WO2023231660A1 - 自动翻料数控车床上下料机 - Google Patents

自动翻料数控车床上下料机 Download PDF

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Publication number
WO2023231660A1
WO2023231660A1 PCT/CN2023/091136 CN2023091136W WO2023231660A1 WO 2023231660 A1 WO2023231660 A1 WO 2023231660A1 CN 2023091136 W CN2023091136 W CN 2023091136W WO 2023231660 A1 WO2023231660 A1 WO 2023231660A1
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WIPO (PCT)
Prior art keywords
automatic
bracket
workpiece
unloading machine
fixed bracket
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PCT/CN2023/091136
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English (en)
French (fr)
Inventor
刘学洪
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深圳市富士杰智能技术有限公司
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Publication of WO2023231660A1 publication Critical patent/WO2023231660A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/043—Construction of the grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0075—Truss
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2707/00—Automatic supply or removal of metal workpieces
    • B23Q2707/003—Automatic supply or removal of metal workpieces in a lathe

Definitions

  • the present invention relates to the field of mechanical processing, and more specifically, to an automatic turning machine for CNC lathes.
  • the CNC lathe loading and unloading machine is composed of a truss manipulator, a clamping claw grabbing mechanism on the manipulator, and a material preparation rack outside the CNC lathe.
  • the working method is: grabbing the workpiece to be processed through the clamping claw grabbing mechanism on the truss manipulator.
  • At the workpiece clamping point position of the chuck (or other clamping mechanism) of the CNC lathe take away the processed product (there is no processed product for the first time), place and clamp the product to be processed, and the truss manipulator leaves the CNC lathe. Place the workpiece back on the workpiece pallet and repeat the above cycle.
  • the traditional CNC lathe loading and unloading machine can only complete the clamping of one processing surface at a time, and cannot complete the production of finished products of multi-process workpieces with a single machine; or the workpiece needs to be turned over manually to realize the multi-process workpieces on a single machine.
  • Production, labor costs are high, production efficiency is low, and the machine cannot be fully utilized; or a workpiece logistics and distribution system is used, which is complex and large, takes up too much area and is often difficult to implement, and the cost is also high; or multiple CNC lathes and loading and unloading machines are used
  • Cooperation in this way, is costly, and the machine ratio is uneven, resulting in idle machines and a much slower flow of workpieces.
  • the purpose of the present invention is to provide an automatic material turning CNC lathe unloading machine, which can realize automatic material turning CNC lathe unloading machine.
  • the beneficial effects are: through the modified robot claw grabbing mechanism and The automatic turning mechanism of the processing surface added to the material preparation rack can complete the automatic loading and unloading of workpieces and the automatic turning of the processing surface during process conversion. Supplemented by the automatic cooperation of the clamping claw grabbing mechanism, there is no need to manually turn the workpiece, which greatly saves labor.
  • the present invention adopts the following technical solutions.
  • the automatic turning CNC lathe loading and unloading machine includes a truss manipulator.
  • the truss manipulator is equipped with a clamping claw grabbing mechanism.
  • the outer end of the truss manipulator is equipped with a material preparation rack.
  • the outer end of the material preparation rack is equipped with a teaching pendant.
  • the beneficial effects of realizing automatic turning of CNC lathe loading and unloading machines are: through the modified robot claw grabbing mechanism and the automatic turning mechanism of the processing surface added to the material preparation rack, automatic loading and unloading of workpieces and processing surfaces during process conversion can be completed Automatic flipping; supplemented by the automatic cooperation of the claw grabbing mechanism, there is no need to manually flip the workpiece, which greatly saves people and effort; it can complete the production of finished products with multi-process products in a single machine, reducing the flow of processing technology, reducing the stacking space and retention of workpieces problem, there is no longer the worry of uneven machine ratio; it is no longer difficult or expensive to run the machine around the clock, and the machine capacity can be fully exploited; the processing industry no longer has to worry about being restricted by personnel and difficult to manage, so that the processing industry no longer has There are worries about uncontrollable costs.
  • the truss manipulator includes a first fixed bracket, a first guide rail and a second fixed bracket (stock preparation rack) connected to the first fixed bracket, and a first movable bracket connected to the first guide rail (for left and right X-axis lateral movement) , equipped with the first movable bracket power mechanism), the second guide rail connected to the first movable bracket, the second movable bracket connected to the second guide rail (for longitudinal movement of the front and rear Y-axis, equipped with the second movable bracket power mechanism), and the second movable bracket power mechanism.
