WO2023241239A1 - 自动翻料数控设备关节机器人 - Google Patents

自动翻料数控设备关节机器人 Download PDF

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Publication number
WO2023241239A1
WO2023241239A1 PCT/CN2023/091137 CN2023091137W WO2023241239A1 WO 2023241239 A1 WO2023241239 A1 WO 2023241239A1 CN 2023091137 W CN2023091137 W CN 2023091137W WO 2023241239 A1 WO2023241239 A1 WO 2023241239A1
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WO
WIPO (PCT)
Prior art keywords
telescopic
rotating
rotating mechanism
power
telescopic mechanism
Prior art date
Application number
PCT/CN2023/091137
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English (en)
French (fr)
Inventor
刘学洪
Original Assignee
深圳市富士杰智能技术有限公司
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Publication of WO2023241239A1 publication Critical patent/WO2023241239A1/zh

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Classifications

    • 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
    • B23Q7/04—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 grippers
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to the field of machining, and more specifically to an articulated robot for automatic turning of numerical control equipment.
  • the traditional loading and unloading articulated robot is composed of an articulated robot, a clamping claw grabbing mechanism on the robot, and a material preparation frame outside the CNC processing equipment.
  • the working method is to grasp through the clamping claws on the articulated robot.
  • the mechanism grabs the workpiece to be processed to the workpiece clamping point position of the vise (or other clamping mechanism) of the CNC machining center (or similar CNC machining equipment), and takes away the processed product (there is no processed product for the first time ), place and clamp the product to be processed, the articulated robot leaves the CNC machining center, places the workpiece back on the workpiece pallet, and repeats the above cycle.
  • the purpose of the present invention is to provide an articulated robot for automatic turning of CNC equipment.
  • This solution adds a multi-processing surface automatic turning mechanism for turning the workpiece body and automatic rotation of the positioning surface on the second fixed bracket.
  • Mechanism a multi-set clamping mechanism for grabbing workpieces and a jointed robot body, which can complete automatic loading and unloading of the workpiece body and automatic flipping of multiple processing surfaces and automatic rotation of positioning surfaces during process conversion, without the need for manual flipping
  • the workpiece body is greatly It saves people and labor. It can complete the production of multi-process products with a single machine, reduce processing flow, reduce workpiece stacking space and retention problems.
  • the present invention adopts the following technical solutions.
  • the articulated robot of CNC equipment for automatic material turning includes a first fixed bracket.
  • the outer ends of the first fixed bracket are respectively equipped with an articulated robot body and a second fixed bracket.
  • the upper end of the articulated robot body is equipped with a clamping claw.
  • Mechanism, the outer end of the joint robot body is equipped with CNC equipment, the CNC equipment is equipped with an auxiliary positioning mechanism, the CNC equipment telescopic door is installed at the outer end, and the second fixed brackets are respectively equipped with It is equipped with an automatic turning mechanism for the processing surface, a rotating mechanism for the positioning surface and a material tray.
  • the material tray is provided with a workpiece body.
  • Positioning surface automatic rotation mechanism multiple sets of claw gripping mechanisms for grabbing workpieces and the joint robot body, which can complete automatic loading and unloading of the workpiece body and automatic flipping of multiple processing surfaces and automatic rotation of the positioning surface during process conversion.
  • There is no need to manually turn the workpiece body which greatly saves people and effort. It can complete the production of multi-process products in a single machine, reduce processing flow, reduce workpiece stacking space and retention problems, and no longer have uneven ratios of machines. It is no longer difficult or expensive to keep the machine running around the clock.
  • the processing industry no longer has the trouble of being restricted by personnel and difficult to manage, and the processing industry no longer has the trouble of uncontrollable costs.
  • the clamping jaw grabbing mechanism includes a first rotating mechanism, a first clamping jaw grabbing mechanism, a second clamping jaw grabbing mechanism, a third clamping jaw grabbing mechanism and a fourth clamping jaw grabbing mechanism.
  • the first clamping jaw grabbing mechanism and the second clamping jaw grabbing mechanism are a set, and the first clamping jaw grabbing mechanism and the second clamping jaw grabbing mechanism are respectively matched with the first clamping jaw and the second clamping jaw
  • the third clamping claw grabbing mechanism and the fourth clamping claw grabbing mechanism are a group, and the third clamping claw grabbing mechanism and the fourth clamping claw grabbing mechanism are respectively connected with the third clamping claw grabbing mechanism.
  • the clamping jaws match the fourth clamping jaw.
  • the first and second clamping jaw grabbing mechanisms are respectively equipped with a first telescopic mechanism and a second telescopic mechanism.
  • the articulated robot body is used to drive the clamping jaws.
  • the grabbing mechanism moves according to the programmed trajectory to load and unload materials for CNC equipment.
  • the first, second, third and fourth clamping jaws can grab and place the workpiece body for processing.
  • the multi-processing surface automatic turning mechanism described in the first paragraph includes a third telescopic mechanism, a fourth telescopic mechanism and a second rotating mechanism, a third rotating mechanism and fifth and sixth clamping jaws.
  • the third telescopic mechanism The mechanism and the fourth telescopic mechanism are both installed on the second fixed bracket, the second rotating mechanism is installed on the third telescopic mechanism, the third rotating mechanism is installed on the fourth telescopic mechanism, and the fifth The clamping jaw is installed on the second rotating mechanism, the sixth clamping jaw is installed on the third rotating mechanism, the third telescopic mechanism drives the second rotating mechanism and the fifth clamping claw to make linear motion along the X-axis, and the fourth telescopic claw The mechanism drives the third rotating mechanism and the sixth clamping jaw to make linear motion along the Y-axis.
  • the second rotating mechanism can drive the fifth clamping jaw to flip at any angle around the X-axis, and drives the workpiece body to complete multi-processing surface flipping.
  • the third rotating mechanism It can drive the sixth clamping jaw to flip at any angle around the Y-axis, and drive the workpiece body to complete multi-processing surface flipping.
  • the third telescopic mechanism is equipped with a third telescopic mechanism power mechanism
  • the fourth telescopic mechanism is equipped with a fourth telescopic mechanism power mechanism
  • the second rotating mechanism is equipped with a second rotating mechanism power mechanism
  • the The third rotating mechanism is equipped with a third rotating mechanism power mechanism, and is provided with a third telescopic mechanism power mechanism and a fourth telescopic mechanism power mechanism to provide power assistance for the telescopic work of the third telescopic mechanism and the fourth telescopic mechanism, and is provided with The second rotating mechanism power mechanism and the third rotating mechanism power mechanism provide power assistance for the rotation work of the second rotating mechanism and the third rotating mechanism.
  • the positioning surface rotating mechanism in the first paragraph includes a fifth telescopic mechanism, a fourth rotating mechanism and a second material tray.
  • the fifth telescopic mechanism is installed on the second fixed bracket, and the fourth rotating mechanism is installed on the second fixed bracket.
  • the material pallet two is installed on the fourth rotating mechanism.
  • the fifth telescopic mechanism drives the fourth rotating mechanism and the material pallet two to make linear motion along the Z axis.
  • the fourth rotating mechanism can drive the material pallet two. Flip around the Z-axis at any angle to drive the multi-positioning surface of the workpiece body to rotate. Material tray one and material tray two are used to place the workpiece body.
  • the fifth telescopic mechanism is equipped with a fifth telescopic mechanism power mechanism
  • the fourth rotating mechanism is equipped with a fourth rotating mechanism power mechanism.
  • the multi-processing surface automatic turning mechanism described in the second paragraph includes a third telescopic mechanism and a third telescopic mechanism power mechanism, a seventh telescopic mechanism, a second rotating mechanism and a second rotating mechanism power mechanism, a sixth rotating mechanism and a third rotating mechanism.
  • Five clamping jaws, a sixth clamping jaw, the seventh telescopic mechanism is installed on the second fixed bracket, the sixth rotating mechanism is installed on the seventh telescopic mechanism, the sixth clamping jaw is installed on the sixth
  • the third telescopic mechanism can drive the second rotating mechanism to perform telescopic movement in the X-axis direction.
  • the second rotating mechanism can drive the fifth clamping jaw to rotate around the
  • the six rotating mechanisms perform telescopic movement in the Y-axis direction.
  • the sixth rotating mechanism can drive the sixth clamping jaw to rotate around the Y-axis and flip the workpiece processing surface.
  • the fifth and sixth clamping jaws can grab and place the workpiece itself.
  • the positioning surface rotating mechanism described in the second paragraph includes a fourth telescopic mechanism and a fourth telescopic mechanism power mechanism, a fifth telescopic mechanism and a fifth telescopic mechanism power mechanism, a sixth telescopic mechanism, an eighth telescopic mechanism, a ninth telescopic mechanism. mechanism and the tenth telescopic mechanism.
  • the positioning surface rotating mechanism described in the second paragraph includes a third rotating mechanism and a third rotating mechanism power mechanism, a fourth rotating mechanism and a fourth rotating mechanism power mechanism, a fifth rotating mechanism, and a seventh rotating mechanism.
  • the mechanism and the tenth telescopic mechanism are both installed on the second fixed bracket, the second material tray is installed on the third rotating mechanism, the third material tray is installed on the fourth rotating mechanism, and the fifth rotating mechanism is installed Located on the sixth telescopic mechanism, the material tray 4 is installed on the fifth rotating mechanism, the seventh rotating mechanism is installed on the eighth telescopic mechanism, and the material tray 5 is installed on the seventh rotating mechanism , the eighth rotating mechanism is installed on the ninth telescopic mechanism, the material tray 6 is installed on the eighth rotating mechanism, the ninth rotating mechanism is installed on On the tenth telescopic mechanism, the material pallet seven is installed on the ninth rotating mechanism.
  • the fourth telescopic mechanism can drive the third rotating mechanism to telescopically move in the Z-axis direction.
  • the third rotating mechanism can drive the material pallet two to rotate around the Z-axis.
  • Rotating movement, rotating positioning surface, the fifth telescopic mechanism can drive the fourth rotating mechanism to perform telescopic movement in the Z-axis direction
  • the fourth rotating mechanism can drive the material pallet 3 to perform rotating movement around the Z-axis
  • the sixth telescopic mechanism can drive
  • the fifth rotating mechanism performs telescopic movement in the Z-axis direction.
  • the fifth rotating mechanism can drive the material pallet 4 to rotate around the Z-axis and rotate the positioning surface.
  • the eighth telescopic mechanism can drive the seventh rotating mechanism to perform telescopic movement in the Z-axis direction.
  • the seventh The rotating mechanism can drive the material pallet 5 to rotate around the Z-axis and rotate the positioning surface.
