CN113878398B

CN113878398B - Automatic feeding and discharging truss robot of numerical control lathe

Info

Publication number: CN113878398B
Application number: CN202111268254.8A
Authority: CN
Inventors: 呼咏; 赵叶梅; 呼烨; 李松林; 刘绅; 李俊蓉; 曹可新; 陈浩东
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2024-04-19
Anticipated expiration: 2041-10-29
Also published as: CN113878398A

Abstract

The invention provides an automatic feeding and discharging truss robot of a numerical control lathe, wherein a four-bar type XY axis moving part is arranged at the top of a supporting seat, a Z axis moving part is arranged on the four-bar type XY axis moving part, and the Z axis moving part can move along the front-back direction of a horizontal plane, namely the X axis direction, and the left-right direction of the horizontal plane, namely the Y axis direction; the lower end of the Z-axis moving part is provided with a grabbing manipulator which can be driven to reciprocate along the vertical direction, namely the Z-axis direction; the grabbing manipulator is of an L-shaped design, and the grabbing manipulator is provided with two grippers, so that the feeding and discharging processes can be completed in one step; the rotary material table is arranged in front of the lathe and used for storing materials and can rotate, 64 material placing positions are arranged on the rotary material table, 64 materials can be placed in one feeding, and the truss robot mounting and positioning device is arranged on the rotary material table and can position and lift a workpiece; the invention can finish the feeding and discharging processes in one step, saves time and improves the material taking and placing efficiency.

Description

Automatic feeding and discharging truss robot of numerical control lathe

Technical Field

The invention belongs to the field of automatic feeding and discharging auxiliary equipment of machine tools, and particularly relates to an automatic feeding and discharging truss robot of a numerical control lathe.

Background

In the modern industry, automation has become an prominent subject of modern manufacturing, with robots being the dominant trend in the development of the automation industry. In industrial production, the robot not only can improve industrial production efficiency and product quality, but also can replace human beings to complete some simple, repeated and even dangerous works, thereby reducing the labor intensity of the human beings. In recent years, the combination of a numerical control machine tool and a robot has become an important development direction, while a truss robot belongs to a rectangular coordinate robot, can realize automatic control, and is a multifunctional and multipurpose robot based on a space XYZ rectangular coordinate system, and the robot can realize repeated programming, multiple degrees of freedom and mutual rectangular movement.

However, most of large-scale production workshops in China still rely on manual work to carry and load and unload workpieces, so that the labor intensity is high, the efficiency is low, and the development requirement of production automation is not met by a manual production line.

Disclosure of Invention

In order to solve the problems, the invention aims to provide the automatic feeding and discharging truss robot for the numerically controlled lathe, which combines the structure of the numerically controlled lathe and the robot technology, has high automation degree and production efficiency and can realize one-step feeding and discharging on the manipulator.

The invention provides the following technical scheme for solving the problems:

The automatic feeding and discharging truss robot for the numerical control lathe comprises a supporting seat, an XYZ (X/Y) shaft moving part, a grabbing manipulator, a rotating material table and a truss robot mounting and positioning device, wherein the XYZ shaft moving part is arranged at the top of the supporting seat, the grabbing manipulator is arranged on the XYZ shaft moving part, and the XYZ shaft moving part can drive the grabbing manipulator to reciprocate along the front and back directions of a horizontal plane, namely the X-axis direction, the left and right directions of the horizontal plane, namely the Y-axis direction, and the vertical direction, namely the Z-axis direction; the grabbing mechanical arm is provided with two grippers, so that the feeding and discharging processes can be completed in one step; the rotary material platform is arranged in front of the lathe and located below the grabbing manipulator and used for storing materials and capable of rotating, the rotary material platform is provided with 64 positions for storing the materials, and the truss robot installation positioning device is arranged on the rotary material platform and can position and lift the materials.

