bin frame, wherein the stacking cavity has a cavity opening facing upwards, the jacking device is located under the stacking cavity and assembled on the bin frame, and the jacking device is used for jacking the workpieces to be processed in the stacking cavity upwards.

Preferably, the stacking cavities are multiple and arranged at intervals along the left-right direction of the base; jacking device contains jacking motor, jacking lead screw, jacking screw and jacking support, the jacking lead screw rotationally assemble in the feed bin framework, jacking motor assemble in the feed bin framework orders about the jacking lead screw is rotatory, jacking screw slidable suit in the jacking lead screw and with jacking support fixed connection, the upper end of jacking support upwards stretches into every pile up in the chamber.

Preferably, the transfer robot includes a front and rear transfer mechanism, an up and down transfer mechanism, a rotary actuator, a mounting bracket, a rotary shaft, a first suction head structure, and a second suction head structure, the front and rear transfer mechanism is mounted on the gantry bracket, the up and down transfer mechanism is mounted on an output end of the front and rear transfer mechanism, the mounting bracket is mounted on an output end of the up and down transfer mechanism, the rotary shaft is rotatably mounted on the mounting bracket and arranged along a left and right direction of the base, the rotary actuator is mounted on the mounting bracket and drives the rotary shaft to rotate, the first suction head structure and the second suction head structure are mounted on the rotary shaft, and the first suction head structure and the second suction head structure face in opposite directions.

Compared with the prior art, because positioner assembles in the base and is located the place ahead of workstation, avoided positioner to assemble in the workstation, the design makes positioner advance the location to the work piece of treating processing that automatic last unloading manipulator sent, then will advance the good work piece of treating processing of location to take away and forward to workstation department, ensure the position accuracy nature of the work piece of treating processing of placing on the workstation on the one hand, on the other hand avoids smear metal liquid and mixes in the dust sweeps of smear metal liquid to cause corruption and obstacle to positioner. Meanwhile, the automatic feeding and discharging mechanical arm is assembled on the base and located in front of the vertical support, so that the automatic feeding and discharging mechanical arm and the spindle mechanism are prevented from being assembled on the vertical support at the same time, and the spindle mechanism is prevented from being influenced due to the fact that the automatic feeding and discharging mechanical arm is assembled on the vertical support, and therefore the machining precision of the spindle mechanism is guaranteed.

Drawings

Fig. 1 is a schematic view of the three-dimensional structure of the engraving and milling machine with the automatic feeding and discharging manipulator of the present invention.

Fig. 2 is a schematic perspective view of the engraving and milling machine shown in fig. 1 after hiding the automatic loading and unloading robot and the positioning device.

Fig. 3 is a schematic perspective view of the vertical transfer mechanism in the cnc engraving and milling machine shown in fig. 2.

Fig. 4 is a schematic perspective view of the horizontal transfer mechanism on which the table of the cnc engraving and milling machine shown in fig. 2 is mounted.

Fig. 5 is a schematic perspective view of fig. 4 at another angle.

Fig. 6 is a perspective view of the front-rear straight-line mechanism shown in fig. 5 after being hidden.

Fig. 7 is a schematic view of the three-dimensional structure of the automatic feeding and discharging manipulator and the positioning device of the engraving and milling machine of the present invention assembled on the base.

Fig. 8 is a schematic view of the three-dimensional structure of the position relationship among the feeding bin mechanism, the feeding carrying manipulator, the positioning device and the door-shaped support in the engraving and milling machine of the present invention.

Fig. 9 is the three-dimensional structure diagram of the position relationship among the material loading carrying manipulator, the positioning device and the door-shaped support three in the engraving and milling machine of the present invention.

Fig. 10 is a schematic perspective view of a feeding bin mechanism in the engraving and milling machine of the present invention.

Fig. 11 is a schematic view of the three-dimensional structure of the transfer manipulator of the engraving and milling machine of the present invention assembled on the gantry support.

Detailed Description

Embodiments of the present invention will now be described with reference to the drawings, wherein like element numerals represent like elements throughout.