  • the material preparation rack is the second fixed bracket, which is equipped with an automatic turning mechanism for the processing surface and a material tray.
  • the material preparation rack includes a second fixed bracket, and the second fixed bracket is equipped with a second telescopic mechanism (equipped with a second telescopic mechanism power mechanism) as well as material tray one, material tray two, and material tray three.
  • the second telescopic mechanism A second rotating mechanism (equipped with a second rotating mechanism power mechanism) is installed on the second rotating mechanism, and a fourth claw grabbing mechanism is installed on the second rotating mechanism.
  • the stock preparation rack may also include a second fixed bracket, and the second fixed bracket is equipped with a second telescopic mechanism (equipped with a second telescopic mechanism power mechanism) and a second rotating mechanism (equipped with a second rotating mechanism powered mechanism).
  • Four-claw grasping mechanism equipped with the fourth clamp
  • the second telescopic mechanism is equipped with a third telescopic mechanism (equipped with a power mechanism of the third telescopic mechanism) and a second material tray.
  • Material pallets one and two are designed based on the number of workpiece processing steps, size, processing time, manual handling capacity and robot handling capacity.
  • This solution can realize automatic turning of CNC lathes and unloading machines.
  • the beneficial effects are: through the modified robot claw grabbing mechanism and the automatic turning mechanism of the processing surface added to the material preparation rack, automatic loading and unloading of workpieces and process conversion can be completed.
  • the processing surface is automatically turned over; supplemented by the automatic cooperation of the claw grabbing mechanism, there is no need to manually turn the workpiece, which greatly saves people and labor; it can complete the production of multi-process products in a single machine, reducing the flow of processing technology and reducing the stacking of workpieces.
  • Figure 1 is an overall perspective view of the present invention
  • Figure 2 is a perspective view of the truss manipulator part of the present invention.
  • Figure 3 is a perspective view of the material preparation rack part of the present invention.
  • Figure 4 is an exploded view of the second fixed bracket part of the present invention.
  • Figure 5 is a perspective view of the second material preparation rack part of the present invention.
  • Figure 6 is an exploded view of the second fixed bracket part of the second type of the present invention.
  • Figure 7 is a perspective view of part of the claw grabbing mechanism of the present invention.
  • Figure 8 is an exploded view of part of the claw grabbing mechanism of the present invention.
  • connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, or it can be inside two components of connectivity.
  • Connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, or it can be inside two components of connectivity.
  • the automatic turning CNC lathe loading and unloading machine includes a truss manipulator.
  • a clamping claw grabbing mechanism is installed on the truss manipulator.
  • a material preparation rack is installed on the outer end of the truss manipulator.
  • the material preparation rack is installed on the outer end.
  • the teaching pendant can realize automatic material turning.
  • the beneficial effects of the CNC lathe and unloading machine are: through the modified robot claw grabbing mechanism and the automatic turning mechanism of the processing surface added to the material preparation rack, automatic loading and unloading of workpieces and process conversion can be completed.
  • the processing surface is automatically turned over during the process; supplemented by the automatic cooperation of the claw grabbing mechanism, there is no need to manually turn the workpiece, which greatly saves people and labor; it can complete the production of finished products with multi-process products in a single machine, reducing the flow of processing technology and reducing costs.
  • the problem of workpiece stacking space and retention is no longer the problem of uneven machine ratio; it is no longer difficult and expensive to operate the machine around the clock, and the machine capacity can be fully exploited; the processing industry no longer has to worry about being restricted by personnel and difficult to manage. Let the processing industry no longer have to worry about uncontrollable costs.
  • the truss manipulator includes a first fixed bracket, a first guide rail and a second fixed bracket (stock preparation rack) connected to the first fixed bracket, and a first movable bracket (left and right) connected to the first guide rail.
  • X-axis lateral movement equipped with a first movable bracket power mechanism
  • a second guide rail connected to the first movable bracket
  • a second movable bracket connected to the second guide rail (for front and rear Y-axis longitudinal movement, equipped with a second movable bracket power mechanism)
  • a third guide rail connected to the second movable bracket
  • a third movable bracket connected to the third guide rail (to move vertically up and down, equipped with a third movable bracket power mechanism)
  • a first rotating mechanism is installed on the third movable bracket (equipped with the first rotating mechanism power mechanism)
  • the first rotating mechanism is equipped with the first, second, and third clamping claw grabbing mechanisms (equipped with the first, second, and third clamping claws);
  • the take-out mechanism is installed on the first telescopic mechanism (the first telescopic mechanism power mechanism).
