WO2024060724A1 - 一种自动上下料的机床 - Google Patents

一种自动上下料的机床 Download PDF

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Publication number
WO2024060724A1
WO2024060724A1 PCT/CN2023/101069 CN2023101069W WO2024060724A1 WO 2024060724 A1 WO2024060724 A1 WO 2024060724A1 CN 2023101069 W CN2023101069 W CN 2023101069W WO 2024060724 A1 WO2024060724 A1 WO 2024060724A1
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WIPO (PCT)
Prior art keywords
transverse
machine tool
sliding plate
automatic loading
frame
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PCT/CN2023/101069
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English (en)
French (fr)
Inventor
叶国能
刘志斌
梁铠
李玉柳
伍志成
冯志江
Original Assignee
广东科杰技术股份有限公司
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Application filed by 广东科杰技术股份有限公司 filed Critical 广东科杰技术股份有限公司
Publication of WO2024060724A1 publication Critical patent/WO2024060724A1/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
    • 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
    • B23Q7/043—Construction of the grippers
    • 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
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Definitions

  • the present invention relates to the technical field of machine tool loading and unloading, and in particular to an automatic loading and unloading machine tool.
  • Machine tools are important equipment in industrial manufacturing.
  • Most existing machine tools use 6-degree-of-freedom robotic arms to load and unload workpieces to be processed and processed workpieces to achieve processing automation.
  • the existing truss-type robotic arm needs to be installed near the processing channel inside the machine tool, causing the cutting fluid used during workpiece processing and the waste generated during processing to splash towards the robotic arm. , affecting the work of the robotic arm or even damaging the robotic arm.
  • the cost of a 6-degree-of-freedom robotic arm is high and requires a corresponding control system to match it, which will undoubtedly greatly increase the company's production costs.
  • the object of the present invention is to provide an automatic loading and unloading machine tool, which can improve the working environment during automatic loading and unloading and has low manufacturing cost.
  • An automatic loading and unloading machine tool including a machine tool and a loading and unloading device; the machine tool has a processing channel; the loading and unloading device includes a frame and a gantry; the frame is arranged on one side of the machine tool, and the The top of the frame is provided with a conveyor line, and the gantry frame spans the conveyor line and is arranged on the frame; the beam of the gantry frame is provided with a transverse movement mechanism for sliding movement, and a longitudinal movement mechanism is provided on the transverse movement mechanism.
  • Moving mechanism; the cross beam is also provided with a sliding groove on the side facing the transverse moving mechanism, and a transverse driving mechanism is provided in the sliding groove.
  • the transverse moving mechanism can drive the longitudinal movement through the transverse driving mechanism.
  • the moving mechanism extends into the processing channel of the machine tool; a suction cup is installed on the longitudinal moving mechanism, and the suction cup is used to pick up and place workpieces from the processing channel of the machine tool or the conveyor line.
  • the present invention replaces the 6-degree-of-freedom mechanical arm by arranging a linear axis loading and unloading device outside the machine tool, so that both the blank workpiece and the finished product are placed outside the machine tool, so that they are not affected by the cutting fluid, and are effectively It solves the problem of dry and wet separation of loading and unloading materials on the machine tool, and is easy to control and has low manufacturing cost.
  • the transverse movement mechanism includes a first sliding plate, a second sliding plate and a linkage assembly; the first sliding plate is arranged on the crossbeam and is connected to the crossbeam in a transverse sliding manner through the transverse driving mechanism; the second sliding plate is arranged on the first sliding plate and is connected to the first sliding plate in a transverse sliding manner; the linkage assembly is fixedly connected to the first sliding plate and the second sliding plate respectively, so that when the first sliding plate moves laterally, it drives the second sliding plate to slide laterally synchronously.
  • the linkage assembly includes a synchronous belt, two synchronous wheels adapted to the synchronous belt, and two clamping blocks; the two synchronous wheels are respectively arranged on two sides of the top of the first sliding plate along its length direction. On the other side, the two synchronous wheels are drivingly connected through the synchronous belt; the two clamping blocks are respectively fixed on the cross beam and the second sliding plate, and the two clamping blocks respectively clamp the synchronous belt.
  • a first transverse guide rail is provided on the side of the first sliding plate facing the crossbeam, and a first transverse slider adapted to the first transverse guide rail is provided at a corresponding position of the crossbeam;
  • a second transverse guide rail is provided on the first sliding plate, and the second sliding plate includes a connecting portion and an installation portion, and a second transverse slider adapted to the second transverse guide rail is provided at a position of the connecting portion facing the second transverse guide rail.
  • the transverse driving mechanism includes a transverse screw, a transverse screw slider and a transverse drive motor; the transverse screw is arranged on the cross beam and is parallel to the first transverse guide rail; the transverse screw The slide block is slidably sleeved on the transverse screw rod and is fixedly connected to the first sliding plate; the transverse drive motor is fixedly connected to one end of the transverse screw rod to drive the transverse screw rod slider along the The transverse screw moves.
