CN113059389A - Translational rotary feeding and discharging system and machining center production line comprising same - Google Patents

Abstract

The invention discloses a translational rotary loading and unloading system and a machining center production line comprising the same, wherein the system comprises a mounting base and a translational rotary motion assembly, and the mounting base is provided with a mounting surface; the translational rotary motion assembly comprises a front end motion assembly and a tail end motion assembly, the front end motion assembly is connected with the tail end motion assembly, and the tail end motion assembly is driven by the front end motion assembly to lift, rotate and translate; the front end movement assembly comprises a first translation mechanism, a second translation mechanism and a first rotating mechanism, and the tail end movement assembly comprises a first connecting arm, a second connecting arm, a third translation mechanism and a second rotating mechanism. The automatic feeding and discharging device is designed according to the characteristics of automatic feeding and discharging of small workpieces in a machining center and special requirements of scenes, the mounting base and the translational rotary motion assembly which are matched with the automatic feeding and discharging device are designed, the occupied space for mounting is far smaller than that of a conventional robot, the actions of feeding and discharging of the workpieces are accurate, and the tail end load is larger and more stable.

Description

Translational rotary feeding and discharging system and machining center production line comprising same

Technical Field

The invention relates to the technical field of automatic robots, in particular to a translational rotary feeding and discharging system for workpiece feeding and discharging and a machining center production line comprising the same.

Background

Aiming at the problems of high labor intensity, low production efficiency, easy error, unstable product quality and the like caused by manual operation of loading, transporting, loading and unloading of workpieces in most of original enterprise production, the existing enterprises can introduce robots (six-axis joint robots) to assist the automatic production of a machining center (CNC), the machining center is a high-efficiency automatic machine tool which is composed of mechanical equipment and a numerical control system and is suitable for machining complex parts, and the numerical control machining center is one of numerical control machines with highest yield and most extensive application in the world at present. Therefore, robots used by enterprises in cooperation with machining centers need to be arranged according to original space and places.

In the process of implementing the invention, the inventor finds that the robots introduced by enterprises at present have at least the following technical problems:

1. the occupied space is large, the empty space between the two original processing centers can be 100mm, in order to meet the use requirement of the traditional robot, a space of 1000mm-3000mm needs to be reserved between the two processing centers for placing the robot and related corollary equipment, so that an enterprise can reduce the number of the processing centers or enlarge a plant in order to meet the requirement of placing the robot, the reduction of the number of the processing centers means that the yield cannot be kept up with the yield, the enlargement of the plant means that the investment is greatly increased, and the unit cost of part processing is uniformly shared and becomes high;

2. the automatic feeding and discharging device has the advantages that the efficiency is low, the precision is poor, an original robot can provide the feeding and discharging function for a plurality of machining centers, a sliding rail is arranged on one side of each machining center, the robot can feed and discharge materials back and forth on the sliding rail, the round-trip distance and the time for taking and discharging materials are long, the time for feeding and discharging the workpieces is increased, the efficiency of the machining centers is reduced, and the robot cannot accurately move and feed materials for a long distance, so that poor clamping or improper clamping can cause machining failure or poor machining precision;

3. the cost is high, the benefit recovery period is long, because the length of the workpiece processing worker of the processing center is long or short, the number of the processing centers corresponding to one robot needs to be configured according to the processing man-hour of the workpiece, the cost of the robot is high, when the processing man-hour of the workpiece produced by the processing center changes, the originally matched robot can not meet the use requirement, needs to spend a large amount of modification cost and a long modification period to be reconfigured, or the performance is excessive, and the high-value and high-performance robot can not be timely converted into enterprise benefits.

4. Because the position of the existing machining center is limited, the distance between machine tools is small, the size of a configured loading and unloading machine is small, a traditional 6-axis robot structure is adopted, the robot is used for the tail end of a load, the problems of small load, large inertia, low precision and the like exist, the robot cannot be positioned when some fine actions need to be performed, and the load cannot be overlarge.

In view of this, how to solve the problems of large occupied space, low efficiency, poor precision, high cost, long benefit recovery period, large inertia, small load and the like existing in the existing enterprise for the robot matched with the machining center becomes a subject to be researched and solved by the invention.

Disclosure of Invention

The invention provides a translational rotary loading and unloading system and a processing center production line comprising the same, and aims to solve the problems of large occupied space, low efficiency, poor precision, high cost, long benefit recovery period, large inertia, small load and the like of a robot matched with a processing center in an enterprise at present so as to provide a robot and a production line which have small occupied space, high efficiency, high precision, economy, cheapness, fast benefit recovery, large load, small inertia and the like.

In order to achieve the purpose, the invention provides a translational rotary loading and unloading system, which is arranged aiming at a machining center and used for automatic loading and unloading of workpieces at a loading window in the machining center, and comprises an installation base and a translational rotary motion assembly, wherein the translational rotary loading and unloading system is characterized in that:

the mounting base is arranged on one side of the feeding window of the machining center, and the translational rotary motion assembly is positioned and mounted on the mounting base; the mounting base is provided with a mounting surface, the surface where the mounting surface is located is defined as an X-Y plane, and the vertical extending direction which is vertical to the mounting surface is defined as a Z direction;

the translational rotary motion assembly comprises a front end motion assembly and a tail end motion assembly, the front end motion assembly is connected with the tail end motion assembly, and the tail end motion assembly is driven by the front end motion assembly to lift, rotate and translate; the front end movement component comprises a first straight movement mechanism, a second straight movement mechanism and a first rotating mechanism, the tail end movement component comprises a first connecting arm, a second connecting arm, a third straight movement mechanism and a second rotating mechanism, wherein,

