CN115647904A - Automatic feeding and discharging truss manipulator numerical control machine tool - Google Patents

Abstract

The invention relates to the technical field of production and manufacturing of mechanical arms, in particular to an automatic loading and unloading truss mechanical arm numerical control machine tool which comprises a machine base, workpieces, a lifting device and a grabbing device, wherein at least two groups of workpieces are abutted, the lifting device is used for driving a target workpiece to move and enabling a gap to be formed between the moved target workpiece and an adjacent workpiece, the grabbing device is used for grabbing and moving the target workpiece, at least part of the grabbing device extends into the gap, and the grabbing device is arranged in such a way that grabbing and moving of the grabbing device are facilitated when square workpieces which are made of non-metal materials and have uneven surfaces and are stacked together are clamped, subsequent processing and treatment of the workpieces are facilitated, and further working efficiency is improved.

Description

Automatic feeding and discharging truss manipulator numerical control machine tool

Technical Field

The invention relates to the technical field of mechanical arm production and manufacturing, in particular to an automatic feeding and discharging truss mechanical arm numerical control machine tool.

Background

A manipulator is an automatic operating device that can simulate some motion functions of human hands and arms, and is used for grabbing, carrying objects or operating tools according to a fixed program. The robot can replace the heavy labor of people to realize the mechanization and automation of production, can operate under the harmful environment to protect the personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

For example, chinese patent CN214030825U discloses an automatic pile up neatly truss manipulator, the one end including pile up neatly truss manipulator body is provided with and snatchs the piece, be provided with vacuum chuck on the outer wall of snatching a piece lower surface, vacuum chuck with snatch a piece fixed connection, and vacuum chuck is provided with a plurality of, the one end of snatching the piece is provided with the trachea, tracheal one end is provided with the mechanism of bleeding, the one end of the mechanism of bleeding pass through the trachea with snatch a piece fixed connection, be provided with the fixed band on the tracheal outer wall, the intermediate position department fixed mounting who snatchs a piece lower surface has the electro-magnet, the one end of electro-magnet is provided with the connection line body.

However, when the existing automatic loading and unloading truss manipulator cannot adopt a vacuum chuck or an electromagnetic chuck to carry workpieces, the workpiece can only be moved manually, and then the workpiece is moved by adopting a manipulator grabbing mode, so that time and labor are wasted, and the working efficiency is affected.

Disclosure of Invention

The applicant finds that when grabbing non-metallic material, the uneven surface and piling up the square workpiece placed, the workpiece can not be carried by adopting a vacuum chuck or electromagnetic chuck, and the workpiece can only be carried manually, so that subsequent processing and treatment are carried out, and the working efficiency is influenced.

Based on this, when being necessary to pile up together to present non-metallic material and the square work piece of surperficial unevenness, the inconvenient clamping of gripper can only adopt the mode of artifical transport, wastes time and energy, influences the problem that work efficiency exists, provides an automatic unloading truss manipulator digit control machine tool of going up.

The above purpose is realized by the following technical scheme: a machine base;

at least two groups of workpieces are arranged and are mutually abutted;

the lifting device is used for driving the target workpiece to move and enabling a gap to be generated between the moved target workpiece and the adjacent workpiece;

and the gripping device is used for gripping and moving the target workpiece, and at least part of the gripping device extends into the gap.

In one embodiment, the gripping device includes a housing, a first driving member fixedly disposed on the housing, a first moving assembly and a second moving assembly slidably disposed on the housing, the first driving member is configured to drive the first moving assembly and the second moving assembly to move toward or away from each other, and the first moving assembly and the second moving assembly are configured to clamp and move the target workpiece.

In one embodiment, the second moving assembly includes a first moving member, a second moving member, and a first moving member, the second moving member is disposed on the first moving member, the first moving member is slidably disposed on the first moving member, and the second moving member provides a driving force for the first moving member to move relative to the first moving member.

In one embodiment, the first moving assembly includes a second transmission member, a third driving member and a second moving member, the third driving member is disposed on the second transmission member, the second moving member is slidably disposed on the second transmission member, and the third driving member provides a driving force for the second moving member to move relative to the second transmission member.

