CN107803700B - Cutting and machining center with automatic loading and unloading of manipulators - Google Patents

Abstract

The invention relates to the field of mechanical processing, and provides a cutting and machining center with automatic loading and unloading of a manipulator, which is used for drilling a workpiece, comprising: a feeding mechanism, a feeding mechanism, a clamping mechanism, a drilling mechanism, and a cutting fluid filtering mechanism and the receiving mechanism; the feeding mechanism is used to provide the workpiece to the feeding mechanism at the feeding position; the feeding mechanism is used to transfer the workpiece from the feeding position to the processing position, and the feeding mechanism is also used to transfer the workpiece from the processing position to the receiving position. , the feeding mechanism is also used to compress the workpiece at the processing position; the clamping mechanism is used to fix the workpiece in the processing position; the drilling mechanism is used to drill the workpiece at the processing position; the receiving mechanism is used to collect the feeding device and transmit it to The workpiece at the receiving position. The machining center with automatic loading and unloading of the manipulator is very simple and convenient for loading, drilling and receiving the workpiece, which can improve the operation efficiency, shorten the time-consuming of the drilling process, and increase the production capacity.

Description

Cutting and machining center with automatic loading and unloading of manipulators

technical field

The invention relates to the field of machining, in particular to a machining center for automatic loading and unloading of materials by a manipulator.

Background technique

In the prior art, the loading and unloading of the drilling device are completed by different mechanisms, and the operations are usually complicated and the efficiency is low, which affects the productivity of automated production. In addition, the mechanism is complex, the cost is high, and the versatility for workpieces of different sizes is not high. In addition, the stability of automatic processing also needs to be improved.

Therefore, it is necessary to provide a new machining center for automatic loading and unloading of materials by manipulators in view of the above problems.

SUMMARY OF THE INVENTION

The invention provides a new cutting machining center with automatic loading and unloading of manipulators, which can meet the requirements of automatic production of efficient loading, high precision, good stability, simple structure and strong versatility.

The invention provides a machining center for automatic loading and unloading of materials by a manipulator, which is used for drilling a workpiece, comprising: a feeding mechanism, a feeding mechanism, a clamping mechanism, a drilling mechanism, a cutting fluid filtering mechanism and a material receiving mechanism; Wherein, the feeding mechanism is used to provide workpieces to the feeding mechanism at the feeding position; the feeding mechanism is used to transfer the workpieces from the feeding position to the processing position, and the feeding mechanism is also used to transfer the workpieces to the processing position. The workpiece in the processing position is transferred to the receiving position, the feeding mechanism is also used for pressing the workpiece at the processing position, and the cutting fluid filtering mechanism is used for collecting iron filings and filtering the cutting fluid; the clamping The mechanism is used for fixing the workpiece at the processing position; the drilling mechanism is used for drilling the workpiece at the processing position; the receiving mechanism is used for collecting the feeding device and transferring it to the receiving The workpiece at the feeding position; the feeding mechanism also includes a beam, a horizontal cylinder, a feeding manipulator, a pressing manipulator and a receiving manipulator; the two ends of the beam are respectively close to the feeding mechanism and the receiving mechanism, and the middle of the beam The point is located above the processing position; the horizontal travel cylinder is used to drive the feeding manipulator, the pressing manipulator and the receiving manipulator to move along the longitudinal extension direction of the beam; when the feeding manipulator is close to the feeding manipulator When the mechanism is used, the workpiece at the feeding position can be clamped, and when the feeding manipulator is close to the processing position, the workpiece can be placed at the processing position; when the pressing manipulator is located above the processing position , the pressing manipulator can press or loosen the workpiece at the processing position; when the receiving manipulator is close to the processing position, it can clamp the workpiece at the processing position, and when the receiving manipulator is close to the processing position During the receiving mechanism, the workpiece can be placed in the receiving position.

The machining center with automatic loading and unloading of the manipulator is very simple and convenient for loading, drilling and receiving the workpiece, which can improve the operation efficiency, shorten the time-consuming of the drilling process, and increase the production capacity.

Preferably, the cutting fluid filtering mechanism includes a water receiving box, a filter box and a water storage box, the table slide rail is located at the upper part of the water receiving box, the filter box is located at the lower part of the water receiving box, and the water storage box The box is located at the lower part of the filter box; the water receiving box includes a water receiving chassis, a fence arranged around the water receiving chassis, and an open channel opened on the water receiving chassis, and is arranged around the open channel There is a guide plate for guiding the flow direction of the cutting fluid, the guide plate is used to prevent the cutting fluid from flowing to the fence along the lower wall of the water-receiving chassis; the cutting fluid and iron filings enter the filter box after passing through the open channel, The iron filings are left in the filter box, the cutting fluid enters the water storage box, and the cutting fluid in the water storage box is transported by the water pump to the table top; the filter box includes a filter bottom plate and is located in front of the filter bottom plate. The filter front plate at the top of the filter plate, the filter rear plate located at the rear of the filter bottom plate, and the filter side plates located on both sides of the filter plate. The filter bottom plate is provided with filter holes for circulating cutting fluid. The position is the lowest part of the filter bottom plate; two handles are arranged on the outside of the filter front plate; the filter front plate is arranged obliquely; between the filter front plate and the water storage box, a The observation port, the filter front plate is located at the upper part of the observation port.