Referring to fig. 1, the engraving and milling machine 100 with an automatic loading and unloading manipulator of the present invention includes a base 10, a worktable 20, a vertical support 30, a spindle mechanism 40, an automatic loading and unloading manipulator 50, and a positioning device 60 a. The worktable 20 is movably assembled on the base 10 in the horizontal direction, so that the worktable 20 can horizontally translate on the base 10; the vertical support 30 is assembled on the base 10, and the base 10 provides a supporting and fixing function for the vertical support 30, preferably, the vertical support 30 is door-shaped, so that the vertical support 30 is arranged above the workbench 20 along the left-right direction of the base 10; the spindle mechanism 40 is mounted on the vertical support 30 and located above the table 20, so that the spindle mechanism 40 is close to or far from the table 20 from above; the positioning device 60a is assembled on the base 10, the base 10 provides supporting and fixing functions for the positioning device 60a, and the positioning device 60a is positioned in front of the workbench 20; the automatic loading and unloading manipulator 50 is assembled on the base 10 and located in front of the vertical support 30, the automatic loading and unloading manipulator 50 transfers a workpiece to be processed to the positioning device 60a from above, then transfers the workpiece to the workbench 20 after positioning, and the automatic loading and unloading manipulator 50 also discharges the processed workpiece on the workbench 20 from above. Specifically, with reference to fig. 2, the cnc engraving and milling machine 100 with automatic loading and unloading manipulator of the present invention further includes a horizontal transfer mechanism 70 assembled on the base 10 and an upper and lower transfer mechanism 80 assembled on the vertical support 30, the worktable 20 is installed at the output end of the horizontal transfer mechanism 70 from above, the worktable 20 is driven by the horizontal transfer mechanism 70 to perform horizontal translation in the space 90 enclosed by the vertical support 30 and the base 10, the spindle mechanism 40 is assembled at the output end of the upper and lower transfer mechanism 80, and the upper and lower transfer mechanism 80 drives the spindle mechanism 40 to perform sliding movement close to or away from the worktable 20 along the upper and lower directions of the base 10; design like this makes the utility model discloses an engraving and milling machine 100 removes the shape that control work piece was processed by main shaft mechanism 40 through workstation 20 in the translation of horizontal direction, and it is easier for traditional engraving and milling machine to remove the shape that control work piece was processed by main shaft mechanism through workstation in the translation of fore-and-aft direction and main shaft mechanism in the translation of left right direction, and the machining precision is better. More specifically, the following:

as shown in fig. 2, the number of the spindle mechanisms 40 is eight, and the spindle mechanisms 40 are arranged in a line along the left-right direction of the base 10, and each spindle mechanism 40 is provided with an up-down transfer mechanism 80, so that the engraving and milling machine 100 of the present invention forms an 8-axis engraving and milling machine; it is understood that the number of the spindle mechanisms 40 is two, four or six, and therefore, the present invention is not limited thereto.

As shown in fig. 3, the vertical transfer mechanism 80 includes a vertical motor 81, a vertical screw 82, a vertical nut 83, and a vertical slide 84. The upper and lower sliding seats 84 are slidably disposed on the vertical support 30, the upper and lower motors 81 are disposed above the upper and lower sliding seats 84 and assembled on the vertical support 30, output terminals 811 of the upper and lower motors 81 are arranged downward, the upper and lower lead screws 82 are rotatably assembled on the vertical support 30 and disposed under the upper and lower motors 81, the upper and lower nuts 83 are slidably disposed on the upper and lower lead screws 82 and fixedly connected with the upper and lower sliding seats 84, the spindle mechanism 40 is assembled on the upper and lower sliding seats 84, and the upper and lower motors 81 directly drive the upper and lower lead screws 82 to rotate, so that the upper and lower nuts 83, the upper and lower sliding seats 84 and the spindle mechanism 40 are driven to lift together in the rotating process of the upper and lower lead screws 82, so as to accurately control the lifting of the spindle mechanism 40. It should be noted that, according to actual needs, the up-down motor 81 can drive the up-down screw rod 82 to rotate through belt transmission, chain transmission or gear transmission, so the above description is not limited.