  • the ninth telescopic mechanism can drive the eighth rotating mechanism to do the telescopic movement in the Z-axis direction.
  • the eighth rotating mechanism can drive the material pallet 6 to rotate around the Z-axis.
  • rotating positioning surface the tenth telescopic mechanism can drive the ninth rotating mechanism to do telescopic movement in the Z-axis direction
  • the ninth rotating mechanism can drive the material pallet seven to do a rotating movement around the Z-axis
  • the rotating positioning surface material pallet two, material pallet three, material Pallet four, material pallet five, material pallet six and material pallet seven can place the workpiece body.
  • the seventh telescopic mechanism is equipped with a seventh telescopic mechanism power mechanism
  • the sixth rotating mechanism is equipped with a sixth rotating mechanism power mechanism
  • the tenth telescopic mechanism is equipped with a sixth telescopic mechanism power mechanism, an eighth telescopic mechanism power mechanism, a ninth telescopic mechanism power mechanism and a tenth telescopic mechanism power mechanism in sequence.
  • the mechanism and the ninth rotating mechanism are equipped with a fifth rotating mechanism power mechanism, a seventh rotating mechanism power mechanism, an eighth rotating mechanism power mechanism and a ninth rotating mechanism power mechanism in sequence.
  • the power mechanism, the ninth telescopic mechanism power mechanism and the tenth telescopic mechanism power mechanism provide power assistance for the telescopic work of the seventh telescopic mechanism, the eighth telescopic mechanism, the ninth telescopic mechanism and the tenth telescopic mechanism, and are provided with a fifth rotation
  • the mechanism power mechanism, the sixth rotating mechanism power mechanism, the seventh rotating mechanism power mechanism, the eighth rotating mechanism power mechanism and the ninth rotating mechanism power mechanism are the fifth rotating mechanism, the sixth rotating mechanism, the seventh rotating mechanism and the eighth rotating mechanism.
  • the rotating mechanism and the ninth rotating mechanism provide power assistance for the rotating work.
  • This solution adds a multi-processing surface automatic turning mechanism and a positioning surface automatic rotation mechanism for turning over the workpiece body, multiple sets of jaw grabbing mechanisms for grabbing the workpiece and the joint robot body on the second fixed bracket. It can complete the automatic loading and unloading of the workpiece body and the automatic turning of multiple processing surfaces and the automatic rotation of the positioning surface during the process conversion process. There is no need to manually turn the workpiece body, which greatly saves people and labor. It can complete the production of multi-process products with a single machine. The production of finished products reduces the flow of processing technology, reduces workpiece stacking space and retention problems, and no longer worries about uneven machine ratios. It is no longer difficult and expensive to operate the machine around the clock. It fully taps the production capacity of the machine and makes the processing industry more efficient. In addition to the trouble of being restricted by personnel and being difficult to manage, the processing industry no longer has the trouble of uncontrollable costs.
  • the clamping jaw grabbing mechanism includes a first rotating mechanism, a first clamping jaw grabbing mechanism, a second clamping jaw grabbing mechanism, a third clamping jaw grabbing mechanism and a fourth clamping jaw grabbing mechanism.
  • the first clamping jaw is The grabbing mechanism and the second jaw grabbing mechanism are a group.
  • the first clamping jaw grabbing mechanism and the second clamping jaw grabbing mechanism are respectively matched with the first clamping jaw and the second clamping jaw.
  • the third clamping jaw grabbing mechanism The mechanism and the fourth jaw grabbing mechanism are a group.
  • the third clamping jaw grabbing mechanism and the fourth clamping jaw grabbing mechanism match the third clamping jaw and the fourth clamping jaw respectively.
  • the first clamping jaw grabbing mechanism and The second claw grabbing mechanism is equipped with a first telescopic mechanism and a second telescopic mechanism respectively.
  • the joint robot body is used to drive the clamping claw grabbing mechanism and move according to the programmed trajectory to load and unload the CNC equipment.
  • the claw, the second clamping jaw, the third clamping jaw and the fourth clamping jaw can grasp and place the workpiece body for processing.
  • the first multi-processing surface automatic turning mechanism includes a third telescopic mechanism, a fourth telescopic mechanism and a second rotating mechanism, a third rotating mechanism and fifth and sixth clamping jaws.
  • the third telescopic mechanism and the fourth The telescopic mechanisms are all installed on the second fixed bracket, the second rotating mechanism is installed on the third telescopic mechanism, the third rotating mechanism is installed on the fourth telescopic mechanism, and the fifth clamping jaw is installed on the second rotating mechanism.
  • the sixth clamping jaw is installed on the third rotating mechanism
  • the third telescopic mechanism drives the second rotating mechanism and the fifth clamping jaw to make linear motion along the X-axis
  • the fourth telescopic mechanism drives the third rotating mechanism and the sixth clamping jaw to press Make Y axis straight Linear motion
  • the second rotating mechanism can drive the fifth clamping jaw to flip at any angle around the The workpiece body is processed to complete multi-processing surface flipping.
  • the third telescopic mechanism is equipped with a third telescopic mechanism power mechanism
  • the fourth telescopic mechanism is equipped with a fourth telescopic mechanism power mechanism
  • the second rotating mechanism is equipped with a second rotating mechanism power mechanism
  • the third rotating mechanism is equipped with a third
  • the rotating mechanism power mechanism is provided with a third telescopic mechanism power mechanism and a fourth telescopic mechanism power mechanism to provide power assistance for the telescopic work of the third telescopic mechanism and the fourth telescopic mechanism, and is provided with a second rotating mechanism power mechanism and a third telescopic mechanism power mechanism.
  • the three-rotation mechanism power mechanism provides power assistance for the rotation work of the second rotation mechanism and the third rotation mechanism.
  • the first positioning surface rotating mechanism includes a fifth telescopic mechanism, a fourth rotating mechanism and a second material tray.
  • the fifth telescopic mechanism is installed on the second fixed bracket, and the fourth rotating mechanism is installed on the fifth telescopic mechanism.
  • the material pallet 2 is installed on the fourth rotating mechanism, the fifth telescopic mechanism drives the fourth rotating mechanism and the material pallet 2 to make linear motion along the Z axis, and the fourth rotating mechanism can drive the material pallet 2 to flip at any angle around the Z axis. It drives the multi-positioning surface of the workpiece body to rotate. Material tray one and material tray two are used to place the workpiece body.
  • the fifth telescopic mechanism is equipped with a fifth telescopic mechanism power mechanism
  • the fourth rotating mechanism is equipped with a fourth rotating mechanism power mechanism.
  • the second multi-processing surface automatic turning mechanism includes a third telescopic mechanism and a third telescopic mechanism power mechanism, a seventh telescopic mechanism, a second rotating mechanism and a second rotating mechanism power mechanism, a sixth rotating mechanism and a fifth clamp.
  • the claw, the sixth clamping claw, the seventh telescopic mechanism are installed on the second fixed bracket, the sixth rotating mechanism is installed on the seventh telescopic mechanism, the sixth clamping claw is installed on the sixth rotating mechanism, the third telescopic mechanism
  • the second rotating mechanism can be driven to perform telescopic movement in the X-axis direction.
  • the second rotating mechanism can drive the fifth clamping jaw to perform rotating movement around the X-axis to flip the workpiece processing surface.
  • the seventh telescopic mechanism can drive the sixth rotating mechanism.
  • the sixth rotating mechanism can drive the sixth clamping jaw to rotate around the Y-axis and flip the workpiece processing surface.
  • the fifth and sixth clamping jaws can grab and place the workpiece body.
  • the second positioning surface rotating mechanism includes the fourth telescopic mechanism and the fourth telescopic mechanism power mechanism, the fifth telescopic mechanism and the fifth telescopic mechanism power mechanism, the sixth telescopic mechanism, the eighth telescopic mechanism, the ninth telescopic mechanism and The tenth telescopic mechanism, the second positioning surface rotating mechanism includes a third rotating mechanism and a third rotating mechanism power mechanism, a fourth rotating mechanism and a fourth rotating mechanism power mechanism, a fifth rotating mechanism, a seventh rotating mechanism, an eighth rotating mechanism Mechanism, ninth rotating mechanism and material pallet two, material pallet three, material pallet four, material pallet five, material pallet six, material pallet seven, sixth telescopic mechanism, eighth telescopic mechanism, ninth telescopic mechanism and tenth telescopic mechanism Both are installed on the second fixed bracket.
  • the second material tray is installed on the third rotating mechanism.
  • the third material tray is installed on the fourth rotating mechanism.
  • the fifth rotating mechanism is installed on the sixth telescopic mechanism.
  • the fourth material tray is installed on the second fixed bracket. It is installed on the fifth rotating mechanism, the seventh rotating mechanism is installed on the eighth telescopic mechanism, the fifth material pallet is installed on the seventh rotating mechanism, the eighth rotating mechanism is installed on the ninth telescopic mechanism, and the sixth material pallet is installed on the fifth rotating mechanism. It is installed on the eighth rotating mechanism.
  • the ninth rotating mechanism is installed on the tenth telescopic mechanism.
  • the material tray seven is installed on the ninth rotating mechanism.
  • the fourth telescopic mechanism can drive the third rotating mechanism to perform telescopic movement in the Z-axis direction.
  • the third rotating mechanism can drive the material pallet 2 to rotate around the Z-axis and rotate the positioning surface.
  • the fifth telescopic mechanism can drive the fourth rotating mechanism to do the telescopic movement in the Z-axis direction.
  • the fourth rotating mechanism can drive the material pallet 3 to rotate around the Z-axis.
  • Rotary movement, rotating positioning surface, the sixth telescopic mechanism can drive the fifth rotating mechanism to perform telescopic movement in the Z-axis direction
  • the fifth rotating mechanism can drive the material pallet to perform rotational movement around the Z-axis
  • rotating the positioning surface rotating the eighth telescopic mechanism can drive
  • the seventh rotating mechanism performs telescopic movement in the Z-axis direction.
  • the seventh rotating mechanism can drive the material pallet 5 to rotate around the Z-axis and rotate the positioning surface.
  • the ninth telescopic mechanism can drive the eighth rotating mechanism to perform telescopic movement in the Z-axis direction.
  • the eighth rotating mechanism can drive the eighth rotating mechanism to perform telescopic movement in the Z-axis direction.
  • the rotating mechanism can drive the material pallet six to rotate around the Z-axis and rotate the positioning surface.
  • the tenth telescopic mechanism can drive the ninth rotating mechanism to do the telescopic movement in the Z-axis direction.
  • the ninth rotating mechanism can drive the material pallet seven to rotate around the Z-axis. , the rotating positioning surface material pallet two, material pallet three, material pallet four, material pallet five, material pallet six and material pallet seven can place the workpiece body.