Preferably, the feeding manipulator includes a first air cylinder, a second air cylinder and a feeding jaw, and the first air cylinder is used to drive the second air cylinder and the feeding jaw to move in a vertical direction, so that the The feeding claws approach or move away from the feeding position along the vertical direction, and the feeding claws approach or move away from the processing position along the vertical direction, the second cylinder and the first The piston rod of a cylinder is fixedly connected, and the second cylinder is used for clamping or releasing the workpiece by the feeding jaws.

Preferably, the pressing manipulator includes a third air cylinder and a workpiece pressing block, and the third air cylinder is used to drive the workpiece pressing block to move in a vertical direction, so that the workpiece pressing block can be pressed or loosened. workpiece at the machining position.

Preferably, the receiving manipulator further comprises a fourth air cylinder, a fifth air cylinder, a sixth air cylinder and a receiving jaw, wherein the fourth air cylinder is used to drive the fifth air cylinder, the sixth air cylinder and the receiving jaw Move along the vertical direction, so that the receiving claw approaches or moves away from the processing position along the vertical direction, and makes the receiving claw approach or move away from the receiving position along the vertical direction, the fifth cylinder It is fixedly connected with the piston rod of the fourth cylinder, and the fifth cylinder is used to drive the sixth cylinder and the receiving claw to move along the horizontal and vertical direction of the beam, so that the receiving The material claw approaches or moves away from the position along this direction, the sixth air cylinder and the piston rod of the fifth air cylinder are fixedly connected, and the sixth air cylinder is used to clamp or release the material receiving claw. the mentioned workpiece.

Preferably, it also includes a device base, the feeding mechanism, the feeding mechanism, the clamping mechanism, the drilling mechanism and the receiving mechanism are all arranged on the device base, and the device base includes a base, a table, a table A slide rail and a bracket, the table top is slidably arranged on the base through the table top slide rail, the table top is arranged substantially horizontally and can slide horizontally, and the bracket and the base are fixedly connected.

Preferably, the feeding mechanism includes a feeding base that is fixedly connected to the table top, and the feeding mechanism further includes a feeding sliding rail fixed on the feeding base, and the feeding base is The slide rail and the table top are arranged at a certain angle.

Preferably, the bottom end of the feeding slide rail is provided with a material blocking mechanism, the material blocking mechanism includes a material blocking bracket and a material blocking cylinder, and the material blocking piston rod of the material blocking cylinder can be used to block the material when the material blocking piston rod is extended. The workpiece slides out of the feed slide.

Preferably, a feeding mechanism and a feeding chute are respectively provided on both sides below the feeding slide rail, and the feeding mechanism includes a feeding cylinder and a feeding support, the feeding support and the feeding The sliding rail is fixedly connected to block the workpiece sliding out of the feeding sliding rail, the feeding cylinder is used to push the workpiece blocked by the feeding support bracket to enter, and the feeding sliding rail is used for the feeding One side of the slide rail is also provided with an iron filing blocking mechanism. This setting can prevent the iron scraps generated when drilling the workpiece from splashing and blocking the feeding slide rail.

Preferably, the clamping mechanism includes a processing seat and a clamping seat, the processing seat includes several layers, the layers are detachably connected to each other, and the clamping seat is detachably fixed above the processing seat, The clamping seat is roughly in the shape of a box opened from the top, an opening is provided on the side wall of the clamping seat, and the height of the side wall of the clamping seat is smaller than the height of the workpiece. Such a clamping mechanism can be adapted to workpieces of different sizes, which improves the versatility of a machining center with automatic loading and unloading by a manipulator.

Preferably, the drilling mechanism includes four drilling devices, the drilling devices are detachably fixed to the table surface by bolts, the drilling device includes a base, and a plurality of drilling devices are arranged on the base. For adjusting the hole, the drilling device includes a drilling motor and a drilling head, and the drilling motor is used to drive the drilling head to rotate at a high speed and feed forward.

