WO2022021574A1 - 一种自动上下料机构及数控机床 - Google Patents

一种自动上下料机构及数控机床 Download PDF

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Publication number
WO2022021574A1
WO2022021574A1 PCT/CN2020/115930 CN2020115930W WO2022021574A1 WO 2022021574 A1 WO2022021574 A1 WO 2022021574A1 CN 2020115930 W CN2020115930 W CN 2020115930W WO 2022021574 A1 WO2022021574 A1 WO 2022021574A1
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WIPO (PCT)
Prior art keywords
reclaiming
workpiece
unloading mechanism
trays
automatic loading
Prior art date
Application number
PCT/CN2020/115930
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English (en)
French (fr)
Inventor
张春晖
蒋凯
史伟
邓辉
刘毅
Original Assignee
湖南中大创远数控装备有限公司
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Publication of WO2022021574A1 publication Critical patent/WO2022021574A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/005—Lifting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/008—Catching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/06—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of pushers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
    • B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
    • B23Q7/1478—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices using a conveyor comprising cyclically-moving means
    • B23Q7/1489—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices using a conveyor comprising cyclically-moving means with impeller means

Definitions

  • the invention relates to a gear processing equipment, in particular to an automatic loading and unloading mechanism and a numerically controlled machine tool.
  • the present invention aims to solve at least one of the technical problems existing in the prior art.
  • the present invention proposes an automatic loading and unloading mechanism, comprising:
  • the silo is provided with the upper and lower material levels
  • a material reclaiming device which is set corresponding to the upper material level and the lower material level, and is used to take out the workpiece from the upper material level and can send the workpiece into the lower material level;
  • the feeding device is set corresponding to the reclaiming device, and is used to take out the workpiece and put it into the processing equipment or take the workpiece out of the processing equipment and put it into the reclaiming device.
  • the workpiece can be placed in the material tray, and multiple material trays can be stacked in the upper material position; the material reclaiming device is used to send the material tray into the lower material position and pass through the material tray.
  • the second lifting assembly realizes the stacking of the material trays; and the feeding device is used to take out the workpiece to be processed from the material tray and put it into the processing equipment or take out the processed workpiece from the processing equipment and put the material into the material. tray.
  • the automatic loading and unloading mechanism in the present invention can stack multiple material trays, thereby increasing the capacity of the loading and unloading positions, and reducing the number and frequency of changing the material trays by workers.
  • the whole process of loading and unloading is carried out by mechanical automation structure, which has high work reliability, can reduce labor costs, improve production efficiency, and has strong practicability.
  • the reclaiming device is provided with a push assembly capable of two-axis movement in a plane, and the push assembly is adapted to the material tray, so as to be used for removing the material tray from the feeding take out and feed the material tray into the unloading position.
  • the reclaiming device is provided with a two-axis cross slide, and the two-axis cross slide is provided with a first level parallel to the arrangement direction of the upper material level and the lower material level A slide rail, the pusher assembly is provided with a reclaiming slide that is slidably installed on the first horizontal slide rail and a reclaiming slide that is slidably installed on the reclaiming slide along a direction perpendicular to the first horizontal slide rail Dial block, through which the workpiece is picked up and delivered.
  • a plurality of material trays are stacked on the material loading position through the first lifting assembly, the workpieces are placed in the material trays, and the end of the reclaiming block is provided with a
  • the telescopic structure is integrated, and the material tray is provided with a matching end for the telescopic structure to function.
  • the feeding device is provided with two sets of cantilever jaws capable of switching positions. During operation, one set of the cantilever gripping claws is used for gripping the workpiece to be processed, and the other set of the cantilever gripping claws is used for gripping the processed workpiece.
  • the feeding device is provided with a rotating mechanical arm, and two sets of the cantilever jaws are rotatably mounted on the rotating mechanical arm for rotating the rotating mechanical arm
  • the reclaiming device and the processing equipment are oscillated and switched, and the positions are switched mutually by rotation.
  • an adjusting seat is installed on the rotating mechanical arm so as to be adjustable up and down, a mounting seat that rotates around a horizontal axis is arranged on the adjusting seat, and the two sets of cantilever jaws are installed around the mounting seat.
  • the rotating shaft of the seat is mounted on the mounting seat at a set angle.
  • two sides of the material tray are provided with side plates, the upper and lower ends of the side plates are both protruding relative to the material tray, and two adjacent material trays pass through the side plates.
  • the plates are stacked to form a cavity below each of the material trays, and the side plates are provided with mating ends under the material trays for the push components to function.
  • a parking area is provided below the upper material level and the lower material level, each of the parking areas is provided with a push-out cart, and the material trays are stacked on on the cart.
  • both sides of the material tray are provided with side plates, the upper and lower ends of the side plates are both protruded from the material tray, and the material trays are stacked and arranged by the side plates,
  • the upper and lower ends of the side plates are provided with matching guide structures, which are used to keep the two material trays stacked up and down aligned, and enable the material tray located above to pass through the guide structure under the action of external force The effect slides horizontally in the set direction.
  • the bottom of the cart is provided with a support structure corresponding to each of the two side plates, and the cart is provided with a limit structure along the vertical direction, and the material tray is stacked on the support The bottom of the structure is kept suspended, and the upper and lower alignment is maintained by abutting the limiting structure.
  • a guide assembly that cooperates with each other is provided between the parking area and the cart, and the cart is guided into the parking area through the guide assembly.
  • the present invention also provides a numerically controlled machine tool, which is provided with an automatic loading and unloading mechanism of any of the above structures.