in the front end movement assembly, one of the first straight moving mechanism, the second straight moving mechanism and the first rotating mechanism is connected to the installation bottom surface of the installation base in a positioning manner, the other one is connected to the tail end movement assembly in a positioning manner, and the other one is connected between the first straight moving mechanism, the second straight moving mechanism and the first rotating mechanism in a positioning manner; the first straight moving mechanism is a lifting mechanism and is provided with a first action end and a second action end which are arranged along the Z direction, the second action end of the first straight moving mechanism is in reciprocating displacement along the Z direction relative to the first action end, the first action end of the first straight moving mechanism is positioned above the mounting base and is in positioning connection with the mounting base, the second action end of the first straight moving mechanism is positioned below the tail end moving component and is in positioning connection with the tail end moving component, and the first straight moving mechanism drives the tail end moving component to move up and down along the Z direction; the second translation mechanism acts in the direction parallel to the X-Y plane and drives the tail end motion assembly to do linear reciprocating motion parallel to the X-Y plane; the first rotating mechanism is provided with a first rotating center arranged along the Z direction and drives the tail end moving assembly to rotate around the first rotating center;

in the tail end movement assembly, the first connecting arm and the second connecting arm are arranged in parallel to an X-Y plane, the first connecting arm is connected with the front end movement assembly in a positioning mode, and the extending end of the first connecting arm is connected with the third translation mechanism; the third translational mechanism is connected with the second connecting arm, acts in the direction parallel to the X-Y plane, and drives the second connecting arm to do linear reciprocating motion along the extending direction of the first connecting arm; the second rotating mechanism is located at the tail end of the extending end of the second connecting arm and is provided with a second rotating center arranged along the Z direction.

The invention also discloses a production line of the machining center, which comprises the translational rotary feeding and discharging system.

The invention is explained below:

1. the technical scheme of the invention is designed aiming at the characteristics of automatic feeding and discharging of workpieces in a machining center and special requirements of scenes, wherein the characteristics of automatic feeding and discharging of workpieces in the machining center are that the machining working hours are unfixed, the feeding and discharging precision requirements are high, the scenes are that the space between a machine tool is narrow, the space in the machining center is narrow, a mounting base and a translation rotary motion assembly which are matched with the automatic feeding and discharging device are designed, wherein the front end motion assembly and the tail end motion assembly drive a second rotary mechanism to move in each degree of freedom in a working range, the first rotary mechanism is used for adjusting the angle of taking and discharging of the second rotary mechanism in different positions (in a non-fixed position), the second rotary mechanism is used for adjusting the rotation angle of taking and discharging of a second rotary shaft in a fixed position (in a Z direction), and therefore, a grabbing part below the second rotary mechanism can perform linkage action of the front end motion assembly and the tail end motion assembly The device can enter a narrow space by using the lower part, so that the applicable scene is wider; meanwhile, by adopting the translational rotary motion component with the structure, the inertia of the tail end of the second connecting arm used as a load is smaller when the position is positioned, the positioning precision is high, and the load is larger compared with the conventional method of lengthening the connecting arm for increasing the stroke; the first connecting arm, the second connecting arm all is parallel with the installation face of installation base, under the effect of first connecting arm, second connecting arm and third translation mechanism, make the work minimum radius in operation space littleer, the maximum working radius is bigger, this kind of modular structure can let the portion of snatching that is located second rotary mechanism and removes can accomplish material loading and unloading action in limited space fast, the translation degree of freedom and the rotation degree of freedom of the portion of snatching must satisfy its actual operation demand, thereby can simplify equally, reduce the volume of whole translation rotation unloading rotary system of going up, with this reduce occupation of land space and saving cost, accomplish the quick unloading of going up of work piece, its precision is accurate, high efficiency.

2. In the technical scheme, the first translational mechanism is arranged on the installation bottom surface of the installation base, a fixed flange is connected above the first translational mechanism, a second translational mechanism is fixedly connected above the fixed flange, a first rotating mechanism is arranged above the second translational mechanism, and the upper part of the first rotating mechanism is fixedly connected with the first connecting arm; and a third translational mechanism is arranged below the extending end of the first connecting arm, and a second connecting arm is connected below the third translational mechanism. In the scheme, the fixed flange, the second translation mechanism, the first rotating mechanism and the tail end motion assembly on the first translation mechanism are driven by the first translation mechanism to perform reciprocating linear displacement along the Z direction, the first rotating mechanism and the tail end motion assembly on the second translation mechanism are driven by the second translation mechanism to perform reciprocating linear displacement parallel to the X-Y plane, and the tail end motion assembly on the first translation mechanism is driven by the first rotating mechanism to perform rotary motion around the Z direction to the first rotating center, so that the working range and the path of the second rotating mechanism are effectively controlled.

3. In the technical scheme, the first translational mechanism is arranged on the installation bottom surface of the installation base, an electric cylinder is connected above the first translational mechanism, a second translational mechanism is fixedly connected above the electric cylinder, a first rotating mechanism is arranged above the second translational mechanism, and the upper part of the first rotating mechanism is fixedly connected with the first connecting arm; and a third translational mechanism is arranged below the extending end of the first connecting arm, and a second connecting arm is connected below the third translational mechanism. In the scheme, the first straight moving mechanism drives the electric cylinder, the second straight moving mechanism, the first rotating mechanism and the tail end moving assembly on the first straight moving mechanism to perform reciprocating linear displacement along the Z direction, the second straight moving mechanism drives the first rotating mechanism and the tail end moving assembly on the second straight moving mechanism to perform reciprocating linear displacement parallel to the X-Y plane, and the first rotating mechanism drives the tail end moving assembly on the first rotating mechanism to perform rotary motion around the Z direction to the first rotating center, so that the working range and the path of the second rotating mechanism are effectively controlled.

4. In the technical scheme, an electric cylinder is fixed on the installation bottom surface of the installation base, a second translation mechanism is fixedly connected above the electric cylinder, a first rotating mechanism is installed above the second translation mechanism, a first translation mechanism is connected above the first rotating mechanism, and a second action end of the first translation mechanism is fixedly connected with a first connecting arm; and a third translational mechanism is arranged below the extending end of the first connecting arm, and a second connecting arm is connected below the third translational mechanism. In the scheme, the second translation mechanism drives the first rotation mechanism, the first translation mechanism and the tail end motion assembly to perform reciprocating linear displacement parallel to the X-Y plane, the first rotation mechanism drives the first translation mechanism and the tail end motion assembly thereon to perform rotary motion around a Z-direction first rotation center, and the first translation mechanism drives the tail end motion assembly thereon to perform reciprocating linear displacement along the Z direction, so that the working range and the path of the second rotation mechanism are effectively controlled.