Description of drawings

1 is a schematic perspective view of a machining center for automatic loading and unloading of materials by a manipulator according to an embodiment of the present invention;

Fig. 2 is the three-dimensional schematic diagram of the machining center of the automatic loading and unloading machine shown in Fig. 1 after the bracket is hidden;

Figures 3 and 7 are three-dimensional schematic views of the feeding mechanism of the cutting and machining center with the automatic loading and unloading of the manipulator shown in Figure 1;

Fig. 4 is a perspective view of the feeding mechanism of the machining center with the automatic loading and unloading of the manipulator shown in Fig. 1;

Fig. 5 is the top view of the machining center with automatic loading and unloading of the manipulator shown in Fig. 1 after the bracket is hidden;

FIG. 6 is a rear plan view of the hidden bracket and the feeding mechanism of the machining center with automatic loading and unloading of the manipulator shown in FIG. 1;

8 is a schematic perspective view of a device seat of a machining center for automatic loading and unloading of materials by a manipulator according to an embodiment of the present invention;

9 is a schematic perspective view of a cutting fluid filtering mechanism of a cutting machining center with automatic loading and unloading by a manipulator according to an embodiment of the present invention;

10 is a schematic perspective view of a water receiving box of a cutting and machining center with automatic loading and unloading by a robot according to an embodiment of the present invention.

in,

1. Cutting and machining center with automatic loading and unloading of manipulators

10. Workpiece 20. Device base

30. Feeding mechanism 40. Feeding mechanism 50. Clamping mechanism

60. Drilling mechanism 70. Receiving mechanism 201. Base

203. Countertops 205. Countertop rails 207. Brackets

301. Feeding base 303. Feeding slide rail 305. Feeding chute

307. Material stopper mechanism 309. Material stopper bracket 311. Material stopper cylinder

313. Feeding bracket 315. Feeding cylinder 317. Feeding mechanism

319. Feeding slide rail 321. Iron filing blocking mechanism 401. Feeding bracket

403a, b. Support feet 405. Beam 407. Horizontal cylinder

409. Feeding manipulator 411. Pressing manipulator 413. Receiving manipulator

415. Dovetail slide table 417. The first cylinder 419. The second cylinder

421. Feeding jaws 423. The third cylinder 425. Workpiece pressing block

427. Fourth cylinder 429. Fifth cylinder 431. Sixth cylinder

433. Receiving jaws 501. Processing seat 503. Clamping seat

505. Opening 601. Drilling device 603. Base

605. Adjusting hole 607. Drilling motor 609. Drilling head

Detailed ways

The present invention will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and simple transformations made by those of ordinary skill in the art according to these embodiments are all included in the protection scope of the present invention.

FIG. 1 to FIG. 10 show a machining center 1 for automatic loading and unloading of materials by a mandrel manipulator according to an embodiment of the present invention. Specifically, as shown in FIG. 1 and FIG. 2 , the machining center 1 with automatic loading and unloading by a manipulator is used for drilling the workpiece 10 . The machining center 1 with automatic loading and unloading by manipulator includes a device base 20 , a feeding mechanism 30 , a feeding mechanism 40 , a clamping mechanism 50 , a drilling mechanism 60 , a receiving mechanism 70 , and a cutting fluid filtering mechanism. The feeding mechanism 30 , the feeding mechanism 40 , the clamping mechanism 50 , the drilling mechanism 60 , the cutting fluid filtering mechanism and the receiving mechanism 70 are all arranged on the device base 20 , and the device base 20 is used to provide support and protection. The feeding mechanism 30 is used to provide the workpiece 10 to the feeding mechanism 40 at the feeding position. The feeding mechanism 40 is used to transfer the workpiece 10 in the feeding position to the processing position. The feeding mechanism 40 is also used for conveying the workpiece 10 in the processing position to the receiving position. The feed mechanism 40 is also used to compress the workpiece in the machining position. The clamping mechanism 50 is used to fix the workpiece 10 in the machining position. The drilling mechanism 60 is used for drilling the workpiece 10 at the machining position. The receiving mechanism 70 is used for collecting the workpieces conveyed by the feeding device 40 to the receiving position. The cutting fluid filter mechanism is used to collect iron filings and filter the cutting fluid.

Continuing to refer to FIG. 1 , the device base 20 includes a base 201 , a table top 203 , a table top slide rail 205 and a bracket 207 . The base 201 is used to provide support. The table top 203 is a substantially rectangular plate-like structure. The table top 203 is slidably arranged on the base 201 through the table top slide rails 205 . The table top 203 is arranged substantially horizontally and can be slid horizontally. The bracket 207 is fixedly connected to the base 201 . The feeding mechanism 30 , the feeding mechanism 40 , the clamping mechanism 50 , the drilling mechanism 60 and the material receiving mechanism 70 are all fixedly arranged on the table top 203 .