In one embodiment, the lifting device comprises a lifting mechanism, a power mechanism and a connecting mechanism, wherein the power mechanism provides a driving force for driving the lifting mechanism and the connecting mechanism to drive the target workpiece to move.

In one embodiment, the second moving member is provided with a fourth driving member and a first connecting channel, the power mechanism includes a first sliding member, the first sliding member is slidably disposed in the first connecting channel, and the fourth driving member provides a driving force for sliding the first sliding member relative to the second moving member.

In one embodiment, a second connecting channel is arranged on the second moving piece; the power mechanism comprises a first telescopic piece, and the first telescopic piece is slidably arranged on the first sliding piece; the lifting mechanism comprises a friction piece, a first connecting piece, a first elastic piece and a fixing piece, and the first connecting piece is slidably arranged in the second connecting channel; one end of the first connecting piece is fixedly provided with the friction piece, and the other end of the first connecting piece is fixedly provided with the fixing piece; one end of the first elastic part is fixedly arranged on the second moving part, the other end of the first elastic part is fixedly arranged on the fixed part, and the first elastic part always drives the fixed part to move; the first telescopic piece limits sliding of the first connecting piece relative to the second moving piece.

In one embodiment, the friction member is provided with anti-slip protrusions for increasing the friction force between the friction member and the workpiece.

In one embodiment, a third connecting channel is arranged on the second moving piece; the power mechanism comprises a third transmission piece and a fourth transmission piece, and the third transmission piece and the fourth transmission piece are fixedly arranged on the first sliding piece; the connecting mechanism comprises a central piece, a fifth transmission piece, a sixth transmission piece, a second elastic piece, a third elastic piece, a second sliding piece, a second connecting piece, a third connecting piece and a pushing piece, the central piece is arranged in the third connecting channel, the fifth transmission piece and the sixth transmission piece are fixedly arranged on the central piece, the fifth transmission piece is driven to move by the movement of the third transmission piece, the sixth transmission piece is driven to move by the movement of the fourth transmission piece, and the central piece is driven to move by the movement of the first sliding piece; the second connecting piece is detachably arranged on the central piece, one end of the second elastic piece is fixedly arranged on the second connecting piece, the other end of the second elastic piece is fixedly arranged on the fixing piece, and the second elastic piece always drives the fixing piece to move; the third connecting piece is detachably arranged on the central piece, one end of the third elastic piece is fixedly arranged on the third connecting piece, the other end of the third elastic piece is fixedly arranged on the pushing piece, and the second elastic piece always drives the pushing piece to move; the movement of the central piece drives the second connecting piece and the third connecting piece to move away from or close to each other; the second slide is slidably disposed within the third connecting channel, the second slide being configured to reposition the center.

The invention has the beneficial effects that:

the invention relates to an automatic feeding and discharging truss mechanical arm numerical control machine tool which comprises a machine base, workpieces, a lifting device and a grabbing device, wherein at least two groups of workpieces are abutted, the lifting device is used for driving a target workpiece to move and enabling a gap to be generated between the moved target workpiece and the adjacent workpiece, the grabbing device is used for grabbing and moving the target workpiece, at least part of the grabbing device extends into the gap, and the grabbing device is arranged in such a way that the grabbing device can grab and move when clamping square workpieces which are made of non-metal materials and have uneven surfaces and are stacked together, so that the subsequent processing and treatment of the workpieces are facilitated, and the working efficiency is further improved.