  • the seventh telescopic mechanism is equipped with the seventh telescopic mechanism power mechanism
  • the sixth rotating mechanism is equipped with the sixth rotating mechanism power mechanism
  • the sixth telescopic mechanism, the eighth telescopic mechanism, the ninth telescopic mechanism and the tenth telescopic mechanism are equipped in sequence.
  • the fifth rotating mechanism, the seventh rotating mechanism, the eighth rotating mechanism and the ninth rotating mechanism are arranged in sequence.
  • the seventh telescopic mechanism power mechanism, the eighth telescopic mechanism power mechanism and the ninth telescopic mechanism power mechanism, mechanism and the power mechanism of the tenth telescopic mechanism to provide power assistance for the telescopic work of the seventh telescopic mechanism, the eighth telescopic mechanism, the ninth telescopic mechanism and the tenth telescopic mechanism, and a fifth rotating mechanism power mechanism and a sixth rotating mechanism are provided.
  • the power mechanism, the seventh rotation mechanism power mechanism, the eighth rotation mechanism power mechanism and the ninth rotation mechanism power mechanism are the fifth rotation mechanism, the sixth rotation mechanism, the seventh rotation mechanism, the eighth rotation mechanism and the ninth rotation mechanism. Power assist is provided for rotational work.
  • Figure 1 is a schematic three-dimensional structural diagram of the present invention
  • Figure 2 is a schematic three-dimensional structural diagram of the application scenario of the present invention.
  • Figure 3 is a schematic three-dimensional structural diagram of the first multi-processing surface automatic flipping and positioning surface rotating mechanism in the present invention
  • Figure 4 is an exploded view of the first multi-processing surface automatic flipping and positioning surface rotating mechanism in the present invention
  • Figure 5 is a schematic three-dimensional structural diagram of the second multi-processing surface automatic flipping and positioning surface rotating mechanism in the present invention
  • Figure 6 is an exploded view of the second multi-processing surface automatic flipping and positioning surface rotating mechanism in the present invention.
  • Figure 7 is a schematic three-dimensional structural diagram of the claw grabbing mechanism of the present invention.
  • Figure 8 is an exploded view of the jaw grabbing mechanism of the present invention.
  • connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, or it can be inside two components of connectivity.
  • Connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, or it can be inside two components of connectivity.
  • the articulated robot of CNC equipment for automatic material turning includes a first fixed bracket 1.1.
  • the outer end of the first fixed bracket 1.1 is respectively equipped with an articulated robot body 1.4 and a second fixed bracket 1.2.
  • the articulated robot body 1.4 is The upper end is equipped with a claw grabbing mechanism 1.3.
  • the outer end of the joint robot body 1.4 is equipped with a CNC equipment 1.7.
  • the CNC equipment 1.7 is provided with an auxiliary positioning mechanism 1.6.
  • the outer end of the CNC equipment 1.7 is equipped with a CNC equipment telescopic door 1.5.
  • the second fixed bracket 1.2 is equipped with an automatic turning mechanism for the processing surface, a rotating mechanism for the positioning surface and a material pallet 2.16 respectively.
  • the material pallet 2.16 is equipped with a workpiece body 2.17.
  • This solution adds a second fixed bracket 1.2 for The multi-processing surface automatic turning mechanism of the workpiece body 2.17, the positioning surface automatic rotation mechanism, the multi-set jaw grabbing mechanism 1.3 for grabbing the workpiece and the joint robot body 1.4 can complete the automatic loading and unloading of the workpiece body 2.17 and process conversion.
  • multiple processing surfaces are automatically turned over and the positioning surface is automatically rotated.
  • It can complete the production of finished products with multi-process products in a single machine, reducing the flow of processing technology and reducing the number of workpieces.
  • Stacking space and detention problems no longer have to worry about uneven machine ratios. It is no longer difficult or expensive to operate machines around the clock. The machine capacity can be fully exploited, so that the processing industry no longer has to worry about being restricted by personnel and difficult to manage.
  • the processing industry no longer has the trouble of uncontrollable costs.
  • the clamping jaw grabbing mechanism includes a first rotating mechanism 1.9, a first clamping jaw grabbing mechanism, a second clamping jaw grabbing mechanism, a third clamping jaw grabbing mechanism and a fourth clamping jaw grabbing mechanism.
  • the first clamping claw grabbing mechanism and the second clamping claw grabbing mechanism are one group, and the first clamping claw grabbing mechanism and the second clamping claw grabbing mechanism are divided into two groups. Do not match the first clamping jaw 1.12 and the second clamping jaw 1.14.
  • the third clamping jaw grabbing mechanism and the fourth clamping jaw grabbing mechanism are a group.
  • the third clamping jaw grabbing mechanism and the fourth clamping jaw grabbing mechanism They match the third clamping jaw 1.15 and the fourth clamping jaw 1.8 respectively.
  • the first and second clamping jaw grabbing mechanisms are respectively equipped with a first telescopic mechanism 1.11 and a second telescopic mechanism 1.13.
  • the body 1.4 is used to drive the clamping jaw grabbing mechanism 1.3, and move according to the programmed trajectory to load and unload materials for the CNC equipment.
  • the first clamping jaw 1.12, the second clamping jaw 1.14, the third clamping jaw 1.15 and the fourth clamping jaw 1.8 can Realize the instant grabbing and placing of the workpiece body for processing 2.17.
  • the first multi-processing surface automatic turning mechanism includes a third telescopic mechanism 2.2, a fourth telescopic mechanism 2.6, a second rotating mechanism 2.4, a third rotating mechanism 2.8, a fifth clamping jaw 2.5, and a sixth clamping jaw.
  • the claw 2.10, the third telescopic mechanism 2.2 and the fourth telescopic mechanism 2.6 are all installed on the second fixed bracket 1.2, the second rotating mechanism 2.4 is installed on the third telescopic mechanism 2.2, and the third rotating mechanism 2.8 is installed on the fourth On the telescopic mechanism 2.6, the fifth clamping jaw 2.5 is installed on the second rotating mechanism 2.4, the sixth clamping claw 2.10 is installed on the third rotating mechanism 2.8, and the third telescopic mechanism 2.2 drives the second rotating mechanism 2.4 and the fifth clamping mechanism.
  • the claw 2.5 makes linear motion along the X-axis.
  • the fourth telescopic mechanism 2.6 drives the third rotating mechanism 2.8 and the sixth clamping jaw 2.10 to make linear motion along the Y-axis.
  • the second rotating mechanism 2.4 can drive the fifth clamping jaw 2.5 to do any movement around the X-axis.
  • the workpiece body 2.17 is driven to complete the multi-processing surface flipping.
  • the third rotating mechanism 2.8 can drive the sixth clamping jaw 2.10 to flip at any angle around the Y-axis, and the workpiece body 2.17 is driven to complete the multi-processing surface flipping.
  • the third telescopic mechanism 2.2 is equipped with a third telescopic mechanism power mechanism 2.1
  • the fourth telescopic mechanism 2.6 is equipped with a fourth telescopic mechanism power mechanism 2.7
  • the second rotating mechanism 2.4 is equipped with a second rotating mechanism power mechanism.
  • the third rotating mechanism 2.8 is equipped with a third rotating mechanism power mechanism 2.9.
  • the first positioning surface rotating mechanism includes a fifth telescopic mechanism 2.14, a fourth rotating mechanism 2.13 and a second material tray 2.11.
  • the fifth telescopic mechanism 2.14 is installed on the second fixed bracket 1.2.
  • the mechanism 2.13 is installed on the fifth telescopic mechanism 2.14, and the second material pallet 2.11 is installed on the fourth rotating mechanism 2.13.
  • the fifth telescopic mechanism 2.14 drives the fourth rotating mechanism 2.13 and the second material pallet 2.11 to make linear motion along the Z axis.
  • the four-rotation mechanism 2.13 can drive the material pallet 2.11 to flip at any angle around the Z-axis, and drive the workpiece body 2.17 to rotate on multiple positioning surfaces.
  • the material pallet 2.16 and the material pallet 2.11 are used to place the workpiece body 2.17.
  • the fifth telescopic mechanism 2.14 is equipped with the fifth telescopic mechanism power mechanism 2.15
  • the fourth rotating mechanism 2.13 is equipped with the fourth rotating mechanism power mechanism 2.12.
  • the mechanism power mechanism 2.12 is provided to provide power assistance for the telescopic work of the fifth telescopic mechanism 2.14 and the rotation work of the fourth rotating mechanism 2.13.
  • the second multi-processing surface automatic turning mechanism includes a third telescopic mechanism 2.2 and a third telescopic mechanism power mechanism 2.1, a seventh telescopic mechanism 3.5, a second rotation mechanism 2.4 and a second rotation mechanism power mechanism 2.3. , the sixth rotating mechanism 3.6 and the fifth clamping jaw 2.5 and the sixth clamping jaw 2.10.
  • the seventh telescopic mechanism 3.5 is installed on the second fixed bracket 1.2.
  • the sixth rotating mechanism 3.6 is installed on the seventh telescopic mechanism 3.5.
  • the six clamping jaws 2.10 are installed on the sixth rotating mechanism 3.6.
  • the third telescopic mechanism 2.2 can drive the second rotating mechanism 2.4 to perform telescopic movement in the X-axis direction.
  • the second rotating mechanism 2.4 can drive the fifth clamping jaw 2.5 to rotate around the X-axis. Movement, turning over the processing surface of the workpiece, the seventh telescopic mechanism 3.5 can drive the sixth rotating mechanism 3.6 to perform telescopic movement in the Y-axis direction, and the sixth rotating mechanism 3.6 can drive the sixth clamping jaw 2.10 to perform rotational movement around the Y-axis, turning over the processing surface of the workpiece.
  • the fifth clamping jaw 2.5 and the sixth clamping jaw 2.10 can grab and place the workpiece body 2.17.
  • the second positioning surface rotating mechanism includes the fourth telescopic mechanism 2.6 and the fourth telescopic mechanism power mechanism 2.7, the fifth telescopic mechanism 2.14 and the fifth telescopic mechanism power mechanism 2.15, the sixth telescopic mechanism 3.4, and the fifth telescopic mechanism 2.15.
  • the third rotating mechanism 2.8 can drive the material pallet 2.11 to perform rotating movement around the Z-axis to rotate the positioning surface.
  • the fifth telescopic mechanism 2.14 can drive the fourth rotating mechanism. 2.13 performs telescopic movement in the Z-axis direction.
  • the fourth rotating mechanism 2.13 can drive the material pallet 3.1 to rotate around the Z-axis and rotate the positioning surface.
  • the sixth telescopic mechanism 3.4 can drive the fifth rotating mechanism 3.2 to perform telescopic movement in the Z-axis direction.