5. In the technical scheme, an electric cylinder is fixed on the installation bottom surface of the installation base, a second translation mechanism is fixedly connected above the electric cylinder, a first rotating mechanism is installed above the second translation mechanism, a first translation mechanism is connected above the first rotating mechanism, and a second action end of the first translation mechanism is fixedly connected with a first connecting arm; and a third translational mechanism is arranged above the extending end of the first connecting arm, and a second connecting arm is connected above the third translational mechanism. In the scheme, the second translation mechanism drives the first rotation mechanism, the first translation mechanism and the tail end motion assembly to perform reciprocating linear displacement parallel to the X-Y plane, the first rotation mechanism drives the first translation mechanism and the tail end motion assembly thereon to perform rotary motion around a Z-direction first rotation center, and the first translation mechanism drives the tail end motion assembly thereon to perform reciprocating linear displacement along the Z direction, so that the working range and the path of the second rotation mechanism are effectively controlled.

6. In the technical scheme, an electric cylinder is fixed on the installation bottom surface of the installation base, a second translation mechanism is fixedly connected above the electric cylinder, a first translation mechanism is installed above the second translation mechanism, a first rotating mechanism is connected above the first translation mechanism, and the upper part of the first rotating mechanism is fixedly connected with a first connecting arm; and a third translational mechanism is arranged below the extending end of the first connecting arm, and a second connecting arm is connected below the third translational mechanism. In the scheme, the second translation mechanism drives the first translation mechanism, the first rotation mechanism and the tail end motion assembly to perform reciprocating linear displacement parallel to the X-Y plane, the first translation mechanism drives the first rotation mechanism and the tail end motion assembly thereon to perform reciprocating linear displacement along the Z direction, and the first rotation mechanism drives the tail end motion assembly thereon to perform rotary motion around the Z direction to the first rotation center, so that the working range and the path of the second rotation mechanism are effectively controlled.

7. In the above technical solution, a power distribution cabinet is disposed on one side of the mounting base, the translation mechanism and the rotation mechanism are electrically connected to the power distribution cabinet, and the power distribution cabinet is electrically connected to a control circuit, and the control circuit is electrically connected to each of the execution components simultaneously or in a time-sharing manner; the lower part of the second rotating mechanism is provided with a grabbing part for grabbing workpieces, the grabbing part is used for grabbing various workpieces, and the grabbing part can adopt components such as clamping jaws, suckers and magnetic suction discs.

8. In the above technical solution, the length of the second connecting arm is smaller than that of the first connecting arm, so that when the second rotating arm is driven by the second translational mechanism to retract toward the first connecting arm, the second rotating mechanism at the end of the second rotating arm is located below the first connecting arm, the position adjustment is more flexible, the minimum working radius of the operating space is smaller, the number of use scenes is more, and the range of the closest distance is smaller under the same condition of the farthest distance.

9. In the technical scheme, the installation surface of the installation base is parallel to the horizontal plane or is arranged in an inclined mode with the horizontal plane, the inclination angle range of the installation surface of the installation base and the horizontal plane is 0-45 degrees, the translational rotary motion assembly is installed by taking the installation surface of the installation base as a reference, the translational rotary motion assembly is not only suitable for an installation mode parallel to the horizontal plane, but also suitable for an inclination capable of inclining the installation surface of the installation base by a certain angle, the inclination angle can be set according to actual use requirements, and more complex use scenes can be met.

10. In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; they may be mechanically coupled, directly coupled, indirectly coupled through intervening media, coupled between two elements, or coupled in any other manner that does not materially affect the operation of the device, unless otherwise specifically limited. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

11. In the present invention, the terms "center", "upper", "lower", "axial", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional arrangements shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

12. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Due to the application of the scheme, compared with the prior art, the invention has the following advantages and effects:

1. according to the scheme, the automatic feeding and discharging device is designed according to the characteristics of automatic feeding and discharging of small workpieces in a machining center and special requirements of scenes, and a mounting base and a translational rotary motion assembly which are matched with the automatic feeding and discharging device are designed; the assembly structure can enable the grabbing part which is positioned on the second rotating mechanism to rapidly finish feeding and discharging actions in a limited space, the translational freedom degree and the rotational freedom degree of the grabbing part can meet the actual operation requirements, so that the volume of the whole translational rotary feeding and discharging robot can be simplified and reduced, the occupied space is reduced, the distance between the two original processing centers is 100mm, the distance between every two original processing centers is only increased to 250mm (every 2 original processing centers), and the occupied space for installation is far smaller than the space of 1000mm-2000mm of a conventional robot.

2. Compared with the conventional robot, the robot has higher efficiency, can be used for producing products with long processing working hours and also can be used for producing products with short processing working hours, and has wider application range; the translational rotary feeding and discharging system is reasonable in structure, accurate in driving of the action structure part, capable of improving machining precision of products, accurate in material taking and discharging actions of workpieces and capable of meeting machining precision requirements in machining center automatic production. Particularly, the scheme of the invention can be better applied to small workpieces in consideration of the characteristics of the automatic loading and unloading system, and the advantages of the scheme can be better embodied when the scheme is applied to the small workpieces.

3. In the scheme of the invention, the adopted structure is compact and reasonable, the size is smaller, the number of parts is less compared with that of a conventional robot, and the number of robot joints required by the robot is reduced, so that the production cost, the purchasing cost and the refitting cost are lower, and the application is more economic and cheaper compared with that of the conventional robot; because the linear-motion rotary loading and unloading robot is suitable for production of products with different processing working hours, a processing center does not need to perform subsequent adjustment and modification due to the change of the processing working hours after the products are changed after the linear-motion rotary loading and unloading system is matched with the linear-motion rotary loading and unloading system, the modification time caused by the change of the products is saved, the production can be quickly changed, the requirement of flexible production of an intelligent workshop is met, the benefit recovery period of the investment cost of an enterprise is shortened, the power of the linear-motion rotary loading and unloading robot used by the enterprise is improved, the application of the linear-motion rotary loading and unloading robot in the market is wider, and the development of automation, intelligent production and intelligent.