Drawings

Fig. 1 is a schematic structural diagram of a numerical control machine tool of an automatic loading and unloading truss manipulator according to an embodiment of the present invention;

fig. 2 is an exploded view of a numerically controlled machine tool with an automatic loading and unloading truss manipulator according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a mechanical clamping jaw of the automatic loading and unloading truss manipulator numerical control machine tool according to an embodiment of the present invention;

fig. 4 is an exploded view of a mechanical clamping jaw of the automatic loading and unloading truss manipulator numerical control machine according to an embodiment of the present invention;

fig. 5 is a partial enlarged structural view of a part a of a mechanical clamping jaw of the automatic loading and unloading truss manipulator numerical control machine tool shown in fig. 4;

fig. 6 is a schematic structural view of a material lifting device of an automatic loading and unloading truss manipulator numerical control machine according to an embodiment of the present invention;

fig. 7 is an exploded view of a material lift-out device of an automatic loading and unloading truss manipulator numerical control machine according to an embodiment of the present invention;

fig. 8 is a partially enlarged structural view of a portion B of the material lifting device of the automatic loading and unloading truss manipulator numerical control machine tool shown in fig. 7.

Wherein:

100. supporting the upright post;

200. a horizontal moving device;

300. a vertical moving device;

400. a numerical control machine tool;

500. stacking the materials;

600. a mechanical jaw; 610. a jaw housing; 620. a first moving plate; 621. a first rack; 622. a first cylinder; 623. a tracheal hole; 630. a first gear; 640. a second moving plate; 641. a second rack; 642. a second cylinder; 650. a second splint; 660. a first splint; 661. a third cylinder; 662. connecting holes; 663. a first through groove; 664. a second through groove; 665. an extension plate; 666. a chute; 670. a motor;

700. a lifting device; 710. a lifting mechanism; 711. a friction plate; 712. anti-skid projections; 713. a connecting shaft; 714. a block slot; 715. a first spring; 716. a first connecting rod; 717. pushing the plate; 720. a gear shaft; 721. a second gear; 722. a third gear; 723. a torsion spring hinge loop; 730. a first connecting plate; 731. a first threaded shaft; 732. a first baffle plate; 733. a second spring; 740. a top plate; 741. a second connecting rod; 750. a torsion spring slider; 751. a torsion spring; 752. a bump; 760. a sliding plate; 761. a third rack; 762. a fourth rack; 763. a stopper; 770. a second connecting plate; 771. a second threaded shaft; 772. a second baffle; 773. and a third spring.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below by way of embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The numbering of the components themselves, such as "first", "second", etc., is used herein only to distinguish between the objects depicted and not to have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1 to 8, an automatic loading and unloading truss manipulator numerical control machine tool provided in an embodiment of the present invention includes a support column 100, a horizontal moving device 200, a vertical moving device 300, a numerical control machine tool 400, a material stack 500, a mechanical clamping jaw 600, and a lifting device 700, where the support column 100 and the numerical control machine tool 400 are both fixedly installed at planned positions, the horizontal moving device 200 is installed on the support column 100, the vertical moving device 300 is fixedly installed on the horizontal moving device 200, the mechanical clamping jaw 600 is installed at the bottom end of the vertical moving device 300, and the material stack 500 composed of square workpieces with uneven surfaces and non-metallic materials is stacked between the support columns 100, where at least two sets of workpieces are butted against each other; the lifting device 700 is mounted on the mechanical clamping jaw 600, and is used for driving the target workpiece to move, so that a gap is formed between the moved target workpiece and an adjacent workpiece, a part of the mechanical clamping jaw 600 can conveniently go deep into the gap, the mechanical clamping jaw 600 can conveniently grab and move the target workpiece, subsequent processing and treatment of the square workpiece by the numerical control machine tool 400 are facilitated, and further the working efficiency is improved.

As shown in fig. 3 and 4, in some embodiments, the mechanical gripper 600 includes a gripper housing 610, a motor 670, a first gear 630, a first moving component, and a second moving component, the gripper housing 610 is fixedly connected to the bottom of the vertical moving device 300, the motor 670 is fixedly connected to the gripper housing 610, the first gear 630 is fixedly connected to the motor 670, the first moving component includes a first rack 621, the second moving component includes a second rack 641, both the first rack 621 and the second rack 641 are engaged with the first gear 630, the motor 670 drives the first gear 630 to rotate, and further drives the first moving component and the second moving component to move towards each other: away from or close to, the mechanical clamping jaw 600 is convenient to clamp and move the workpiece through the cooperation of the horizontal moving device 200 and the vertical moving device 300.