  • the material tray taken out by the reclaiming device After all the workpieces above are processed, the material tray is first sent to the unloading position, and then a material tray can be taken out from the loading position. Because the upper and lower material levels are set on the silo, compared with the traditional structure, the floor area is smaller and the production efficiency is higher.
  • Fig. 1 is a kind of structural representation of the present invention
  • Fig. 2 is a kind of assembly schematic diagram of the reclaiming device and the feeding device
  • Fig. 3 is a kind of structural representation of reclaiming device
  • Fig. 4 is a kind of structural representation of feeding device
  • Figure 5 is a schematic diagram of the cooperation between the cart and the silo
  • Fig. 6 is a kind of structural representation of the cart
  • Fig. 7 is a kind of structural representation of silo
  • Fig. 8 is a schematic diagram of a structure of a lifting assembly.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements.
  • installed should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements.
  • the present embodiment proposes an automatic loading and unloading mechanism, including:
  • the silo 100 is provided with an upper material level 101 and a lower material level 109.
  • the upper material level 101 is provided with a first lifting component
  • the lower material level 109 is provided with a second lifting component
  • a plurality of material trays are stacked in the upper material level 101. 700;
  • the material reclaiming device 200 is set corresponding to the upper material position 101 and the lower material position 109, and is used to take out the material tray 700 from the upper material position 101, and can send the material tray 700 to the lower material position 109 and realize the material tray through the second lifting component 700 stacking settings;
  • the feeding device 300 is provided corresponding to the reclaiming device 200 , and is used to take out the workpiece to be processed from the material tray 700 and put it into the processing equipment or take out the processed workpiece from the processing equipment and put it into the material tray 700 .
  • a plurality of material trays 700 containing workpieces to be processed are stacked in the loading position 101, and the stacked material trays 700 are controlled by the first lifting component to move to a position that can be taken out by the reclaiming device 200, and the material is taken out.
  • the device 200 takes out the material tray 700, and then realizes the removal of the workpiece to be processed and the insertion of the processed workpiece through the feeding device 300.
  • the material tray 700 is sent to the unloading position 109 by the reclaiming device 200. And the material tray 700 is moved by the second lifting component to realize the stacking of multiple material trays 700 .
  • the automatic loading and unloading mechanism of the present invention can stack a plurality of material trays 700, thereby increasing the capacity of the loading position 101 and the loading position 109, and reducing the need for workers to replace the material trays. 700 times and frequencies to achieve the purpose of improving production efficiency. And the whole process of loading and unloading is carried out by mechanical automation structure, which has high work reliability, can reduce labor costs, improve production efficiency, and has strong practicability.
  • first lifting assembly and the second lifting assembly are both for realizing the stacking movement of the material trays 700 , they can be set to the same structure.
  • the first lifting component and the second lifting component act on the bottom of the lowermost material tray 700 .
  • a parking area 102 is provided below the upper material level 101 and the lower material level 109 , and each parking area 102 is provided with a pushable cart 104 , a material tray. 700 are mounted on cart 104 stacked on top of each other.
  • a plurality of material trays 700 on which workpieces to be processed are placed are first sent into the parking area 102 below the upper material level 101, and an empty cart 104 is sent into the parking area 102 below the lower material level 109 at the same time.
  • the material tray 700 below the material loading position 101 is lifted to the upper material position 101 by the first lifting component, and is taken away by the material reclaiming device 200.
  • the cart 104 After the workpieces placed on the material tray 700 taken out by the material reclaiming device 200 are all processed , send it into the lower material position 109 , and then control the material tray 700 to sink down through the second lifting component, so as to prepare for the feeding of the next material tray 700 .
  • the cart 104 After the material trays 700 stacked under the upper material level 101 are all taken out, the cart 104 is taken out to stack the new material trays 700 before feeding them in. Similarly, the cart 104 below the lower material level 109 is loaded with an appropriate amount of material trays 700. , the cart 104 can be taken out and then sent to an empty cart 104 .
  • the feeding device 300 can continue to work, so the non-stop operation can be realized, which is conducive to improving the Productivity.
  • multiple material trays 700 containing workpieces to be processed can be simultaneously fed in and multiple stacked material trays 700 containing processed workpieces can be simultaneously fed through the cart 104, thereby reducing the labor intensity of workers.
  • the first lifting assembly and the second lifting assembly are preferably set to the same structure.
  • both sides of the material tray 700 have side plates 701 , and the upper and lower ends of the side plates 701 protrude relative to the material tray 700 .
  • the material tray 700 can be supported by the two side plates 701, and the material tray 700 can be suspended, so that when the material trays 700 are stacked and placed, the upper and lower adjacent workpieces will not interfere.
  • the bottom of the cart 104 is provided with a support structure corresponding to each of the two side panels 701 , and the material tray 700 is stacked on the support structure to keep the bottom suspended so as to facilitate the function of the lifting assembly.
  • the supporting structure can be directly set as two vertical plates 106 .
  • the jacking assembly can extend into between the two supporting structures when the cart 104 is located in the parking area 102 , and acts on the extension structure during the lifting process, so as to realize the lifting of the material tray 700 .
  • the extension structure has various setting forms.
  • the inner wall of the side plate 701 that is, the close ends of the two side plates 701
  • the jacking assembly is realized by lifting the bottom of the side plate 701 .
  • the lifting of the material tray 700 for example, a reinforcement rod is arranged between the two side plates 701, and the lifting of the material tray 700 is realized by lifting the reinforcement rod.
  • the cart 104 is provided with a limit structure along the vertical direction, the material trays 700 are stacked on the support structure to keep the bottom suspended, and are kept vertically aligned by abutting against the limit structure.
  • the limiting structure is preferably configured as two sets of vertical beams 105 .