  • the material preparation rack is the second fixed bracket and is equipped with an automatic turning mechanism for the processing surface and a material tray.
  • the material preparation rack includes a second fixed bracket.
  • the second fixed bracket is equipped with a second telescopic mechanism (equipped with a second telescopic mechanism power mechanism) and material trays one, two and three.
  • the second telescopic mechanism is equipped with a second rotating mechanism (equipped with a power mechanism of the second rotating mechanism), and the second rotating mechanism is equipped with a fourth claw grabbing mechanism.
  • the material preparation rack may also include a second fixed bracket.
  • the fixed bracket is equipped with a second telescopic mechanism (equipped with a power mechanism of the second telescopic mechanism), a second rotation mechanism (equipped with a power mechanism of the second rotating mechanism), a fourth clamping claw grabbing mechanism (equipped with a fourth clamping claw) and a material pallet. .
  • the second telescopic mechanism is equipped with a third telescopic mechanism (equipped with a power mechanism of the third telescopic mechanism) and a second material tray.
  • Material pallets one and two are designed based on the number of workpiece processing steps, size, processing time, manual handling capacity and robot handling capacity.
  • the automatic turning CNC lathe loading and unloading machine is designed with two automatic turning mechanisms for the processing surface, which are selected according to the actual situation and are explained as follows:
  • the first structure of automatic turning CNC lathe loading and unloading machine is the process route of CNC lathe loading and unloading:
  • the truss manipulator grabs the unprocessed workpiece A from the material pallet and sends it to the chuck of the CNC lathe.
  • the truss manipulator takes away the processed workpiece (there is no processed workpiece for the first time) and places the unprocessed workpiece A on the chuck. , the chuck is automatically clamped;
  • the truss manipulator places the processed workpieces on material pallet 2 (there is no processed workpiece for the first time);
  • the processed workpiece A1 is placed on material pallet 3 through the automatic turning mechanism of the processing surface (no processed workpiece for the first time), and meets the requirement of turning the processing surface 180° (no processed workpiece for the first time);
  • the truss manipulator grabs the turned workpiece A1 from material pallet 3 and sends it to material pallet 1 for placement (there is no processed workpiece for the first time);
  • the truss manipulator grabs the unprocessed workpiece B from the material pallet 1, moves it to the outside of the CNC lathe and waits;
  • the three-axis manipulator moves to the chuck clamping position of the CNC lathe, takes away the processed workpiece A1, and places the unprocessed workpiece B on the chuck, and the chuck is automatically clamped;
  • the truss manipulator places the processed workpiece A1 on the material pallet 2;
  • the processed workpiece A1 is placed on the material pallet 3 through the automatic turning mechanism of the processing surface, meeting the requirement of turning the processing surface 180°;
  • the truss manipulator grabs the turned workpiece A1 from material pallet three and sends it to material pallet one for placement;
  • the first guide rail and the stock preparation rack are installed on the first fixed bracket, the second guide rail is installed on the first guide rail, and the third guide rail is installed on the second guide rail.
  • the first, second, and third guide rails make linear motion, and the 3-axis Linkage, moving according to program settings;
  • the first rotating mechanism is installed on the mounting flange of the third guide rail and moves with the guide rail;
  • the first rotating mechanism can rotate 180° to realize the position of the three clamping jaws installed on the mechanism Conversion;
  • the first telescopic mechanism is installed on the first rotating mechanism and can drive the third clamping jaw to realize position adjustment;
  • the first, second and third clamping jaws can grasp and place the workpiece for processing;
  • the first and third material pallets The four clamping jaws and the second telescopic mechanism are installed on the second fixed bracket.
  • the second telescopic mechanism can drive the third telescopic mechanism installed on the mechanism to achieve position adjustment;
  • the fourth clamping jaw can rotate 180° and can grab, Place the workpiece for processing;
  • the third telescopic mechanism makes linear motion and can drive the second material tray installed on the mechanism to achieve position adjustment.
  • the second structure of the automatic turning CNC lathe loading and unloading machine is the CNC lathe loading and unloading process route:
  • the truss manipulator grabs the unprocessed workpiece A from the material pallet and sends it to the chuck position of the CNC lathe.