  • the longitudinal movement mechanism includes a longitudinal telescopic cylinder, a transverse adjustment cylinder and a suction cup connecting plate;
  • the longitudinal telescopic cylinder is provided on the mounting part of the second sliding plate, and the longitudinal telescopic cylinder has a telescopic shaft, so
  • the transverse adjustment cylinder is fixedly connected to the telescopic shaft;
  • the transverse adjustment cylinder has a transversely movable output shaft, and the suction cup connecting plate is horizontally fixed on the output shaft of the transverse adjustment cylinder;
  • the suction cup is fixed on The suction cup is connected to the plate, and the head of the suction cup faces the conveying line.
  • the two longitudinal movement mechanisms are arranged side by side on the mounting portion of the second sliding plate.
  • the automatic loading and unloading machine tool also includes two material tray lifting mechanisms, which are respectively arranged upstream and downstream of the gantry along the conveying line; the material tray lifting mechanism includes two Two lifting frames and two lifting cylinders are provided on both sides of the conveyor line.
  • the lifting frame includes a tray portion for placing the material tray and a support portion for supporting the tray portion.
  • the support portion is perpendicular to On the top of the frame, the disk carrying part is horizontally arranged on the upper end of the support part; the lifting cylinder has an output shaft, which is fixedly connected to the lower end of the support part, and the lifting cylinder is used for The support part is driven to rise or fall in the vertical direction.
  • a positioning block is provided on the top of each tray portion to limit the position of the material tray placed on the tray portion.
  • the material tray lifting mechanism further includes a linear bearing, and the linear bearing is slidably sleeved on the support part to guide the support part to move up and down in the vertical direction.
  • Figure 1 is a schematic structural diagram of the automatic loading and unloading machine tool of the present invention
  • Figure 2 is a schematic structural diagram of the loading and unloading device in the first embodiment of the automatic loading and unloading machine tool of the present invention
  • Figure 3 is a schematic structural diagram of the linkage component in the first embodiment of the automatic loading and unloading machine tool of the present invention
  • Figure 4 is a schematic structural diagram of the longitudinal movement mechanism in the first embodiment of the automatic loading and unloading machine tool of the present invention
  • Figure 5 is a schematic structural diagram of the loading and unloading device in the second embodiment of the automatic loading and unloading machine tool of the present invention.
  • FIGS 1-3 show the specific structure of the first embodiment of the automatic loading and unloading machine tool of the present invention.
  • the automatic loading and unloading machine tool of this embodiment includes a machine tool 10 and a loading and unloading device 20; A processing channel is provided; the loading and unloading device 20 includes a frame 22 and a gantry 24.
  • the frame 22 is disposed on a side of the machine tool 10 close to the processing channel, and specifically includes a support platform and two triangular support members.
  • the triangular support members are fixed side by side on one side of the machine tool 10 , and the support platform is horizontally disposed on the two triangular support members.
  • a conveyor line 221 is provided on the top of the frame 22, and a guide rail 2200 parallel to the extending direction of the conveyor line 221 is provided on the conveyor line 221.
  • the gantry 24 spans the conveyor line 221 and is arranged on the top of the frame 22 .
  • a transverse movement mechanism 242 is slidably provided on one side of the beam 24a of the gantry 24 in the width direction, wherein the transverse movement direction of the transverse movement mechanism 242 is perpendicular to the extension direction of the guide rail 2200.
  • the transverse movement mechanism 242 is provided with two longitudinal movement mechanisms 244.
  • the longitudinal movement mechanism 244 is equipped with a suction cup 246 whose head faces the conveyor line 221 and is used for picking up and placing workpieces to be processed and processed workpieces.
  • the transverse movement mechanism 242 includes a first sliding plate 2421, a second sliding plate 2422 and a linkage assembly 2423.
  • the first sliding plate 2421 is specifically a rectangular plate, and its side facing the cross beam 24a is provided with two first transverse guide rails 2421a parallel to the top surface of the rack 22.
  • the first transverse guide rails 2421a specifically include two transverse monorails; and the cross beam 24a
  • a first transverse slide block 2421b adapted to the first transverse guide rail 2421a is provided at a corresponding position on the first transverse guide rail 2421a.
  • the top of the first sliding plate 2421 is also provided with a second transverse guide rail 2421c parallel to the first transverse guide rail 2421a; the second sliding plate 2422 is specifically an inverted "L" shaped plate, including a connecting portion 2422a and a mounting portion 2422b.
  • the connecting portion 2422a A second transverse slide block 2421d adapted to the second transverse guide rail 2421c is provided at a position facing the second transverse guide rail 2421c.
  • the linkage assembly 2423 includes a synchronous belt 2423a, two synchronous wheels 2423b adapted to the synchronous belt 2423a, and two clamping blocks 2423c. Two synchronous wheels 2423b are respectively provided on both sides of the top of the first sliding plate 2421 along its length direction.