  • the fifth rotating mechanism 3.2 can drive the material pallet 4 3.3 to rotate around the Z-axis and rotate the positioning surface.
  • the eighth telescopic mechanism 3.14 can drive the seventh rotating mechanism 3.15 to do the telescopic movement in the Z-axis direction.
  • the seventh rotating mechanism 3.15 can drive the material pallet 5 3.13 rotates around the Z-axis and rotates the positioning surface.
  • the ninth telescopic mechanism 3.10 can drive the eighth rotating mechanism 3.8 to perform telescopic movement in the Z-axis direction.
  • the eighth rotating mechanism 3.8 can drive the material pallet 6 3.7 to rotate around the Z-axis.
  • the tenth telescopic mechanism 3.11 can drive the ninth rotating mechanism 3.12 to perform telescopic movement in the Z-axis direction.
  • the ninth rotating mechanism 3.12 can drive the material pallet seven 3.9 to perform rotational movement around the Z-axis.
  • the rotating positioning surface material pallet 2.11, material pallet Three 3.1, material pallet four 3.3, material pallet five 3.13, material pallet six 3.7 and material pallet seven 3.9 can place the workpiece body 2.17.
  • the seventh telescopic mechanism 3.5 is equipped with the seventh telescopic mechanism power mechanism
  • the sixth rotating mechanism 3.6 is equipped with the sixth rotating mechanism power mechanism
  • the sixth telescopic mechanism 3.4 is equipped with the eighth telescopic mechanism 3.14
  • the mechanism 3.10 and the tenth telescopic mechanism 3.11 are respectively equipped with the sixth telescopic mechanism power mechanism, the eighth telescopic mechanism power mechanism, the ninth telescopic mechanism power mechanism and the tenth telescopic mechanism power mechanism
  • the fifth rotating mechanism 3.2, the seventh rotating mechanism 3.15 , the eighth rotation mechanism 3.8 and the ninth rotation mechanism 3.12 are equipped with a fifth rotation mechanism power mechanism, a seventh rotation mechanism power mechanism, an eighth rotation mechanism power mechanism and a ninth rotation mechanism power mechanism in sequence.
  • the seventh telescopic mechanism power mechanism mechanism By setting the seventh telescopic mechanism power mechanism mechanism, the power mechanism of the eighth telescopic mechanism, the power mechanism of the ninth telescopic mechanism and the power mechanism of the tenth telescopic mechanism are implemented as telescopic mechanisms of the seventh telescopic mechanism 3.5, the eighth telescopic mechanism 3.14, the ninth telescopic mechanism 3.10 and the tenth telescopic mechanism 3.11.
  • the work provides power assistance, and is provided with a fifth rotating mechanism power mechanism, a sixth rotating mechanism power mechanism, a seventh rotating mechanism power mechanism, an eighth rotating mechanism power mechanism and a ninth rotating mechanism power mechanism, which are the fifth rotating mechanism 3.2 and the ninth rotating mechanism power mechanism.
  • the sixth rotating mechanism 3.6, the seventh rotating mechanism 3.15, the eighth rotating mechanism 3.8, and the ninth rotating mechanism 3.12 provide power assistance for the rotating work.
  • the first multi-processing surface automatic flipping, positioning surface rotating mechanism automatic turning material CNC equipment joint robot for CNC equipment loading and unloading process route is:
  • the joint robot body 1.4 grabs the unprocessed workpiece A through the claw grabbing mechanism 1.3 and sends it to the vicinity of the work vise of the CNC machining center. Takes away the processed workpiece body 2.17 and places the unprocessed workpiece A on the vise.
  • the pliers automatically clamp;
  • the joint robot body 1.4 leaves the CNC machining center and moves to the vicinity of the material pallet 2.11 position;
  • the joint robot body 1.4 grabs the processed workpiece body 2.17 from the material pallet 2.11 through the claw grabbing mechanism 1.3, moves and places it on the material pallet 1 2.16;
  • the joint robot body 1.4 grabs the second unprocessed workpiece B from the material pallet 1.16 through the claw grabbing mechanism 1.3, and moves it to the outside of the CNC machining center to wait;
  • the joint robot body 1.4 leaves the CNC machining center and moves to the vicinity of the material pallet 2.11 position;
  • the articulated robot body 1.4 places the processed workpiece A1 on the material pallet two 2.11;
  • the joint robot body 1.4 grabs the processed workpiece A1 through the claw grabbing mechanism 1.3, moves it and places it on the material pallet 1.16;
  • the second type of multi-processing surface automatic flipping and positioning surface rotating mechanism automatically turns over CNC equipment.
  • the process route of the joint robot for loading and unloading CNC equipment is:
  • the joint robot body 1.4 grabs the unprocessed workpiece A through the claw grabbing mechanism 1.3 and sends it to the position of the CNC machining center workpiece vise. Take away the processed workpiece body 2.17 and place the unprocessed workpiece A on the vise.
  • the pliers automatically clamp;
  • the joint robot body 1.4 leaves the CNC machining center and moves to the vicinity of material pallet 2.11 or material pallet 5 3.13;
  • the articulated robot body 1.4 places the processed workpiece body 2.17 onto the material pallet two 2.11 or the material pallet five 3.13;