The further technical scheme comprises the following steps:

the support seat comprises a first support seat and a second support seat which are arranged at intervals in the vertical direction;

The XYZ-axis moving part comprises a first X-axis, a second X-axis, a first Y-axis, a second Y-axis and a Z-axis moving part, wherein the first X-axis is fixed at the top of the first supporting seat, the second X-axis is fixed at the top of the second supporting seat, one end of the first Y-axis is fixed on the first X-axis through a first Y-axis a fixing plate, and the other end of the first Y-axis is fixed on the second X-axis through a first Y-axis b fixing plate; one end of a second Y shaft is arranged on the first X shaft through a first sliding block mounting seat, and the other end of the second Y shaft is arranged on the second X shaft through a second sliding block mounting seat; the Z-axis moving part is arranged on a Z-axis moving part mounting seat of the second Y-axis, and the grabbing manipulator 6 is arranged on the Z-axis moving part 5; the first driving motor and the second driving motor synchronously rotate to drive the second Y-axis moving part and the Z-axis moving part to realize movement in the X-axis direction, the third driving motor and the fourth driving motor synchronously operate to drive the Z-axis moving part to move along the Y-axis, and the Z-axis moving part drives the grabbing manipulator to move along the Z-axis, so that the grabbing manipulator is moved along the X-axis, the Y-axis and the Z-axis.

The first X-axis and the second X-axis are identical in structure, and the first X-axis comprises: the device comprises a first driving motor, a first screw rod module, a first linear guide rail sliding block set, a first sliding block mounting seat, a first Y-axis a fixing plate and a first ranging sensor;

The second X-axis includes: the first distance measuring device comprises a first driving motor, a first lead screw module, a first linear guide rail sliding block set, a first sliding block mounting seat, a first Y-axis b fixing plate and a first distance measuring sensor;

the first Y-axis includes: the device comprises a third driving motor, a third linear guide rail sliding block set, a third screw rod module, an X-axis moving sliding seat, an X-axis moving sliding rod and a third sliding block mounting seat;

the second Y-axis includes: the Z-axis moving part comprises a fourth driving motor, a fourth screw rod module and a Z-axis moving part mounting seat;

The Z-axis moving part comprises a hydraulic driving part and an electric driving part, wherein the hydraulic driving part comprises a hydraulic cylinder, a sliding sleeve and a sliding rod; the electric driving part comprises a first connecting plate, a second connecting plate, a third connecting plate, a motor, a first connecting rod, a second connecting rod, a sliding circular plate, a fixed rod, a screw rod and a moving plate;

The first lead screw module is arranged on the first supporting seat, an output shaft of the first driving motor is connected with a lead screw of the first lead screw module through a coupler, two ends of the lead screw are arranged on a bottom plate of the first lead screw module through bearing blocks, the first linear guide rail group is arranged on the bottom plate of the first lead screw module, the first slide block mounting seat is arranged on a slide block of the first linear guide rail group and a slide block of the first lead screw module, the first Y-axis a fixing plate is fixed on the bottom plate of the first lead screw module, and the first ranging sensor is arranged on the bottom plate of the first lead screw module; the second lead screw module is arranged on the second supporting seat, an output shaft of the second driving motor is connected with a lead screw of the second lead screw module through a coupler, two ends of the lead screw are arranged on a bottom plate of the second lead screw module through bearing blocks, the second linear guide rail group is arranged on the bottom plate of the second lead screw module, the second slide block mounting seat is arranged on a slide block of the second linear guide rail group and a slide block of the second lead screw module, the first Y-axis b fixing plate is fixed on the bottom plate of the second lead screw module, and the second ranging sensor is arranged on the bottom plate of the second lead screw module; the two ends of the third screw rod module are respectively arranged on the first Y-axis a fixing plate and the first Y-axis b fixing plate, an output shaft of the third driving motor is connected with a screw rod of the third screw rod module through a coupler, and the two ends of the screw rod are arranged on a bottom plate of the third screw rod module through bearing seats; the third linear guide rail sliding block set is arranged on a bottom plate of the third screw rod module, the X-axis moving sliding seat is arranged on a third sliding block mounting seat, and the third sliding block mounting seat is arranged on a sliding block of the third linear guide rail set and a sliding block of the third screw rod module; the two ends of the fourth screw rod module are respectively arranged on the first sliding block mounting seat and the second sliding block mounting seat, the output shaft of the fourth driving motor is connected with the screw rod of the fourth screw rod module through a coupler, the two ends of the screw rod are arranged on the bottom plate of the fourth screw rod module through bearing blocks, and the Z-axis moving part mounting seat is arranged on the sliding block of the fourth screw rod module; the cylinder body of a hydraulic cylinder in the hydraulic driving part of the Z-axis moving part is fixedly arranged in the mounting seat of the Z-axis moving part, the lower end of the cylinder body of the hydraulic cylinder is fixedly connected with the upper end of the sliding sleeve, one end of the X-axis moving sliding rod is fixed on the sliding sleeve, and the other end of the X-axis moving sliding rod is arranged in the X-axis moving sliding seat, so that the X-axis moving sliding rod can slide in the X-axis moving sliding seat, and the X-axis moving sliding rod can slide along the X-axis direction; the sliding rod of the hydraulic cylinder is arranged in the sliding sleeve, and the upper end of the sliding rod is fixedly connected with the hydraulic rod of the hydraulic cylinder, so that the sliding rod can move up and down in the sliding sleeve along with the movement of the hydraulic rod when the hydraulic cylinder operates, and the preliminary movement of the Z-axis moving part along the Z-axis direction is realized;