  • two sets of vertical beams 105 are provided with chutes with open upper ends along the vertical direction, and one end of the vertical plates 106 away from the vertical beams 105 is provided with an opening 107, and the vertical plates 106 are slidably installed on the chutes.
  • the material tray 700 can also be slid up and down to be installed in the chute and stacked on the vertical plate 106 at the same time.
  • the two material trays 700 adjacent to the top and bottom are kept vertically stacked by the guide structure, and the material tray 700 located above is under the action of external force It can slide horizontally along the set direction through the action of the guide structure.
  • the guide structures are arranged on the upper and lower ends of the side plates 701 .
  • the guiding structure can be set in the form of a groove, a boss, etc., or can be set in other structural forms known in the market, which will not be described too much here.
  • the arrangement of the guide structure can further improve the stacking stability of the material tray 700, which is beneficial to ensure smooth production and processing.
  • the parking area 102 cooperates with the vertical beam 105 to form a channel for the upward movement of the material tray 700.
  • the material tray 700 is displaced in the direction away from the vertical beam 105 due to the inertial effect, which causes the problem that the material tray 700 cannot be smoothly fed into the material loading position 101 during the lifting process. occur.
  • the jacking assembly In the production process, after the workpieces on a single material pallet 700 are taken out for processing, the workpieces on the next material pallet 700 are taken out, so when the uppermost material pallet 700 is lifted to the upper material level 101, each lift
  • the distance is equal to the height of a single material tray 700, that is, the jacking assembly needs to perform the steps of pause ⁇ lift ⁇ pause, so the jacking assembly is preferably driven by a hydraulic cylinder or by a stepping motor.
  • the jacking assembly When driven by a hydraulic cylinder, the jacking assembly is in a reset working mode.
  • the jacking assembly When driven by a stepper motor, the jacking assembly can be a reset working mode or a cyclic working mode (ie, chain form). Since such structures are widely used in various mechanical fields, the specific structure of the jacking assembly is not described in detail here.
  • the cart 104 is provided with a way-out structure for the jacking assembly to act on the lowermost material tray 700 .
  • the receding structure is the suspended area at the bottom of the material tray 700 formed by the supporting structure.
  • the escape opening 107 is the aforesaid escape structure.
  • an escape hole can also be opened on the bottom plate 108 to form an escape structure.
  • a cooperating positioning mechanism is provided between the cart 104 and the parking area 102 , and the positioning mechanism is used to fix the cart 104 when the cart 104 is pushed into the parking area 102 .
  • the positioning mechanism When the cart 104 is provided with the bottom plate 108, the positioning mechanism includes a positioning hole provided on the bottom plate 108 and a positioning column that can be lifted and lowered in the parking area 102.
  • the positioning column can be driven by an air cylinder, a hydraulic cylinder, a motor, etc. .
  • the positioning posts are automatically controlled to be stuck into the positioning holes through induction (eg, in-position detection), so as to prevent the cart 104 from moving during the working process and ensure smooth production.
  • the positioning column can also be controlled manually, and other structures can also be provided on the vertical beam 105 to replace the bottom plate 108 .
  • a guide assembly 103 that cooperates with each other is provided between the parking area 102 and the cart 104 , and the cart 104 is guided into the parking area 102 through the guide assembly 103 .
  • the guide assembly 103 when the cart 104 is provided with a bottom plate 108, the guide assembly 103 is provided with fixed pulleys adapted to the sides and/or upper and lower end surfaces of the bottom plate 108, and the fixed pulleys can be set as rubber wheels.
  • the arrangement of the guide assembly 103 can improve the smoothness of the cart 104 entering and exiting the parking area 102, and the arrangement of the rubber wheels can avoid generating noise, which is beneficial to improve the working environment and has strong practicability.
  • the silo 100 is provided with a rack
  • the parking area 102 is provided in the rack
  • the material loading position 101 and the material lowering position 109 are respectively arranged on the rack at positions corresponding to the parking area 102
  • the same side openings of the two parking areas 102 are provided. In this way, when the cart 104 is replaced, it can be at the same position, which is convenient for operation and helps to reduce the work intensity.
  • the material reclaiming device 200 is provided with a pusher assembly capable of two-axis movement in a plane, and the pusher assembly is adapted to the material tray 700 for removing the material tray 700 from the loading position 101 The material tray 700 is taken out and fed into the unloading position 109 .
  • the reclaiming device 200 is provided with a two-axis cross slide table 201
  • the two-axis cross slide table 201 is provided with a first horizontal slide rail parallel to the arrangement direction of the upper material level 101 and the lower material level 109
  • the pusher assembly is provided with a
  • the reclaiming slide 202 slidably installed on the first horizontal slide rail and the reclaiming dial 203 slidably installed on the reclaiming slide 202 along the direction perpendicular to the first horizontal slide rail.
  • the direction in which the material tray 700 is taken out from the cart 104 is the same as the sliding direction of the reclaiming dial 203 on the reclaiming slide 202 .
  • the side plate 701 is provided with a mating end for the reclaiming block 203 under the material tray 700 .
  • the mating end can be set to a convex structure or a concave structure.
  • the reclaiming block 203 can be rotatably or telescopically arranged, and can be moved to a position where it contacts the mating end during the rotation or telescopic process, so that the reclaiming slide 202 When sliding up, the material tray 700 is pulled out to the reclaiming slide 202 .
  • the reclaiming dial 203 can be controlled to move to another position of the matching end for matching.
  • the two-axis moving structure of the plane is arranged, the structure is simple, the transmission efficiency is high, the transmission is stable, the normal operation can be effectively ensured, and the practicability is strong.