  • the processed workpiece body 2.17 is placed on material pallet three 3.1 or material pallet four 3.3, material pallet six 3.7, and material pallet seven 3.9 by the multi-processing surface automatic turning mechanism to meet the requirements of turning the processing surface 90°, 180° or not turning. , the requirements for rotating the positioning surface are achieved through the positioning surface rotation mechanism;
  • the joint robot body 1.4 grabs the processed material from the material pallet 2.11 (or the material pallet 3.1, the material pallet 4 3.3, the material pallet 5 3.13, the material pallet 6 3.7, the material pallet 7 3.9) through the claw grabbing mechanism 1.3.
  • the workpiece body 2.17 is moved and placed on the material pallet 2.16;
  • the joint robot body 1.4 grabs the second unprocessed workpiece B from the material pallet 1.16 through the claw grabbing mechanism 1.3, and moves it to the outside of the CNC machining center to wait;
  • the joint robot body 1.4 leaves the CNC machining center and moves to the vicinity of material pallet 2.11 or material pallet 5 3.13;
  • the articulated robot body 1.4 places the processed workpiece A1 on the material pallet two 2.11 or the material pallet five 3.13;
  • the processed workpiece body 2.17 is placed on material pallet three 3.1 or material pallet four 3.3, material pallet six 3.7, and material pallet seven 3.9 by the multi-processing surface automatic turning mechanism to meet the requirements of turning the processing surface 90°, 180° or without turning. , the requirements for rotating the positioning surface are achieved through the positioning surface rotation mechanism;
  • the joint robot body 1.4 grabs the processed workpiece A1 through the claw grabbing mechanism 1.3, moves it and places it on the material pallet 1.16;
  • the second type of multi-processing surface automatic flipping and positioning surface rotating mechanism automatically turns over CNC equipment.
  • the process route of the joint robot for loading and unloading CNC equipment is:
  • the joint robot grabs the unprocessed workpiece A through the claw grabbing mechanism and sends it to the CNC machining center near the work vise, takes away the processed workpiece (there is no processed workpiece for the first time), and places the unprocessed workpiece A in the vise. Up, the vise clamps automatically;
  • the articulated robot places the processed workpiece (there is no processed workpiece for the first time) on material pallet two (or material pallet five);
  • the processed workpiece is placed on material pallet three (or material pallet four, material pallet six, material pallet seven) by the multi-processing surface automatic turning mechanism to meet the requirements of turning the processing surface 90°, 180° or no turning, and rotates through the positioning surface
  • the mechanism meets the requirements of the rotation positioning surface (no processed workpiece for the first time);
  • the joint robot grabs the processed workpiece from material pallet two (or material pallet three, material pallet four, material pallet five, material pallet six, material pallet seven) through the claw grabbing mechanism (there is no processed workpiece for the first time) , move and place on material pallet one;
  • the joint robot grabs the second unprocessed workpiece B from the material pallet through the claw grabbing mechanism, and moves it to the outside of the CNC machining center to wait;
  • the articulated robot moves to the vicinity of the work vise of the CNC machining center, takes away the processed workpiece A1 through the clamping claw grabbing mechanism, and places the unprocessed workpiece B on the vise, and the vise automatically clamps;
  • the articulated robot places the processed workpiece A1 on material pallet two (or material pallet five);
  • the processed workpiece is placed on material pallet three (or material pallet four, material pallet six, material pallet seven) by the multi-processing surface automatic turning mechanism to meet the requirements of turning the processing surface 90°, 180° or no turning, through the positioning surface rotation mechanism Meet the requirements for rotating the positioning surface (the material processing surface has been turned over and the positioning surface has been rotated);
  • the articulated robot grabs the processed workpiece A1 (the material processing surface has been turned over and the positioning surface has been rotated) through the claw grabbing mechanism, moves it and places it on the material pallet 1;

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Abstract

一种自动翻料数控设备关节机器人,包括第一固定支架(1.1)，第二固定支架(1.2)设置在第一固定支架(1.1)上，通过在第二固定支架(1.2)上增设用于翻转工件本体(2.17)的多加工面自动翻转机构、定位面自动旋转机构，用于抓取工件的多组夹爪抓取机构(1.3)和关节机器人本体(1.4)，可完成工件本体(2.17)的自动上下料和工序转换过程中的多加工面自动翻转、定位面自动旋转，无需要采用人工翻转工件本体，大幅度达到省人、省力的效果。

Description

自动翻料数控设备关节机器人 技术领域
本发明涉及机械加工领域，更具体地说，涉及自动翻料数控设备关节机器人。
背景技术
传统的上下料关节机器人是由一台关节机器人、机器人上的夹爪抓取机构以及数控加工设备外部的备料架构成，以CNC加工中心为例：工作方法是通过关节机器人上的夹爪抓取机构将待加工工件抓取至CNC加工中心(或者类似的数控加工设备)的台钳(或者其他夹紧机构)处的工件装夹点位置，取走已加工产品(第一次没有已加工产品)，放置并装夹好待加工产品，关节机器人离开CNC加工中心，将工件放置回工件托盘上，重复以上循环。
传统的关节机器人只能完成一个或两个加工面的装夹，对于多道加工工序的工件无法单机自动完成；或者需人工完成工件的翻面，才能实现多道加工工序的工件在单机上的制作,人工成本高，生产效率低，机台没法充分利用；或者使用工件物流配送系统，又复杂庞大，占用面积太大往往难以实现，成本也高；或者使用多台CNC加工中心、上下料关节机器人配合，这样，又成本高昂，机台配比不均，造成机台闲置，工件的流转也慢了许多。
发明内容
1.要解决的技术问题