In the electric drive part of the Z-axis moving part, a first connecting plate is fixedly connected with the bottom of a sliding rod, the first connecting plate is fixedly connected with a second connecting plate through four first connecting rods, a motor is fixed on the second connecting plate through a motor mounting seat, an output shaft of the motor is connected with a screw rod through a coupler to drive the screw rod to operate, two ends of the screw rod are respectively arranged on the second connecting plate and a third connecting plate through screw rod supporting seats, the second connecting plate is fixedly connected with the third connecting plate through four second connecting rods, a screw rod nut in the screw rod is fixedly connected with a sliding circular plate, the sliding circular plate is located between the second connecting plate and the third connecting plate and can move up and down along with the screw rod nut of the screw rod, two fixing rods on the sliding circular plate penetrate through the third connecting plate and are fixedly connected with the moving plate, the moving plate and a rotary cylinder of a grabbing manipulator are fixedly connected with the screw rod, and the sliding circular plate moves up and down along with the operation of the screw rod, so that the moving plate is driven to move up and down, and the Z-axis moving part is accurately moved.

The grabbing manipulator comprises: the device comprises a rotary cylinder, an L-shaped gripper overturning device, a first gripper and a second gripper, wherein the upper part of the rotary cylinder is arranged on a moving plate of a Z-axis moving part, the lower end of the rotary cylinder is fixedly connected with the L-shaped gripper overturning device, and the rotary cylinder can rotate to drive the L-shaped gripper overturning device to rotate in the horizontal plane, so that the position of the gripper is converted in the horizontal plane; the first handle is installed on the second turnplate, and the second handle is installed on the first turnplate, and the first turnplate and the second turnplate carry out 90-degree overturning in the vertical direction, so that the grabbing directions of the second handle and the first handle are changed, and vertical and transverse taking and placing of materials are realized.

The L-shaped gripper overturning device comprises an L-shaped fixed seat, wherein the L-shaped fixed seat is provided with two extending shells which are arranged at 90 degrees, two extending shells are internally provided with two groups of overturning mechanisms with the same structure, each overturning mechanism comprises an overturning device motor, a worm gear mechanism and an overturning disc, the overturning disc is arranged at the outer side of the extending shells and is fixedly connected with two ends of a worm wheel shaft in the worm gear mechanism in a coaxial manner with the worm wheel shaft, balancing weights are arranged on opposite sides of the two extending shells, balance of the L-shaped gripper overturning device is achieved, the worm gear mechanism is driven by the overturning device motor to operate, and 90-degree overturning of the overturning disc along the axis of a worm wheel is achieved.