The feeding mechanism 30 is shown in FIGS. 3 and 7 . The feeding mechanism 30 includes a feeding base 301 . The feeding base 301 is fixedly connected with the table top 203 . The feeding mechanism 30 further includes a feeding sliding rail 303 fixed on the feeding base 301 . The feeding slide rail 303 and the table top 203 are arranged at a certain angle. The feeding slide rail 303 and the table top 203 are inclined at an angle of approximately 30° to 45°. In order to facilitate the automatic sliding of the workpiece 10 along the feeding slide rail. In the present embodiment, the feeding slide rail 303 is in the shape of a substantially rectangular plate, and a plurality of feeding slide grooves 305 are provided along the longitudinal extension direction thereof. The supplying chute 305 is recessed downward from the upper surface of the supplying rail 303 . Preferably, the feeding chutes 305 are arranged parallel to each other. In this embodiment, three feeding chutes 305 are provided on the feeding slide rail 303 . The bottom end of the feeding slide rail 303 is provided with a material blocking mechanism 307 . The material blocking mechanism 307 includes a material blocking bracket 309 and a material blocking cylinder 311 . The stopper bracket 309 is laterally fixed above the bottom end of the supply slide rail 303 . The stopper cylinder 311 is arranged on the stopper bracket 309 . The stopper piston rod 311a of the stopper cylinder 311 can be used to block the workpiece 10 from sliding out of the feed chute 305 when the stopper piston rod 311a is extended. A feeding mechanism 317 and a feeding chute 319 are respectively provided on both sides below the feeding slide rail 303 . The feeding mechanism 317 includes a feeding cylinder 315 and a feeding support 313 . The feeding bracket 313 is fixedly connected with the feeding slide rail 303 for blocking the workpiece 10 sliding out of the feeding slide rail 303 . The feeding cylinder 315 is fixedly arranged on the feeding bracket 313 . The feeding piston rod of the feeding cylinder 315 moves in a direction perpendicular to the longitudinal extension of the feeding rail 303 to push the workpiece 10 blocked by the feeding bracket 313 into the feeding on the other side of the feeding rail 303 Slide rail 319. The feeding slide rail 319 and the table top 203 are arranged at a certain angle. The feeding piston rod of the feeding cylinder 315 pushes the workpiece 10 into the feeding sliding rail 319 from one side of the top end of the feeding sliding rail 319 . The workpiece 10 pushed into the feeding slide rail 319 can slide down from the top of the feeding slide rail 319 to the bottom end of the feeding slide rail 319 along the feeding slide rail 319 under the push of the mini pushing cylinder 322 . The bottom end of the feeding slide rail 319 is the feeding position. The other side of the feeding slide rail 319 opposite to the feeding slide rail 303 is also provided with an iron filing blocking mechanism 321 , which is used to prevent the splashing of iron filings generated when drilling the workpiece from affecting the blocking of the feeding slide rail 319 . The scrap blocking mechanism 321 is a baffle plate laterally arranged on one side of the feeding slide rail 319 .

Referring to FIG. 4 , the feeding mechanism 40 includes a feeding bracket 401 fixedly connected to the table 203 . The feed support 401 includes two legs 403a, 403b. The lower ends of the legs 403 a and 403 b are fixedly arranged on the table top 203 . One of the legs 403a is arranged near the feeding mechanism 30 , and the other foot 403b is arranged near the receiving mechanism 70 . The feeding support 401 further includes a beam 405 connecting the upper ends of the two legs 403a, 403b. Two ends of the beam 405 are respectively close to the feeding mechanism 30 and the receiving mechanism 70 . The midpoint of the beam 405 is above the machining location.

Continuing to refer to FIG. 4 , the feeding mechanism 40 further includes a traversing cylinder 407 , a feeding manipulator 409 , a pressing manipulator 411 and a receiving manipulator 413 . The traverse cylinder 407 is disposed on the beam 405 to drive the feeding robot 409 , the pressing robot 411 and the receiving robot 413 to move along the longitudinal extension direction of the beam 405 . When the feeding manipulator 409 is close to the feeding mechanism 30, it can grip the workpiece 10 at the feeding position. When the feeding manipulator 409 is close to the processing position, the workpiece 10 can be placed in the processing position; when the pressing manipulator 411 is located above the processing position When the feeding manipulator 411 is pressed, the workpiece 10 in the processing position can be pressed or loosened; when the receiving manipulator 413 is close to the processing position, the workpiece 10 in the processing position can be clamped. The workpiece 10 can be placed in the receiving position. Specifically, a dovetail sliding table 415 is provided below the beam 405 . The longitudinal extension direction of the dovetail slide table 415 is parallel to the longitudinal extension direction of the beam 405 . The feeding manipulator 409 , the pressing manipulator 411 and the receiving manipulator 413 are all arranged on the dovetail sliding table 415 , and can move along the dovetail sliding table 41 under the driving of the horizontal travel cylinder 407 .

Continuing to refer to FIG. 4 , the feeding manipulator 409 includes a first air cylinder 417 , a second air cylinder 419 and a feeding jaw 421 . The first air cylinder 417 is suspended on the dovetail sliding table 415 and is used to drive the second air cylinder 419 and the feeding jaw 421 to move in a direction perpendicular to the table 203, so that the feeding jaw 421 is close to the vertical direction. Or away from the feeding position, and make the feeding jaw 421 approach or away from the processing position along the vertical direction. The second cylinder 419 is fixedly connected to the piston rod of the first cylinder 417 . The second air cylinder 419 is used to make the feeding jaws 421 clamp or loosen the workpiece 10 . Specifically, the traverse cylinder 407 drives the first cylinder 417 to move laterally to a position close to the feeding position, the first cylinder 417 drives the second cylinder 419 to vertically move to a position close to the feeding position, and the second cylinder 419 drives the feeding card The jaws 421 clamp the workpiece 10 at the feeding position. Next, the first cylinder 417 drives the second cylinder 419 to move vertically away from the feeding position, and the traverse cylinder 407 drives the first cylinder 417 to move away from the feeding position and approach the processing position, and then the first cylinder 417 drives the second cylinder 419 to move vertically. Approaching the processing position, the second air cylinder 419 then controls the feeding jaw 421 to release the workpiece 10 and place the workpiece 10 at the processing position.