针对现有技术中存在的问题，本发明的目的在于提供自动翻料数控设备关节机器人，本方案通过在第二固定支架上增设用于翻转工件本体的多加工面自动翻转机构、定位面自动旋转机构，用于抓取工件的多组夹爪抓取机构和关节机器人本体，可完成工件本体的自动上下料和工序转换过程中的多加工面自动翻转、定位面自动旋转，无需要采用人工翻转工件本体，大幅度达 到省人、省力的效果，能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼，让机台全天候运转不再难、不再贵，充分挖掘机台产能，让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
2.技术方案
为解决上述问题，本发明采用如下的技术方案。
自动翻料数控设备关节机器人，包括第一固定支架，所述第一固定支架的外端分别装设有关节机器人本体和第二固定支架，所述关节机器人本体的上端装设有夹爪抓取机构，所述关节机器人本体的外端装设有数控设备，所述数控设备内设有辅助定位机构，所述数控设备的外端安装有数控设备伸缩门，所述第二固定支架上分别装设有加工面自动翻转机构、定位面旋转机构和物料托盘一，所述物料托盘一上设有工件本体，本方案通过在第二固定支架上增设用于翻转工件本体的多加工面自动翻转机构、定位面自动旋转机构，用于抓取工件的多组夹爪抓取机构和关节机器人本体，可完成工件本体的自动上下料和工序转换过程中的多加工面自动翻转、定位面自动旋转，无需要采用人工翻转工件本体，大幅度达到省人、省力的效果，能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼，让机台全天候运转不再难、不再贵，充分挖掘机台产能，让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
进一步的，所述夹爪抓取机构包括第一旋转机构，第一夹爪抓取机构、第二夹爪抓取机构、第三夹爪抓取机构和第四夹爪抓取机构，所述第一夹爪抓取机构和第二夹爪抓取机构为一组，所述第一夹爪抓取机构和第二夹爪抓取机构分别与第一夹爪和第二夹爪相匹配，所述第三夹爪抓取机构和第四夹爪抓取机构为一组，所述第三夹爪抓取机构和第四夹爪抓取机构分别与第三 夹爪和第四夹爪相匹配，所述第一夹爪抓取机构和第二夹爪抓取机构上分别装设有第一伸缩机构和第二伸缩机构，关节机器人本体用于驱动夹爪抓取机构，按程序设定轨迹运动，为数控设备上下料，第一夹爪、第二夹爪、第三夹爪和第四夹爪，可以实现现抓取、放置加工工件本体。
进一步的，第一款所述多加工面自动翻转机构包括第三伸缩机构、第四伸缩机构和第二旋转机构、第三旋转机构和第五夹爪、第六夹爪，所述第三伸缩机构和第四伸缩机构均装设在第二固定支架上，所述第二旋转机构装设在第三伸缩机构上，所述第三旋转机构装设在第四伸缩机构上，所述第五夹爪装设在第二旋转机构上，所述第六夹爪装设在第三旋转机构上，第三伸缩机构驱动第二旋转机构和第五夹爪按X轴做直线运动，第四伸缩机构驱动第三旋转机构和第六夹爪按Y轴做直线运动，第二旋转机构可驱动第五夹爪绕X轴做任意角度翻转，驱动加工工件本体完成多加工面翻转，第三旋转机构可驱动第六夹爪绕Y轴做任意角度翻转，驱动加工工件本体完成多加工面翻转。
进一步的，所述第三伸缩机构配有第三伸缩机构动力机构，所述第四伸缩机构配有第四伸缩机构动力机构，所述第二旋转机构配有第二旋转机构动力机构，所述第三旋转机构配有第三旋转机构动力机构，通过设置有第三伸缩机构动力机构和第四伸缩机构动力机构，为第三伸缩机构和第四伸缩机构的伸缩工作提供动力辅助，而设置有第二旋转机构动力机构和第三旋转机构动力机构，为第二旋转机构和第三旋转机构的旋转工作提供动力辅助。
进一步的，第一款所述定位面旋转机构包括第五伸缩机构、第四旋转机构和物料托盘二，所述第五伸缩机构装设在第二固定支架上，所述第四旋转机构装设在第五伸缩机构上，所述物料托盘二装设在第四旋转机构上，第五伸缩机构驱动第四旋转机构和物料托盘二按Z轴做直线运动，第四旋转机构可驱动物料托盘二绕Z轴做任意角度翻转，驱动加工工件本体多定位面旋转，物料托盘一、物料托盘二用于放置加工工件本体。
进一步的，所述第五伸缩机构配有第五伸缩机构动力机构，所述第四旋转机构配有第四旋转机构动力机构，通过设置第五伸缩机构动力机构和第四旋转机构动力机构，实现为第五伸缩机构的伸缩工作和第四旋转机构的旋转工作提供动力辅助。
进一步的，第二款所述多加工面自动翻转机构包括第三伸缩机构和第三伸缩机构动力机构、第七伸缩机构、第二旋转机构和第二旋转机构动力机构、第六旋转机构和第五夹爪、第六夹爪，所述第七伸缩机构装设在第二固定支架上，所述第六旋转机构装设在第七伸缩机构上，所述第六夹爪装设在第六旋转机构上，第三伸缩机构可驱动第二旋转机构做X轴方向伸缩运动，第二旋转机构可驱动第五夹爪绕X轴做旋转运动，翻转工件加工面，第七伸缩机构可驱动第六旋转机构做Y轴方向伸缩运动，第六旋转机构可驱动第六夹爪绕Y轴做旋转运动，翻转工件加工面，第五夹爪和第六夹爪可抓取、放置工件本体。
进一步的，第二款所述定位面旋转机构包括第四伸缩机构和第四伸缩机构动力机构、第五伸缩机构和第五伸缩机构动力机构、第六伸缩机构、第八伸缩机构、第九伸缩机构和第十伸缩机构，第二款所述定位面旋转机构包括第三旋转机构和第三旋转机构动力机构、第四旋转机构和第四旋转机构动力机构、第五旋转机构、第七旋转机构、第八旋转机构、第九旋转机构和物料托盘二、物料托盘三、物料托盘四、物料托盘五、物料托盘六、物料托盘七，所述第六伸缩机构、第八伸缩机构、第九伸缩机构和第十伸缩机构均安装在第二固定支架上，所述物料托盘二装设在第三旋转机构上，所述物料托盘三装设在第四旋转机构上，所述第五旋转机构装设在第六伸缩机构上，所述物料托盘四装设在第五旋转机构上，所述第七旋转机构装设在第八伸缩机构上，所述物料托盘五装设在第七旋转机构上，所述第八旋转机构装设在第九伸缩机构上，所述物料托盘六装设在第八旋转机构上，所述第九旋转机构装设在 第十伸缩机构上，所述物料托盘七装设在第九旋转机构上，第四伸缩机构可驱动第三旋转机构做Z轴方向伸缩运动，第三旋转机构可驱动物料托盘二绕Z轴做旋转运动，旋转定位面，第五伸缩机构可驱动第四旋转机构做Z轴方向伸缩运动，第四旋转机构可驱动物料托盘三绕Z轴做旋转运动，旋转定位面，第六伸缩机构可驱动第五旋转机构做Z轴方向伸缩运动，第五旋转机构可驱动物料托盘四绕Z轴做旋转运动，旋转定位面，第八伸缩机构可驱动第七旋转机构做Z轴方向伸缩运动，第七旋转机构可驱动物料托盘五绕Z轴做旋转运动，旋转定位面，第九伸缩机构可驱动第八旋转机构做Z轴方向伸缩运动，第八旋转机构可驱动物料托盘六绕Z轴做旋转运动，旋转定位面，第十伸缩机构可驱动第九旋转机构做Z轴方向伸缩运动，第九旋转机构可驱动物料托盘七绕Z轴做旋转运动，旋转定位面物料托盘二、物料托盘三、物料托盘四、物料托盘五、物料托盘六和物料托盘七可放置工件本体。
进一步的，所述第七伸缩机构配有第七伸缩机构动力机构，所述第六旋转机构配有第六旋转机构动力机构，所述第六伸缩机构、第八伸缩机构、第九伸缩机构和第十伸缩机构依次配有第六伸缩机构动力机构、第八伸缩机构动力机构、第九伸缩机构动力机构和第十伸缩机构动力机构，所述第五旋转机构、第七旋转机构、第八旋转机构和第九旋转机构依次配有第五旋转机构动力机构、第七旋转机构动力机构、第八旋转机构动力机构和第九旋转机构动力机构，通过设置第七伸缩机构动力机构、第八伸缩机构动力机构、第九伸缩机构动力机构和第十伸缩机构动力机构，实现为第七伸缩机构、第八伸缩机构、第九伸缩机构和第十伸缩机构的伸缩工作提供动力辅助，且设置第五旋转机构动力机构、第六旋转机构动力机构、第七旋转机构动力机构、第八旋转机构动力机构和第九旋转机构动力机构，为第五旋转机构、第六旋转机构、第七旋转机构、第八旋转机构、第九旋转机构的旋转工作提供动力辅助。
3.有益效果
相比于现有技术，本发明的优点在于：
(1)本方案通过在第二固定支架上增设用于翻转工件本体的多加工面自动翻转机构、定位面自动旋转机构，用于抓取工件的多组夹爪抓取机构和关节机器人本体，可完成工件本体的自动上下料和工序转换过程中的多加工面自动翻转、定位面自动旋转，无需要采用人工翻转工件本体，大幅度达到省人、省力的效果，能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼，让机台全天候运转不再难、不再贵，充分挖掘机台产能，让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
(2)夹爪抓取机构包括第一旋转机构，第一夹爪抓取机构、第二夹爪抓取机构、第三夹爪抓取机构和第四夹爪抓取机构，第一夹爪抓取机构和第二夹爪抓取机构为一组，第一夹爪抓取机构和第二夹爪抓取机构分别与第一夹爪和第二夹爪相匹配，第三夹爪抓取机构和第四夹爪抓取机构为一组，第三夹爪抓取机构和第四夹爪抓取机构分别与第三夹爪和第四夹爪相匹配，第一夹爪抓取机构和第二夹爪抓取机构上分别装设有第一伸缩机构和第二伸缩机构，关节机器人本体用于驱动夹爪抓取机构，按程序设定轨迹运动，为数控设备上下料，第一夹爪、第二夹爪、第三夹爪和第四夹爪，可以实现现抓取、放置加工工件本体。
(3)第一款多加工面自动翻转机构包括第三伸缩机构、第四伸缩机构和第二旋转机构、第三旋转机构和第五夹爪、第六夹爪，第三伸缩机构和第四伸缩机构均装设在第二固定支架上，第二旋转机构装设在第三伸缩机构上，第三旋转机构装设在第四伸缩机构上，第五夹爪装设在第二旋转机构上，第六夹爪装设在第三旋转机构上，第三伸缩机构驱动第二旋转机构和第五夹爪按X轴做直线运动，第四伸缩机构驱动第三旋转机构和第六夹爪按Y轴做直 线运动，第二旋转机构可驱动第五夹爪绕X轴做任意角度翻转，驱动加工工件本体完成多加工面翻转，第三旋转机构可驱动第六夹爪绕Y轴做任意角度翻转，驱动加工工件本体完成多加工面翻转。
(4)第三伸缩机构配有第三伸缩机构动力机构，第四伸缩机构配有第四伸缩机构动力机构，第二旋转机构配有第二旋转机构动力机构，第三旋转机构配有第三旋转机构动力机构，通过设置有第三伸缩机构动力机构和第四伸缩机构动力机构，为第三伸缩机构和第四伸缩机构的伸缩工作提供动力辅助，而设置有第二旋转机构动力机构和第三旋转机构动力机构，为第二旋转机构和第三旋转机构的旋转工作提供动力辅助。
(5)第一款定位面旋转机构包括第五伸缩机构、第四旋转机构和物料托盘二，第五伸缩机构装设在第二固定支架上，第四旋转机构装设在第五伸缩机构上，物料托盘二装设在第四旋转机构上，第五伸缩机构驱动第四旋转机构和物料托盘二按Z轴做直线运动，第四旋转机构可驱动物料托盘二绕Z轴做任意角度翻转，驱动加工工件本体多定位面旋转，物料托盘一、物料托盘二用于放置加工工件本体。
(6)第五伸缩机构配有第五伸缩机构动力机构，第四旋转机构配有第四旋转机构动力机构，通过设置第五伸缩机构动力机构和第四旋转机构动力机构，实现为第五伸缩机构的伸缩工作和第四旋转机构的旋转工作提供动力辅助。
(7)第二款多加工面自动翻转机构包括第三伸缩机构和第三伸缩机构动力机构、第七伸缩机构、第二旋转机构和第二旋转机构动力机构、第六旋转机构和第五夹爪、第六夹爪，第七伸缩机构装设在第二固定支架上，第六旋转机构装设在第七伸缩机构上，第六夹爪装设在第六旋转机构上，第三伸缩机构可驱动第二旋转机构做X轴方向伸缩运动，第二旋转机构可驱动第五夹爪绕X轴做旋转运动，翻转工件加工面，第七伸缩机构可驱动第六旋转机构 做Y轴方向伸缩运动，第六旋转机构可驱动第六夹爪绕Y轴做旋转运动，翻转工件加工面，第五夹爪和第六夹爪可抓取、放置工件本体。
(8)第二款定位面旋转机构包括第四伸缩机构和第四伸缩机构动力机构、第五伸缩机构和第五伸缩机构动力机构、第六伸缩机构、第八伸缩机构、第九伸缩机构和第十伸缩机构，第二款定位面旋转机构包括第三旋转机构和第三旋转机构动力机构、第四旋转机构和第四旋转机构动力机构、第五旋转机构、第七旋转机构、第八旋转机构、第九旋转机构和物料托盘二、物料托盘三、物料托盘四、物料托盘五、物料托盘六、物料托盘七，第六伸缩机构、第八伸缩机构、第九伸缩机构和第十伸缩机构均安装在第二固定支架上，物料托盘二装设在第三旋转机构上，物料托盘三装设在第四旋转机构上，第五旋转机构装设在第六伸缩机构上，物料托盘四装设在第五旋转机构上，第七旋转机构装设在第八伸缩机构上，物料托盘五装设在第七旋转机构上，第八旋转机构装设在第九伸缩机构上，物料托盘六装设在第八旋转机构上，第九旋转机构装设在第十伸缩机构上，物料托盘七装设在第九旋转机构上，第四伸缩机构可驱动第三旋转机构做Z轴方向伸缩运动，第三旋转机构可驱动物料托盘二绕Z轴做旋转运动，旋转定位面，第五伸缩机构可驱动第四旋转机构做Z轴方向伸缩运动，第四旋转机构可驱动物料托盘三绕Z轴做旋转运动，旋转定位面，第六伸缩机构可驱动第五旋转机构做Z轴方向伸缩运动，第五旋转机构可驱动物料托盘四绕Z轴做旋转运动，旋转定位面，第八伸缩机构可驱动第七旋转机构做Z轴方向伸缩运动，第七旋转机构可驱动物料托盘五绕Z轴做旋转运动，旋转定位面，第九伸缩机构可驱动第八旋转机构做Z轴方向伸缩运动，第八旋转机构可驱动物料托盘六绕Z轴做旋转运动，旋转定位面，第十伸缩机构可驱动第九旋转机构做Z轴方向伸缩运动，第九旋转机构可驱动物料托盘七绕Z轴做旋转运动，旋转定位面物料托盘二、物料托盘三、物料托盘四、物料托盘五、物料托盘六和物料托盘七可放置工件本体。