The first handle and the second handle are the same in structure and comprise: the device comprises a gripper motor, a front lead screw, two groups of fixed bars, four groups of arc bars, an anti-collision sensor, four groups of movable bars, four grabbing claws and a fixed bar fixing plate, wherein an output shaft of the gripper motor is connected with the front lead screw and the back lead screw through a coupler, the rotation directions of two sections of external threads which are equally divided on the front lead screw and the back lead screw are opposite, nuts which are in threaded connection are respectively arranged on the two sections of external threads of the front lead screw and the back lead screw, one end of each of the two groups of arc bars is hinged to the outer side of one nut of the front lead screw and the back lead screw, one end of each of the other two groups of arc bars is hinged to the outer side of the other nut of the front lead screw and the back lead screw, and the other ends of the four groups of arc bars are respectively hinged to one grabbing claw; one end of each of the two groups of movable rods is hinged to the inner side of one nut, one end of the other two groups of movable rods is hinged to the inner side of the other nut, and the other ends of the four groups of movable rods are respectively hinged to the middle positions of the corresponding arc-shaped rods; one end of two sets of fixed levers is articulated on fixed lever fixed plate, and the other end of two sets of fixed levers articulates on grabbing claw, and fixed lever fixed plate is fixed on the up end of turnover dish, and the positive and negative lead screw of tongs motor drive for two nuts motions of positive and negative lead screw, thereby grab the claw and tighten up when two nuts move to both sides, thereby grab the work piece when two nuts move in opposite directions, thereby grab the claw and loosen the work piece and realize getting of work piece and put, anticollision sensor installs in the outside of one of them grab the claw, can be when getting and put the work piece the distance of real-time detection grabbing claw and other positions, prevent grabbing the claw and collide with other positions.

The rotary material table comprises a support, a driving device, a conveying device, a rotating device, a workpiece mounting and positioning device and a positioning and jacking mechanism, wherein the support is a main body supporting structure of the rotary material table and comprises a support inner ring and a support outer ring, the conveying device is mounted on the support inner ring, the rotating device is mounted on the support outer ring, a mounting plate of the workpiece mounting and positioning device is fixedly mounted on a rotating table of the rotating device, the inner side of the workpiece mounting and positioning device is connected with the conveying device through bolts, two positioning and jacking mechanisms are mounted on the rotary material table, one positioning and jacking mechanism is mounted on the support below a fixed grabbing position of a grabbing manipulator, and the other positioning and jacking mechanism is mounted at the edge position of the rotary material table;

the transmission device comprises a driving wheel, a driven wheel, a synchronous belt and a synchronous chain, an output shaft of the driving device is connected with the driving wheel through a coupler, the driving wheel is connected with the driven wheel through the synchronous belt, the synchronous chain is sleeved outside the synchronous belt and moves synchronously with the synchronous belt, the driving device drives the driving wheel to rotate, and the driven wheel is driven to rotate through the synchronous belt and the synchronous chain, so that the rotation of the transmission device is realized;

The rotating device comprises: the device comprises a rotating track and a rotating platform, wherein the bottom of the rotating platform is provided with a pulley, and the pulley is arranged in a slideway in the rotating track; the rotation material platform is provided with 32 work piece installation positioner, and every work piece installation positioner has two work piece lift barrels that the symmetry set up to be used for laying the material, consequently has 64 material to lay the position, and work piece installation positioner includes: the workpiece lifting device comprises a mounting plate, a workpiece centering chuck and workpiece lifting cylinders, wherein the bottom of the workpiece centering chuck is fixedly connected with a top plate of the workpiece cylinder, the bottom of the top plate of the workpiece cylinder is fixedly mounted on the mounting plate, the two workpiece lifting cylinders are symmetrically mounted on the mounting plate, each workpiece lifting cylinder comprises a workpiece cylinder and a movable bottom, the movable bottom is mounted in the workpiece cylinder and can slide up and down in the workpiece cylinder, and the workpiece lifting device is convenient to position and lift the workpiece.

The positioning and jacking mechanism comprises: the support, the jacking pneumatic cylinder, the slide rail, the thimble board, location thimble and jacking thimble, the slide rail is installed on the support side, the support is fixed on the support, jacking pneumatic cylinder fixed mounting is on the bottom plate of support, the thimble board is fixed on the piston rod of jacking pneumatic cylinder, the thimble board side has the spout that corresponds with slide rail complex, can make the thimble board slide on the slide rail, location thimble and jacking thimble fixed mounting are on the thimble board, the piston rod stretches out when the jacking pneumatic cylinder moves, the spout on the thimble board is followed the slide rail and is upwards moved, four holes on the location thimble corresponds the mounting panel, realize the locate function to work piece installation positioner, the jacking thimble carries out the jacking to the movable bottom, realize the jacking effect to the work piece in the work piece lift cylinder.