  • the reclaiming device 200 provided with the above structure has a simple structure and a simple working process, so the corresponding control has high stability, which is beneficial to ensure the smooth progress of the work.
  • the feeding device 300 is provided with a rotating mechanical arm 301 and two sets of cantilever jaws 304.
  • the rotating mechanical arm 301 is rotatably mounted on the two-axis cross slide 201, and of course can also be mounted on
  • an adjusting seat 302 is installed on the rotating mechanical arm 301 to be adjustable up and down.
  • the adjusting seat 302 is provided with a mounting seat 303 that can rotate around the horizontal axis.
  • the rotation angle of the mounting seat 303 is 90 degrees.
  • the clamping jaws 304 are vertically installed on the lower end of the mounting seat 303, and another set of cantilevered clamping jaws 304 are horizontally installed on the side of the mounting seat 303.
  • the cantilevered clamping jaws 304 have a three-jaw chuck structure, which belongs to common knowledge, so here Not detailed.
  • the feeding device 300 when working, firstly controls the mounting base 303 to move to the top of the two-axis cross slide 201 by rotating the rotating mechanical arm 301, and simultaneously moves the material tray 700 to the two-axis through the reclaiming device 200
  • the proper position of the cross slide 201 is such that a workpiece is located just below the vertical cantilever jaw 304, and the initial reclaiming of the workpiece to be processed is completed by the downward movement of the adjusting seat 302;
  • the adjusting seat 302 moves upward, and the rotating mechanical arm 301 rotates 180 degrees, so that the cantilever jaw 304 gripping the workpiece to be processed moves to the top of the processing equipment, and then the adjusting seat 302 moves downward to complete the initial feeding of the workpiece to be processed. ;
  • control the cantilever jaw 304 to move to the top of the material tray 700 again to take out a workpiece to be processed, and control the mounting base 303 to rotate 90 degrees, so that the cantilever jaw 304 that is not gripping the workpiece faces vertically downwards to complete the preparatory action;
  • the rotating mechanical arm 301 is controlled to rotate 180 degrees so that the cantilever jaws 304 holding the workpiece to be processed move to the top of the processing equipment, and then the adjusting seat 302 moves downward to take out the processed workpiece, and then control the The mounting seat 303 rotates 90 degrees and moves downward to complete the material change of the processing equipment;
  • An isolation cover can be set between the rotating mechanical arm 301 and the processing equipment, and when the isolation cover is opened, it swings 180 degrees into the processing equipment.
  • the picking and placing of workpieces at different positions is realized by moving the material tray 700 .
  • the aforementioned structure is that the two-axis cross slide 201 is fixed, the two sets of cantilever jaws 304 are adjusted up and down and two rotations are adjusted. Obviously, in the actual production process, the two-axis cross slide 201 can also be controlled to be adjusted up and down. Correspondingly, the two The set of cantilever jaws 304 requires only two rotational adjustments. Or use other combined action forms, which are not listed here.
  • the present invention also proposes a CNC machine tool, which is provided with a body 400 and a workpiece box 500 , and the workpiece box 500 is rotatably mounted on the body 400 around the horizontal X axis , the workpiece box body is provided with a workpiece spindle perpendicular to the X axis, the end of the workpiece spindle is provided with a clamp, and the body 400 is provided with an automatic loading and unloading mechanism of any of the above structures.
  • the body 400 is provided with a rotating shaft box 600.
  • the rotating shaft box 600 is provided with an X rotating shaft, and the workpiece box 500 is installed at one end of the X rotating shaft.
  • the silo 100 of the automatic loading and unloading mechanism is fixedly arranged on one side of the rotating shaft box 600 , and the opening of the parking area 102 of the silo 100 is one end away from the rotating shaft box 600 .
  • the two-axis cross slide 201 is fixedly installed on the upper end of the rotating shaft box 600, and the feeding device 300 is fixedly installed on the upper end of the rotating shaft box 600 and is located at one end of the two-axis cross slide 201 close to the workpiece box 500.
  • a tool box is also arranged on the body 400 near the workpiece box 500, and a cutter head is arranged on the tool box for installing the milling cutter.
  • a grinding wheel box is also provided on the body 400 near the workpiece box 500 for installing the grinding wheel.