As shown in fig. 2, 4, 5, and 6, the horizontal transfer mechanism 70 includes a front-rear straight line mechanism 71 and a left-right straight line mechanism 72. The front-rear linear mechanism 71 is mounted to the base 10, the left-right linear mechanism 72 is mounted to an output end of the front-rear linear mechanism 71, and the table 20 is mounted to an output end of the left-right linear mechanism 72, so that the table 20 is driven to translate in the space 90 in the left-right direction and the front-rear direction of the base 10 by cooperation of the front-rear linear mechanism 71 and the left-right linear mechanism 72. For example, in fig. 4 and 5, the front-back linear mechanism 71 includes a front-back motor 711, a front-back screw 712, a front-back nut 713, and a front-back sliding seat 714 for forming an output end, the front-back motor 711 is assembled on the base 10, the front-back screw 712 is rotatably assembled on the base 10, the front-back nut 713 is slidably sleeved on the front-back screw 712 and is fixedly connected with the front-back sliding seat 714, so that the front-back motor 711 drives the front-back sliding seat 714 to move back and forth along the front-back direction of the base 10 through the cooperation of the front-back screw 712 and the front-back screw 713; similarly, in fig. 6, the left and right linear mechanism 72 includes a left and right motor 721, a left and right screw rod 722, and a left and right nut 723 for forming an output end, the left and right motor 721 is assembled on the front and rear sliding seat 714, the left and right screw rod 722 is rotatably assembled on the front and rear sliding seat 714, the left and right nut 723 is slid on the left and right screw rod 722 and is fixedly connected with the worktable 20, so that the left and right motor 721 drives the worktable 20 to move left and right along the left and right direction of the base 10 through the cooperation of the left and right screw rod 722 and the left and right nut 723; therefore, the front-rear linear mechanism 71 and the left-right linear mechanism 72 are engaged to achieve the purpose of performing the left-right translation and the front-rear translation of the table 20.

As shown in fig. 7, the automatic loading and unloading robot 50 includes a loading and carrying robot 51, a transfer robot 52, and a gantry 53. The gantry 53 is assembled on the base 10 and spans over the worktable 20 in the left-right direction of the base 10, so that the arrangement between the worktable 20 and the gantry 53 is more compact; the gantry 53 is also positioned right in front of the vertical stand 30 such that the gantry 53 and the vertical stand 30 are arranged side by side spaced apart from each other in the front-rear direction of the base 10. The relay robot 52 is mounted on a gantry 53, and the gantry 53 provides a support and mounting place for the relay robot 52. The positioning device 60a is positioned right in front of the gantry support 53, and the feeding and carrying manipulator 51 is assembled on the base 10 and positioned in front of the gantry support 53, so that the positions among the positioning device 60a, the feeding and carrying manipulator 51 and the gantry support 53 are more compact; the loading and carrying robot 51 transfers the workpiece to be processed to the positioning device 60a, the relay robot 52 takes the workpiece to be processed at the positioning device 60a from above and transfers it to the table 20, and the relay robot 52 also discharges the processed workpiece on the table 20 from above. Among them, the detailed structure of the loading and transferring robot 51 and the transferring robot 52 is described below:

as shown in fig. 8 and 9, the loading and transporting robot 51 includes a loading and picking mechanism 51a and a left and right transfer mechanism 51b for driving the loading and picking mechanism 51a to perform reciprocating sliding movement in the left and right directions of the base 10, the left and right transfer mechanism 51b is arranged in the left and right directions of the base 10, the loading and picking mechanism 51a is mounted at an output end 514 of the left and right transfer mechanism 51b, the positioning devices 60a are eight and are arranged in a row at intervals in the left and right directions of the base 10 to form a positioning device row 60, and the positioning device row 60 is located behind the left and right transfer mechanism 51b for the purpose that the loading and transporting robot 51 rapidly transfers the workpiece to be processed to the positioning device 60 a; of course, the positioning device row 60 may be positioned in front of the left and right transfer mechanisms 51b as needed; the number of the positioning devices 60a may also be two, four or six, and is not limited thereto. Specifically, in fig. 8 and 9, the automatic loading and unloading robot 50 further includes a door-shaped bracket 54, two side stands 541 of the door-shaped bracket 54 are fixedly assembled with the base 10, the left and right transfer mechanisms 51b are assembled with the two side stands 541 from the front of the door-shaped bracket 54, and the positioning device 60a is assembled with the top beam 542 of the door-shaped bracket 54 from above the door-shaped bracket 54, so that the positioning device 60a and the left and right transfer mechanisms 51b can be more reasonably and compactly arranged on the base 10 by means of the door-shaped bracket 54. More specifically, in fig. 7 and 8, the automatic loading and unloading robot 50 further includes a loading bin mechanism 55 mounted on the base 10 and located beside the left side of the left and right transfer mechanisms 51b, and a unloading temporary storage mechanism 56 located between the gantry 53 and the positioning device row 60 along the front-rear direction of the base 10, wherein the unloading temporary storage mechanism 56 includes temporary storage units 561 having the same number as the positioning devices 60a and arranged in a row along the left-right direction of the base 10, so as to facilitate batch storage of workpieces to be processed by the loading bin mechanism 55 and reduce the number of times of unloading by an operator, and facilitate batch taking out operations of processed workpieces by the unloading temporary storage mechanism 56. It is understood that the loading bin mechanism 55 can be located beside the right side of the left and right transfer mechanisms 51b according to actual needs, and the specific structures of the loading bin mechanism 55 and the loading pick-and-place mechanism 51a are described below.