  • the truss manipulator takes away the processed workpiece (there is no processed workpiece for the first time) and places the unprocessed workpiece A on the chuck. Up, the chuck is automatically clamped;
  • the truss manipulator places the processed workpieces on material pallet 2 (there is no processed workpiece for the first time);
  • the truss manipulator grabs the turned workpiece A1 from the material pallet two and sends it to the material pallet one for placement (there is no processed workpiece for the first time);
  • the truss manipulator grabs the second unprocessed workpiece B from the material pallet 1, moves it to the outside of the CNC lathe and waits;
  • the truss manipulator moves to the vicinity of the CNC lathe chuck, takes away the processed workpiece A1, and places the unprocessed workpiece B on the chuck, and the chuck is automatically clamped;
  • the truss manipulator places the processed workpiece A1 on the material pallet 2;
  • the truss manipulator grabs the turned workpiece A1 from the material pallet two and sends it to the material pallet one for placement;

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Turning (AREA)

Abstract

本发明公开了自动翻料数控车床上下料机，属于机械加工领域，自动翻料数控车床上下料机，本方案可以实现自动翻料数控车床上下料机的有益效果是：通过改制的机器人夹爪抓取机构和备料架上增设的加工面自动翻转机构，可完成工件的自动上下料和工序转换过程中的加工面自动翻转；辅以夹爪抓取机构的自动配合无需要人工翻转工件，大幅度达到省人、省力的效果；能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼；让机台全天候运转不再难、不再贵，充分挖掘机台产能；让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。

Description

自动翻料数控车床上下料机 技术领域
本发明涉及机械加工领域，更具体地说，涉及自动翻料数控车床上下料机。
背景技术
数控车床上下料机是由一台桁架机械手、机械手上的夹爪抓取机构以及数控车床外部的备料架组成，工作方法是：通过桁架机械手上的夹爪抓取机构将待加工工件抓取至数控车床的卡盘(或者其他夹紧机构)处的工件装夹点位置，取走已加工产品(第一次没有已加工产品)，放置并装夹好待加工产品，桁架机械手离开数控车床，将工件放置回工件托盘上，重复以上循环。传统的数控车床上下料机，一次只能完成一个加工面的装夹，无法单机完成多工序工件的成品制作；或者需人工完成工件的翻面，才能实现多道加工工序的工件在单机上的制作,人工成本高，生产效率低，机台没法充分利用；或者使用工件物流配送***，又复杂庞大，占用面积太大往往难以实现，成本也高；或者使用多台数控车床、上下料机配合，这样，又成本高昂，机台配比不均，造成机台闲置，工件的流转也慢了许多。
发明内容
1.要解决的技术问题