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Abstract

一种自动上下料机构及数控机床，该数控机床设置有该自动上下料机构，该自动上下料机构包括：料仓(100)，设置有上料位(101)和下料位(109)，上料位(101)设置有第一升降组件，下料位(109)设置有第二升降组件，上料位(101)内堆叠设置有多个物料托盘(700)；取料装置(200)，对应上料位(101)和下料位(109)设置，用于从上料位(101)取出物料托盘(700)，并能够将物料托盘(700)送入下料位(109)并通过第二升降组件实现物料托盘(700)堆叠设置；上料装置(300)，对应取料装置(200)设置，用于从物料托盘(700)上取出待加工工件放入加工设备或者将已加工工件从加工设备取出并放入物料托盘(700)。该自动上下料机构可以将多个物料托盘(700)堆叠设置，从而增加上料位(101)、下料位(109)的容量，达到减小工人更换物料托盘(700)的次数、频率，进而实现提高生产效率的目的。

Description

一种自动上下料机构及数控机床 技术领域
本发明涉及一种齿轮加工设备，特别涉及一种自动上下料机构及数控机床。
背景技术
在大多数机械加工过程中，工件(比如螺旋伞齿)是存放在物料托盘上进行转运的，因此在加工设备旁需要设置待加工区摆放待加工工件、设置已加工区摆放已加工工件。这种生产方式占地面积较大，并且由于物料托盘所能摆放的工件数量有限，因此需要工人频繁的更换待加工区的物料托盘和已加工区的物料托盘，影响生产效率。
发明内容
本发明旨在至少解决现有技术中存在的技术问题之一。一方面，本发明提出一种自动上下料机构，包括：
料仓，设置有上料位和下料位；
取料装置，对应所述上料位和所述下料位设置，用于从所述上料位取出工件，并能够将工件送入所述下料位；
上料装置，对应所述取料装置设置，用于取出工件放入加工设备或者将工件从加工设备内取出并放入所述取料装置。
在实际生产过程中，工件可以摆放在物料托盘内，可以在所述上料位内堆叠设置多个物料托盘；取料装置用于将所述物料托盘送入所述下料位并通过所述第二升降组件实现所述物料托盘堆叠设置；而上料装置则用于从所述物料托盘上取出待加工工件放入加工设备或者将已加工工件从加工设备内取出并放入所述物料托盘。
根据本发明实施例的，至少具有如下技术效果：
本发明中的自动上下料机构较传统的工艺及结构而言，可以将多个物料托盘堆叠设置，从而增加上料位、下料位的容量，达到减小工人更换物料托盘的次数、频率，进而实现提高生产效率的目的。并且整个上下料过程均采用机械自动化结构进行，工作可靠性高，可以降低人力成本，提高生产效率，实用性强。
根据本发明的一些实施例，所述取料装置设置有能够进行平面两轴移动的推 移组件，所述推移组件与所述物料托盘适配，以用于将所述物料托盘从所述上料位取出以及将所述物料托盘送入所述下料位。
根据本发明的一些实施例，所述取料装置设置有两轴十字滑台，所述两轴十字滑台设置有平行于所述上料位和所述下料位排布方向的第一水平滑轨，所述推移组件设置有滑动安装于所述第一水平滑轨上的取料滑板和沿垂直于所述第一水平滑轨的方向滑动地安装于所述取料滑板上的取料拨块，通过所述取料拨块取送工件。
根据本发明的一些实施例，所述上料位通过所述第一升降组件堆叠设置有多个物料托盘，工件摆放于所述物料托盘内，所述取料拨块的末端设置有能够开合的伸缩结构，所述物料托盘设置有供所述伸缩结构作用的配合端。
根据本发明的一些实施例，所述上料装置设置有能够切换位置的两组悬臂夹爪。工作时，其中一组所述悬臂夹爪用于夹取待加工工件，另一组所述悬臂夹爪用于夹取已加工工件。
根据本发明的一些实施例，所述上料装置设置有旋转机械臂，两组所述悬臂夹爪可旋转地安装于所述旋转机械臂上，以用于通过所述旋转机械臂转动而于所述取料装置和加工设备之间摆动切换，并通过旋转而相互切换位置。
根据本发明的一些实施例，所述旋转机械臂上可上下调节地安装有调节座，所述调节座上设置有一绕水平轴向转动的安装座，两组所述悬臂夹爪绕所述安装座的转动轴成设定角度地安装于所述安装座上。
根据本发明的一些实施例，所述物料托盘的两侧具有侧板，所述侧板的上下端均相对于所述物料托盘突出，相邻的两个所述物料托盘之间通过所述侧板堆叠而于每个所述物料托盘的下方形成一空腔，所述侧板于所述物料托盘的下方设置有供所述推移组件作用的配合端。
根据本发明的一些实施例，所述上料位和所述下料位的下方均设置有一个停放区，每个所述停放区内均设置有一可推出的推车，所述物料托盘堆叠于所述推车上。
根据本发明的一些实施例，所述物料托盘的两侧具有侧板，所述侧板的上下端均相对于所述物料托盘突出，所述物料托盘通过所述侧板堆叠设置，并且在所述侧板的上下端设置有配合的导向结构，所述导向结构用于保持上下堆叠的两个所述物料托盘对齐，并使得位于上方的所述物料托盘在外力作用下能够通过所述 导向结构作用沿设定方向水平滑动。
根据本发明的一些实施例，所述推车的底部对应两个所述侧板各设置有一支撑结构，并且所述推车沿竖直方向设置有限位结构，所述物料托盘堆叠于所述支撑结构上而保持底部悬空，并通过抵接所述限位结构保持上下对齐。
根据本发明的一些实施例，所述停放区和所述推车之间设置有相互配合的导向组件，所述推车通过所述导向组件导向进入所述停放区。
另一方面，本发明还提出一种数控机床，其设置有上述任一种结构的自动上下料机构。
根据本发明实施例的，至少具有如下技术效果：
该数控机床在工作过程中，由于设置有前述结构的自动上下料机构，只需通过上料装置先将已加工工件取出，再将待加工工件装入即可，当取料装置取出的物料托盘上的工件全部加工完成后，先将物料托盘送入下料位，再从上料位取出一个物料托盘即可。由于上料位、下料位均设置在料仓上，较传统结构而言，占地面积更小，生产效率更高。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是本发明的一种结构示意图；