Continuing to refer to FIG. 4 , the pressing manipulator 411 includes a third air cylinder 423 and a workpiece pressing block 425 . The third air cylinder 423 is suspended on the dovetail slide table 415 and is used to drive the workpiece pressing block 425 to move in a direction perpendicular to the table surface 203 , so that the workpiece pressing block 425 presses or loosens the workpiece 10 in the processing position. Specifically, after the loading manipulator 409 sends the workpiece 10 to the processing position, the traversing cylinder 407 drives the third cylinder 423 to move laterally until the workpiece pressing block 425 is close to the processing position. Next, the third air cylinder 423 drives the workpiece pressing block 425 to approach the processing position along the vertical direction, so that the workpiece pressing block 425 presses the workpiece 10 at the processing position. After the workpiece 10 in the processing position is drilled, the third air cylinder 423 drives the workpiece pressing block 425 away from the processing position in the vertical direction, so that the workpiece pressing block 425 releases the workpiece 10 .

Continuing to refer to FIG. 4 , the receiving manipulator 413 further includes a fourth air cylinder 427 , a fifth air cylinder 429 , a sixth air cylinder 431 and a receiving claw 433 . The fourth cylinder 427 is suspended on the dovetail sliding table 415, and is used to drive the fifth cylinder 429, the sixth cylinder 431 and the receiving claw 433 to move in a direction perpendicular to the table 203, so that the receiving claw 433 moves along the direction perpendicular to the table 203. close to or away from the processing position in the vertical direction, and make the receiving claw 433 close to or away from the receiving position in the vertical direction. The piston rods of the fifth cylinder 429 and the fourth cylinder 427 are fixedly connected. The fifth cylinder 429 is used to drive the sixth cylinder 431 and the receiving claws 433 to move in a direction parallel to the table 203 and perpendicular to the beam 405 , so that the receiving claws 433 approach or move away from the receiving position in this direction. The piston rods of the sixth cylinder 431 and the fifth cylinder 429 are fixedly connected. The sixth air cylinder 431 is used to make the receiving jaws 433 clamp or loosen the workpiece 10 . Specifically, after the workpiece pressing block 425 releases the workpiece 10 at the processing position, the horizontal travel cylinder 407 drives the fourth cylinder 427 to move laterally to the position close to the processing position, and the fourth cylinder 417 drives the fifth cylinder 429 to move vertically to the position close to the processing position. The fifth cylinder 429 drives the sixth cylinder 431 to move in a direction parallel to the table and perpendicular to the beam 405 to a place close to the processing position, and the sixth cylinder 431 drives the receiving jaw 433 to clamp the workpiece 10 at the processing position. . Next, the fourth cylinder 427 drives the fifth cylinder 429 to move vertically away from the feeding position, the horizontal travel cylinder 407 drives the fourth cylinder lateral 427 to move away from the processing position and approach the receiving position, and then the fourth cylinder 417 drives the fifth cylinder 429 to move vertically. Approaching the receiving position, the fifth air cylinder 429 drives the sixth air cylinder 431 to move close to the receiving position in a direction parallel to the table and perpendicular to the beam 405, and the sixth air cylinder 431 drives the receiving jaw 433 to loosen the workpiece 10 and place the workpiece 10. at the receiving location. By adopting the above structure, it is very simple and convenient to carry out material feeding and material receiving operations on the workpiece, which can improve the operation efficiency, shorten the time-consuming of the drilling process, and increase the production capacity.

Referring to FIG. 2 , the clamping mechanism 50 includes a processing seat 501 and a clamping seat 503 . The processing base 501 includes several layers, and the bottom layer is detachably fixed on the table top 203 . The layers are detachably connected to each other, and the height of the processing position can be adjusted by adjusting the number of layers, thereby adjusting the height of the workpiece to be processed. By setting the clamping mechanism in this way, the position of the workpiece can be flexibly adjusted by using a low-cost and simple structure to adapt to various working conditions. The clamping seat 503 is detachably fixed above the processing seat 501 . The clamping base 503 has a substantially box shape opened from the top, and the workpiece 10 can be placed inside the clamping base 503 from above the clamping base 503 . And an opening 505 is provided on the side wall of the clamping seat 503 . The drilling mechanism 60 , the feeding jaws 421 and the receiving jaws 433 can enter the clamping base 503 from the opening 505 to drill the workpiece 10 or clamp the workpiece 10 . The height of the side wall of the clamping seat 503 is smaller than the height of the workpiece 10 . The clamping base 503 can be replaced with other clamping bases 503 according to different workpieces 10 .