As shown in fig. 3 and 4, in some embodiments, the second moving assembly includes a second moving plate 640, a second cylinder 642 and a second clamp plate 650, the second cylinder 642 is fixedly connected to the second moving plate 640, the second clamp plate 650 is slidably connected to the second moving plate 640, and the second cylinder 642 drives the second clamp plate 650 to slide up and down relative to the second moving plate 640.

As shown in fig. 3 and 4, in some embodiments, the first moving assembly includes a first moving plate 620, a first cylinder 622, and a first clamping plate 660, the first cylinder 622 is fixedly connected to the first moving plate 620, the first clamping plate 660 is slidably connected to the first moving plate 620, and the first cylinder 622 drives the first clamping plate 660 to slide up and down relative to the first moving plate 620.

In some embodiments, the lifting device 700 includes a lifting mechanism 710, a power mechanism, and a linkage mechanism, the power mechanism providing a driving force for the lifting mechanism 710 and the linkage mechanism to drive the target workpiece to move.

As shown in fig. 6, 7 and 8, in some embodiments, the first clamp plate 660 is provided with a third cylinder 661 and a connecting hole 662, an external air pipe is connected to the third cylinder 661 through an air pipe hole 623, the third cylinder 661 is fixedly connected to the top of the first clamp plate 660, the power mechanism includes a sliding plate 760, the sliding plate 760 is slidably mounted in the connecting hole 662, and the sliding plate 760 can slide up and down in the connecting hole 662 by the driving of the third cylinder 661.

As shown in fig. 6, 7, and 8, in some embodiments, the first clamping plate 660 is provided with a first through groove 663; the power mechanism comprises a stop 763, and the stop 763 is telescopically arranged on the sliding plate 760; the lifting mechanism 710 includes a friction plate 711, a connecting shaft 713, a first spring 715, and a push plate 717, the connecting shaft 713 being slidably mounted in the first through groove 663; the block slot 714 is fixedly arranged on the connecting shaft 713, one end of the connecting shaft 713 is fixedly connected with the friction plate 711, and the other end of the connecting shaft 713 is fixedly connected with the push plate 717; one end of the first spring 715 is fixedly connected to the first clamping plate 660, and the other end of the first spring 715 is fixedly connected to the push plate 717, so that the first spring 715 always drives the push plate 717 to move; initially, the stop 763 is engaged in the stop slot 714 to limit the axial sliding of the lift mechanism 710.

As shown in fig. 8, in some embodiments, the anti-slip protrusions 712 are fixedly disposed on the friction plate 711, and the anti-slip protrusions 712 serve to increase the frictional force between the friction plate 711 and the workpiece.

As shown in fig. 6, 7, and 8, in some embodiments, the first clamping plate 660 is provided with a second through-slot 664; the power mechanism comprises a third rack 761 and a fourth rack 762, and both the third rack 761 and the fourth rack 762 are fixedly connected to the sliding plate 760; the connecting mechanism comprises a gear shaft 720, a second gear 721, a third gear 722, a second spring 733, a third spring 773, a torsion spring slider 750, a first baffle 732, a second baffle 772 and an upper plate 740, the gear shaft 720 is slidably arranged in the second through groove 664, the second gear 721, the third gear 722 and a torsion spring hinge ring 723 are arranged on the gear shaft 720, and the third gear 722 is meshed with the fourth rack 762 initially; the first connecting plate 730 is provided with a first threaded shaft 731, a first baffle 732 and a second spring 733, one end of the first baffle 732 is fixedly connected with the first threaded shaft 731, the other end of the first baffle 732 is fixedly connected with the second spring 733, the first threaded shaft 731 is sleeved in the gear shaft 720 and is in threaded connection with the gear shaft 720, the second spring 733 is sleeved on the first connecting rod 716, and one end of the second spring 733 is fixedly connected with the push plate 717; a second threaded shaft 771, a second baffle 772 and a third spring 773 are arranged on the second connecting plate 770, one end of the second baffle 772 is fixedly connected with the second threaded shaft 771, the other end of the second baffle 772 is fixedly connected with the third spring 773, the second threaded shaft 771 is sleeved in the gear shaft 720 and is in threaded connection with the gear shaft 720, the third spring 773 is sleeved on the second connecting rod 741, and one end of the third spring 773 is fixedly connected with the top plate 740; the torsion spring slider 750 is provided with a torsion spring 751 and a bump 752, the torsion spring slider 750 is sleeved on the torsion spring hinge ring 723, when the gear shaft 720 rotates, the torsion spring 751 stores power, and the torsion spring slider 750 is slidably arranged on the sliding groove 666 through the bump 752.

