CN218808908U - Multistation becomes interval manipulator machine tool - Google Patents

Abstract

The utility model discloses a multi-station variable-spacing mechanical hand processing machine tool, which comprises a plurality of working areas, wherein a plurality of clamping processing stations are arranged in each working area; the device comprises a material changing area for workpieces, wherein a plurality of material box groups are arranged in the material changing area, and each material box group mainly comprises a plurality of material boxes; the variable-pitch manipulator is in reciprocating motion on a path between the working area and the material changing area, and meanwhile, the variable-pitch manipulator is provided with a plurality of execution ends for taking and placing workpieces, the distance between every two adjacent execution ends is adjustable, so that the workpieces are transferred between the working area and the material changing area, the problem that the distance between material boxes is limited is solved, redundant space between the material boxes is effectively reduced, the whole size of the machine tool is small, and the structure is compact.

Description

Multistation becomes interval manipulator machine tool

Technical Field

The utility model relates to a machine tool field especially relates to a multistation becomes interval manipulator machine tool.

Background

In the technical field of glass processing, feeding and discharging are always important composition procedures of a glass panel processing technology, and a feeding and discharging device is always the key point of research of technical personnel in the field in order to realize high-efficiency work of panel processing equipment. Along with the high-speed development of 3C and new energy industry, the milling processing of cell-phone glass panels is mass production, and on-vehicle glass size is bigger and bigger, and unloading production efficiency is lower on semi-automatic, and artifical manual monolithic goes up unloading and has not satisfied the demand of enterprise.

In order to more optimally realize high-efficiency automatic feeding and discharging processing of glass panels, the inventor develops and discloses a walking type automatic feeding and discharging device with an authorization notice number of CN213765027U and panel processing equipment thereof in 2021, and the walking type automatic feeding and discharging device comprises a walking type automatic feeding and discharging device, a machine head and a frame, wherein a moving workbench of the walking type automatic feeding and discharging device is movably assembled on the frame along the front-back direction of the moving workbench, the machine head is suspended above a processing table, and the machine head is movably assembled on the frame along the left-right direction and the up-down direction of the moving workbench through a machine head driving mechanism so as to circularly process panels on the two processing tables.

However, in the structural design of the machine tool, in order to consider the factors such as safety in the machining of the machine tool, the distance between the machining table and the machining table is large, or the distance between a plurality of workpieces machined on the machining table is long, and in order to ensure that the manipulator can grab the workpieces from the magazine and then clamp the workpieces onto the machining table in the automatic machining of the machine tool, the distance between the magazines and the distance between the workpieces on the machining table must be the same, so that the distance between the magazines is strictly restricted.

SUMMERY OF THE UTILITY MODEL

In order to overcome above-mentioned prior art an at least defect, the utility model provides a multistation becomes interval manipulator machine tool not only solves the limited problem of interval of magazine, and effectively reduces the unnecessary space between magazine and the magazine for the whole size of lathe is less, and the structure is compacter.

The utility model discloses a solve the technical scheme that its problem adopted and be:

a multistation becomes interval manipulator machine tool includes:

each working area is internally provided with a plurality of clamping and processing stations;

the device comprises a material changing area, a material conveying area and a material conveying area, wherein the material changing area is used for accommodating workpieces to be processed and processed, a plurality of material box groups are arranged in the material changing area, each material box group mainly comprises a plurality of material boxes, and the material changing area is positioned on one side of the working area;

the variable-pitch manipulator moves on a path between the working area and the material changing area in a reciprocating mode, meanwhile, the variable-pitch manipulator is provided with a plurality of execution ends used for taking and placing workpieces, and the distance between every two adjacent execution ends is adjustable, so that the workpieces are transferred between the working area and the material changing area.

Therefore, by utilizing a plurality of execution ends capable of adjusting the distance on the variable-pitch manipulator, the automatic conveying effect of a plurality of workpieces between the material changing area and the plurality of working areas is realized, more importantly, the purpose of accurate feeding and discharging when the distance between the plurality of clamping processing stations is different from the distance between the plurality of material boxes in the material changing area is also effectively realized, further, the distance between the plurality of material boxes in the material changing area can not be the same as the distance between the plurality of clamping processing stations, and the problem of limited distance between the material boxes is solved.