4. In the above scheme of the invention, the front end movement assembly and the tail end movement assembly drive the second rotating mechanism to move in each degree of freedom within the working range, the first rotating mechanism is used for adjusting the angle of material taking and discharging of the second rotating mechanism at different positions (non-fixed positions), the second rotating mechanism is used for adjusting the rotating angle of material taking and discharging at fixed positions (the second rotating shaft is right below the Z direction), therefore, the grabbing part under the second rotating mechanism can enter a narrower space under the linkage action of the translational rotating motion assembly, the applicable scene is wider, meanwhile, the inertia of the tail end of the second connecting arm serving as the load is smaller when the position is positioned, the positioning precision is high, and compared with the conventional method of lengthening the connecting arm for increasing the stroke, the method has the advantages that the load is larger and more stable.

5. In the scheme of the invention, the first connecting arm and the second connecting arm are parallel to the mounting surface of the mounting base, the minimum working radius and the maximum working radius of the operating space are smaller and larger under the action of the first connecting arm, the second connecting arm and the third translation mechanism, the assembly structure can enable the grabbing part of the second rotating mechanism to quickly finish the loading and unloading actions in a limited space, and the translational freedom degree and the rotational freedom degree of the grabbing part can meet the actual operation requirements, so that the size of the whole translation rotation loading and unloading system can be simplified and reduced, the occupied space is reduced, the cost is saved, the quick loading and unloading of workpieces are finished, and the precision and the efficiency are accurate.

Drawings

FIG. 1 is a perspective view of a translational and rotational loading and unloading system according to an embodiment of the present invention;

FIG. 2 is a schematic plan view of a translational and rotational loading and unloading system according to an embodiment of the present invention;

FIG. 3 is a schematic plan view of a translational rotary loading and unloading system according to a second embodiment of the present invention;

FIG. 4 is a perspective view of a translational rotary loading and unloading system according to a second embodiment of the present invention;

FIG. 5 is a schematic plan view of a three-dimensional translational rotary loading and unloading system according to an embodiment of the present invention;

FIG. 6 is a perspective view of a three-dimensional translational rotary loading and unloading system according to an embodiment of the present invention;

FIG. 7 is a schematic plan view of a four-translational-rotary loading and unloading system according to an embodiment of the present invention;

FIG. 8 is a perspective view of a four-translational rotary loading and unloading system according to an embodiment of the present invention;

FIG. 9 is a schematic plan view of a five-translational rotary loading and unloading system according to an embodiment of the present invention;

FIG. 10 is a perspective view of a five-translational rotary loading and unloading system according to an embodiment of the present invention;

FIG. 11 is a schematic plan view of a six-translational rotary loading and unloading system according to an embodiment of the present invention;

FIG. 12 is a schematic diagram of a motion trajectory in a top view according to an embodiment of the present invention;

FIG. 13 is a schematic diagram of a motion trajectory in a front view state according to an embodiment of the present invention;

fig. 14 is a schematic diagram of a motion trajectory in a side view according to an embodiment of the present invention.

The drawings are shown in the following parts:

1. installing a base; 11. a mounting surface;

2. a front end motion assembly;

21. a first translation mechanism; 211. a first active end; 212. a second active end;

22. a second translation mechanism;

23. a first rotating mechanism; 231. a first center of rotation;

24. a fixed flange;

25. an electric cylinder;

3. a tip motion assembly;

31. a first connecting arm;

32. a second connecting arm;

33. a third translation mechanism;

34. a second rotating mechanism; 341. a second center of rotation;

4. switch board.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

Example one

As shown in fig. 1 and fig. 2, a translational rotary loading and unloading system according to an embodiment of the present invention is provided for a machining center, and is used for automatic loading and unloading of a workpiece at a loading window in the machining center, and includes a mounting base 1 and a translational rotary motion component. The mounting base 1 is arranged on one side of a feeding window of the machining center, and the translational rotary motion assembly is positioned and mounted on the mounting base 1; in the following embodiments, the mounting base 1 has a mounting surface 11, a surface where the mounting surface 11 is located is defined as an X-Y plane, and a vertical extending direction in a vertical state with the mounting surface 11 is defined as a Z direction, and the mounting surface 11 of the mounting base 1 is used as a reference surface, so that details are not described in the following embodiments.

The translational rotary motion component comprises a front end motion component 2 and a tail end motion component 3, the front end motion component 2 is connected with the tail end motion component 3, and the tail end motion component 3 is driven by the front end motion component 2 to lift, rotate and translate; the front end moving assembly 2 includes a first straight moving mechanism 21, a second straight moving mechanism 22 and a first rotating mechanism 23, and the end moving assembly 3 includes a first connecting arm 31, a second connecting arm 32, a third straight moving mechanism 33 and a second rotating mechanism 34.

In the front end motion assembly 2, the first straight moving mechanism 21 is a lifting mechanism, the first straight moving mechanism 21 has a first action end 211 and a second action end 212 which are set up along the Z direction, the second action end 212 of the first straight moving mechanism 21 reciprocates relative to the first action end 211 along the Z direction, the first action end 211 of the first straight moving mechanism 21 is positioned above the mounting base 1 and is connected with the mounting base 1 in a positioning manner, and the second action end 212 of the first straight moving mechanism 21 is positioned below the tail end motion assembly 3 and is connected with the tail end motion assembly 3 in a positioning manner; the first straight moving mechanism 21 is installed on the installation bottom surface of the installation base 1, a fixed flange 24 is connected above the first straight moving mechanism 21, a second straight moving mechanism 22 is fixedly connected above the fixed flange 24, a first rotating mechanism 23 is installed above the second straight moving mechanism 22, and the first rotating mechanism 23 is fixedly connected above the first rotating mechanism 23 and the first connecting arm 31.