Referring to FIGS. 5 and 6 , the drilling mechanism 60 includes four drilling devices 601 . The drilling device 601 is detachably fixed to the table top 203 by means of bolts. Specifically, the drilling device 601 includes a base 603, and the base 603 is provided with a plurality of adjustment holes 605. The position of the drilling device 601 can be adjusted by using a number of different adjustment holes 605 to be installed with the table top 203 . And the adjustment hole 605 is a flat hole, and the relative position of the bolt for fixing the drilling device and the hole can also be adjusted, so that the position of the drilling device 601 can be adjusted. Further, four drilling devices 601 are evenly distributed on the table 203 . Adjacent drilling devices 601 are arranged at an angle of 90°. More specifically, the rear ends of the two drilling devices 601 are disposed on two opposite corners of the table 203 , and the front ends are disposed toward the center of the table 203 . The other two drilling devices 601 are arranged beside the other two opposite corners of the table top 203 . Further, the feeding device and the receiving device are respectively arranged on one side of the drilling device 601 on the opposite corners of the table 203 . Such an arrangement can provide enough space to install the feeding device 40 and provide a space for the feeding device 40 to operate. Further, the drilling device 601 includes a drilling motor 607 and a drilling head 609 . The drilling motor 607 is used to drive the drilling head 609 to rotate at a high speed and feed it forward.

Referring to FIGS. 5 and 6 , the receiving device 70 is generally in the shape of an elongated chute. And the receiving device 70 is arranged at an angle to the table 203 . The upper end is close to the feeding mechanism 40 , and the upper end is the receiving position for receiving the workpiece 10 taken away from the processing position by the receiving manipulator 413 . After the receiving manipulator 413 places the workpiece 10 at the receiving position, the workpiece 10 will slide along the receiving device 70 away from the table 203 for storage or the next process.

Referring to FIG. 6 , the extension directions X2 and X3 of the projection of the sliding direction of the workpiece 10 on the feeding slide rail 303 and the receiving mechanism 70 on the table 203 are adjacent to the feeding slide rail 303 and the feeding mechanism 70 . The extending direction X1 of the drilling device 601 is substantially parallel. On the other hand, the extending direction X4 of the beam 405 of the feeding mechanism 40 and the extending direction X1 of the drilling device 601 form an included angle of approximately 45°. And the center of the beam 405 is located right above the processing position. By adopting the above-mentioned layout method, a sufficiently large working space for drilling can be ensured, so as to avoid clogging of iron filings in a narrow space, and also provide enough working space for the feeding mechanism.

As shown in Fig. 1-Fig. 6, the operation process of the machining center 1 with automatic loading and unloading by the manipulator is as follows: the workpiece 10 slides down from the upper end of the feeding rail 303 to the stopper mechanism 307, and the stopper cylinder 311 drives the stopper. After the piston rod 311a is retracted, the workpiece 10 continues to slide down so as to leave the feed rail 303 . The feeding cylinder 315 pushes the separated workpiece 10 into the feeding chute 319 and slides along the feeding chute 319 to the feeding position. Next, the traverse cylinder 407 drives the first cylinder 417 to move laterally to a position close to the feeding position, the first cylinder 417 drives the second cylinder 419 to vertically move to a position close to the feeding position, and the second cylinder 419 drives the feeding jaws 421 clamps the workpiece 10 in the feeding position. Next, the first cylinder 417 drives the second cylinder 419 to move vertically away from the feeding position, and the traverse cylinder 407 drives the first cylinder 417 to move away from the feeding position and approach the processing position, and then the first cylinder 417 drives the second cylinder 419 to move vertically. Approaching the processing position, the second air cylinder 419 then controls the feeding jaw 421 to release the workpiece 10 and place the workpiece 10 at the processing position. Next, the traverse cylinder 407 drives the third cylinder 423 to move laterally until the workpiece pressing block 425 is close to the processing position. Next, the third air cylinder 423 drives the workpiece pressing block 425 to approach the processing position along the vertical direction, so that the workpiece pressing block 425 presses the workpiece 10 at the processing position. Next, the drilling apparatus 601 drills the workpiece 10 . After the workpiece 10 in the processing position is drilled, the third air cylinder 423 drives the workpiece pressing block 425 away from the processing position in the vertical direction, so that the workpiece pressing block 425 releases the workpiece 10 . Next, the traverse cylinder 407 drives the fourth cylinder 427 to move laterally to the position close to the processing position, the fourth cylinder 417 drives the fifth cylinder 429 to move vertically to the position close to the processing position, and the fifth cylinder 429 drives the sixth cylinder 431 to move parallel to the position The sixth cylinder 431 drives the receiving jaws 433 to clamp the workpiece 10 at the processing position when the table surface is moved to a position close to the processing position in the direction perpendicular to the beam 405 . Next, the fourth cylinder 427 drives the fifth cylinder 429 to move vertically away from the feeding position, the horizontal travel cylinder 407 drives the fourth cylinder lateral 427 to move away from the processing position and approach the receiving position, and then the fourth cylinder 417 drives the fifth cylinder 429 to move vertically. Approaching the receiving position, the fifth air cylinder 429 drives the sixth air cylinder 431 to move close to the receiving position in a direction parallel to the table and perpendicular to the beam 405, and the sixth air cylinder 431 drives the receiving jaw 433 to loosen the workpiece 10 and place the workpiece 10. at the receiving location. Next, the workpiece 10 is slid away from the table 203 along the receiving device 70 for storage or the next process. The above is the working principle and operation process of the machining center with automatic loading and unloading of the manipulator. It is very simple and convenient to carry out the operations of feeding, drilling and receiving the workpiece 10 in the above-mentioned manner. It can greatly improve the operation efficiency, shorten the time-consuming of the drilling process, and increase the production capacity.