Furthermore, this multistation becomes interval manipulator machine tool still includes the frame, the frame has the fixed beam, along the length direction of fixed beam has set gradually a plurality of the workspace is located a plurality of one side of workspace is provided with a plurality of the magazine group.

Further, the material changing area also comprises a conveying device for conveying the workpiece.

Furthermore, the variable-pitch manipulator comprises a variable-pitch mechanism with a plurality of variable-pitch adjusting ends and a plurality of pick-and-place manipulators, the pick-and-place manipulator is an execution end of the variable-pitch manipulator, and each pick-and-place manipulator is arranged on each variable-pitch adjusting end.

Furthermore, the pick-and-place manipulator comprises a joint adapter, a telescopic moving part and a turning movable head provided with a plurality of sucker components, one end of the telescopic moving part is hinged to the joint adapter, the other end of the telescopic moving part is hinged to the turning movable head, the turning movable head is rotatably connected to the joint adapter, and the joint adapter is fixedly assembled on the variable pitch adjusting end of the variable pitch mechanism.

Furthermore, the variable-pitch manipulator further comprises a lifting mechanism and a moving mechanism, wherein the lifting mechanism is movably connected to the moving mechanism, and the variable-pitch mechanism is connected to the lifting mechanism in a sliding mode.

Further, the moving mechanism comprises a U-direction sliding mechanism arranged parallel to the length direction of the fixed beam and a V-direction sliding mechanism arranged parallel to the width direction of the fixed beam, the U-direction sliding mechanism is assembled on the V-direction sliding mechanism in a sliding manner, and the lifting mechanism is assembled on the U-direction sliding mechanism.

Furthermore, a processing table for clamping and transferring a plurality of workpieces to the corresponding clamping processing stations and a plurality of processing devices are arranged in each working area, the processing table is located below the plurality of processing devices, each processing device is assembled on the fixed beam, and each processing device is used for processing each corresponding workpiece.

Further, each processing device is provided with a processing pushing device, and the processing pushing device is used for enabling the processing device to descend and move to the processing table so as to process the workpiece.

Furthermore, an X-direction sliding mechanism is arranged along the length direction of the fixed beam, and the plurality of processing and propelling devices are assembled on the X-direction sliding mechanism in a sliding mode.

To sum up, the utility model provides a pair of multistation becomes interval manipulator machine tool has following technological effect:

through the cooperation use of displacement manipulator and workspace and reloading district, not only make a plurality of work pieces can realize the displacement and transport and the accurate purpose of going up under the inconsistent condition of interval between workspace and reloading district, make the interval design between a plurality of magazines more nimble, solve the spacing limited problem between a plurality of magazines, and then be favorable to reducing the unnecessary space between magazine and the magazine, make the overall dimension of lathe less, the structure is compacter, simultaneously, still realize this machine tool stable in the synchronous automatic course of working of a plurality of work pieces, the unexpected effect of not shutting down processing, the machining efficiency of machine tool has been improved greatly.

Drawings

FIG. 1 is an overall structure diagram of a multi-station variable-pitch manipulator processing machine tool according to the present invention;

FIG. 2 is a partial assembly view of a multi-station variable-pitch manipulator processing machine of the present invention;

fig. 3 is a schematic view of the overall structure of the pitch-variable manipulator of the present invention;

FIG. 4 is a partial assembly view of the pitch-changing manipulator of the present invention;

fig. 5 is a schematic structural diagram of the pick-and-place manipulator of the present invention.