  • the synchronous belt 2423a is sleeved on the outside of the two synchronous wheels 2423b to realize the transmission connection of the two synchronous wheels 2423b; the two clamping blocks 2423c They are respectively fixed on the cross beam 24a and the second sliding plate 2422, and clamp the timing belt 2423a respectively.
  • the transverse driving mechanism (not shown) is arranged on the cross beam 24a and includes a transverse screw rod 2431, a transverse screw rod slider (not shown) and a transverse driving motor 2424.
  • the transverse screw rod 2431 is disposed on the side of the cross beam 24a facing the first sliding plate 2421 and parallel to the first transverse guide rail 2421a; the transverse screw rod slider (not shown) is sleeved on the transverse screw rod 2431.
  • the transverse drive motor 2433 is specifically a servo motor, which has an output shaft, which is fixedly connected with one end of the transverse screw rod 2431 to drive the transverse screw rod slider (not shown in the figure) Move along the transverse screw rod 2431, thereby driving the first sliding plate 2421 to move laterally.
  • a sliding groove 241 is provided on the side of the cross beam 24a facing the first sliding plate, and a transverse driving mechanism (not shown) is embedded in the sliding groove 241 to save space.
  • the transverse driving mechanism (not shown) drives the first sliding plate 2421 to slide laterally, the first sliding plate 2421 and the cross beam 24a generate relative displacement. Since the clamping block 2423c provided on the cross beam 24a clamps the synchronous belt 2423a, the synchronous belt 2423a It rotates with the relative displacement between the first sliding plate 2421 and the cross beam 24a; and because the clamping block 2423c on the second sliding plate 2422 clamps the synchronous belt 2423a, when the synchronous belt 2423a rotates, the synchronous belt 2423a rotates. The two sliding plates 2422 move laterally simultaneously.
  • the longitudinal movement mechanism 244 includes a telescopic cylinder 2441, a transverse adjustment cylinder 2442 and two suction cup connecting plates 2443.
  • the telescopic cylinder 2441 has a telescopic shaft
  • the telescopic cylinder 2441 is fixed on the side of the second sliding plate 2422 facing away from the first sliding plate 2421, with its telescopic shaft facing downward.
  • the lateral adjustment cylinder 2442 has two output shafts that are parallel to each other and can move toward each other.
  • the lateral adjustment cylinder 2442 is fixed on the front end of the telescopic shaft of the telescopic cylinder 2441, so that the output shaft of the lateral adjustment cylinder 2442 faces downward.
  • the two suction cup connecting plates 2443 are respectively horizontally fixed on the front ends of the two output shafts of the transverse adjustment cylinder 2442.
  • the suction cups 246 are respectively fixedly arranged on the side of the suction cup connecting plate 2443 facing away from the transverse adjustment cylinder 2442, and the heads of the suction cups 246 face downward.
  • the longitudinal movement mechanism 244 also includes a vacuum unit (not shown), which is connected with the suction cup 246. Used in conjunction with the suction cup 246 to pick up and place workpieces. When the suction cup 246 contacts the workpiece, the cavity formed by the suction cup 246 and the workpiece is evacuated, thereby adsorbing the workpiece. When the vacuum unit (not shown) ventilates the cavity formed by the suction cup 246 and the workpiece, the workpiece is put down.
  • the vacuuming unit (not shown) specifically includes a vacuum pump.
  • Figure 5 shows the specific structure of the second embodiment of the automatic loading and unloading machine tool of the present invention.
  • the automatic loading and unloading machine tool of this embodiment also includes a machine tool that is respectively arranged on the gantry. 24 along the upstream and downstream material tray lifting mechanisms 26 of the conveyor line 221.
  • the material tray lifting mechanism 26 includes lifting frames 261 respectively provided on both sides of the conveying line 221.
  • the lifting frames include a tray carrying part 261a and a supporting part 261b.
  • the support part 261 is specifically two support rods perpendicular to the top of the frame 10 .
  • the tray part 261 a is specifically a long plate fixed horizontally on one end of the support part 261 b and is parallel to the extension direction of the conveyor line 221 .
  • the lifting cylinder (not shown) has an output shaft, which is fixedly connected to the other end of the supporting part 261b to drive the lifting frame 261 to rise or fall in the vertical direction.
  • Positioning blocks 262 are respectively provided at both ends of the top of the tray portion 261a along the extension direction of the conveyor line 221, and the distance between the positioning blocks 262 on the two lifting frames is greater than the width of the tray to limit the placement of the tray portion. The position of the feed tray on 261a.
  • the tray lifting mechanism also includes a linear bearing, which can be slidably mounted on the support portion 261b to guide the movement of the support portion 261b in the vertical direction.