As shown in fig. 8 and 9, the feeding bin mechanism 55 includes a bin frame 551, a lifting device 552, and a stacking cavity 553 surrounded by the bin frame 551 and used for stacking the workpieces to be processed up and down, a cavity opening 5531 of the stacking cavity 553 is arranged upward, the lifting device 552 is located right below the stacking cavity 553 and is assembled to the bin frame 551, and the lifting device 552 is used for lifting the workpieces to be processed in the stacking cavity 553 upward. Specifically, in fig. 9, the stacking cavities 553 are two and arranged in a spaced-apart manner in the left-right direction of the base 10 for the purpose of dual feeding; meanwhile, the jacking device 552 includes a jacking motor 5521, a jacking lead screw 5522, a jacking nut 5523 and a jacking bracket 5524, the jacking lead screw 5522 is rotatably assembled in the bin frame 551, the jacking motor 5521 is assembled in the bin frame 551 and drives the jacking lead screw 5522 to rotate, the jacking nut 5523 is slidably sleeved in the jacking lead screw 5522 and fixedly connected with the jacking bracket 5524, the upper end of the jacking bracket 5524 upwards extends into each stacking cavity 553, so that the jacking motor 5521 drives the jacking bracket 5524 to simultaneously lift up the workpiece to be processed in each stacking cavity 553 together accurately to the position through the cooperation of the jacking lead screw 5522 and the jacking nut 5523.

As shown in fig. 9, the loading pick-and-place mechanism 51a includes a loading nozzle 511, a loading driver 512, and a loading base 513, the loading driver 512 is mounted to the output end 514 of the left and right transfer mechanisms 51b with its output end facing downward, the loading base 513 is connected to the output end of the loading driver 512, and the loading nozzle 511 is mounted to the loading base 513. For example, the loading actuator 512 is a linear cylinder, a linear cylinder or other linear actuator to rapidly switch the loading suction head 511 between two extreme positions, but not limited thereto. The left and right transfer mechanism 51b may be constituted by a motor, a belt drive, and left and right sliders for forming the carry-out port 514, but the left and right transfer mechanism 51b may be constituted by a motor, a screw drive, and left and right sliders for forming the carry-out port 514, and the present invention is not limited thereto.