Icon: 11-a working area, Y1-a first processing area, Y2-a second processing area, 12-a clamping processing station, 13-a material changing area, 21-a material box group, 31-a variable-pitch manipulator, 311-a variable-pitch mechanism, 3111-a variable-pitch cam component, 3112-a variable-pitch driver, 3113-a variable-pitch adjusting block, 312-a pick-and-place manipulator, 3121-a joint adapter, 3122-a telescopic movable piece, 3123-a sucker component, 3124-a turnover movable head, 3125-a rotating pin, 313-a lifting mechanism, 314-a moving mechanism, 3141-U-direction sliding mechanism, 3142-V-direction sliding mechanism, 41-a workpiece, 51-a machine base, 511-a fixed beam, 512-a base body, 61-a processing table, 62-a processing device, 63-a processing propelling device and 64-X-direction sliding mechanism.

Detailed Description

For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

First embodiment

Specifically please show according to fig. 1, the utility model discloses a multistation becomes interval manipulator machine tool, include:

the device comprises at least one working area 11, wherein a plurality of clamping and processing stations 12 are arranged in the working area 11 and used for clamping and fixing workpieces 41;

the material changing area 13 is used for accommodating workpieces 41 to be processed and processed, a plurality of material box groups 21 are arranged in the material changing area 13, each material box group 21 mainly comprises a plurality of material boxes, and the material changing area 13 is positioned on one side of the working area 11;

the variable-pitch manipulator 31 is movably arranged on a path between the working area 11 and the material changing area 13 in a reciprocating manner, meanwhile, the variable-pitch manipulator 31 is provided with a plurality of execution ends used for taking and placing the workpiece 41, and the distance between every two adjacent execution ends is adjustable so as to realize the transfer between the workpiece 41 and the working area 11 as well as the material changing area 13.

The core of the scheme is that the variable-pitch manipulator 31 can not only grab the plurality of workpieces 41 at a time and convey the workpieces to and fro between the working area 11 and the material changing area 13, but also, more importantly, the plurality of workpieces 41 achieve the effect of variable pitch in the conveying process, that is, in the process that the plurality of workpieces 41 synchronously move to the working area 11 and are ready to be clamped to the clamping and processing station 12, the relative distance between two adjacent workpieces 41 can be synchronously adjusted, so that the purpose of accurately clamping the plurality of workpieces 41 to the clamping and processing station 12 is achieved, and similarly, in the process that the plurality of workpieces 41 synchronously move to the material changing area 13 and are ready to be placed to the material box group 21 in the material changing area 13, the relative distance between two adjacent workpieces 41 can be synchronously adjusted, so that the purpose of accurately clamping the plurality of workpieces 41 to the material box group 21 is achieved, and therefore, the variable pitch of the plurality of workpieces 41 in the material taking, clamping and material placing processes is achieved through the variable-pitch manipulator 31.

Unexpected, the problem that the workpiece 41 deviates in the processes of grabbing and dismounting is effectively avoided by matching with the action effect of the reciprocating motion of the variable-pitch manipulator 31, so that the workpiece 41 is grabbed from the material changing area 13 to be processed, then is conveyed to the working area 11 for process processing, and finally is grabbed and conveyed to the material changing area 13 for storage, and high continuity and stability are kept, further, when part of the working areas 11 enter the processing state, the other part of the working areas 11 are in the state of clamping or replacing the workpiece 41 by matching with the variable-pitch manipulator 31, and further, the effect that the processing machine tool does not stop processing in the process of synchronously and automatically processing the multiple workpieces 41 is realized, and the processing efficiency of the processing machine tool is effectively improved.

Most preferably, the multi-station variable-pitch manipulator processing machine further comprises a machine base 51, wherein the machine base 51 is provided with a fixed beam 511, a plurality of working areas 11 are sequentially arranged along the length direction of the fixed beam 511, and a plurality of material box groups 21 are arranged on one sides of the plurality of working areas 11. In addition, the machine base 51 further comprises a base body 512, the fixed beam 511 is fixedly connected to the base body 512, and the plurality of magazine groups 21 are all assembled on the base body 512.