(9)第七伸缩机构配有第七伸缩机构动力机构，第六旋转机构配有第六旋转机构动力机构，第六伸缩机构、第八伸缩机构、第九伸缩机构和第十伸缩机构依次配有第六伸缩机构动力机构、第八伸缩机构动力机构、第九伸缩机构动力机构和第十伸缩机构动力机构，第五旋转机构、第七旋转机构、第八旋转机构和第九旋转机构依次配有第五旋转机构动力机构、第七旋转机构动力机构、第八旋转机构动力机构和第九旋转机构动力机构，通过设置第七伸缩机构动力机构、第八伸缩机构动力机构、第九伸缩机构动力机构和第十伸缩机构动力机构，实现为第七伸缩机构、第八伸缩机构、第九伸缩机构和第十伸缩机构的伸缩工作提供动力辅助，且设置第五旋转机构动力机构、第六旋转机构动力机构、第七旋转机构动力机构、第八旋转机构动力机构和第九旋转机构动力机构，为第五旋转机构、第六旋转机构、第七旋转机构、第八旋转机构、第九旋转机构的旋转工作提供动力辅助。
附图说明
图1为本发明的立体结构示意图；
图2为本发明的应用场景立体结构示意图；
图3为本发明中第一款多加工面自动翻转和定位面旋转机构的立体结构示意图；
图4为本发明中第一款多加工面自动翻转和定位面旋转机构的爆炸视图；
图5为本发明中第二款多加工面自动翻转和定位面旋转机构的立体结构示意图；
图6为本发明中第二款多加工面自动翻转和定位面旋转机构的爆炸视图；
图7为本发明中夹爪抓取机构的立体结构示意图；
图8为本发明中夹爪抓取机构的爆炸视图。
图中标号说明：
1.1、第一固定支架；1.2、第二固定支架；1.3、夹爪抓取机构；1.4、
关节机器人本体；1.5、数控设备伸缩门；1.6、辅助定位机构；1.7、数控设备；1.8、第四夹爪；1.9、第一旋转机构；1.10、第一旋转动力机构；1.11、第一伸缩机构；1.12、第一夹爪；1.13、第二伸缩机构；1.14、第二夹爪；1.15、第三夹爪；2.1、第三伸缩机构动力机构；2.2、第三伸缩机构；2.3、第二旋转机构动力机构；2.4、第二旋转机构；2.5、第五夹爪；2.6、第四伸缩机构；2.7、第四伸缩机构动力机构；2.8、第三旋转机构；2.9、第三旋转机构动力机构；2.10、第六夹爪；2.11、物料托盘二；2.12、第四旋转机构动力机构；2.13、第四旋转机构；2.14、第五伸缩机构；2.15、第五伸缩机构动力机构；2.16、物料托盘一；2.17、工件本体；3.1、物料托盘三；3.2、第五旋转机构；3.3、物料托盘四；3.4、第六伸缩机构；3.5、第七伸缩机构；3.6、第六旋转机构；3.7、物料托盘六；3.8、第八旋转机构；3.9、物料托盘七；3.10、第九伸缩机构；3.11、第十伸缩机构；3.12、第九旋转机构；3.13、物料托盘五；3.14、第八伸缩机构；3.15、第七旋转机构。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述；显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例，基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“上”、“下”、“内”、“外”、“顶/底端”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，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。
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”、“设置有”、“套设/接”、“连接”等，应做广义理解，例如“连接”，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。
实施例：
请参阅图1-2，自动翻料数控设备关节机器人，包括第一固定支架1.1，第一固定支架1.1的外端分别装设有关节机器人本体1.4和第二固定支架1.2，关节机器人本体1.4的上端装设有夹爪抓取机构1.3，关节机器人本体1.4的外端装设有数控设备1.7，数控设备1.7内设有辅助定位机构1.6，数控设备1.7的外端安装有数控设备伸缩门1.5，第二固定支架1.2上分别装设有加工面自动翻转机构、定位面旋转机构和物料托盘一2.16，物料托盘一2.16上设有工件本体2.17，本方案通过在第二固定支架1.2上增设用于翻转工件本体2.17的多加工面自动翻转机构、定位面自动旋转机构，用于抓取工件的多组夹爪抓取机构1.3和关节机器人本体1.4，可完成工件本体2.17的自动上下料和工序转换过程中的多加工面自动翻转、定位面自动旋转，无需要采用人工翻转工件本体2.17，大幅度达到省人、省力的效果，能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼，让机台全天候运转不再难、不再贵，充分挖掘机台产能，让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
请参阅图7-8，夹爪抓取机构包括第一旋转机构1.9，第一夹爪抓取机构、第二夹爪抓取机构、第三夹爪抓取机构和第四夹爪抓取机构，第一夹爪抓取机构和第二夹爪抓取机构为一组，第一夹爪抓取机构和第二夹爪抓取机构分 别与第一夹爪1.12和第二夹爪1.14相匹配，第三夹爪抓取机构和第四夹爪抓取机构为一组，第三夹爪抓取机构和第四夹爪抓取机构分别与第三夹爪1.15和第四夹爪1.8相匹配，第一夹爪抓取机构和第二夹爪抓取机构上分别装设有第一伸缩机构1.11和第二伸缩机构1.13，关节机器人本体1.4用于驱动夹爪抓取机构1.3，按程序设定轨迹运动，为数控设备上下料，第一夹爪1.12、第二夹爪1.14、第三夹爪1.15和第四夹爪1.8，可以实现现抓取、放置加工工件本体2.17。
请参阅图3-4，第一款多加工面自动翻转机构包括第三伸缩机构2.2、第四伸缩机构2.6和第二旋转机构2.4、第三旋转机构2.8和第五夹爪2.5、第六夹爪2.10，第三伸缩机构2.2和第四伸缩机构2.6均装设在第二固定支架1.2上，第二旋转机构2.4装设在第三伸缩机构2.2上，第三旋转机构2.8装设在第四伸缩机构2.6上，第五夹爪2.5装设在第二旋转机构2.4上，第六夹爪2.10装设在第三旋转机构2.8上，第三伸缩机构2.2驱动第二旋转机构2.4和第五夹爪2.5按X轴做直线运动，第四伸缩机构2.6驱动第三旋转机构2.8和第六夹爪2.10按Y轴做直线运动，第二旋转机构2.4可驱动第五夹爪2.5绕X轴做任意角度翻转，驱动加工工件本体2.17完成多加工面翻转，第三旋转机构2.8可驱动第六夹爪2.10绕Y轴做任意角度翻转，驱动加工工件本体2.17完成多加工面翻转。
请参阅图3-4，第三伸缩机构2.2配有第三伸缩机构动力机构2.1，第四伸缩机构2.6配有第四伸缩机构动力机构2.7，第二旋转机构2.4配有第二旋转机构动力机构2.3，第三旋转机构2.8配有第三旋转机构动力机构2.9，通过设置有第三伸缩机构动力机构2.1和第四伸缩机构动力机构2.7，为第三伸缩机构2.2和第四伸缩机构2.6的伸缩工作提供动力辅助，而设置有第二旋转机构动力机构2.3和第三旋转机构动力机构2.9，为第二旋转机构2.4和第三旋转机构2.8的旋转工作提供动力辅助。
请参阅图3-4，第一款定位面旋转机构包括第五伸缩机构2.14、第四旋转机构2.13和物料托盘二2.11，第五伸缩机构2.14装设在第二固定支架1.2上，第四旋转机构2.13装设在第五伸缩机构2.14上，物料托盘二2.11装设在第四旋转机构2.13上，第五伸缩机构2.14驱动第四旋转机构2.13和物料托盘二2.11按Z轴做直线运动，第四旋转机构2.13可驱动物料托盘二2.11绕Z轴做任意角度翻转，驱动加工工件本体2.17多定位面旋转，物料托盘一2.16、物料托盘二2.11用于放置加工工件本体2.17。
请参阅图3-4，第五伸缩机构2.14配有第五伸缩机构动力机构2.15，第四旋转机构2.13配有第四旋转机构动力机构2.12，通过设置第五伸缩机构动力机构2.15和第四旋转机构动力机构2.12，实现为第五伸缩机构2.14的伸缩工作和第四旋转机构2.13的旋转工作提供动力辅助。
请参阅图5-6，第二款多加工面自动翻转机构包括第三伸缩机构2.2和第三伸缩机构动力机构2.1、第七伸缩机构3.5、第二旋转机构2.4和第二旋转机构动力机构2.3、第六旋转机构3.6和第五夹爪2.5、第六夹爪2.10，第七伸缩机构3.5装设在第二固定支架1.2上，第六旋转机构3.6装设在第七伸缩机构3.5上，第六夹爪2.10装设在第六旋转机构3.6上，第三伸缩机构2.2可驱动第二旋转机构2.4做X轴方向伸缩运动，第二旋转机构2.4可驱动第五夹爪2.5绕X轴做旋转运动，翻转工件加工面，第七伸缩机构3.5可驱动第六旋转机构3.6做Y轴方向伸缩运动，第六旋转机构3.6可驱动第六夹爪2.10绕Y轴做旋转运动，翻转工件加工面，第五夹爪2.5和第六夹爪2.10可抓取、放置工件本体2.17。
请参阅图5-6，第二款定位面旋转机构包括第四伸缩机构2.6和第四伸缩机构动力机构2.7、第五伸缩机构2.14和第五伸缩机构动力机构2.15、第六伸缩机构3.4、第八伸缩机构3.14、第九伸缩机构3.10和第十伸缩机构3.11，第二款定位面旋转机构包括第三旋转机构2.8和第三旋转机构动力机 构2.9、第四旋转机构2.13和第四旋转机构动力机构2.12、第五旋转机构3.2、第七旋转机构3.15、第八旋转机构3.8、第九旋转机构3.12和物料托盘二2.11、物料托盘三3.1、物料托盘四3.3、物料托盘五3.13、物料托盘六3.7、物料托盘七3.9，第六伸缩机构3.4、第八伸缩机构3.14、第九伸缩机构3.10和第十伸缩机构3.11均安装在第二固定支架1.2上，物料托盘二2.11装设在第三旋转机构2.8上，物料托盘三3.1装设在第四旋转机构2.13上，第五旋转机构3.2装设在第六伸缩机构3.4上，物料托盘四3.3装设在第五旋转机构3.2上，第七旋转机构3.15装设在第八伸缩机构3.14上，物料托盘五3.13装设在第七旋转机构3.15上，第八旋转机构3.8装设在第九伸缩机构3.10上，物料托盘六3.7装设在第八旋转机构3.8上，第九旋转机构3.12装设在第十伸缩机构3.11上，物料托盘七3.9装设在第九旋转机构3.12上，第四伸缩机构2.6可驱动第三旋转机构2.8做Z轴方向伸缩运动，第三旋转机构2.8可驱动物料托盘二2.11绕Z轴做旋转运动，旋转定位面，第五伸缩机构2.14可驱动第四旋转机构2.13做Z轴方向伸缩运动，第四旋转机构2.13可驱动物料托盘三3.1绕Z轴做旋转运动，旋转定位面，第六伸缩机构3.4可驱动第五旋转机构3.2做Z轴方向伸缩运动，第五旋转机构3.2可驱动物料托盘四3.3绕Z轴做旋转运动，旋转定位面，第八伸缩机构3.14可驱动第七旋转机构3.15做Z轴方向伸缩运动，第七旋转机构3.15可驱动物料托盘五3.13绕Z轴做旋转运动，旋转定位面，第九伸缩机构3.10可驱动第八旋转机构3.8做Z轴方向伸缩运动，第八旋转机构3.8可驱动物料托盘六3.7绕Z轴做旋转运动，旋转定位面，第十伸缩机构3.11可驱动第九旋转机构3.12做Z轴方向伸缩运动，第九旋转机构3.12可驱动物料托盘七3.9绕Z轴做旋转运动，旋转定位面物料托盘二2.11、物料托盘三3.1、物料托盘四3.3、物料托盘五3.13、物料托盘六3.7和物料托盘七3.9可放置工件本体2.17。
请参阅图5-6，第七伸缩机构3.5配有第七伸缩机构动力机构，第六旋转机构3.6配有第六旋转机构动力机构，第六伸缩机构3.4、第八伸缩机构3.14、第九伸缩机构3.10和第十伸缩机构3.11依次配有第六伸缩机构动力机构、第八伸缩机构动力机构、第九伸缩机构动力机构和第十伸缩机构动力机构，第五旋转机构3.2、第七旋转机构3.15、第八旋转机构3.8和第九旋转机构3.12依次配有第五旋转机构动力机构、第七旋转机构动力机构、第八旋转机构动力机构和第九旋转机构动力机构，通过设置第七伸缩机构动力机构、第八伸缩机构动力机构、第九伸缩机构动力机构和第十伸缩机构动力机构，实现为第七伸缩机构3.5、第八伸缩机构3.14、第九伸缩机构3.10和第十伸缩机构3.11的伸缩工作提供动力辅助，且设置第五旋转机构动力机构、第六旋转机构动力机构、第七旋转机构动力机构、第八旋转机构动力机构和第九旋转机构动力机构，为第五旋转机构3.2、第六旋转机构3.6、第七旋转机构3.15、第八旋转机构3.8、第九旋转机构3.12的旋转工作提供动力辅助。