  • the material tray is placed on the lifting frame 261 of the material tray lifting mechanism 26 located upstream of the conveyor line 221, and the lifting frame 261 is lowered to the bottom of the material tray 30 and the linear module on the guide rail 2211 (not shown in the figure). (shown) in contact, the linear module (not shown) drives the material tray 30 to move toward the gantry 24 along the guide rail 2211.
  • the first transverse adjustment cylinder of the first longitudinal movement mechanism adjusts the two longitudinal movement mechanisms according to the distance between the workpieces in the material tray.
  • the suction cups connect the positions between the plates 2443, thereby adjusting the spacing between the suction cups 246.
  • the first longitudinal telescopic cylinder drives the first transverse adjustment cylinder to move downward in the vertical direction, so that the suction cups 246 on the two suction cup connecting plates 2443 contact the two adjacent workpieces 32 to be processed in the material tray 30.
  • the vacuum unit (not shown) is started, causing the suction cup 246 to absorb the workpiece 32 to be processed.
  • the longitudinal telescopic cylinder 2441 in the first longitudinal movement mechanism drives the suction cup 246 to reset.
  • the transverse drive motor 2433 drives the first sliding plate 2421 to move laterally, and drives the second sliding plate 2422 to move laterally simultaneously through the linkage assembly 2423, so that the suction cups 246 on the two longitudinal moving mechanisms 244 extend into the processing channel of the machine tool 10, and the processing Two workbench 102 are provided in the channel, namely a first workbench and a second workbench. Processed workpieces are respectively placed on the first workbench and the second workbench.
  • the two suction cup connecting plates 2443 of the second longitudinal moving mechanism are respectively aligned with the first workbench and the second workbench, and then the suction cups 246 on the two suction cup connecting plates 2443 move in the vertical direction at the same time. Move downward, and through the vacuuming effect of the vacuuming unit (not shown), the processed workpieces on the first workbench and the second workbench are respectively absorbed. After adsorption, the second longitudinal moving mechanism is reset.
  • the two longitudinal moving mechanisms 244 move laterally, causing the two suction pumps of the first longitudinal moving mechanism to
  • the disk connection plates 2443 are respectively aligned with the first workbench and the second workbench, and then the suction cups 246 on the two suction cup connection plates simultaneously move downward in the vertical direction, and the workpiece 32 to be processed is placed on the first workbench and the second workbench respectively.
  • the workpiece 32 to be processed is processed.
  • the first longitudinal moving mechanism is reset.
  • the transverse drive mechanism drives the transverse movement mechanism 242 to move laterally again, so that the first longitudinal movement mechanism and the second longitudinal movement mechanism move above the conveyor line 221, so that the two suction cup connecting plates 2443 of the first longitudinal movement mechanism are aligned with the material tray.
  • the two longitudinal moving mechanisms 244 move downward in the vertical direction at the same time, wherein the second longitudinal moving mechanism puts the processed workpiece into the material In the empty space of the tray 30 , the first longitudinal moving mechanism re-adsorbs the workpiece 32 to be processed from the material tray 30 . Repeat the above operation until the material tray 30 is filled with processed workpieces.
  • the material tray 30 is moved along the conveyor line 221 through the linear module (not shown) to the material tray lifting mechanism 26 located downstream of the gantry 24.
  • the material tray is lifted and lowered.
  • the lifting frame 261 in the mechanism 26 rises, and finally the material tray 30 located on the downstream material tray lifting mechanism 26 is taken away.
  • the present invention replaces the 6-degree-of-freedom robotic arm by arranging a linear axis loading and unloading device outside the machine tool, so that both the blank workpiece and the finished workpiece are placed outside the machine tool, so that they are not affected by the cutting fluid.