针对现有技术中存在的问题，本发明的目的在于提供自动翻料数控车床上下料机，它可以实现自动翻料数控车床上下料机的有益效果是：通过改制的机器人夹爪抓取机构和备料架上增设的加工面自动翻转机构，可完成工件的自动上下料和工序转换过程中的加工面自动翻转；辅以夹爪抓取机构的自动配合无需要人工翻转工件，大幅度达到省人、省力的效果；能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题， 不再有机台配比不均的烦恼；让机台全天候运转不再难、不再贵，充分挖掘机台产能；让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
2.技术方案
为解决上述问题，本发明采用如下的技术方案。
自动翻料数控车床上下料机，包括桁架机械手，所述桁架机械手上安装有夹爪抓取机构，所述桁架机械手外端安装有备料架，所述备料架外端安装有示教器，可以实现自动翻料数控车床上下料机的有益效果是：通过改制的机器人夹爪抓取机构和备料架上增设的加工面自动翻转机构，可完成工件的自动上下料和工序转换过程中的加工面自动翻转；辅以夹爪抓取机构的自动配合无需要人工翻转工件，大幅度达到省人、省力的效果；能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼；让机台全天候运转不再难、不再贵，充分挖掘机台产能；让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
进一步的，所述桁架机械手包括第一固定支架，与第一固定支架连接的第一导轨和第二固定支架(备料架)，与第一导轨连接的第一活动支架(做左右X轴横向移动，配第一活动支架动力机构)、与第一活动支架连接的第二导轨，与第二导轨连接的第二活动支架(做前后Y轴纵向移动，配第二活动支架动力机构)，与第二活动支架连接的第三导轨，与第三导轨连接的第三活动支架(做上下Z直立移动，配第三活动支架动力机构)，第三活动支架上装设有第一旋转机构(配第一旋转机构动力机构)，第一旋转机构上装设有第一、第二、第三3个夹爪抓取机构(配第一、第二、第三夹爪)；其中第三夹爪抓取机构装设在第一伸缩机构上(第一伸缩机构动力机构)。
进一步的，所述备料架即为第二固定支架，装设有加工面自动翻转机构构和物料托盘一。
进一步的，所述备料架包括第二固定支架，第二固定支架上装设有第二伸缩机构(配第二伸缩机构动力机构)以及物料托盘一、物料托盘二、物料托盘三，第二伸缩机构上装设有第二旋转机构(配第二旋转机构动力机构)，第二旋转机构上装设有第四夹爪抓取机构。
进一步的，所述备料架还可以包括第二固定支架，第二固定支架上装设有第二伸缩机构(配第二伸缩机构动力机构)第二旋转机构(配第二旋转机构动力机构)，第四夹爪抓取机构(配第四夹爪)和物料托盘一。第二伸缩机构上装设有第三伸缩机构(配第三伸缩机构动力机构)和物料托盘二。物料托盘一、二依据工件加工工序数量、尺寸、加工时间、人工搬运能力以及机器人搬运能力设计。
3.有益效果
相比于现有技术，本发明的优点在于：
本方案可以实现自动翻料数控车床上下料机的有益效果是：通过改制的机器人夹爪抓取机构和备料架上增设的加工面自动翻转机构，可完成工件的自动上下料和工序转换过程中的加工面自动翻转；辅以夹爪抓取机构的自动配合无需要人工翻转工件，大幅度达到省人、省力的效果；能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼；让机台全天候运转不再难、不再贵，充分挖掘机台产能；让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
附图说明
图1为本发明的整体的立体图；
图2为本发明的桁架机械手部分的立体图；
图3为本发明的备料架部分的立体图；
图4为本发明的第二固定支架部分的***图；
图5为本发明的第二款备料架部分的立体图；
图6为本发明的第二款第二固定支架部分的***图；
图7为本发明的夹爪抓取机构部分的立体图；
图8为本发明的夹爪抓取机构部分的***图。
图中标号说明：
1备料架、101第二固定支架、102物料托盘二、103第二伸缩机构、104
第二伸缩机构动力机构、105第二旋转机构动力机构、106第二旋转机构、107第四夹爪、108物料托盘三、109物料托盘一、110物料、2桁架机械手、3示教器、4夹爪抓取机构、401第一旋转机构动力机构、402第一夹爪、403第一旋转机构、404第二夹爪、405第一伸缩机构、406第一伸缩机构动力机构、407第三夹爪、5数控机；
101A。
具体实施方式