第一款多加工面自动翻转、定位面旋转机构自动翻料数控设备关节机器人为数控设备上下料的工艺路线为：
S1、人工将未加工工件本体2.17放置在物料托盘一2.16上；
S2、关节机器人本体1.4通过夹爪抓取机构1.3抓取未加工工件A并送到CNC加工中心工作台钳位置附近，取走已加工工件本体2.17，放置未加工工件A到台钳上,台钳自动夹紧；
S3、关节机器人本体1.4离开CNC加工中心移动到物料托盘二2.11位置附近；
S4、在CNC加工中心加工工件期间，关节机器人将已加工工件本体2.17放置到物料托盘二2.11上；
S5、通过多加工面自动翻转、定位面旋转机构达到翻转已加工工件的加工面、旋转定位面的要求；
S6、关节机器人本体1.4通过夹爪抓取机构1.3从物料托盘二2.11上抓取已加工工件本体2.17，移动并放置在物料托盘一2.16上；
S7、关节机器人本体1.4通过夹爪抓取机构1.3从物料托盘一2.16抓取第二个未加工工件B，移动到CNC加工中心外等候；
S8、CNC加工中心加工完成后，关节机器人本体1.4移动到CNC加工中心工作台钳位置附近，通过夹爪抓取机构1.3取走已加工工件A1，放置未加工工件B到台钳上,台钳自动夹紧；
S9、关节机器人本体1.4离开CNC加工中心移动到物料托盘二2.11位置附近；
S10、在CNC加工中心加工工件期间，关节机器人本体1.4将已加工工件A1放置到物料托盘二2.11上；
S11、通过多加工面自动翻转、定位面旋转机构达到翻转已加工工件A1的加工面、旋转定位面的要求；
S12、关节机器人本体1.4通过夹爪抓取机构1.3抓取已加工工件A1移动并放置在物料托盘一2.16上；
不断重复以上循环，直到物料托盘上的所有工件的全部工序加工完毕，不要人工翻料，省时省力，单机自动完成成品的制作。
第二款多加工面自动翻转、定位面旋转机构自动翻料数控设备关节机器人为数控设备上下料的工艺路线为：
S1、人工将未加工工件本体2.17放置在物料托盘一2.16上；
S2、关节机器人本体1.4通过夹爪抓取机构1.3抓取未加工工件A并送到CNC加工中心工作台钳位置附近，取走已加工工件本体2.17，放置未加工工件A到台钳上，台钳自动夹紧；
S3、关节机器人本体1.4离开CNC加工中心移动到物料托盘二2.11或者物料托盘五3.13位置附近；
S4、在CNC加工中心加工工件期间，关节机器人本体1.4将已加工工件本体2.17放置到物料托盘二2.11或者物料托盘五3.13上；
S5、已加工工件本体2.17被多加工面自动翻转机构放置到物料托盘三3.1或物料托盘四3.3、物料托盘六3.7、物料托盘七3.9，达到翻转加工面90°、180°或不翻转的要求，通过定位面旋转机构达到旋转定位面的要求；
S6、关节机器人本体1.4通过夹爪抓取机构1.3从物料托盘二2.11(或物料托盘三3.1、物料托盘四3.3、物料托盘五3.13、物料托盘六3.7、物料托盘七3.9)上抓取已加工工件本体2.17，移动并放置在物料托盘一2.16上；
S7、关节机器人本体1.4通过夹爪抓取机构1.3从物料托盘一2.16抓取第二个未加工工件B，移动到CNC加工中心外等候；
S8、CNC加工中心加工完成后，关节机器人本体1.4移动到CNC加工中心工作台钳位置附近，通过夹爪抓取机构1.3取走已加工工件A1，放置未加工工件B到台钳上,台钳自动夹紧；
S9、关节机器人本体1.4离开CNC加工中心移动到物料托盘二2.11或者物料托盘五3.13位置附近；
S10、在CNC加工中心加工工件期间，关节机器人本体1.4将已加工工件A1放置到物料托盘二2.11或者物料托盘五3.13上；
S11、已加工工件本体2.17被多加工面自动翻转机构放置到物料托盘三3.1或物料托盘四3.3、物料托盘六3.7、物料托盘七3.9，达到翻转加工面90°、180°或不翻转的要求，通过定位面旋转机构达到旋转定位面的要求；
S12、关节机器人本体1.4通过夹爪抓取机构1.3抓取已加工工件A1移动并放置在物料托盘一2.16上；
不断重复以上循环，直到物料托盘上的所有工件的全部工序加工完毕，不要人工翻料，省时省力，单机自动完成成品的制作。
第二款多加工面自动翻转、定位面旋转机构自动翻料数控设备关节机器人为数控设备上下料的工艺路线为：
①人工将未加工工件放置在备料架物料托盘一上；
②关节机器人通过夹爪抓取机构抓取未加工工件A并送到CNC加工中心工作台钳位置附近，取走已加工工件(第一次没有已加工工件)，放置未加工工件A到台钳上,台钳自动夹紧；
③关节机器人离开CNC加工中心移动到物料托盘二(或者物料托盘五)位置附近；
④在CNC加工中心加工工件期间，关节机器人将已加工工件(第一次没有已加工工件)放置到物料托盘二上(或者物料托盘五上)；
⑤已加工工件被多加工面自动翻转机构放置到物料托盘三(或物料托盘四、物料托盘六、物料托盘七)，达到翻转加工面90°、180°或不翻转的要求，通过定位面旋转机构达到旋转定位面的要求(第一次没有已加工工件)；
⑥关节机器人通过夹爪抓取机构从物料托盘二(或物料托盘三、物料托盘四、物料托盘五、物料托盘六、物料托盘七)上抓取已加工工件(第一次没有已加工工件)，移动并放置在物料托盘一上；
⑦关节机器人通过夹爪抓取机构从物料托盘一抓取第二个未加工工件B，移动到CNC加工中心外等候；
⑧CNC加工中心加工完成后，关节机器人移动到CNC加工中心工作台钳位置附近，通过夹爪抓取机构取走已加工工件A1，放置未加工工件B到台钳上,台钳自动夹紧；
⑨关节机器人离开CNC加工中心移动到物料托盘二(或者物料托盘五)位置附近；
⑩在CNC加工中心加工工件期间，关节机器人将已加工工件A1放置到物料托盘二(或者物料托盘五)上；
已加工工件被多加工面自动翻转机构放置到物料托盘三(或物料托盘四、物料托盘六、物料托盘七)，达到翻转加工面90°、180°或不翻转的要求，通过定位面旋转机构达到旋转定位面的要求(物料加工面已翻转，定位面已旋转)；
关节机器人通过夹爪抓取机构抓取已加工工件A1(物料加工面已翻面，定位面已旋转)移动并放置在物料托盘一上；
不断重复以上循环，直到物料托盘上的所有工件的全部工序加工完毕，不要人工翻料，省时省力，单机自动完成成品的制作。
以上所述，仅为本发明较佳的具体实施方式；但本发明的保护范围并不局限于此。任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其改进构思加以等同替换或改变，都应涵盖在本发明的保护范围内。

Claims (9)

  1. 自动翻料数控设备关节机器人，包括第一固定支架(1.1)，其特征在于：所述第一固定支架(1.1)的外端分别装设有关节机器人本体(1.4)和第二固定支架(1.2)，所述关节机器人本体(1.4)的上端装设有夹爪抓取机构(1.3)，所述关节机器人本体(1.4)的外端装设有数控设备(1.7)，所述数控设备(1.7)内设有辅助定位机构(1.6)，所述数控设备(1.7)的外端安装有数控设备伸缩门(1.5)，所述第二固定支架(1.2)上分别装设有加工面自动翻转机构、定位面旋转机构和物料托盘一(2.16)，所述物料托盘一(2.16)上设有工件本体(2.17)。
  2. 根据权利要求1所述的自动翻料数控设备关节机器人，其特征在于：所述夹爪抓取机构包括第一旋转机构(1.9)，第一夹爪抓取机构、第二夹爪抓取机构、第三夹爪抓取机构和第四夹爪抓取机构，所述第一夹爪抓取机构和第二夹爪抓取机构为一组，所述第一夹爪抓取机构和第二夹爪抓取机构分别与第一夹爪(1.12)和第二夹爪(1.14)相匹配，所述第三夹爪抓取机构和第四夹爪抓取机构为一组，所述第三夹爪抓取机构和第四夹爪抓取机构分别与第三夹爪(1.15)和第四夹爪(1.8)相匹配，所述第一夹爪抓取机构和第二夹爪抓取机构上分别装设有第一伸缩机构(1.11)和第二伸缩机构(1.13)。
  3. 根据权利要求1所述的自动翻料数控设备关节机器人，其特征在于：第一款所述多加工面自动翻转机构包括第三伸缩机构(2.2)、第四伸缩机构(2.6)和第二旋转机构(2.4)、第三旋转机构(2.8)和第五夹爪(2.5)、第六夹爪(2.10)，所述第三伸缩机构(2.2)和第四伸缩机构(2.6)均装设在第二固定支架(1.2)上，所述第二旋转机构(2.4)装设在第三伸缩机构(2.2)上，所述第三旋转机构(2.8)装设在第四伸缩机构(2.6)上，所述第五夹爪(2.5)装设在第二旋转机构(2.4)上，所述第六夹爪(2.10)装设在第三旋转机构(2.8)上。
  4. 根据权利要求3所述的自动翻料数控设备关节机器人，其特征在于： 所述第三伸缩机构(2.2)配有第三伸缩机构动力机构(2.1)，所述第四伸缩机构(2.6)配有第四伸缩机构动力机构(2.7)，所述第二旋转机构(2.4)配有第二旋转机构动力机构(2.3)，所述第三旋转机构(2.8)配有第三旋转机构动力机构(2.9)。
  5. 根据权利要求1所述的自动翻料数控设备关节机器人，其特征在于：第一款所述定位面旋转机构包括第五伸缩机构(2.14)、第四旋转机构(2.13)和物料托盘二(2.11)，所述第五伸缩机构(2.14)装设在第二固定支架(1.2)上，所述第四旋转机构(2.13)装设在第五伸缩机构(2.14)上，所述物料托盘二(2.11)装设在第四旋转机构(2.13)上。
  6. 根据权利要求5所述的自动翻料数控设备关节机器人，其特征在于：所述第五伸缩机构(2.14)配有第五伸缩机构动力机构(2.15)，所述第四旋转机构(2.13)配有第四旋转机构动力机构(2.12)。
  7. 根据权利要求3所述的自动翻料数控设备关节机器人，其特征在于：第二款所述多加工面自动翻转机构包括第三伸缩机构(2.2)和第三伸缩机构动力机构(2.1)、第七伸缩机构(3.5)、第二旋转机构(2.4)和第二旋转机构动力机构(2.3)、第六旋转机构(3.6)和第五夹爪(2.5)、第六夹爪(2.10)，所述第七伸缩机构(3.5)装设在第二固定支架(1.2)上，所述第六旋转机构(3.6)装设在第七伸缩机构(3.5)上，所述第六夹爪(2.10)装设在第六旋转机构(3.6)上。
  8. 根据权利要求3所述的自动翻料数控设备关节机器人，其特征在于：第二款所述定位面旋转机构包括第四伸缩机构(2.6)和第四伸缩机构动力机构(2.7)、第五伸缩机构(2.14)和第五伸缩机构动力机构(2.15)、第六伸缩机构(3.4)、第八伸缩机构(3.14)、第九伸缩机构(3.10)和第十伸缩机构(3.11)，第二款所述定位面旋转机构包括第三旋转机构(2.8)和第三旋转机构动力机构(2.9)、第四旋转机构(2.13)和第四旋转机构动力机构 (2.12)、第五旋转机构(3.2)、第七旋转机构(3.15)、第八旋转机构(3.8)、第九旋转机构(3.12)和物料托盘二(2.11)、物料托盘三(3.1)、物料托盘四(3.3)、物料托盘五(3.13)、物料托盘六(3.7)、物料托盘七(3.9)，所述第六伸缩机构(3.4)、第八伸缩机构(3.14)、第九伸缩机构(3.10)和第十伸缩机构(3.11)均安装在第二固定支架(1.2)上，所述物料托盘二(2.11)装设在第三旋转机构(2.8)上，所述物料托盘三(3.1)装设在第四旋转机构(2.13)上，所述第五旋转机构(3.2)装设在第六伸缩机构(3.4)上，所述物料托盘四(3.3)装设在第五旋转机构(3.2)上，所述第七旋转机构(3.15)装设在第八伸缩机构(3.14)上，所述物料托盘五(3.13)装设在第七旋转机构(3.15)上，所述第八旋转机构(3.8)装设在第九伸缩机构(3.10)上，所述物料托盘六(3.7)装设在第八旋转机构(3.8)上，所述第九旋转机构(3.12)装设在第十伸缩机构(3.11)上，所述物料托盘七(3.9)装设在第九旋转机构(3.12)上。
  9. 根据权利要求8所述的自动翻料数控设备关节机器人，其特征在于：所述第七伸缩机构(3.5)配有第七伸缩机构动力机构，所述第六旋转机构(3.6)配有第六旋转机构动力机构，所述第六伸缩机构(3.4)、第八伸缩机构(3.14)、第九伸缩机构(3.10)和第十伸缩机构(3.11)依次配有第六伸缩机构动力机构、第八伸缩机构动力机构、第九伸缩机构动力机构和第十伸缩机构动力机构，所述第五旋转机构(3.2)、第七旋转机构(3.15)、第八旋转机构(3.8)和第九旋转机构(3.12)依次配有第五旋转机构动力机构、第七旋转机构动力机构、第八旋转机构动力机构和第九旋转机构动力机构。
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