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Abstract

本发明涉及一种自动上下料的机床，包括机床和上下料装置；所述机床内具有加工通道；所述上下料装置包括机架和龙门架；所述机架设置在所述机床的一侧，所述机架的顶部设有输送线，所述龙门架架跨所述输送线并设置在所述机架上；所述龙门架的横梁滑动设有横向移动机构，所述横向移动机构上设有纵向移动机构；所述横梁上正对所述横向移动机构的一侧还设有滑动槽，所述滑动槽内设有横向驱动机构，所述横向移动机构通过所述横向驱动机构可带动所述纵向移动机构伸入所述机床的加工通道内；所述纵向移动机构上安装有吸盘，所述吸盘用于从所述机床的加工通道内或所述输送线取放工件。本发明有效解决机床上下料干湿分离的问题，且易于控制，制造成本低。

Description

一种自动上下料的机床 技术领域
本发明涉及机床上下料的技术领域，特别是涉及一种自动上下料的机床。
背景技术
机床是工业制造的重要设备。现有的机床大多通过设置6自由度机械臂对待加工工件以及已加工工件进行上下料，以实现加工的自动化。然而，现有的桁架式机械臂由于结构设计和安装形式所限，需要将机械臂安装在机床内部的加工通道附近，导致工件加工时使用的切削液以及加工产生的废屑会溅向机械臂，影响机械臂的工作，甚至损坏机械臂。此外，6自由度机械臂成本高，并需要相应的控制系统与其匹配使用，这无疑会大大增加企业的生产成本。
发明内容
基于此，本发明的目的在于，提供一种自动上下料的机床，其可改善自动上下料时的工作环境，且制造成本低。
本发明是通过以下技术方案实现的：
一种自动上下料的机床，包括机床和上下料装置；所述机床内具有加工通道；所述上下料装置包括机架和龙门架；所述机架设置在所述机床的一侧，所述机架的顶部设有输送线，所述龙门架架跨所述输送线并设置在所述机架上；所述龙门架的横梁滑动设有横向移动机构，所述横向移动机构上设有纵向移动机构；所述横梁上正对所述横向移动机构的一侧还设有滑动槽，所述滑动槽内设有横向驱动机构，所述横向移动机构通过所述横向驱动机构可带动所述纵向移动机构伸入所述机床的加工通道内；所述纵向移动机构上安装有吸盘，所述吸盘用于从所述机床的加工通道内或所述输送线取放工件。
相较于现有技术，本发明通过在机床外侧设置线性轴上下料装置上下料装置替代6自由度机械臂，使毛坯工件与成品均放置在机床外侧，使其不受切削液的影响，有效解决机床上下料干湿分离的问题，且易于控制，制造成本低。
进一步地，所述横向移动机构包括第一滑动板、第二滑动板和联动组件；所述第一滑动板设置在所述横梁上，并通过所述横向驱动机构与所述横梁横向滑动连接；所述第二滑动板设置在所述第一滑动板上，并与所述第一滑动板横向滑动连接；所述联动组件分别与所述第一滑动板和所述第二滑动板固定连接，使所述第一滑动板横向移动时，带动所述第二滑动板同步横向滑动。
进一步地，所述联动组件包括同步带和两与所述同步带适配的同步轮，以及两夹持块；两所述同步轮分别设置在所述第一滑动板顶部沿其长度方向的两侧，两所述同步轮通过所述同步带传动连接；两所述夹持块分别固定在所述横梁和所述第二滑动板上，两所述夹持块分别夹持所述同步带。
进一步地，所述第一滑动板正对所述横梁的侧面上设有第一横向导轨，所述横梁的相应位置设有与所述第一横向导轨适配的第一横向滑块；所述第一滑动板上设有第二横向导轨，所述第二滑动板包括连接部和安装部，所述连接部正对所述第二横向导轨的位置设有与所述第二横向导轨适配的第二横向滑块。
进一步地，所述横向驱动机构包括横向丝杆、横向丝杆滑块以及横向驱动电机；所述横向丝杆设置在所述横梁上，并与所述第一横向导轨平行；所述横向丝杆滑块可滑动地套设在所述横向丝杆上，并与所述第一滑动板固定连接；所述横向驱动电机与横向丝杆的一端固定连接，以驱动所述横向丝杆滑块沿所述横向丝杆移动。
进一步地，所述纵向移动机构包括纵向伸缩气缸、横向调节气缸和吸盘连接板；所述纵向伸缩气缸设置在所述第二滑动板的安装部上，所述纵向伸缩气缸具有一伸缩轴，所述横向调节气缸固定连接固定在所述伸缩轴上；所述横向调节气缸具有可横向移动的输出轴，所述吸盘连接板水平固定在所述横向调节气缸的输出轴上；所述吸盘固定在所述吸盘连接板上，且所述吸盘的头部朝向所述输送线。
进一步地，所述纵向移动机构有两个，两所述纵向移动机构并列设置在所述第二滑动板的安装部上。
进一步地，所述自动上下料的机床还包括两料盘升降机构，两所述料盘升降机构分别设置在所述龙门架沿所述输送线的上游和下游；所述料盘升降机构包括分别设置在所述输送线两侧的两升降架和两升降气缸，所述升降架包括用于放置料盘的载盘部和用于支撑所述载盘部的支撑部，所述支撑部垂直于所述机架的顶部，所述载盘部水平设置在所述支撑部的上端；所述升降气缸具有一输出轴，该输出轴与所述支撑部的下端固定连接，所述升降气缸用于驱动所述支撑部沿垂直方向上升或下降。
进一步地，每一所述载盘部的顶部分别设有定位块，以限制放置在所述载盘部上的料盘的位置。