In the terminal moving assembly 3, the first connecting arm 31 and the second connecting arm 32 are arranged in parallel to the X-Y plane, a third translational mechanism 33 is installed below the extending end of the first connecting arm 31, the third translational mechanism 33 acts on the direction parallel to the X-Y plane, and the third translational mechanism 33 drives the second connecting arm 32 to do linear reciprocating motion along the extending direction of the first connecting arm 31; the second connecting arm 32 is connected to the lower side of the third translation mechanism 33, and the second rotation mechanism 34 has a second rotation center 341 arranged in the Z direction.

In the first embodiment, the first straight moving mechanism 21 drives the fixed flange 24, the second straight moving mechanism 22, the first rotating mechanism 23 and the end moving component 3 thereon to perform reciprocating linear displacement along the Z direction, the second straight moving mechanism 22 drives the first rotating mechanism 23 and the end moving component 3 thereon to perform reciprocating linear displacement parallel to the X-Y plane, and the first rotating mechanism 23 drives the end moving component 3 thereon to perform rotational movement around the Z direction to the first rotating center 231, so as to effectively control the working range and path of the second rotating mechanism 34.

Example two

As shown in fig. 3 and fig. 4, a second embodiment of the present invention provides a translational rotary loading and unloading system, which is arranged for a machining center, and is used for automatic loading and unloading of a workpiece at a loading window in the machining center, and includes a mounting base 1 and a translational rotary motion component. The installation base 1 is arranged on one side of a feeding window of the machining center, and the translational rotary motion assembly is positioned and installed on the installation base 1.

The translational rotary motion component comprises a front end motion component 2 and a tail end motion component 3, the front end motion component 2 is connected with the tail end motion component 3, and the tail end motion component 3 is driven by the front end motion component 2 to lift, rotate and translate; the front end moving assembly 2 includes a first straight moving mechanism 21, a second straight moving mechanism 22 and a first rotating mechanism 23, and the end moving assembly 3 includes a first connecting arm 31, a second connecting arm 32, a third straight moving mechanism 33 and a second rotating mechanism 34.

In the front end moving assembly 2, the first translational mechanism 21 is installed on the installation bottom surface of the installation base 1, the electric cylinder 25 is connected above the first translational mechanism 21, the second translational mechanism 22 is fixedly connected above the electric cylinder 25, the first rotating mechanism 23 is installed above the second translational mechanism 22, and the first rotating mechanism 23 is fixedly connected above the first rotating mechanism 23 and the first connecting arm 31.

In the terminal moving assembly 3, the first connecting arm 31 and the second connecting arm 32 are arranged in parallel to the X-Y plane, a third translational mechanism 33 is installed below the extending end of the first connecting arm 31, the third translational mechanism 33 acts on the direction parallel to the X-Y plane, and the third translational mechanism 33 drives the second connecting arm 32 to do linear reciprocating motion along the extending direction of the first connecting arm 31; the second connecting arm 32 is connected to the lower side of the third translation mechanism 33, and the second rotation mechanism 34 has a second rotation center 341 arranged in the Z direction.

In the second embodiment, the first straight moving mechanism 21 drives the electric cylinder 25, the second straight moving mechanism 22, the first rotating mechanism 23 and the end moving component 3 thereon to perform reciprocating linear displacement along the Z direction, the second straight moving mechanism 22 drives the first rotating mechanism 23 and the end moving component 3 thereon to perform reciprocating linear displacement parallel to the X-Y plane, and the first rotating mechanism 23 drives the end moving component 3 thereon to perform rotational movement around the Z direction to the first rotating center 231, so as to effectively control the working range and path of the second rotating mechanism 34.

EXAMPLE III

As shown in fig. 5 and fig. 6, a third embodiment of the present invention provides a translational rotary loading and unloading system, which is arranged for a machining center, and is used for automatic loading and unloading of a workpiece at a loading window in the machining center, and includes a mounting base 1 and a translational rotary motion component. The installation base 1 is arranged on one side of a feeding window of the machining center, and the translational rotary motion assembly is positioned and installed on the installation base 1.

The translational rotary motion component comprises a front end motion component 2 and a tail end motion component 3, the front end motion component 2 is connected with the tail end motion component 3, and the tail end motion component 3 is driven by the front end motion component 2 to lift, rotate and translate; the front end moving assembly 2 includes a first straight moving mechanism 21, a second straight moving mechanism 22 and a first rotating mechanism 23, and the end moving assembly 3 includes a first connecting arm 31, a second connecting arm 32, a third straight moving mechanism 33 and a second rotating mechanism 34.

In the front end moving assembly 2, an electric cylinder 25 is fixed on the installation bottom surface of the installation base 1, a second translation mechanism 22 is fixedly connected above the electric cylinder 25, a first rotating mechanism 23 is installed above the second translation mechanism 22, a first translation mechanism 21 is connected above the first rotating mechanism 23, and a second acting end 212 of the first translation mechanism 21 is fixedly connected with the first connecting arm 31.

In the terminal moving assembly 3, the first connecting arm 31 and the second connecting arm 32 are arranged in parallel to the X-Y plane, a third translational mechanism 33 is installed below the extending end of the first connecting arm 31, the third translational mechanism 33 acts on the direction parallel to the X-Y plane, and the third translational mechanism 33 drives the second connecting arm 32 to do linear reciprocating motion along the extending direction of the first connecting arm 31; the second connecting arm 32 is connected to the lower side of the third translation mechanism 33, and the second rotation mechanism 34 has a second rotation center 341 arranged in the Z direction.

In the third embodiment, the second translation mechanism 22 drives the first rotation mechanism 23, the first translation mechanism 21 and the end motion assembly 3 to perform reciprocating linear displacement parallel to the X-Y plane, the first rotation mechanism 23 drives the first translation mechanism 21 and the end motion assembly 3 thereon to perform rotational motion around the Z-direction first rotation center 231, and the first translation mechanism 21 drives the end motion assembly 3 thereon to perform reciprocating linear displacement along the Z-direction, so as to effectively control the working range and path of the second rotation mechanism 34.