Therefore, the plurality of working areas 11 are sequentially arranged along the length direction of the fixed beam 511, so that the overall structural design of the machine tool is neat and compact, and the plurality of magazine groups 21 are all located on one side of the plurality of working areas 11, on one hand, the overall structural design orderliness and compactness of the machine tool are further improved, on the other hand, the movement path of the variable-pitch manipulator 31 is simpler, so that the convenience of programming the movement path of the variable-pitch manipulator 31 is improved, and the follow-up debugging work of the machine tool before processing and the maintenance work of the machine tool are more facilitated.

More unexpectedly, considering the safety, stability and processing quality of the processing, the distance between two adjacent working areas 11 and the distance between two adjacent clamping and processing stations 12 can be properly adjusted to be relatively wide, and the material changing area 13 is only used for accommodating the workpieces 41 to be processed and processed, so that the distance between two adjacent material box groups 21 can be properly adjusted to be relatively narrow, the number of the workpieces 41 which can be accommodated in the material changing area 13 is larger, the utilization rate of the base body 512 is higher, and the above mentioned proper is within the range of the variable pitch distance of the variable pitch manipulator 31, therefore, the material changing area 13, the working areas 11 and the variable pitch manipulator 31 are matched and linked, the flexibility and the universality of the overall structural design of the machine tool can be effectively improved, meanwhile, the space size of the machine tool can be designed to be more compact, and the manufacturing cost of the machine tool can be saved.

Here, taking two work areas 11 and two magazine groups 21 as examples, defining one magazine group 21 for storing workpieces 41 to be processed as a magazine blank group, the other magazine group 21 for storing processed workpieces 41 as a magazine finished product group, defining the workpieces 41 to be processed as blank workpieces 41, the processed workpieces 41 as finished workpieces 41, one work area 11 as a first processing area Y1, the other work area 11 as a second processing area Y2, the blank workpieces 41 processed in the first processing area Y1 as first blank workpieces 41, the generated processed workpieces 41 as first finished workpieces 41, the blank workpieces 41 processed in the second processing area Y2 as second blank workpieces 41, the generated processed workpieces 41 as second finished workpieces 41, and the two magazine groups 21 as examples, which are only to demonstrate the variable-pitch conveying and non-stop machining principle of a multi-station variable-pitch robot:

step S1-A, moving a variable-pitch manipulator 31 to a magazine blank group of a material changing area 13, simultaneously grabbing a plurality of first blank workpieces 41 through an execution end of the variable-pitch manipulator 31, transferring the plurality of first blank workpieces 41 to a first processing area Y1 together by the variable-pitch manipulator 31, simultaneously carrying out variable pitch on the plurality of first blank workpieces 41 until the distance between two adjacent first blank workpieces 41 is matched with the distance between two clamping processing stations 12 in the first processing area Y1, and simultaneously assembling the plurality of first blank workpieces 41 to the plurality of corresponding clamping processing stations 12;

step S2-a, processing a first blank workpiece 41 clamped inside the first processing area Y1, and synchronously moving the variable-pitch manipulator 31 to the magazine blank group of the material changing area 13 again, and simultaneously grabbing a plurality of second blank workpieces 41 again by the execution end of the variable-pitch manipulator 31, and simultaneously transferring the plurality of second blank workpieces 41 to the second processing area Y2 by the variable-pitch manipulator 31, and simultaneously performing variable-pitch on the plurality of second blank workpieces 41 until the distance between two adjacent second blank workpieces 41 is adapted to the distance between two clamping processing stations 12 in the second processing area Y2, and simultaneously assembling the plurality of second blank workpieces 41 to the plurality of corresponding clamping processing stations 12;

step S3, processing the second blank workpiece 41 clamped in the second processing area Y2, synchronously moving the variable-pitch manipulator 31 to the first processing area Y1, simultaneously grabbing the plurality of first finished product workpieces 41 through an execution end of the variable-pitch manipulator 31, transferring the plurality of first finished product workpieces 41 to the finished magazine group by the variable-pitch manipulator 31, simultaneously performing variable-pitch on the plurality of first finished product workpieces 41 until the distance between two adjacent first finished product workpieces 41 is matched with the distance between two magazines in the finished magazine group, and simultaneously placing the plurality of first finished product workpieces 41 into a plurality of corresponding magazines;