With reference to the above embodiments, the usage principle and the working process of the embodiments of the present invention are as follows:

the automatic feeding and discharging truss manipulator numerical control machine comprises a supporting upright 100, a horizontal moving device 200, a vertical moving device 300, a numerical control machine 400, a material stack 500, a mechanical clamping jaw 600 and a lifting device 700.

Firstly, a working machine is built, the supporting upright post 100 is fixed at a planned position, then the horizontal moving device 200 is installed on the supporting upright post 100, then two sets of vertical moving devices 300 are fixed on the horizontal moving device 200, and the bottom end of each set of vertical moving device 300 is connected with a mechanical clamping jaw 600. And then two numerically-controlled machine tools 400 are arranged at fixed positions, wherein a material stack 500 consisting of square workpieces which are made of non-metal materials and have uneven surfaces is stacked between the two numerically-controlled machine tools 400.

The mechanical clamping jaw 600 is installed at the bottom of the vertical moving device 300, the mechanical clamping jaw 600 comprises a clamping jaw housing 610, a first moving plate 620, a first gear 630, a second moving plate 640, a second clamping plate 650, a first clamping plate 660 and a motor 670, and the clamping jaw housing 610 is fixedly connected to the bottom of the vertical moving device 300; motor 670 is fixedly mounted on jaw housing 610; the first gear 630 is fixedly connected to the motor 670; the first moving plate 620 and the second moving plate 640 are slidably mounted on the clamping jaw housing 610, the first moving plate 620 is provided with a first rack 621, a first cylinder 622 and a gas pipe hole 623, the first rack 621 and the first cylinder 622 are both fixedly connected to the first moving plate 620, the second moving plate 640 is provided with a second rack 641 and a second cylinder 642, the second rack 641 and the second cylinder 642 are both fixedly connected to the second moving plate 640, the first rack 621 and the second rack 641 are both engaged with the first gear 630, the motor 670 drives the first gear 630 to rotate, and further drives the first moving plate 620 and the second moving plate 640 to move in opposite directions: the first moving plate 620 and the second moving plate 640 simultaneously move in a direction to approach or separate from the first gear 630; the first clamping plate 660 is slidably mounted on the first moving plate 620, and the first cylinder 622 drives the first clamping plate 660 to slide up and down relative to the first moving plate 620; the second clamp 650 is slidably mounted on the second moving plate 640, and the second cylinder 642 drives the second clamp 650 to slide up and down relative to the second moving plate 640; the first clamping plate 660 is provided with a third air cylinder 661, a connecting hole 662, a first through groove 663, a second through groove 664, an extension plate 665 and a sliding groove 666, an external air pipe is connected to the third air cylinder 661 through an air pipe hole 623, and the third air cylinder 661 is fixedly connected to the top of the first clamping plate 660.