8-10, the cutting fluid filtering mechanism includes a water receiving box 212, a filter box 211 and a water storage box 210. The table slide rail 205 is located at the upper part of the water receiving box 212, and the filter box 211 is located at the lower part of the water receiving box 212. The water storage box 210 is located at the lower part of the filter box 211 . The water receiving box 212 includes a water receiving chassis 221, a fence 210 arranged around the water receiving chassis 221, an opening channel 222 opened on the water receiving chassis 221, and a guide plate for guiding the flow direction of the cutting fluid is arranged around the opening channel 222. 223 , the guide plate 223 is used to prevent the cutting fluid from flowing to the fence 210 along the lower wall of the water-receiving chassis 221 . The cutting fluid and iron filings enter the filter box 211 after passing through the open channel 222, the iron filings remain in the filter box 211, the cutting fluid enters the water storage box 210, and the cutting fluid located in the water storage box 210 is transported by the water pump to the table top 203 on. The filter box 211 includes a filter bottom plate 214, a filter front plate 213 located at the front of the filter bottom plate 214, a filter rear plate 215 located at the rear of the filter bottom plate 214, and filter side plates 217 located on both sides of the filter plate 214. There are filter holes 216 for circulating cutting fluid, and the position of the filter holes 216 is the lowest part of the filter bottom plate 214 . Two handles 218 are provided on the outer side of the filter front plate 213 . The filter front plate 213 is arranged in an inclined manner. An observation port 219 is provided between the filter front plate 213 and the water storage box 210 , and the filter front plate 213 is located at the upper part of the observation port 219 .

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the patent of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the claims.

Claims (10)

1. The utility model provides a cutting process center of unloading in manipulator automation for carry out drilling to the work piece, its characterized in that includes: the device comprises a feeding mechanism, a clamping mechanism, a drilling mechanism, a cutting fluid filtering mechanism and a receiving mechanism; the feeding mechanism is used for supplying workpieces to the feeding mechanism at a feeding position; the feeding mechanism is used for conveying the workpieces at the feeding position to a processing position, the feeding mechanism is also used for conveying the workpieces at the processing position to a receiving position, and the feeding mechanism is also used for pressing the workpieces at the processing position; the clamping mechanism is used for fixing the workpiece at the machining position; the drilling mechanism is used for drilling the workpiece at the machining position; the receiving mechanism is used for collecting the workpieces conveyed to the receiving position by the feeding device; the cutting fluid filtering mechanism is used for collecting scrap iron and filtering the cutting fluid; the feeding mechanism further comprises a cross beam, a transverse moving cylinder, a feeding manipulator, a pressing manipulator and a material receiving manipulator; two ends of the cross beam are respectively close to the feeding mechanism and the receiving mechanism, and the middle point of the cross beam is positioned above the processing position; the transverse air cylinder is used for driving the feeding manipulator, the pressing manipulator and the receiving manipulator to move along the longitudinal extension direction of the cross beam;

the cutting fluid filtering mechanism comprises a water receiving box, a filtering box and a water storage box, wherein a table-board slide rail is positioned at the upper part of the water receiving box, the filtering box is positioned at the lower part of the water receiving box, and the water storage box is positioned at the lower part of the filtering box; the water receiving box comprises a water receiving chassis, rails arranged on the periphery of the water receiving chassis and an opening channel arranged on the water receiving chassis, guide plates for guiding the flow direction of cutting fluid are arranged on the periphery of the opening channel, and the guide plates are used for preventing the cutting fluid from flowing to the rails along the lower wall of the water receiving chassis; cutting fluid and scrap iron enter the filter box after passing through the opening channel, the scrap iron is left in the filter box, the cutting fluid enters the water storage box, and the cutting fluid in the water storage box is conveyed to the table top by the water pump; the filter box comprises a filter bottom plate, a filter front plate positioned in the front of the filter bottom plate, a filter rear plate positioned in the rear of the filter bottom plate and filter side plates positioned on two sides of the filter plate, wherein filter holes for circulating cutting fluid are formed in the filter bottom plate, and the positions of the filter holes are the lowest positions of the filter bottom plate; two handles are arranged on the outer side of the filtering front plate; the filtering front plate is arranged in an inclined mode; an observation port is arranged between the filtering front plate and the water storage box, and the filtering front plate is positioned at the upper part of the observation port.