进一步地，所述料盘升降机构还包括直线轴承，所述直线轴承可滑动地套设在所述支撑部上，以引导所述支撑部沿垂直方向上下移动。
为了更好地理解和实施，下面结合附图详细说明本发明。
附图说明
图1为本发明自动上下料的机床的结构示意图；
图2为本发明自动上下料的机床第一种实施方式中上下料装置的结构示意图；
图3为本发明自动上下料的机床第一种实施方式中联动组件的结构示意图；
图4为本发明自动上下料的机床第一种实施方式中纵向移动机构的结构示意图；
图5为本发明自动上下料的机床第二种实施方式中上下料装置的结构示意图；
附图标记：10-机床、102-机床加工通道内的工作台、20-上下料装置、22-机架、221-输送线、2211-导轨、24-龙门架、24a-横梁、24b-立柱、241-横梁的滑动槽、242-横向移动机构、2421-第一滑动板、2421a-第一横向导轨、2421b-第一横向滑块、2421c-第二横向导轨、2421d-第二横向滑块、2422-第二滑动板、2422a-第二滑动板的连接部、2422b-第二滑动板的安装部、2423-联动组件、2423a-同步带、2423b-同步轮、2423c-夹持块、2431-横向丝杆、2433-横向驱动电机、244-纵向移动机构、2441-纵向伸缩气缸、2442-横向调节气缸、2443-吸盘连接板、246-吸盘、26-料盘升降机构、261-升降架、261a-载盘部、261b-支撑部、262-定位块、30-料盘、32-待加工工件。
具体实施方式
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”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。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。
请参阅图1-3，图1-3示出本发明自动上下料的机床第一种实施方式的具体结构，本实施方式的自动上下料的机床包括机床10和上下料装置20；机床10内设有加工通道；上下料装置20包括机架22和龙门架24。机架22设置在机床10的靠近加工通道的一侧，具体包括支撑平台和两三角形支撑件，三角形支撑件并列固定在机床10的一侧，支撑平台水平设置在两三角形支撑件上。机架22的顶部设有输送线221，输送线221上设有与输送线221延伸方向平行的导轨2200。龙门架24架跨输送线221并设置在机架22的顶部。龙门架24的横梁24a沿其宽度方向的一侧面上滑动设有横向移动机构242，其中，横向移动机构242的横向移动方向与导轨2200的延伸方向垂直。横向移动机构242上设有两个纵向移动机构244，纵向移动机构244上安装有头部朝向输送线221、且用于取放待加工工件和已加工工件的吸盘246。
具体地，横向移动机构242包括第一滑动板2421、第二滑动板2422和联动组件2423。第一滑动板2421具体为长方形板，其正对横梁24a的一侧面上设有两与机架22顶面平行的第一横向导轨2421a，第一横向导轨2421a具体包括两横向单轨；而横梁24a上的相应位置设有与第一横向导轨2421a适配的第一横向滑块2421b。第一滑动板2421的顶部还设有与第一横向导轨2421a平行的第二横向导轨2421c；第二滑动板2422具体为倒“L”形板，包括连接部2422a和安装部2422b，连接部2422a正对第二横向导轨2421c的位置设有与第二横向导轨2421c适配的第二横向滑块2421d。联动组件2423包括同步带2423a、两与同步带2423a适配的同步轮2423b和两夹持块2423c。两同步轮2423b分别设置在第一滑动板2421的顶部沿其长度方向的两侧，同步带2423a套设在两同步轮2423b的外侧，以实现两同步轮2423b的传动连接；两夹持块2423c分别固定在横梁24a和第二滑动板2422上，并分别夹持同步带2423a。
进一步地，第一滑动板2421通过横向驱动机构(图未示)进行横向移动。横向驱动机构(图未示)设置在横梁24a上，包括横向丝杆2431、横向丝杆滑块(图未示)和横向驱动电机2424。具体地，横向丝杆2431设置在横梁24a正对第一滑动板2421的一侧，并与第一横向导轨2421a平行；横向丝杆滑块(图未示)套设在横向丝杆2431上，并与第一滑动板2421固定连接；横向驱动电机2433具体为伺服电机，其具有一输出轴，该输出轴与横向丝杆2431的一端固定连接，以驱动横向丝杆滑块(图未示)沿横向丝杆2431上移动，从而带动第一滑动板2421进行横向移动。优选地，横梁24a正对第一滑动板的侧面设有以滑动槽241，横向驱动机构(图未示)嵌于该滑动槽241内，以节省空间。