step S4-A, repeating the step S1-A, when a first blank workpiece 41 clamped in the first processing area Y1 is processed, moving the variable-pitch manipulator 31 to the second processing area Y2, simultaneously grabbing a plurality of second finished workpieces 41 through an execution end of the variable-pitch manipulator 31, transferring the plurality of second finished workpieces 41 to a finished material box group by the variable-pitch manipulator 31, simultaneously, carrying out variable pitch on the plurality of second finished workpieces 41 until the distance between two adjacent second finished workpieces 41 is matched with the distance between two material boxes in the finished material box group, and simultaneously placing the plurality of second finished workpieces 41 into a plurality of corresponding material boxes;

and S5, repeating the steps S2-A to S4-A until all the blank workpieces 41 in the blank group of the material box are processed.

As can be seen from the processing principle of the multi-station pitch-varying robot processing machine tool illustrated in the above example, for the purpose of pitch-varying transportation of the pitch-varying robot 31, specifically, as shown in fig. 3, the pitch-varying robot 31 includes a pitch-varying mechanism 311 having a plurality of pitch-varying adjusting ends, and a plurality of pick-and-place robots 312, where the pick-and-place robots 312 are the executing ends of the pitch-varying robot 31, and each pick-and-place robot 312 is disposed at each pitch-varying adjusting end.

Specifically, fig. 4 is a first partial assembly view of the pitch changing robot 31 of the present invention, wherein fig. 4 partially shows an assembly relationship between the pitch changing mechanism 311 and the pick-and-place robot 312. The pitch-varying mechanism 311 can adopt a cam pitch-varying mechanism 311 commonly used in the mechanical field, that is, the pitch-varying mechanism 311 includes a pitch-varying cam component 3111, a pitch-varying driver 3112 and a pitch-varying adjusting block 3113 which is assembled on the pitch-varying cam component 3111 in an equidistant sliding manner, the pitch-varying adjusting block 3113 is a pitch-varying adjusting end, the pitch-varying driver 3112 can drive the pitch-varying cam component 3111 to rotate, so that the distance between two adjacent pitch-varying adjusting blocks 3113 can be adjusted steplessly, further, each pick-and-place manipulator 312 is fixedly connected to each corresponding pitch-varying adjusting block 3113, so that the distance between two adjacent pick-and-place manipulators 312 can be adjusted steplessly, and the distance between two adjacent clamping processing stations 12 and the distance between two adjacent material boxes can be accurately and quickly completed by the pitch-varying manipulator 31.

Further, as shown in fig. 5, the pick-and-place manipulator 312 includes a joint adapter 3121, a telescopic moving member 3122, and a turning movable head 3124 having a plurality of suction cup assemblies 3123, one end of the telescopic moving member 3122 is hinged to the joint adapter 3121, the other end is hinged to the turning movable head 3124, the turning movable head 3124 is rotatably connected to the joint adapter 3121, and the joint adapter 3121 is fixedly mounted on a pitch adjusting end of the pitch varying mechanism 311.

Wherein, the preferred cylinder of flexible moving part 3122, in addition, can also be pneumatic cylinder or electronic jar, as shown in fig. 5, the jar seat of flexible moving part 3122 is articulated with joint adapter 3121, the piston rod of flexible moving part 3122 is articulated with upset movable head 3124, upset movable head 3124 passes through rotating pin 3125 and connects joint adapter 3121, then when the piston rod is the straight reciprocating motion with the jar seat, will promote upset movable head 3124 and rotate round rotating pin 3125, because work piece 41 adsorbs upset movable head 3124 through a plurality of sucking disc subassemblies 3123, and then work piece 41 realizes the effect of upset under the drive effect of upset movable head 3124.