The lifting device 700 is mounted at a position below the bottom of the first clamping plate 660, the lifting device 700 comprises a lifting mechanism 710, a gear shaft 720, a first connecting plate 730, a top plate 740, a torsion spring slider 750, a sliding plate 760 and a second connecting plate 770, the sliding plate 760 is provided with a third rack 761, a fourth rack 762 and a stop 763, the third rack 761 and the fourth rack 762 are fixedly connected to the sliding plate 760, the stop 763 is telescopically mounted on the sliding plate 760, the stop 763 is connected with the sliding plate 760 through a spring, the stop 763 is initially clamped in the block slot 714 to limit axial sliding of the lifting mechanism 710, the sliding plate 760 is slidably mounted in the connecting hole 662, and the sliding plate 760 can slide up and down in the connecting hole 662 under the driving of a third cylinder 661; the lifting mechanism 710 comprises a friction plate 711, an anti-skid protrusion 712, a connecting shaft 713, a clamping block groove 714, a first spring 715, a first connecting rod 716 and a push plate 717, the clamping block groove 714 is fixedly arranged on the connecting shaft 713, the connecting shaft 713 is slidably sleeved in the first through groove 663, one end of the connecting shaft 713 is fixedly connected with the friction plate 711, the anti-skid protrusion 712 is fixedly arranged on the friction plate 711, and the other end of the connecting shaft 713 is fixedly connected with the push plate 717; the first spring 715 is sleeved on the connecting shaft 713, one end of the first spring 715 is fixedly connected to the first clamping plate 660, the other end of the first spring 715 is slidably sleeved on the push plate 717, and the first spring 715 is used for resetting the lifting device 700; one end of the first connecting rod 716 is fixedly connected to the pushing plate 717, and the other end is fixedly connected to the first baffle 732; one end of the second connecting rod 741 is fixedly connected to the second baffle 772, and the other end thereof is slidably sleeved on the top plate 740.

The gear shaft 720 is slidably installed in the second through groove 664, the gear shaft 720 is provided with a second gear 721, a third gear 722 and a torsion spring hinge ring 723, and the third gear 722 is initially meshed with the fourth rack 762; the first connecting plate 730 is provided with a first threaded shaft 731, a first baffle 732 and a second spring 733, one end of the first baffle 732 is fixedly connected with the first threaded shaft 731, the other end of the first baffle 732 is fixedly connected with the second spring 733, the first threaded shaft 731 is sleeved in the gear shaft 720 and is in threaded connection with the gear shaft 720, the second spring 733 is sleeved on the first connecting rod 716, and one end of the second spring 733 is fixedly connected with the push plate 717; a second threaded shaft 771, a second baffle 772 and a third spring 773 are arranged on the second connecting plate 770, one end of the second baffle 772 is fixedly connected with the second threaded shaft 771, the other end of the second baffle 772 is fixedly connected with the third spring 773, the second threaded shaft 771 is sleeved in the gear shaft 720 and is in threaded connection with the gear shaft 720, the third spring 773 is sleeved on the second connecting rod 741, and one end of the third spring 773 is fixedly connected with the top plate 740; the torsion spring slider 750 is provided with a torsion spring 751 and a bump 752, the torsion spring slider 750 is sleeved on the torsion spring hinge ring 723, when the gear shaft 720 rotates, the torsion spring 751 stores power, and the torsion spring slider 750 is slidably arranged on the sliding groove 666 through the bump 752.

In the preparation phase, the mechanical gripper 600 is placed above the stack 500 by moving the horizontal movement device 200 and the vertical movement device 300, near the position of the center line of the long side of the target workpiece.