图2是取料装置和上料装置的一种装配示意图；
图3是取料装置的一种结构示意图；
图4是上料装置的一种结构示意图；
图5是推车与料仓的配合示意图；
图6是推车的一种结构示意图；
图7是料仓的一种结构示意图；
图8是升降组件的一种结构示意图。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下 面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
参照图1和图2，本实施例提出一种自动上下料机构，包括：
料仓100，设置有上料位101和下料位109，上料位101设置有第一升降组件，下料位109设置有第二升降组件，上料位101内堆叠设置有多个物料托盘700；
取料装置200，对应上料位101和下料位109设置，用于从上料位101取出物料托盘700，并能够将物料托盘700送入下料位109并通过第二升降组件实现物料托盘700堆叠设置；
上料装置300，对应取料装置200设置，用于从物料托盘700上取出待加工工件放入加工设备或者将已加工工件从加工设备内取出并放入物料托盘700。
工作时，在上料位101内堆叠设置多个装有待加工工件的物料托盘700，通过第一升降组件控制堆叠的物料托盘700，使其移动至能够被取料装置200取出的位置，取料装置200取出物料托盘700，再通过上料装置300实现待加工工件的取出和已加工工件的放入，当全部工件加工完成后，取料装置200再将物料托盘700送入下料位109，并通过第二升降组件移动物料托盘700，实现多个物料托盘700的堆叠。
因此，本发明中的自动上下料机构较传统的工艺及结构而言，可以将多个物 料托盘700堆叠设置，从而增加上料位101、下料位109的容量，达到减小工人更换物料托盘700的次数、频率，进而实现提高生产效率的目的。并且整个上下料过程均采用机械自动化结构进行，工作可靠性高，可以降低人力成本，提高生产效率，实用性强。
其中料仓100的上料位101和下料位109可以设置多个，并且由于第一升降组件和第二升降组件均是为了实现物料托盘700的堆叠移动，因此可以设置为相同结构。同时，既可以是在第一升降组件、第二升降组件上竖直设置多个收纳腔，通过将物料托盘700插入收纳腔内实现竖直堆叠，也可以是直接使得物料托盘700之间相互堆叠，第一升降组件、第二升降组件作用在最下方的物料托盘700的底部。
参照图5至图7，在部分实施例中，上料位101和下料位109的下方均设置有一个停放区102，每个停放区102内均设置有一可推出的推车104，物料托盘700相互堆叠地装在推车104上。工作时，先将多个摆放待加工工件的物料托盘700送入上料位101下方的停放区102，同时在下料位109下方的停放区102内送入一空的推车104，在工作过程中，通过第一升降组件将上料位101下方的物料托盘700抬升至上料位101，通过取料装置200取走，在取料装置200取出的物料托盘700上摆放的工件全部加工完毕后，将之送入下料位109，再通过第二升降组件控制该物料托盘700下沉，为下一个物料托盘700的送入作准备。当上料位101下方堆叠的物料托盘700均被取出后，取出推车104进行新的物料托盘700的码放再送入即可，同样在下料位109下方的推车104装载了适量物料托盘700后，将推车104取出再送入一空的推车104即可。在该过程中，由于取料装置200取出的物料托盘700上摆放有多个工件，在进行推车104的更换时，上料装置300可以继续工作，因此可以实现不停机操作，有利于提高生产效率。并且可以通过推车104来实现多个摆放有待加工工件的物料托盘700的同时送入和多个堆叠且摆放有已加工工件的物料托盘700的同时取出，降低工人的劳动强度。
为了简化结构组成，方便维护维修，第一升降组件和第二升降组件优选设置为相同结构。
参照图8，考虑到部分工件具有一定高度，因此在部分实施例中，物料托盘700的两侧具有侧板701，侧板701的上下端均相对于物料托盘700突出。这样可以通过两个侧板701支撑物料托盘700，并使得物料托盘700悬空，这样在物料 托盘700堆叠摆放的时候，上下相邻的工件不会发生干涉。
与之对应的，在部分实施例中，推车104的底部对应两个侧板701各设置有一支撑结构，物料托盘700堆叠于支撑结构上而保持底部悬空，以便于升降组件作用。
该支撑结构直接设置为两块竖板106即可。
在部分实施例中，两个侧板701之间具有相对于两个支撑结构的靠近端突出的延伸结构，顶升组件在推车104位于停放区102内时能够伸入两个支撑结构之间，并在顶升过程中作用于延伸结构上，从而实现物料托盘700的抬升。
该延伸结构具有多种设置形式，比如图8所示的侧板701的内壁(即两个侧板701的靠近端)相对于支撑结构的内壁突出，顶升组件通过抬升侧板701的底部实现物料托盘700的抬升；又比如在两个侧板701之间设置加固杆，通过顶升加固杆来实现物料托盘700的抬升。能够实现具备前述功能作用的延伸结构的具体实现方式较多，在此不再一一列举。
在部分实施例中，推车104沿竖直方向设置有限位结构，物料托盘700堆叠于支撑结构上而保持底部悬空，并通过抵接限位结构保持上下对齐。该限位结构优选设置为两组竖梁105。
在部分实施例中，两组竖梁105上沿竖直方向设置有上端开口的滑槽，竖板106远离竖梁105的一端开设让位口107，竖板106可上下滑动地安装于滑槽内，同时物料托盘700也可上下滑动的安装于滑槽内并同时堆叠在竖板106上。顶升组件在推车104推入停放区102时进入让位口107内，通过顶升竖板106使其沿滑槽上升的方式来实现物料托盘700的抬升。