2. The robotic cutting machining center of claim 1 wherein the work piece at the feeding position is gripped by the feeding robot when the feeding robot is proximate to the feeding mechanism and the work piece is placed at the machining position when the feeding robot is proximate to the machining position; when the material pressing mechanical arm is positioned above the processing position, the material pressing mechanical arm can press or release the workpiece on the processing position; when the material receiving manipulator is close to the processing position, the workpiece at the processing position can be clamped, and when the material receiving manipulator is close to the material receiving mechanism, the workpiece can be placed at the material receiving position.

3. The cutting machining center with the manipulator capable of automatically feeding and discharging as claimed in claim 1, wherein the feeding manipulator includes a first cylinder, a second cylinder and a feeding chuck, the first cylinder is used for driving the second cylinder and the feeding chuck to move along a vertical direction, so that the feeding chuck is close to or away from the feeding position along the vertical direction, and the feeding chuck is close to or away from the machining position along the vertical direction, a piston rod of the second cylinder is fixedly connected with a piston rod of the first cylinder, and the second cylinder is used for enabling the feeding chuck to clamp or release the workpiece.

4. The cutting machining center with the manipulator capable of feeding and discharging automatically as claimed in claim 1, wherein the material pressing manipulator comprises a third cylinder and a workpiece pressing block, and the third cylinder is used for driving the workpiece pressing block to move along a vertical direction, so that the workpiece pressing block presses or releases the workpiece at the machining position.

5. The cutting machining center with robot automatic loading and unloading as claimed in claim 1, the material receiving manipulator further comprises a fourth cylinder, a fifth cylinder, a sixth cylinder and a material receiving clamping jaw, wherein the fourth cylinder is used for driving the fifth cylinder, the sixth cylinder and the material receiving clamping jaw to move along the vertical direction, so that the material receiving clamping jaw is close to or far away from the processing position along the vertical direction, and the material receiving clamping jaws are close to or far away from the material receiving position along the vertical direction, piston rods of the fifth air cylinder and the fourth air cylinder are fixedly connected, the fifth cylinder is used for driving the sixth cylinder and the material receiving clamping jaw to move along the direction which is horizontal and vertical to the cross beam, therefore, the material receiving clamping jaws are close to or far away from the material receiving position along the direction, the piston rods of the sixth air cylinder and the fifth air cylinder are fixedly connected, and the sixth air cylinder is used for enabling the material receiving clamping jaws to clamp or loosen the workpiece.

6. The cutting center with the robot capable of feeding and discharging material automatically as claimed in claim 1, further comprising a device base, wherein the feeding mechanism, the clamping mechanism, the drilling mechanism and the material receiving mechanism are all disposed on the device base, the device base comprises a base, a table slide rail and a bracket, the table is slidably disposed on the base through the table slide rail, the table is disposed substantially horizontally and can slide horizontally, and the bracket is fixedly connected to the base.

7. The cutting machining center with the manipulator capable of feeding and discharging automatically as claimed in claim 6, wherein the feeding mechanism comprises a feeding base fixedly connected with the table top, and further comprises a feeding slide rail fixed on the feeding base, and the feeding slide rail and the table top are arranged at a certain angle.

8. The cutting machining center with the manipulator capable of feeding and discharging automatically as claimed in claim 7, wherein a material blocking mechanism is arranged at the bottom end of the feeding slide rail and comprises a material blocking support and a material blocking cylinder, and a material blocking piston rod of the material blocking cylinder can be used for blocking the workpiece from sliding out of the feeding slide rail when in an extending state.

9. The cutting machining center with the manipulator capable of feeding and discharging automatically as claimed in claim 8, wherein a feeding mechanism and a feeding chute are respectively arranged on two sides below the feeding slide rail, the feeding mechanism comprises a feeding cylinder and a feeding support, the feeding support is fixedly connected with the feeding slide rail and used for blocking a workpiece sliding out of the feeding slide rail, the feeding cylinder is used for pushing the workpiece blocked by the feeding support into the feeding slide rail, and an iron scrap blocking mechanism is further arranged on one side of the feeding slide rail.

10. The cutting machining center with the robot arm capable of feeding and discharging automatically as claimed in claim 1, wherein the clamping mechanism includes a machining seat and a clamping seat, the machining seat includes a plurality of layers which are detachably connected with each other, the clamping seat is detachably fixed above the machining seat, the clamping seat is substantially box-shaped and is opened from the upper part, an opening is provided on a side wall of the clamping seat, and the height of the side wall of the clamping seat is smaller than that of the workpiece.