下面将结合本发明实施例中的附图；对本发明实施例中的技术方案进行清楚、完整地描述；显然；所描述的实施例仅仅是本发明一部分实施例；而不是全部的实施例，基于本发明中的实施例；本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例；都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“上”、“下”、“内”、“外”、“顶/底端”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“设置有”、“套设/接”、“连接”等，应做广义理解，例如“连接”，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
实施例1：
请参阅图1，自动翻料数控车床上下料机，包括桁架机械手，所述桁架机械手上安装有夹爪抓取机构，所述桁架机械手外端安装有备料架，所述备料架外端安装有示教器，可以实现自动翻料数控车床上下料机的有益效果是：通过改制的机器人夹爪抓取机构和备料架上增设的加工面自动翻转机构，可完成工件的自动上下料和工序转换过程中的加工面自动翻转；辅以夹爪抓取机构的自动配合无需要人工翻转工件，大幅度达到省人、省力的效果；能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼；让机台全天候运转不再难、不再贵，充分挖掘机台产能；让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
请参阅图1-2，所述桁架机械手包括第一固定支架，与第一固定支架连接的第一导轨和第二固定支架(备料架)，与第一导轨连接的第一活动支架(做左右X轴横向移动，配第一活动支架动力机构)、与第一活动支架连接的第二导轨，与第二导轨连接的第二活动支架(做前后Y轴纵向移动，配第二活动支架动力机构)，与第二活动支架连接的第三导轨，与第三导轨连接的第三活动支架(做上下Z直立移动，配第三活动支架动力机构)，第三活动支架上装设有第一旋转机构(配第一旋转机构动力机构)，第一旋转机构上装设有第一、第二、第三3个夹爪抓取机构(配第一、第二、第三夹爪)；其中第三夹爪抓 取机构装设在第一伸缩机构上(第一伸缩机构动力机构)。
请参阅图2-3，所述备料架即为第二固定支架，装设有加工面自动翻转机构构和物料托盘一。
请参阅图3-4，所述备料架包括第二固定支架，第二固定支架上装设有第二伸缩机构(配第二伸缩机构动力机构)以及物料托盘一、物料托盘二、物料托盘三，第二伸缩机构上装设有第二旋转机构(配第二旋转机构动力机构)，第二旋转机构上装设有第四夹爪抓取机构，所述备料架还可以包括第二固定支架，第二固定支架上装设有第二伸缩机构(配第二伸缩机构动力机构)第二旋转机构(配第二旋转机构动力机构)，第四夹爪抓取机构(配第四夹爪)和物料托盘一。第二伸缩机构上装设有第三伸缩机构(配第三伸缩机构动力机构)和物料托盘二。物料托盘一、二依据工件加工工序数量、尺寸、加工时间、人工搬运能力以及机器人搬运能力设计。
自动翻料数控车床上下料机，设计有两种加工面自动翻转机构，根据实际情况选用,分别阐述如下：
第一款结构的自动翻料数控车床上下料机为数控车床上下料的工艺路线:
①人工将未加工工件放置在备料架物料托盘一上；
②桁架机械手将未加工工件A从物料托盘一上抓取并送到数控车床卡盘附近,桁架机械手取走已加工工件(第一次没有已加工工件)，放置未加工工件A到卡盘上,卡盘自动夹紧；
③桁架机械手离开数控车床移动到物料托盘二；
④在数控车床加工工件期间，桁架机械手将已加工工件放置到物料托盘二上(第一次没有已加工工件)；
⑤已加工工件A1通过加工面自动翻转机构放置到物料托盘三上(第一次没有已加工工件),达到翻转加工面180°的要求(第一次没有已加工工件)；
⑥桁架机械手从物料托盘三上抓取已翻面的工件A1并送至物料托盘一上放置(第一次没有已加工工件)；
⑦桁架机械手从物料托盘一上抓取未加工工件B，移动到数控车床外等候；
⑧数控车床加工完毕后，三轴机械手移动到数控车床卡盘装夹位，取走已加工工件A1，放置未加工工件B到卡盘上,卡盘自动夹紧；
⑨桁架机械手离开数控车床移动到物料托盘二位置附近；
⑩在数控车床加工工件期间，桁架机械手将已加工工件A1放置到物料托盘二上；
已加工工件A1通过加工面自动翻转机构放置到物料托盘三上,达到翻转加工面180°的要求；
桁架机械手从物料托盘三上抓取已翻面的工件A1并送至物料托盘一上放置；
不断重复以上循环，直到物料托盘上的工件的所有工序加工完毕，不要人工翻料，省时省力,单机自动完成成品的制作。
实施例2：
第二种结构的自动翻料数控设备上下料机如图2所示，传动关系如下：：
第一导轨和备料架安装在第一固定支架上，第二导轨安装在第一导轨上，第三导轨安装在第二导轨上，其中第一、第二、第三导轨做直线运动，3轴联动，依程序设定移动；第一旋转机构装设在第三导轨的安装法兰上，跟随导轨移动；第一旋转机构可进行180°旋转，可实现机构上安装的3个夹爪的位置转换；第一伸缩机构安装在第一旋转机构上，可驱动第三夹爪，实现位置调整；第一、第二、第三3个夹爪实现抓取、放置加工工件；物料托盘一、第四夹爪和第二伸缩机构安装在第二固定支架上，第二伸缩机构可驱动机构上安装的第三伸缩机构，实现位置调整；第四夹爪可进行180°旋转，可抓取、 放置加工工件；第三伸缩机构做直线运动，可驱动机构上安装的物料托盘二，实现位置调整。