Example four

As shown in fig. 7 and 8, a translational rotary loading and unloading system provided in a fourth embodiment of the present invention is arranged for a machining center, and is used for automatic loading and unloading of a workpiece at a loading window in the machining center, and includes a mounting base 1 and a translational rotary motion component. The installation base 1 is arranged on one side of a feeding window of the machining center, and the translational rotary motion assembly is positioned and installed on the installation base 1.

The translational rotary motion component comprises a front end motion component 2 and a tail end motion component 3, the front end motion component 2 is connected with the tail end motion component 3, and the tail end motion component 3 is driven by the front end motion component 2 to lift, rotate and translate; the front end moving assembly 2 includes a first straight moving mechanism 21, a second straight moving mechanism 22 and a first rotating mechanism 23, and the end moving assembly 3 includes a first connecting arm 31, a second connecting arm 32, a third straight moving mechanism 33 and a second rotating mechanism 34.

In the front end moving assembly 2, an electric cylinder 25 is fixed on the installation bottom surface of the installation base 1, a second translation mechanism 22 is fixedly connected above the electric cylinder 25, a first rotating mechanism 23 is installed above the second translation mechanism 22, a first translation mechanism 21 is connected above the first rotating mechanism 23, and a second acting end 212 of the first translation mechanism 21 is fixedly connected with the first connecting arm 31.

In the terminal moving assembly 3, the first connecting arm 31 and the second connecting arm 32 are arranged in parallel to the X-Y plane, a third translational mechanism 33 is installed above the extending end of the first connecting arm 31, the third translational mechanism 33 acts on the direction parallel to the X-Y plane, and the third translational mechanism 33 drives the second connecting arm 32 to do linear reciprocating motion along the extending direction of the first connecting arm 31; the second connecting arm 32 is connected to the lower side of the third translation mechanism 33, and the second rotation mechanism 34 has a second rotation center 341 arranged in the Z direction.

In the fourth embodiment, the second translation mechanism 22 drives the first rotation mechanism 23, the first translation mechanism 21 and the end motion assembly 3 to perform reciprocating linear displacement parallel to the X-Y plane, the first rotation mechanism 23 drives the first translation mechanism 21 and the end motion assembly 3 thereon to perform rotational motion around the Z-direction first rotation center 231, and the first translation mechanism 21 drives the end motion assembly 3 thereon to perform reciprocating linear displacement along the Z-direction, so as to effectively control the working range and path of the second rotation mechanism 34.

EXAMPLE five

As shown in fig. 9 and 10, a fifth embodiment of the present invention provides a translational rotary loading and unloading system, which is arranged for a machining center, and is used for automatic loading and unloading of a workpiece at a loading window in the machining center, and includes a mounting base 1 and a translational rotary motion component. The installation base 1 is arranged on one side of a feeding window of the machining center, and the translational rotary motion assembly is positioned and installed on the installation base 1.

The translational rotary motion component comprises a front end motion component 2 and a tail end motion component 3, the front end motion component 2 is connected with the tail end motion component 3, and the tail end motion component 3 is driven by the front end motion component 2 to lift, rotate and translate; the front end moving assembly 2 includes a first straight moving mechanism 21, a second straight moving mechanism 22 and a first rotating mechanism 23, and the end moving assembly 3 includes a first connecting arm 31, a second connecting arm 32, a third straight moving mechanism 33 and a second rotating mechanism 34.

In the front end moving assembly 2, an electric cylinder 25 is fixed on the installation bottom surface of the installation base 1, a second translation mechanism 22 is fixedly connected above the electric cylinder 25, a first translation mechanism 21 is installed above the second translation mechanism 22, a first rotating mechanism 23 is connected above the first translation mechanism 21, and a first connecting arm 31 is fixedly connected above the first rotating mechanism 23.

In the terminal moving assembly 3, the first connecting arm 31 and the second connecting arm 32 are arranged in parallel to the X-Y plane, a third translational mechanism 33 is installed below the extending end of the first connecting arm 31, the third translational mechanism 33 acts on the direction parallel to the X-Y plane, and the third translational mechanism 33 drives the second connecting arm 32 to do linear reciprocating motion along the extending direction of the first connecting arm 31; the second connecting arm 32 is connected to the lower side of the third translation mechanism 33, and the second rotation mechanism 34 has a second rotation center 341 arranged in the Z direction.

In the fifth embodiment, the second translation mechanism 22 drives the first translation mechanism 21, the first rotation mechanism 23 and the end motion assembly 3 to perform reciprocating linear displacement parallel to the X-Y plane, the first translation mechanism 21 drives the first rotation mechanism 23 and the end motion assembly 3 thereon to perform reciprocating linear displacement along the Z direction, and the first rotation mechanism 23 drives the end motion assembly 3 thereon to perform rotation around the Z direction to the first rotation center 231, so as to effectively control the working range and path of the second rotation mechanism 34.

EXAMPLE six

As shown in fig. 11, a sixth translational rotary loading and unloading system is disclosed in the sixth embodiment of the present invention, and the sixth embodiment is the same as the first embodiment, except that: the inclination angle of the installation surface 11 of the installation base 1 and the horizontal plane is 45 degrees, the bottom surface of the installation base 1 is parallel to the bottom surface, and the installation surface 11 of the installation base 1 is arranged in an inclined manner.

In the first to sixth embodiments, in each of the embodiments, a power distribution cabinet 4 is disposed on one side of the mounting base 1, the translation mechanism and the rotation mechanism are electrically connected to the power distribution cabinet 4, and a control circuit is electrically connected to the power distribution cabinet 4, and the control circuit is electrically connected to each of the execution components simultaneously or in a time-sharing manner; a grabbing part for grabbing workpieces is arranged below the second rotating mechanism 34, the grabbing part can grab various workpieces, and the grabbing part can adopt components such as clamping jaws, suckers and magnetic suction discs.

In the first to sixth embodiments, the length of the second connecting arm 32 is smaller than the length of the first connecting arm 31 in each embodiment, so that when the second rotating arm retracts toward the first connecting arm 31 under the driving of the second translating mechanism 22, the second rotating mechanism 34 at the end of the second rotating arm can be located below the first connecting arm 31, the position adjustment is more flexible, the minimum working radius of the operating space is smaller, the number of usage scenarios is more, and the range of the closest distance is smaller under the same condition of the farthest distance.