As shown in fig. 11, the transfer robot 52 includes a front-rear transfer mechanism 52a, an up-down transfer mechanism 52b, a rotary driver 52c, a mounting frame 52d, a rotary shaft 52e, a first suction head structure 52f and a second suction head structure 52g, the front-rear transfer mechanism 52a is mounted on the gantry frame 53, the up-down transfer mechanism 52b is mounted on the output end of the front-rear transfer mechanism 52a, the mounting frame 52d is mounted on the output end of the up-down transfer mechanism 52b, the rotary shaft 52e is rotatably mounted on the mounting frame 52d and arranged along the left-right direction of the base 10, the rotary driver 52c is mounted on the mounting frame 52d and drives the rotary shaft 52e to rotate, the first suction head structure 52f and the second suction head structure 52g are mounted on the rotary shaft 52e, and the first suction head structure 52f and the second suction head structure 52g face in opposite directions; for example, when the first tip structure 52f is located directly above and the second tip structure 52g is located directly below, the first tip structure 52f is switched to directly below and the second tip structure 52g is switched to directly above by rotating the rotating shaft 52e, so that after the workpiece to be machined at the positioning device 60a is removed by the first tip structure 52f by the engagement of the first tip structure 52f and the second tip structure 52g, the first tip structure 52f is directed upward by the rotating shaft 52e and the second tip structure 52g is directed downward by the engagement of the front and rear transfer mechanism 52a and the up and down transfer mechanism 52b, so that the machined workpiece on the table 20 can be taken out by the second tip structure 52g, when the processed workpiece is taken out, the rotating driver 52c drives the rotating shaft 52e to rotate again, so that the second suction head structure 52g faces upwards and the first suction head structure 52f faces downwards, and the first suction head structure 52f is convenient to place the workpiece to be processed on the workbench 20 under the coordination of the front and back transfer mechanism 52a and the up and down transfer mechanism 52b, thereby shortening the distance and waiting time for loading the workpiece to be processed and unloading the processed workpiece, and improving the efficiency. Specifically, in fig. 11, the mounting bracket 52d is a door-shaped frame, and provides an escape space for the first suction head structure 52f and the second suction head structure 52g to be arranged at intervals in the left-right direction of the base 10. For example, the rotary actuator 52c is a rotary motor, a rotary cylinder or a rotary cylinder, but not limited thereto; in addition, the front-back transfer mechanism 52a and the up-down transfer mechanism 52b may each be composed of a motor, a lead screw, a wire, and a translation seat for forming an output end, and the relationship among the motor, the lead screw, the nut, and the translation seat is well known in the art and thus will not be described herein again. It should be noted that, when the number of the positioning devices 60a is eight, the number of the first suction head structures 52f and the number of the second suction head structures 52g are also eight respectively at this time, so as to match the number of the positioning devices 60 a; in addition, each of the first nozzle structures 52f is aligned with a corresponding one of the second nozzle structures 52g in the circumferential direction of the rotary shaft 52 e.

Compared with the prior art, because the positioning device 60a is assembled on the base 10 and located in front of the workbench 20, the positioning device 60a is prevented from being assembled on the workbench 20, the positioning device 60a is designed to position the workpiece to be processed sent by the automatic loading and unloading manipulator 50 in advance, and then the workpiece to be processed, which is positioned in advance, is taken away and transferred to the workbench 20, so that the position accuracy of the workpiece to be processed, which is placed on the workbench 20, is ensured, and on the other hand, the corrosion and the obstacle of the positioning device 60a caused by the chip liquid and the dust and the sweeps mixed in the chip liquid are avoided. Meanwhile, the automatic feeding and discharging manipulator 50 is assembled on the base 10 and located in front of the vertical support 30, so that the automatic feeding and discharging manipulator 50 and the spindle mechanism 40 are prevented from being assembled on the vertical support 30 at the same time, and the spindle mechanism 40 is prevented from being affected due to the fact that the automatic feeding and discharging manipulator 50 is assembled on the vertical support 30, and therefore the machining precision of the spindle mechanism 40 is guaranteed.

Note that, the direction indicated by the arrow a in the drawings is a direction from left to right of the base 10, and the direction indicated by the arrow B in the drawings is a direction from front to back of the base 10. The table 20 has the same number of support suction structures 21 as the positioning devices 60a, and supports and tightly sucks the workpiece to be processed transferred by the transfer robot 52 and positioned by the positioning devices 60a by vacuum suction.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, therefore, the invention is not limited thereto.

Claims

1. The utility model provides a take cnc engraving and milling machine of unloading manipulator in automation, include the base, assemble at the horizontal direction activity in the workstation of base, assemble in the vertical support of base, assemble in vertical support is located the main shaft mechanism of workstation top, a serial communication port, the cnc engraving and milling machine of unloading manipulator in area in automation still includes unloading manipulator and positioner in automation, positioner assemble in the base is located the place ahead of workstation, the unloading manipulator assemble in the base is located the place ahead of vertical support in automation, the unloading manipulator in automation will wait that the work piece of processing from the top transmits on to again behind the positioner location the workstation, the unloading manipulator still will from the top in automation the work piece unloading of having processed on the workstation.

2. The engraving and milling machine with automatic loading and unloading manipulator of claim 1, further comprising a horizontal transfer mechanism mounted on the base and an up-down transfer mechanism mounted on the vertical support, wherein the worktable is mounted at an output end of the horizontal transfer mechanism from above, the worktable is driven by the horizontal transfer mechanism to horizontally translate in a space enclosed by the vertical support and the base, the spindle mechanism is mounted at an output end of the up-down transfer mechanism, and the up-down transfer mechanism drives the spindle mechanism to slide close to or away from the worktable along the up-down direction of the base.