In the clamping stage, the first clamping plate 660 is extended downwards by the first cylinder 622, so that the friction plate 711 is located at a gap between the target workpiece and the next layer of workpieces (due to the uneven surface of the workpieces, the gap exists when the workpieces are stacked together), and the top plate 740 is located near the side wall of the next layer of workpieces. The motor 670 drives the first moving plate 620 and the second moving plate 640 to approach synchronously, and at this time, the friction plate 711 cannot move axially because the stopper 763 is located in the block slot 714, so that the friction plate 711 is pressed into a gap between two workpieces, and one side of the target workpiece, which is close to the first clamping plate 660, tilts. Then the sliding plate 760 is driven to move downwards by the third air cylinder 661, the third gear 722 is driven to rotate along with the downward movement of the sliding plate 760 due to the engagement of the third gear 722 and the fourth rack 762, the rotation of the third gear 722 drives the gear shaft 720 to rotate, the torsion spring 751 stores force, the downward movement of the sliding plate 760 enables the stopper 763 to be pressed into the groove in the middle of the sliding plate 760 without affecting the downward movement of the sliding plate 760, meanwhile, the first threaded shaft 731 and the second threaded shaft 771 are both in threaded fit with the gear shaft 720, the first threaded shaft 731 and the second threaded shaft 771 synchronously move away from the gear shaft 720, the second spring 733 and the third spring 773 store force, the second spring 733 gives a force to the top plate 740 to press the side wall of the lower workpiece, so that the lower workpiece cannot be driven to move when the target workpiece moves, and the third spring 773 gives an outward force to the pushing plate 717; when the sliding plate 760 continues to move downwards until the force applied to the push plate 717 by the third spring 773 is greater than the sum of the friction force between the target workpiece and the lower workpiece and the elastic force of the first spring 715, the gear shaft 720, the first connecting plate 730 and the second connecting plate 770 integrally move outward from the jaws by a certain distance, so that the third gear 722 is disengaged from the fourth rack 762, the second gear 721 is engaged with the third rack 761, the transmission ratio of the third gear 722 to the fourth rack 762 is greater than that of the second gear 721 to the third rack 761, so that the third spring 773 is rapidly accumulated at a large transmission ratio at the beginning to drive the target workpiece to move, and when the force applied to the push plate 717 by the third spring 773 is enough to drag the target workpiece, the third spring 773 is slowly accumulated at a small transmission ratio to slowly drag the target workpiece, thereby preventing the target workpiece from dropping. As the sliding plate 760 moves down, the first connecting plate 730 is driven to move outwards, so that the gear shaft 720 gradually moves towards the outer side of the clamping jaw, and the lifting mechanism 710 is also driven to move towards the outer side of the clamping jaw, and the target workpiece is driven to move by the friction force generated by the anti-skid protrusions 712 on the friction plate 711. When the gear shaft 720 moves by a distance of half the thickness of the second clamping plate 650, the lifting mechanism 710 moves by the thickness of the second clamping plate 650, and the second gear 721 is disengaged from the third rack 761, while there is no engagement between the sliding plate 760 and the gear shaft 720.

An interval enough for the second clamping plate 650 to be inserted is formed between the target workpiece and the adjacent workpiece, the second clamping plate 650 is driven by the second air cylinder 642 to extend downwards to be inserted into the gap, and the first moving plate 620 and the second moving plate 640 are driven by the motor 670 to synchronously approach, so that the target workpiece is clamped. When the target workpiece is clamped, the push plate 717 cannot move, and the gear shaft 720 and the sliding plate 760 are not in a matching relationship, the torsion spring 751 is released due to the accumulated force, so that the gear shaft 720 is reversely rotated to drive the first connecting plate 730 and the second connecting plate 770 to approach each other, the second spring 733 and the third spring 773 are gradually restored to the original length state, and the gear shaft 720, the first connecting plate 730 and the second connecting plate 770 are deflected relative to the initial position as the push plate 717 is fixed in position and is deflected towards the outer side of the clamping jaw relative to the initial position. At this time, since there is no fit between the sliding plate 760 and the gear shaft 720, when the sliding plate 760 is driven to contract upwards by the third cylinder 661, the operation of the lifting device 700 is not affected.

The target workpiece is moved to the upper side of the numerical control machine tool 400 by moving the horizontal moving device 200 and the vertical moving device 300, and the first moving plate 620 and the second moving plate 640 are driven to be away from each other by the motor 670, so that the target workpiece is released, and the numerical control machine tool 400 can process the target workpiece conveniently.

When the target workpiece is unloaded, the elastic force of the compressed first spring 715 is released, so that the lifting device 700 is driven to reset, and meanwhile, the third gear 722 is meshed with the fourth rack 762, so that the next clamping is facilitated.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (9)

1. The utility model provides an automatic go up unloading truss manipulator digit control machine tool which characterized in that includes:

a machine base;

at least two groups of workpieces are arranged and are mutually abutted;

the lifting device is used for driving the target workpiece to move and enabling a gap to be generated between the moved target workpiece and the adjacent workpiece;

and the gripping device is used for gripping and moving the target workpiece, and at least part of the gripping device extends into the gap.