Through the implementation of the above embodiments, the automatic feeding and discharging characteristics of the small workpieces in the machining center and the special requirements of the scene are designed, the automatic feeding and discharging characteristics of the small workpieces in the machining center are that the machining time is not fixed, the feeding and discharging precision requirements are high, the scene is that the distance between the machine tool and the space in the machining center is narrow, the mounting base 1 and the translational rotary motion assembly which are used in cooperation with the automatic feeding and discharging characteristics are designed, reference can be made to the motion track schematic diagrams of the first embodiment shown in fig. 12 to 14, wherein the front end motion assembly 2 and the tail end motion assembly 3 drive the second rotary mechanism 34 to move in each degree of freedom in the working range, the first rotary mechanism 23 is used for enabling the second rotary mechanism 34 to be capable of taking and discharging angles adjustment in different positions (in non-fixed positions), and the second rotary mechanism 34 is used for adjusting the rotation angles of the incoming and outgoing materials in fixed positions (the second rotary shaft is directly below the Z direction) Therefore, the grabbing part under the second rotating mechanism 34 can enter a narrower space under the linkage action of the front end moving assembly 2 and the tail end moving assembly 3, and the applicable scene is wider; meanwhile, by adopting the translational rotary motion component with the structure, the inertia of the tail end of the second connecting arm 32 serving as a load is smaller when the position is positioned, the positioning precision is high, and the load is larger compared with the conventional method of lengthening the connecting arm for increasing the stroke; the first connecting arm 31 and the second connecting arm 32 are parallel to the mounting surface of the mounting base 1, the minimum working radius and the maximum working radius of the operation space are smaller under the action of the first connecting arm 31, the second connecting arm 32 and the third translation mechanism 33, the assembly structure can enable the grabbing part of the second rotating mechanism 34 to quickly complete the feeding and discharging actions in a limited space, and the translational freedom and the rotational freedom of the grabbing part can meet the actual operation requirements.

EXAMPLE seven

The seventh embodiment of the invention discloses a production line of a machining center, which comprises the translational rotary loading and unloading system in any one of the first embodiment to the sixth embodiment.

With respect to the above embodiments, possible variations of the present invention are described below:

1. in the above embodiment, the first translational mechanism 21, the second translational mechanism 22, and the third translational mechanism 33 employ one of the following mechanisms:

(a) the piston rod of the cylinder is used as the acting end of the linear driving mechanism 6;

(b) the rotor of the linear motor is used as the action end of the linear driving mechanism 6;

(c) the combination of a control motor and a screw rod mechanism, wherein the control motor is a stepping motor or a servo motor, the screw rod nut mechanism is a screw pair formed by matching a screw rod and a nut, the control motor is in transmission connection with the screw rod, and the nut is used as an acting end of a linear driving mechanism 6;

(d) the control motor is combined with a belt pulley mechanism, wherein the control motor is a stepping motor or a servo motor, the belt pulley mechanism is formed by matching a belt pulley and a belt to form a linear motion pair, the control motor is connected with the belt through a wheel set, and the belt is used as an acting end of the linear driving mechanism 6.

2. In the above embodiments, the first rotating mechanism 23 and the second rotating mechanism 34 may adopt a control motor, and a rotor of the control motor serves as an acting end of the rotating mechanism, and the connection manner thereof is not described again.

3. In the above embodiment, the installation surface 11 of the installation base 1 is parallel to the horizontal plane or is inclined from the horizontal plane, the inclination angle range between the installation surface 11 of the installation base 1 and the horizontal plane is 0-45 °, the translational rotary motion component is installed by taking the installation surface 11 of the installation base 1 as a reference, and is not only suitable for an installation mode parallel to the horizontal plane, but also suitable for inclination of the installation surface 11 of the installation base 1 at a certain angle, and the inclination angle can be set according to actual use requirements, so that a more complex use scene can be met. Alternatively, the inclination angle of the installation surface 11 of the installation base 1 to the horizontal plane may be 0 ° to 45 °, or 10 ° to 35 °, preferably 20 ° to 25 °, and specifically 0 ° or 45 °.

4. In the above embodiment, the machining center production line includes at least two machining centers, and the feeding windows of the at least two machining centers are arranged towards the middle position or in a straight line; when the feeding windows of the at least two machining centers are arranged towards the middle position, the translational rotary feeding and discharging system is positioned at the middle position of the at least two machining centers; when the feeding windows of at least two machining centers are arranged in a straight line, the translational rotary feeding and discharging system is arranged on one side of the feeding windows of the machining centers along the length direction of the mounting base. Meanwhile, the number of the machining centers can be 4, 6, 8 and the like, or 3, 5 and the like, when the translational rotary loading and unloading system is required to be arranged among a plurality of machining centers, a plurality of machining centers can surround one side of the circumference of one translational rotary loading and unloading system, and the translational rotary loading and unloading system is positioned in the middle of the 3, 4, 5, 6 and the like machining centers with different numbers.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims (10)

1. The utility model provides a unloading system in translation rotation, this unloading system in translation rotation sets up to machining center for the unloading in the automation of material loading window department work piece in the machining center, including installation base (1) and translation rotary motion subassembly, its characterized in that:

the mounting base (1) is arranged on one side of a feeding window of the machining center, and the translational rotary motion assembly is positioned and mounted on the mounting base (1); the mounting base (1) is provided with a mounting surface (11), the surface where the mounting surface (11) is located is defined as an X-Y plane, and the vertical extending direction which is vertical to the mounting surface (11) is defined as a Z direction;

the translational rotary motion component comprises a front end motion component (2) and a tail end motion component (3), the front end motion component (2) is connected with the tail end motion component (3), and the tail end motion component (3) is driven by the front end motion component (2) to lift, rotate and translate; the front end moving component (2) comprises a first straight moving mechanism (21), a second straight moving mechanism (22) and a first rotating mechanism (23), the tail end moving component (3) comprises a first connecting arm (31), a second connecting arm (32), a third straight moving mechanism (33) and a second rotating mechanism (34), wherein,