当横向驱动机构(图未示)驱动第一滑动板2421横向滑动时，第一滑动板2421与横梁24a产生相对位移，由于设置在横梁24a的夹持块2423c夹持同步带2423a，同步带2423a随着第一滑动板2421与横梁24a之间的相对位移而转动；又由于第二滑动板2422上的夹持块2423c夹持同步带2423a，因此，当同步带2423a转动的时候，同步带动第二滑动板2422同步沿进行横向移动。
请参阅图4，纵向移动机构244包括伸缩气缸2441、横向调节气缸2442和两吸盘连接板2443。具体地，伸缩气缸2441固具有一伸缩轴，伸缩气缸2441固定在第二滑动板2422背向第一滑动板2421的一侧，使其伸缩轴朝下。横向调节气缸2442具有两相互平行、且可相向移动的输出轴，横向调节气缸2442固定在伸缩气缸2441的伸缩轴的前端，使横向调节气缸2442的输出轴朝下。两吸盘连接板2443分别水平固定在横向调节气缸2442两输出轴的前端。吸盘246分别固定设置在吸盘连接板2443背向横向调节气缸2442的侧面上，且吸盘246的头部朝下。纵向移动机构244还包括一抽真空单元(图未示)，其与吸盘246连通， 用于与吸盘246配合取放工件。当吸盘246与工件接触时，对吸盘246与工件形成的空腔抽真空，从而吸附工件，而当抽真空单元(图未示)对吸盘246与工件形成的空腔通气，则放下工件。抽真空单元(图未示)具体包括真空泵。
请参阅图5，图5示出本发明自动上下料的机床第二种实施方式的具体结构，作为对上述技术方案的优化方案，本实施方式的自动上下料的机床还包括分别设置在龙门架24沿输送线221的上游和下游的料盘升降机构26。
具体地，料盘升降机构26包括分别设置在输送线221两侧的升降架261，升降架包括载盘部261a和支撑部261b。支撑部261具体两垂直于机架10顶部的支撑杆，载盘部261a具体为水平固定在支撑部261b的一端的长板，且与输送线221的延伸方向平行。升降气缸(图未示)具有一输出轴，该输出轴与支撑部261b的另一端固定连接，以驱动升降架261沿垂直方向升起或降下。载盘部261a的顶部沿输送线221的延伸方向的两端分别设有定位块262，且位于两升降架上的定位块262之间的距离大于料盘的宽度，以限制放置在载盘部261a上的料盘的位置。
进一步地，料盘升降机构还包括直线轴承，直线轴承可滑动地套设在支撑部261b上，以对支撑部261b沿垂直方向的移动起导向作用。
上述优选的机床工作时，将料盘放置在位于输送线221上游的料盘升降机构26的升降架261上，升降架261下降至料盘30的底部与导轨2211上的直线模组(图未示)接触，直线模组(图未示)驱动料盘30沿导轨2211移向龙门架24。当料盘30移至安装在两纵向移动机构244(分别为第一纵向移动机构和第二纵向移动机构)下方，第一纵向移动机构的第一横向调节气缸根据料盘中工件的间距调节两吸盘连接板2443之间的位置，从而调节吸盘246之间的间距。完成后，第一纵向伸缩气缸驱动第一横向调节气缸沿垂直方向向下移动，使两吸盘连接板2443上的吸盘246与料盘30中的两相邻的待加工工件32接触，此时，抽真空单元(图未示)启动，使吸盘246吸附待加工工件32。吸附后，第一纵向移动机构中的纵向伸缩气缸2441驱动吸盘246复位。接着，横向驱动电机2433驱动第一滑动板2421横向移动，并通过联动组件2423带动第二滑动板2422同步进行横向移动，使得两纵向移动机构244上的吸盘246伸入机床10的加工通道，加工通道内设有两工作台102，分别为第一工作台和第二工作台，第一工作台和第二工作台上分别放置有已加工的工件。两纵向移动机构244移至加工通道内后，第二纵向移动机构的两吸盘连接板2443分别对准第一工作台和第二工作台，然后两吸盘连接板2443上的吸盘246同时沿垂直方向向下移动，并通过抽真空单元(图未示)的抽真空作用，分别吸附第一工作台和第二工作台上的已加工工件。吸附后，第二纵向移动机构复位。接着，两纵向移动机构244横向移动，使第一纵向移动机构的两吸 盘连接板2443分别对准第一工作台和第二工作台，然后两吸盘连接板上的吸盘246同时沿垂直方向向下移动，并分别将待加工工件32放置在第一工作台和第二工作台上，以对待加工工件32进行加工。放置后，第一纵向移动机构复位。然后，横向驱动机构驱动横向移动机构242再次横向移动，使第一纵向移动机构和第二纵向移动机构移至输送线221的上方，使第一纵向移动机构的两吸盘连接板2443对准料盘30待加工工件32，而第二纵向移动机构对准料盘30上的空位；然后，两纵向移动机构244同时沿垂直方向向下移动，其中，第二纵向移动机构将已加工工件放入料盘30的空位内，而第一纵向移动机构从料盘30中重新吸附待加工工件32。重复上述操作，直至料盘30上装满已加工工件，该料盘30通过直线模组(图未示)沿输送线221移至位于龙门架24下游的料盘升降机构26，该料盘升降机构26中的升降架261升起，最后再将该位于下游料盘升降机构26上的料盘30取走。