2. The numerical control machine tool of the automatic loading and unloading truss manipulator as claimed in claim 1, wherein the gripping device comprises a housing, a first driving member fixedly disposed on the housing, a first moving assembly and a second moving assembly slidably disposed on the housing, the first driving member is configured to drive the first moving assembly and the second moving assembly to move toward or away from each other, and the first moving assembly and the second moving assembly are configured to clamp and move the target workpiece.

3. The automatic loading and unloading truss manipulator numerical control machine of claim 2, wherein the second moving assembly comprises a first driving member, a second driving member and a first moving member, the second driving member is arranged on the first driving member, the first moving member is slidably arranged on the first driving member, and the second driving member provides a driving force for the first moving member to move relative to the first driving member.

4. The automatic feeding and discharging truss manipulator numerical control machine tool as claimed in claim 2, wherein the first moving assembly comprises a second transmission part, a third driving part and a second moving part, the third driving part is arranged on the second transmission part, the second moving part is slidably arranged on the second transmission part, and the third driving part provides a driving force for the second moving part to move relative to the second transmission part.

5. The numerically-controlled machine tool of the automatic loading and unloading truss manipulator as claimed in claim 4, wherein the lifting device comprises a lifting mechanism, a power mechanism and a connecting mechanism, and the power mechanism provides a driving force for driving the target workpiece to move by the lifting mechanism and the connecting mechanism.

6. The numerical control machine tool of the automatic feeding and discharging truss manipulator as claimed in claim 5, wherein a fourth driving member and a first connecting channel are arranged on the second moving member, the power mechanism comprises a first sliding member, the first sliding member is slidably arranged in the first connecting channel, and the fourth driving member provides a driving force for the first sliding member to slide relative to the second moving member.

7. The automatic loading and unloading truss manipulator numerical control machine tool of claim 6, wherein a second connecting channel is arranged on the second moving member; the power mechanism comprises a first telescopic piece, and the first telescopic piece is slidably arranged on the first sliding piece; the lifting mechanism comprises a friction piece, a first connecting piece, a first elastic piece and a fixing piece, and the first connecting piece is slidably arranged in the second connecting channel; one end of the first connecting piece is fixedly provided with the friction piece, and the other end of the first connecting piece is fixedly provided with the fixing piece; one end of the first elastic part is fixedly arranged on the second moving part, the other end of the first elastic part is fixedly arranged on the fixed part, and the first elastic part always drives the fixed part to move; the first telescopic piece limits sliding of the first connecting piece relative to the second moving piece.

8. The numerical control machine tool of the automatic loading and unloading truss manipulator as claimed in claim 7, wherein the friction member is provided with an anti-slip protrusion for increasing the friction force between the friction member and the workpiece.

9. The automatic loading and unloading truss manipulator numerical control machine tool of claim 7, wherein a third connecting channel is arranged on the second moving member; the power mechanism comprises a third transmission piece and a fourth transmission piece, and the third transmission piece and the fourth transmission piece are fixedly arranged on the first sliding piece; the connecting mechanism comprises a central piece, a fifth transmission piece, a sixth transmission piece, a second elastic piece, a third elastic piece, a second sliding piece, a second connecting piece, a third connecting piece and a pushing piece, the central piece is arranged in the third connecting channel, the fifth transmission piece and the sixth transmission piece are fixedly arranged on the central piece, the fifth transmission piece is driven to move by the movement of the third transmission piece, the sixth transmission piece is driven to move by the movement of the fourth transmission piece, and the central piece is driven to move by the movement of the first sliding piece; the second connecting piece is detachably arranged on the central piece, one end of the second elastic piece is fixedly arranged on the second connecting piece, the other end of the second elastic piece is fixedly arranged on the fixing piece, and the second elastic piece always drives the fixing piece to move; the third connecting piece is detachably arranged on the central piece, one end of the third elastic piece is fixedly arranged on the third connecting piece, the other end of the third elastic piece is fixedly arranged on the pushing piece, and the second elastic piece always drives the pushing piece to move; the movement of the central piece drives the second connecting piece and the third connecting piece to move away from or close to each other; the second slide is slidably disposed within the third connecting channel, the second slide being configured to reposition the center.

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