in the front end movement assembly (2), one of the first straight moving mechanism (21), the second straight moving mechanism (22) and the first rotating mechanism (23) is connected to the installation bottom surface of the installation base (1) in a positioning manner, the other is connected to the tail end movement assembly (3) in a positioning manner, and the other is connected between the first straight moving mechanism and the second straight moving mechanism in a positioning manner; the first straight moving mechanism (21) is a lifting mechanism, the first straight moving mechanism (21) is provided with a first action end (211) and a second action end (212) which are arranged along the Z direction, the second action end (212) of the first straight moving mechanism (21) is in reciprocating displacement along the Z direction relative to the first action end (211), the first action end (211) of the first straight moving mechanism (21) is positioned above the mounting base (1) and is in relative positioning connection with the mounting base (1), the second action end (212) of the first straight moving mechanism (21) is positioned below the tail end moving assembly (3) and is in relative positioning connection with the tail end moving assembly (3), and the first straight moving mechanism (21) drives the tail end moving assembly (3) to move up and down along the Z direction; the second translation mechanism (22) acts in the direction parallel to the X-Y plane, and the second translation mechanism (22) drives the tail end motion assembly (3) to do linear reciprocating motion parallel to the X-Y plane; the first rotating mechanism (23) is provided with a first rotating center (231) arranged along the Z direction, and the first rotating mechanism (23) drives the tail end moving assembly (3) to rotate around the first rotating center (231);

in the tail end movement assembly (3), the first connecting arm (31) and the second connecting arm (32) are arranged in parallel to an X-Y plane, the first connecting arm (31) is connected with the front end movement assembly (2) in a positioning mode, and the extending end of the first connecting arm (31) is connected with the third translation mechanism (33); the third translational mechanism (33) is connected with the second connecting arm (32), the third translational mechanism (33) acts on the direction parallel to the X-Y plane, and the third translational mechanism (33) drives the second connecting arm (32) to do linear reciprocating motion along the extending direction of the first connecting arm (31); the second rotating mechanism (34) is located at the end of the extending end of the second connecting arm (32), and the second rotating mechanism (34) is provided with a second rotating center (341) arranged along the Z direction.

2. The translational rotary loading and unloading system of claim 1, wherein: the first straight moving mechanism (21) is installed on the installation bottom surface of the installation base (1), a fixed flange (24) is connected above the first straight moving mechanism (21), a second straight moving mechanism (22) is fixedly connected above the fixed flange (24), a first rotating mechanism (23) is installed above the second straight moving mechanism (22), and the upper part of the first rotating mechanism (23) is fixedly connected with a first connecting arm (31); a third translational mechanism (33) is arranged below the extending end of the first connecting arm (31), and a second connecting arm (32) is connected below the third translational mechanism (33).

3. The translational rotary loading and unloading system of claim 1, wherein: the first straight moving mechanism (21) is installed on the installation bottom surface of the installation base (1), an electric cylinder (25) is connected above the first straight moving mechanism (21), a second straight moving mechanism (22) is fixedly connected above the electric cylinder (25), a first rotating mechanism (23) is installed above the second straight moving mechanism (22), and the first rotating mechanism (23) is fixedly connected above the first rotating mechanism (23) with a first connecting arm (31); a third translational mechanism (33) is arranged below the extending end of the first connecting arm (31), and a second connecting arm (32) is connected below the third translational mechanism (33).

4. The translational rotary loading and unloading system of claim 1, wherein: an electric cylinder (25) is fixed on the mounting bottom surface of the mounting base (1), a second translation mechanism (22) is fixedly connected above the electric cylinder (25), a first rotating mechanism (23) is mounted above the second translation mechanism (22), a first translation mechanism (21) is connected above the first rotating mechanism (23), and a second acting end (212) of the first translation mechanism (21) is fixedly connected with the first connecting arm (31); and a third translational mechanism (33) is arranged below the extending end of the first connecting arm (31), and a second connecting arm (32) is connected below the third translational mechanism (33).

5. The translational rotary loading and unloading system of claim 1, wherein: an electric cylinder (25) is fixed on the mounting bottom surface of the mounting base (1), a second translation mechanism (22) is fixedly connected above the electric cylinder (25), a first rotating mechanism (23) is mounted above the second translation mechanism (22), a first translation mechanism (21) is connected above the first rotating mechanism (23), and a second acting end (212) of the first translation mechanism (21) is fixedly connected with the first connecting arm (31); and a third translational mechanism (33) is arranged above the extending end of the first connecting arm (31), and a second connecting arm (32) is connected above the third translational mechanism (33).

6. The translational rotary loading and unloading system of claim 1, wherein: an electric cylinder (25) is fixed on the mounting bottom surface of the mounting base (1), a second translation mechanism (22) is fixedly connected above the electric cylinder (25), a first translation mechanism (21) is mounted above the second translation mechanism (22), a first rotating mechanism (23) is connected above the first translation mechanism (21), and a first connecting arm (31) is fixedly connected above the first rotating mechanism (23); and a third translational mechanism (33) is arranged below the extending end of the first connecting arm (31), and a second connecting arm (32) is connected below the third translational mechanism (33).

7. The translational rotary loading and unloading system according to any one of claims 1 to 6, wherein: a power distribution cabinet (4) is arranged on one side of the mounting base (1), and the translation mechanism and the rotation mechanism are electrically connected with the power distribution cabinet (4); and a grabbing part for grabbing the workpiece is arranged below the second rotating mechanism (34).

8. The translational rotary loading and unloading system according to any one of claims 1 to 6, wherein: the length of the second connecting arm (32) is smaller than that of the first connecting arm (31).

9. The translational rotary loading and unloading system according to any one of claims 1 to 6, wherein: the installation surface (11) of the installation base (1) is parallel to the horizontal plane or is obliquely arranged with the horizontal plane, and the inclination angle range of the installation surface (11) of the installation base (1) and the horizontal plane is 0-45 degrees.

10. The utility model provides a machining center production line which characterized in that: comprising the translational rotary loading and unloading system of claim 1 to claim 9.

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