Further, as shown in fig. 3, 4 and 5, the pitch varying robot 31 further includes an elevating mechanism 313 and a moving mechanism 314, the elevating mechanism 313 is movably connected to the moving mechanism 314, the pitch varying mechanism 311 is slidably connected to the elevating mechanism 313 to define that the pick-and-place robot 312 moves in a U direction along the length direction of the fixed beam 511, the pick-and-place robot 312 moves in a V direction along the width direction of the fixed beam 511, and the pick-and-place robot 312 moves in a W direction along the height direction of the fixed beam 511, wherein the moving mechanism 314 includes a U direction sliding mechanism 3141 disposed parallel to the length direction of the fixed beam 511, and a V direction sliding mechanism 3142 disposed parallel to the width direction of the fixed beam 511, the U direction sliding mechanism 3141 is slidably mounted on the V direction sliding mechanism 3142, and the elevating mechanism 313 is mounted on the U direction sliding mechanism 3141.

Therefore, the pitch varying mechanism 311 is adjusted in the vertical direction by the lifting mechanism 313, that is, the height direction parallel to the fixed beam 511 is defined as the W axis, so that the workpiece 41 is freely moved in three directions, i.e., the U direction, the V direction and the W direction, by the pitch varying robot 31, and at the same time, the pitch varying robot 31 can accurately grasp the corresponding workpiece 41 in the set path, and the rotational freedom of the workpiece 41 in the spatial transportation is further improved in cooperation with the flip movable head 3124 of the pick-and-place robot 312.

In order to achieve the processing purpose of the workpiece 41 in the clamping and processing station 12 of the working area 11, specifically, as shown in fig. 2, the present invention provides a partial assembly diagram of a multi-station variable-pitch robot processing machine tool, and is combined with fig. 1, wherein fig. 2 partially shows an assembly relationship among the machine base 51, the processing table 61, the processing device 62, the processing propulsion device 63, and the X-direction sliding mechanism 64, and defines that the processing device 62 moves along the length direction of the fixed beam 511 as the X direction. Each working area 11 is provided with a processing table 61 for clamping and transferring a plurality of workpieces 41 to the corresponding clamping and processing station 12, and a plurality of processing devices 62, wherein the processing table 61 is positioned below the plurality of processing devices 62, each processing device 62 is assembled on the fixed beam 511, and each processing device 62 is used for processing the corresponding workpiece 41.

Further, as shown in fig. 2, each processing device 62 is provided with a processing pushing device 63 for lowering and moving the processing device 62 to the processing table 61 to process the workpiece 41.

Therefore, the variable-pitch manipulator 31 carries and assembles a plurality of workpieces 41 on the processing table 61 in a variable-pitch manner, each workpiece 41 can be accurately transferred to the range of the appointed clamping processing station 12 under the movement of the processing table 61, and each processing device 62 can descend to the appointed height and finish accurate processing on each corresponding workpiece 41 under the action of the reprocessing pushing device 63 of each processing device 62, so that the aim of synchronously processing a plurality of workpieces 41 is finally achieved, and the processing efficiency of the multi-station variable-pitch manipulator processing machine tool is further improved.

Further, as shown in fig. 2, an X-direction sliding mechanism 64 is disposed along the length direction of the fixed beam 511, and the plurality of processing and pushing devices 63 are slidably mounted on the X-direction sliding mechanism 64. Under the action of the X-direction sliding mechanism 64, the machining device 62 can be adjusted along the length direction of the X-direction fixing beam 511, so that the machining device 62 can precisely machine the workpiece 41 within the range of the corresponding clamping machining station 12.

Second embodiment

Based on the multi-station variable-pitch robot processing machine tool disclosed in the first embodiment, the inventor further proposes an improvement, specifically referring to fig. 1 to 5, that the material changing area 13 further includes a conveying device for conveying the workpiece 41.

Preferably, the conveying device and the plurality of magazine groups 21 are located on the same side of the working area 11, and the conveying device is assembled and fixed on the base 51, which should be mentioned, the arrangement mode that the conveying device and the plurality of magazine groups 21 are located on the same side of the working area 11 is not limited, and the conveying device and the magazine groups 21 may also be located on two sides of the working area 11 respectively according to the mechanism design and the process requirements of the machine tool.