在部分实施例中，上下相邻的两个物料托盘700之间具有导向结构，上下相邻的两个物料托盘700通过导向结构作用保持竖直堆叠，并且位于上方的物料托盘700在外力作用下能够通过导向结构作用沿设定方向水平滑动。
在物料托盘700设置有侧板701的时候，导向结构设置于侧板701的上下端。导向结构可以设置为凹槽、凸台等结构形式，也可以设置为市面上已知的其他结构形式，在此不作过多描述。
导向结构的设置可以进一步提高物料托盘700堆叠的稳定性，有利于确保生产加工的顺利进行。
在部分实施例中，停放区102与竖梁105配合形成供物料托盘700向上运动 的通道。这样可以避免在将推车104推入停放区102内停止的时候，物料托盘700因惯性作用向远离竖梁105的方向偏移而导致在抬升过程中不能顺利地送入上料位101的问题发生。
由于生产过程中是在单个物料托盘700上的工件均取出进行加工之后，再取环下一物料托盘700上的工件，因此当最上面的物料托盘700被抬升至上料位101之后，每次抬升的距离等于单个物料托盘700的高度，即顶升组件需要进行停顿→抬升→停顿的步骤，因此顶升组件优选采用液压缸驱动升降或者采用步进电机驱动升降。在采用液压缸驱动的时候，顶升组件为复位式工作模式，在采用步进电机驱动的时候，顶升组件可以为复位式工作模式，也可以是循环式工作模式(即链条形式)。由于此类结构均广泛应用于各机械领域，因此对于顶升组件的具体结构在此不作详述。
在部分实施例中，推车104设置有供顶升组件作用于最下方的物料托盘700上的让位结构。在前述设置延伸结构的实施例中，显然该让位结构为通过支撑结构形成的物料托盘700底部的悬空区域。并且结合图6，在推车104于竖板106的底部设置有底板108的情况下，让位口107即为前述的让位结构。当然，也可以在底板108上开设让位孔位来形成让位结构。
在部分实施例中，推车104与停放区102之间设置有相互配合的定位机构，定位机构用于在推车104推入停放区102时固定推车104。
在推车104设置有底板108的时候，该定位机构包括设置于底板108上的定位孔和可升降地设置于停放区102内的定位柱，该定位柱可以采用气缸、液压缸、电机等驱动。当推车104推入停放区102后，通过感应(比如到位检测)自动控制定位柱卡入定位孔内，防止推车104在工作过程中移动，确保生产的顺利进行。
当然，也可以采用手动形式控制定位柱，并且也可以在竖梁105上设置其他结构来替代底板108。
在部分实施例中，停放区102和推车104之间设置有相互配合的导向组件103，推车104通过导向组件103导向进入停放区102。
参照图5和图6，在推车104设置有底板108的时候，导向组件103设置有与底板108的侧边和/或上下端面适配的定滑轮，该定滑轮可以设置为橡胶轮。这样通过导向组件103的设置能够提高推车104进出停放区102的顺畅性，并且橡胶轮的设置能够避免产生噪音，有利于改善工作环境，实用性强。
参照图7，在部分实施例中，该料仓100设置有一机架，停放区102设置在机架内，上料位101、下料位109分别设置在机架上对应停放区102的位置，两个停放区102的同一侧开口设置。如此在进行推车104更换时在同一处位置即可，方便操作，有利于降低工作强度。
参照图2至图4，在部分实施例中，取料装置200设置有能够进行平面两轴移动的推移组件，推移组件与物料托盘700适配，以用于将物料托盘700从上料位101取出以及将物料托盘700送入下料位109。
具体的，取料装置200设置有一两轴十字滑台201，两轴十字滑台201上设置有平行于上料位101和下料位109排布方向的第一水平滑轨，推移组件设置有滑动安装于第一水平滑轨上的取料滑板202和可沿垂直于第一水平滑轨的方向滑动地安装于取料滑板202上的取料拨块203。物料托盘700从推车104上取出的方向与取料拨块203于取料滑板202上的滑动方向一致。并且侧板701于物料托盘700的下方设置有供取料拨块203作用的配合端。该配合端设置为凸起结构或者内凹结构即可，取料拨块203可转动设置或者可伸缩设置，在转动或者伸缩过程中能够移动至与配合端接触的位置，从而于取料滑板202上滑动时将物料托盘700拖出至取料滑板202上。而在需要将其推入下料位109内的时候，控制取料拨块203移动至配合端的另一个方位进行配合即可。
上述实施例中设置为平面两轴移动的结构，结构简单，传动效率高、传动稳定，可以有效确保工作的正常进行，实用性强。
由于滑动、转动等驱动均属于公知常识，故而在本实施例中对于相关结构的驱动不作详述。
采用上述结构设置的取料装置200，结构简单，工作过程简单，因此相应控制的稳定性高，进而有利于确保工作的顺利进行。
参照图1，在部分实施例中，上料装置300设置有旋转机械臂301和两组悬臂夹爪304，旋转机械臂301可旋转地安装于两轴十字滑台201上，当然也可以安装于其他基体上，在旋转机械臂301上可上下调节地安装有一调节座302，调节座302上设置有一可绕水平轴向转动的安装座303，安装座303的转动角度为90度，一组悬臂夹爪304竖直安装于安装座303的下端，另一组悬臂夹爪304水平安装于安装座303的侧面，悬臂夹爪304为三爪卡盘结构，此类结构属于公知常识，故在此不作详述。
采用上述结构设置的上料装置300，在工作时，先通过旋转机械臂301转动控制安装座303移动至两轴十字滑台201的上方，同时通过取料装置200将物料托盘700移动至两轴十字滑台201的适当位置，使得一个工件正好位于竖直的悬臂夹爪304下方，通过调节座302向下移动完成待加工工件的初始取料；
之后调节座302向上运动，并且旋转机械臂301转动180度而使得夹取有待加工工件的悬臂夹爪304移动至加工设备的上方，之后调节座302向下运动，完成待加工工件的初始上料；