相较于现有技术，本发明通过在机床外侧设置线性轴上下料装置上下料装置替代6自由度机械臂，使毛坯工件与成品工件均放置在机床外侧，使其不受切削液的影响，有效解决机床上下料干湿分离的问题，且制造成本低，易于控制；通过设置两级伸缩的横向移动机构，实现大行程横向移动，同时通过设置双纵向移动机构，使横向移动机构横向移动一次，即可同时完成上下料，有效提高上下料的效率，且节省空间和成本。此外，通过在龙门架沿输送线的上游和下游设置料盘升降机构，不需要停机换料，可实现连续生产。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，则本发明也意图包含这些改动和变形。

Claims (10)

  1. 一种自动上下料的机床，其特征在于，包括：
    机床和上下料装置；所述机床内具有加工通道；所述上下料装置包括机架和龙门架；所述机架设置在所述机床的一侧，所述机架的顶部设有输送线，所述龙门架架跨所述输送线并设置在所述机架上；
    所述龙门架的横梁滑动设有横向移动机构，所述横向移动机构上设有纵向移动机构；
    所述横梁上正对所述横向移动机构的一侧还设有滑动槽，所述滑动槽内设有横向驱动机构，所述横向移动机构通过所述横向驱动机构可带动所述纵向移动机构伸入所述机床的加工通道内；
    所述纵向移动机构上安装有吸盘，所述吸盘用于从所述机床的加工通道内或所述输送线取放工件。
  2. 根据权利要求1所述的自动上下料的机床，其特征在于，
    所述横向移动机构包括第一滑动板、第二滑动板和联动组件；
    所述第一滑动板设置在所述横梁上，并通过所述横向驱动机构与所述横梁横向滑动连接；
    所述第二滑动板设置在所述第一滑动板上，并与所述第一滑动板横向滑动连接；
    所述联动组件分别与所述第一滑动板和所述第二滑动板固定连接，使所述第一滑动板横向移动时，带动所述第二滑动板同步横向滑动。
  3. 根据权利要求2所述的自动上下料的机床，其特征在于，
    所述联动组件包括同步带和两与所述同步带适配的同步轮，以及两夹持块；
    两所述同步轮分别设置在所述第一滑动板顶部沿其长度方向的两侧，两所述同步轮通过所述同步带传动连接；
    两所述夹持块分别固定在所述横梁和所述第二滑动板上，两所述夹持块分别夹持所述同步带。
  4. 根据权利要求3所述的自动上下料的机床，其特征在于，
    所述第一滑动板正对所述横梁的侧面上设有第一横向导轨，所述横梁的相应位置设有与所述第一横向导轨适配的第一横向滑块；
    所述第一滑动板上设有第二横向导轨，所述第二滑动板包括连接部和安装部，所述连接部正对所述第二横向导轨的位置设有与所述第二横向导轨适配的第二横向滑块。
  5. 根据权利要求4所述的自动上下料的机床，其特征在于，
    所述横向驱动机构包括横向丝杆、横向丝杆滑块以及横向驱动电机；
    所述横向丝杆设置在所述横梁上，并与所述第一横向导轨平行；
    所述横向丝杆滑块可滑动地套设在所述横向丝杆上，并与所述第一滑动板固定连接；
    所述横向驱动电机与横向丝杆的一端固定连接，以驱动所述横向丝杆滑块沿所述横向丝杆移动。
  6. 根据权利要求4所述的自动上下料的机床，其特征在于，
    所述纵向移动机构包括纵向伸缩气缸、横向调节气缸和吸盘连接板；
    所述纵向伸缩气缸设置在所述第二滑动板的安装部上，所述纵向伸缩气缸具有一伸缩轴，所述横向调节气缸固定连接固定在所述伸缩轴上；
    所述横向调节气缸具有可横向移动的输出轴，所述吸盘连接板水平固定在所述横向调节气缸的输出轴上；
    所述吸盘固定在所述吸盘连接板上，且所述吸盘的头部朝向所述输送线。
  7. 根据权利要求6所述的自动上下料的机床，其特征在于，
    所述纵向移动机构有两个，两所述纵向移动机构并列设置在所述第二滑动板的安装部上。
  8. 根据权利要求1～7任一所述的自动上下料的机床，其特征在于，
    还包括两料盘升降机构，两所述料盘升降机构分别设置在所述龙门架沿所述输送线的上游和下游；
    所述料盘升降机构包括分别设置在所述输送线两侧的两升降架和两升降气缸，所述升降架包括用于放置料盘的载盘部和用于支撑所述载盘部的支撑部，所述支撑部垂直于所述机架的顶部，所述载盘部水平设置在所述支撑部的上端；
    所述升降气缸具有一输出轴，该输出轴与所述支撑部的下端固定连接，所述升降气缸用于驱动所述支撑部沿垂直方向上升或下降。
  9. 根据权利要求8所述的自动上下料的机床，其特征在于，
    每一所述载盘部的顶部分别设有定位块，以限制放置在所述载盘部上的料盘的位置。
  10. 根据权利要求9所述的自动上下料的机床，其特征在于，
    所述料盘升降机构还包括直线轴承，所述直线轴承可滑动地套设在所述支撑部上，以引导所述支撑部沿垂直方向上下移动。
PCT/CN2023/101069 2022-09-23 2023-06-19 一种自动上下料的机床 WO2024060724A1 (zh)

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