Assuming that the conveying direction of the conveying device is from the outer side of the material changing area 13 to the inner side of the material changing area 13, that is, to convey the workpiece 41 into the material changing area 13, the variable-pitch conveying and non-stop processing principle of the multi-station variable-pitch manipulator processing machine shown in the first embodiment will be partially changed, specifically:

the process step S1-A is replaced by a process step S1-B, the variable-pitch manipulator 31 moves to a conveying device of the material changing area 13, the execution end of the variable-pitch manipulator 31 is used for simultaneously grabbing the plurality of first blank workpieces 41, the variable-pitch manipulator 31 transfers the plurality of first blank workpieces 41 to the first processing area Y1 together, simultaneously, the variable pitch is carried out on the plurality of first blank workpieces 41 until the distance between every two adjacent first blank workpieces 41 is matched with the distance between every two clamping processing stations 12 in the first processing area Y1, and the plurality of first blank workpieces 41 are simultaneously assembled into the plurality of corresponding clamping processing stations 12;

the process step S2-a is replaced by a process step S2-B, the first blank workpiece 41 clamped in the first processing area Y1 is processed, and synchronously, the variable-pitch manipulator 31 moves to the conveying device of the material changing area 13 again, and simultaneously grasps the plurality of second blank workpieces 41 again through the execution end of the variable-pitch manipulator 31, the variable-pitch manipulator 31 transfers the plurality of second blank workpieces 41 to the second processing area Y2 together, and simultaneously, the plurality of second blank workpieces 41 are varied in pitch until the distance between two adjacent second blank workpieces 41 is matched with the distance between two clamping processing stations 12 in the second processing area Y2, and the plurality of second blank workpieces 41 are simultaneously assembled to the plurality of corresponding clamping processing stations 12;

correspondingly, the step S4-A is replaced by a step S4-B, the step S1-B is repeated, when the first blank workpiece 41 clamped in the first processing area Y1 is processed, the variable-pitch manipulator 31 moves to the second processing area Y2 and simultaneously grabs a plurality of second finished workpiece 41 through the execution end of the variable-pitch manipulator 31, the variable-pitch manipulator 31 transfers the plurality of second finished workpiece 41 to the finished material box group together, and simultaneously, the plurality of second finished workpiece 41 is subjected to pitch change until the distance between two adjacent second finished workpiece 41 is matched with the distance between two material boxes in the finished material box group, and the plurality of second finished workpiece 41 are simultaneously placed in the plurality of corresponding material boxes;

correspondingly, the above steps S2-B to S4-B are repeated until the supply of blank workpieces 41 on the conveyor is stopped.

In addition, the process step S3 described in the variable-pitch conveying and non-stop machining principle of the multi-station variable-pitch robot machining tool in the present embodiment is the same as that in the first embodiment, and will not be described again.

At this time, both the magazine groups 21 serve as magazine groups 21 for storing the processed workpieces 41. It should be noted that the conveying direction of the conveying device may also be from the inner side of the material changing area 13 to the outer side of the material changing area 13, that is, the workpiece 41 (finished workpiece 41) is conveyed to the outside of the material changing area 13, both the two magazine groups 21 are used as the magazine group 21 for accommodating the workpiece 41 to be processed, and in the above principle, only the position where the variable-pitch manipulator 31 grips the blank workpiece 41 is changed from the conveying device to the magazine group 21, and the position where the finished workpiece 41 is placed is changed from the magazine group 21 to the conveying device, and other steps are not changed.

It is comprehensive above-mentioned, utilize conveyor, make this multistation become interval manipulator machine tool can automatic input work piece 41 or automatic output work piece 41, the degree of automation and the machining efficiency of this machine tool have further been improved, this machine tool convenience in the course of working has also been improved, and simultaneously, cooperation displacement manipulator 31, can be stable, guarantee the processing of not shutting down of work piece 41 in the course of working smoothly, reach the unexpected effect of guaranteeing this multistation become interval manipulator machine tool stability in the synchronous course of working of multiplex work piece 41.

The technical means disclosed by the scheme of the present invention is not limited to the technical means disclosed by the above embodiments, but also includes the technical scheme formed by the arbitrary combination of the above technical features. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also considered as the protection scope of the present invention.