第二款结构的自动翻料数控车床上下料机为数控车床上下料的工艺路线:
①人工将未加工工件放置在备料架物料托盘一上；
②桁架机械手将未加工工件A从物料托盘一上抓取并送到数控车床卡盘位置附近,桁架机械手取走已加工工件(第一次没有已加工工件)，放置未加工工件A到卡盘上,卡盘自动夹紧；
③桁架机械手离开数控车床移动到物料托盘二位置附近；
④在数控车床加工工件期间，桁架机械手将已加工工件放置到物料托盘二上(第一次没有已加工工件)；
⑤通过加工面自动翻转机构达到自动翻转加工面180°的要求(第一次没有已加工工件)；
⑥桁架机械手从物料托盘二上抓取已翻面的工件A1并送至物料托盘一上放置(第一次没有已加工工件)；
⑦桁架机械手从物料托盘一上抓取第二个未加工工件B，移动到数控车床外等候；
⑧数控车床加工完毕后，桁架机械手移动到数控车床卡盘位置附近，取走已加工工件A1，放置未加工工件B到卡盘上,卡盘自动夹紧；
⑨桁架机械手离开数控车床移动到物料托盘二位置附近；
⑩在数控车床加工工件期间，桁架机械手将已加工工件A1放置到物料托盘二上；
通过加工面自动翻转机构达到翻转加工面180°的要求(物料已翻面)；
桁架机械手从物料托盘二上抓取已翻面的工件A1并送至物料托盘一上放置；
不断重复以上循环，直到物料托盘上的所有工件的全部工序加工完毕，不要人工翻料，省时省力,单机自动完成成品的制作。
以上两种加工面自动翻转机构所诉工艺路线⑤和依图15所示“加工面自动翻转及夹爪抓取组合工作法”和工件加工需求选定，并按自动翻料数控车床上下料机软件***程序自行完成加工面翻转。“加工面自动翻转及夹爪抓取组合工作法”将会印制并展示在自动翻料数控车床上下料机设备主面，方便操作者使用；
以上所述；仅为本发明较佳的具体实施方式；但本发明的保护范围并不局限于此；任何熟悉本技术领域的技术人员在本发明揭露的技术范围内；根据本发明的技术方案及其改进构思加以等同替换或改变；都应涵盖在本发明的保护范围内。

Claims (5)

  1. 自动翻料数控车床上下料机，包括桁架机械手(2)，其特征在于：所述桁架机械手(2)上安装有夹爪抓取机构(4)，所述桁架机械手(2)外端安装有备料架(1)，所述备料架外端安装有示教器(3)。
  2. 根据权利要求1所述的自动翻料数控车床上下料机，其特征在于：所述桁架机械手(2)包括第一固定支架，与第一固定支架连接的第一导轨和第二固定支架(备料架)，与第一导轨连接的第一活动支架(做左右X轴横向移动，配第一活动支架动力机构)、与第一活动支架连接的第二导轨，与第二导轨连接的第二活动支架(做前后Y轴纵向移动，配第二活动支架动力机构)，与第二活动支架连接的第三导轨，与第三导轨连接的第三活动支架(做上下Z直立移动，配第三活动支架动力机构)，第三活动支架上装设有第一旋转机构(配第一旋转机构动力机构)，第一旋转机构上装设有第一、第二、第三3个夹爪抓取机构(配第一、第二、第三夹爪)；其中第三夹爪抓取机构装设在第一伸缩机构上(第一伸缩机构动力机构)。
  3. 根据权利要求1所述的自动翻料数控车床上下料机，其特征在于：所述备料架即为第二固定支架，装设有加工面自动翻转机构构和物料托盘一。
  4. 根据权利要求1所述的自动翻料数控车床上下料机，其特征在于：所述备料架(1)包括第二固定支架，第二固定支架上装设有第二伸缩机构(配第二伸缩机构动力机构)以及物料托盘一、物料托盘二、物料托盘三，第二伸缩机构上装设有第二旋转机构(配第二旋转机构动力机构)，第二旋转机构上装设有第四夹爪抓取机构。
  5. 根据权利要求1所述的自动翻料数控车床上下料机，其特征在于：所述备料架(1)还可以包括第二固定支架，第二固定支架上装设有第二伸缩机构(配第二伸缩机构动力机构)第二旋转机构(配第二旋转机构动力机构)，第四夹爪抓取机构(配第四夹爪)和物料托盘一。第二伸缩机构上装设有第三伸缩机构(配第三伸缩机构动力机构)和物料托盘二。物料托盘一、二依 据工件加工工序数量、尺寸、加工时间、人工搬运能力以及机器人搬运能力设计。
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CN218855625U (zh) * 2022-06-01 2023-04-14 深圳市富士杰智能技术有限公司 自动翻料数控车床上下料机

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