3. The engraving and milling machine with automatic loading and unloading manipulator as claimed in claim 2, wherein said spindle mechanism is plural and aligned in a row along the left-right direction of said base, and each spindle mechanism corresponds to one of said up-down transfer mechanisms.

4. The engraving and milling machine with automatic loading and unloading manipulator of claim 1, the automatic loading and unloading manipulator comprises a loading and carrying manipulator, a transfer manipulator and a gantry support, the gantry support is assembled on the base and spans the upper part of the workbench along the left and right directions of the base, the gantry support is also positioned right in front of the vertical support, the transfer manipulator is assembled on the gantry support, the positioning device is positioned right in front of the gantry support, the loading and carrying manipulator is assembled on the base and positioned in front of the gantry support, the loading and carrying manipulator transfers the workpiece to be processed to the positioning device, the transfer manipulator takes the workpiece to be processed at the positioning device away from the upper part and transfers the workpiece to the workbench, and the transfer manipulator also discharges the processed workpiece on the workbench from the upper part.

5. The engraving and milling machine with automatic loading and unloading manipulator as claimed in claim 4, wherein the loading and transporting manipulator comprises a loading and unloading mechanism and a left and right transfer mechanism for driving the loading and unloading mechanism to slide back and forth along the left and right direction of the base, the left and right transfer mechanism is arranged along the left and right direction of the base, the loading and unloading mechanism is assembled at the output end of the left and right transfer mechanism, the positioning devices are arranged in a row at intervals along the left and right direction of the base to form a positioning device row, and the positioning device row is located in front of or behind the left and right transfer mechanism.

6. The engraving and milling machine with automatic loading and unloading manipulator of claim 5, wherein the automatic loading and unloading manipulator further comprises a door-shaped support, the foot rests on two sides of the door-shaped support are fixedly assembled with the base, the left and right transfer mechanisms are assembled on the foot rests on two sides from the front of the door-shaped support, and the positioning device is assembled on the top beam of the door-shaped support from the upper side of the door-shaped support.

7. The engraving and milling machine with automatic loading and unloading manipulator of claim 5, wherein the automatic loading and unloading manipulator further comprises a loading bin mechanism mounted on the base and located beside the left or right side of the left and right transfer mechanisms, and an unloading temporary storage mechanism located between the gantry support and the positioning device row along the front-back direction of the base, wherein the unloading temporary storage mechanism comprises temporary storage units which are the same in number as the positioning devices and are arranged in a row along the left-right direction of the base.

8. The engraving and milling machine with automatic loading and unloading manipulator of claim 7, wherein the loading bin mechanism comprises a bin frame, a jacking device and a stacking cavity surrounded by the bin frame and used for stacking the workpieces to be processed up and down, the stacking cavity has an upward opening, the jacking device is located under the stacking cavity and assembled on the bin frame, and the jacking device is used for jacking the workpieces to be processed in the stacking cavity up.

9. The engraving and milling machine with automatic loading and unloading manipulator of claim 8, wherein the stacking chamber is plural and arranged at intervals along the left and right direction of the base; jacking device contains jacking motor, jacking lead screw, jacking screw and jacking support, the jacking lead screw rotationally assemble in the feed bin framework, jacking motor assemble in the feed bin framework orders about the jacking lead screw is rotatory, jacking screw slidable suit in the jacking lead screw and with jacking support fixed connection, the upper end of jacking support upwards stretches into every pile up in the chamber.

10. The engraving and milling machine with automatic loading and unloading manipulator of claim 4, the transfer manipulator comprises a front and back transfer mechanism, an up and down transfer mechanism, a rotary driver, a mounting bracket, a rotary shaft, a first sucker structure and a second sucker structure, the front and back transfer mechanism is assembled on the gantry bracket, the up and down transfer mechanism is assembled at the output end of the front and back transfer mechanism, the mounting bracket is assembled at the output end of the up-down transfer mechanism, the rotating shaft is rotatably assembled on the mounting bracket and is arranged along the left-right direction of the base, the rotary driver is assembled on the mounting bracket and drives the rotary shaft to rotate, the first suction head structure and the second suction head structure are respectively assembled on the rotary shaft, and the first suction head structure and the second suction head structure are opposite in orientation.