之后再次控制悬臂夹爪304移动至物料托盘700上方取出一个待加工工件并控制安装座303旋转90度，使得未夹取工件的悬臂夹爪304竖直朝下，完成预备动作；
待加工设备完成工件加工之后，控制旋转机械臂301转动180度而使得夹取有待加工工件的悬臂夹爪304移动至加工设备的上方，之后调节座302向下运动，取出已加工工件，再控制安装座303旋转90度并向下运动，完成加工设备的换料；
之后再依此动作循环。
其中旋转机械臂301与加工设备之间可以设置隔离罩，在打开隔离罩的时候再摆动180度进入加工设备内。
并且在取放工件的时候，通过移动物料托盘700来实现不同位置的工件的取放。
前述结构为两轴十字滑台201固定、两组悬臂夹爪304进行上下以及两个旋转调节，显然，在实际生产过程中，也可以控制两轴十字滑台201上下调节，而对应的，两组悬臂夹爪304则只需要进行两个旋转调节。又或者采用其他组合动作形式，在此不作一一列举。
参照图1和图2，另一方面，本发明还提出一种数控机床，其设置有机身400和工件箱体500，工件箱体500可绕水平的X轴转动地安装于机身400上，工件箱体上设置有垂直于X轴的工件主轴，工件主轴的末端设置有夹具，机身400上设置有上述任一种结构的自动上下料机构。
其中机身400上为了实现工件箱体500的转动安装，设置有一转轴箱体600，转轴箱体600内设置X转轴，工件箱体500安装于X转轴的一端。自动上下料机构的料仓100固定设置于转轴箱体600的一侧，并且料仓100的停放区102的开口为远离转轴箱体600的一端。两轴十字滑台201固定安装于转轴箱体600的上 端，上料装置300固定安装于转轴箱体600的上端且位于两轴十字滑台201靠近工件箱体500的一端。
该数控机床在设置为铣齿机的时候，则在机身400上靠近工件箱体500的位置还设置刀具箱体，刀具箱体上设置刀盘，以用于安装铣刀。
而该数控机床在设置为磨齿机的时候，则在机身400上靠近工件箱体500的位置还设置砂轮箱体，用于安装砂轮。
铣齿机、磨齿机等结构均属于公知常识，故而在此不作详述。
该数控机床在工作过程中，由于设置有前述结构的自动上下料机构，在进行工件于夹具上的取放时，只需先控制工件箱体500旋转至夹具朝上，再通过取料装置200从上料位101取出装有待加工工件的物料托盘700，通过上料装置300将待加工工件取放至夹具上即可，而在夹具上装有已加工工件时，只需通过上料装置300先将已加工工件取出，再将待加工工件装入即可，当取料装置200取出的物料托盘700上的工件全部加工完成后，先将物料托盘700送入下料位109，再从上料位101取出一个物料托盘700即可。由于上料位101、下料位109均设置在料仓100上，较传统结构而言，占地面积更小，生产效率更高。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (10)

  1. 一种自动上下料机构，其特征在于，包括：
    料仓，设置有上料位和下料位；
    取料装置，对应所述上料位和所述下料位设置，用于从所述上料位取出工件，并能够将工件送入所述下料位；
    上料装置，对应所述取料装置设置，用于取出工件放入加工设备或者将工件从加工设备内取出并放入所述取料装置。
  2. 根据权利要求1所述的一种自动上下料机构，其特征在于：所述取料装置设置有能够进行平面两轴移动的推移组件，用于通过所述推移组件进行工件的取送。
  3. 根据权利要求2所述的一种自动上下料机构，其特征在于：所述取料装置设置有两轴十字滑台，所述两轴十字滑台设置有平行于所述上料位和所述下料位排布方向的第一水平滑轨，所述推移组件设置有滑动安装于所述第一水平滑轨上的取料滑板和沿垂直于所述第一水平滑轨的方向滑动地安装于所述取料滑板上的取料拨块，通过所述取料拨块取送工件。
  4. 根据权利要求3所述的一种自动上下料机构，其特征在于：所述上料位通过所述第一升降组件堆叠设置有多个物料托盘，工件摆放于所述物料托盘内，所述取料拨块的末端设置有能够开合的伸缩结构，所述物料托盘设置有供所述伸缩结构作用的配合端。
  5. 根据权利要求1所述的一种自动上下料机构，其特征在于：所述上料装置设置有能够切换位置的两组悬臂夹爪。
  6. 根据权利要求5所述的一种自动上下料机构，其特征在于：所述上料装置设置有旋转机械臂，两组所述悬臂夹爪可旋转地安装于所述旋转机械臂上，以用于通过所述旋转机械臂转动而于所述取料装置和加工设备之间摆动切换，并通过旋转而相互切换位置。
  7. 根据权利要求6所述的一种自动上下料机构，其特征在于：所述旋转机械臂上可上下调节地安装有调节座，所述调节座上设置有一绕水平轴向转动的安装座，两组所述悬臂夹爪绕所述安装座的转动轴成设定角度地安装于所述安装座上。
  8. 根据权利要求1所述的一种自动上下料机构，其特征在于：所述上料位通过所 述第一升降组件堆叠设置有多个物料托盘，工件摆放于所述物料托盘内，所述上料位和所述下料位的下方均设置有一个停放区，每个所述停放区内均设置有一可推出的推车，所述物料托盘堆叠于所述推车上。
  9. 根据权利要求8所述的一种自动上下料机构，其特征在于：所述物料托盘的两侧具有侧板，所述侧板的上下端均相对于所述物料托盘突出，所述物料托盘通过所述侧板堆叠设置，并且在所述侧板的上下端设置有配合的导向结构，所述导向结构用于保持上下堆叠的两个所述物料托盘对齐，并使得位于上方的所述物料托盘在外力作用下能够通过所述导向结构作用沿设定方向水平滑动。
  10. 一种数控机床，其特征在于：设置有权利要求1至9任一项所述的自动上下料机构。
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