Claims (10)

1. The utility model provides a multistation becomes interval manipulator machine tool which characterized in that includes:

the device comprises a plurality of working areas (11), wherein a plurality of clamping and processing stations (12) are arranged in each working area (11);

the material changing area (13) is used for accommodating workpieces (41), a plurality of material box groups (21) are arranged in the material changing area (13), and each material box group (21) mainly comprises a plurality of material boxes;

the variable-pitch manipulator (31) is in reciprocating motion on a path between the working area (11) and the material changing area (13), meanwhile, a plurality of execution ends used for taking and placing workpieces (41) are arranged on the variable-pitch manipulator (31), and the distance between every two adjacent execution ends is adjustable, so that the workpieces (41) are transferred between the working area (11) and the material changing area (13).

2. The multi-station variable pitch robot processing machine of claim 1, wherein: still include frame (51), frame (51) have fixed beam (511), along the length direction of fixed beam (511) has set gradually a plurality of workspace (11) is located a plurality of one side of workspace (11) is provided with a plurality of magazine group (21).

3. The multi-station variable pitch robot processing machine according to claim 1 or 2, wherein: the changing area (13) also comprises a conveying device for conveying the workpieces (41).

4. The multi-station variable pitch robot processing machine of claim 2, wherein: the variable-pitch manipulator (31) comprises a variable-pitch mechanism (311) with a plurality of variable-pitch adjusting ends and a plurality of pick-and-place manipulators (312), the pick-and-place manipulator (312) is an execution end of the variable-pitch manipulator (31), and each pick-and-place manipulator (312) is arranged on each variable-pitch adjusting end.

5. The multi-station variable pitch robot processing machine of claim 4, wherein: the pick-and-place manipulator (312) comprises a joint transfer seat (3121), a telescopic moving part (3122) and a turnover moving head (3124) provided with a plurality of sucker components (3123), one end of the telescopic moving part (3122) is hinged to the joint transfer seat (3121), the other end of the telescopic moving part is hinged to the turnover moving head (3124), the turnover moving head (3124) is rotatably connected to the joint transfer seat (3121), and the joint transfer seat (3121) is fixedly assembled on a variable pitch adjusting end of the variable pitch mechanism (311).

6. The multi-station variable-pitch robot processing machine according to claim 4 or 5, wherein: the variable-pitch manipulator (31) further comprises a lifting mechanism (313) and a moving mechanism (314), the lifting mechanism (313) is movably connected to the moving mechanism (314), and the variable-pitch mechanism (311) is connected to the lifting mechanism (313) in a sliding mode.

7. The multi-station variable pitch robot processing machine of claim 6, wherein: the moving mechanism (314) comprises a U-direction sliding mechanism (3141) arranged in parallel with the length direction of the fixed beam (511) and a V-direction sliding mechanism (3142) arranged in parallel with the width direction of the fixed beam (511), the U-direction sliding mechanism (3141) is assembled on the V-direction sliding mechanism (3142) in a sliding mode, and the lifting mechanism (313) is assembled on the U-direction sliding mechanism (3141).

8. The multi-station variable pitch robot processing machine according to claim 2, wherein: each working area (11) is internally provided with a processing table (61) and a plurality of processing devices (62), the processing table (61) is used for clamping and transferring a plurality of workpieces (41) to the corresponding clamping and processing station (12), the processing table (61) is positioned below the processing devices (62), and each processing device (62) is used for processing the corresponding workpiece (41).

9. The multi-station variable pitch robotic machine tool of claim 8, wherein: each processing device (62) is provided with a processing propulsion device (63) for enabling the processing device (62) to descend to the processing table (61) so as to process the workpiece (41).

10. The multi-station variable pitch robotic machine tool of claim 9, wherein: an X-direction sliding mechanism (64) is arranged along the length direction of the fixed beam (511), and a plurality of machining advancing devices (63) are assembled on the X-direction sliding mechanism (64) in a sliding mode.

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