The truss robot installation positioning device comprises an L-shaped fixing plate and a positioning plate, wherein the vertical part of the fixing plate is fixed on the inner side of the first supporting seat, and when the second Y-axis is located at the initial position moving along the X-axis, namely the position closest to the first Y-axis, the central line of a sliding rod on the Z-axis moving part is vertical to the central line of the fixing plate along the Y-axis direction and is in the same plane, and the positioning plate is vertically arranged and fixedly connected with the end part of the horizontal part of the fixing plate.

Compared with the prior art, the invention has the beneficial effects that:

According to the automatic feeding and discharging truss robot of the numerical control lathe, provided by the invention, the motor is adopted to drive, and the combination mode of the lead screw and the guide rail can improve the operation precision and the operation stability of the workbench; the Z-axis moving part adopts an electric and liquid combined operation mode, the first stage adopts a hydraulic cylinder to control lifting mode, the operation is stable and quick, the lifting speed can be controlled by adopting an electric drive screw rod to control lifting mode, the precision is high, the grabbing manipulator can stably and accurately reach the grabbing position, and the anti-collision sensor is arranged on the paw, so that the position information of the paw can be fed back in time, and the paw is prevented from colliding with other parts; for convenient operating personnel operation, can leave the space before the lathe, rotatory material platform is placed before the lathe during processing, for traditional material platform places the mode on the lathe limit, saves more space, and rotatory material platform makes snatch the manipulator and get at fixed position and put the work piece, has the function that the work piece is automatic centering and control work piece goes up and down, can improve speed and the accuracy that the work piece was snatched for the work piece is got and is put more convenient and fast, the unloading of being particularly useful for long axle type work piece.

Drawings

The invention is further described below with reference to the accompanying drawings:

Fig. 1 is a schematic structural diagram of an automatic feeding and discharging truss robot of a numerically controlled lathe.

Fig. 2 is an isometric view of an automatic loading and unloading truss robot for a numerically controlled lathe.

Fig. 3 is a partially enlarged view of fig. 1a, i.e., a schematic structural view of an electric driving part of the Z-axis moving part in the present invention.

Fig. 4 is a schematic structural view of the grabbing manipulator in the present invention.

Fig. 5 is a partially enlarged view of fig. 1B, which is a schematic view of a workpiece mounting and positioning device and a positioning and lifting mechanism in a rotary table according to the present invention.

FIG. 6 is a schematic view of a workpiece lifting cylinder in a rotary table according to the present invention

Fig. 7 is a schematic structural view of a positioning and lifting mechanism in a rotary material in the present invention.

Fig. 8 is a top view of a rotary table according to the present invention.

Fig. 9 is a schematic partial structure of a rotary table according to the present invention.

Fig. 10 is a schematic structural view of the Z-axis moving part in the present invention.

Fig. 11 is a schematic structural view of the first X-axis in the present invention.

Fig. 12 is a schematic view of a second Y-axis structure in the present invention.

Fig. 13 is a schematic structural view of the first gripper according to the present invention.

In the figure: 1. first X-axis, 2, second X-axis, 3, first Y-axis, 4, second Y-axis, 5.Z-axis moving part, 6, gripping robot, 7, rotary table, 8, truss robot mounting positioning device, 9, support base, 10, four-bar XY-axis moving part, 11, first drive motor, 12, first screw module, 13, first linear guide slider group, 14, first slider mount, 15, first Y-axis a fixed plate, 16, first distance measuring sensor, 21, second drive motor, 22, second screw module, 23, second linear guide slider group, 24, second slider mount, 25, first Y-axis b fixed plate, 26, second distance measuring sensor, 31, third drive motor, 32, third linear guide slider group, 33, third screw module, 34, 35, X-axis moving slider, 36, 41, fourth drive motor, 42, fourth lead screw module, 43, Z-axis moving part mounting seat, 51, hydraulic cylinder, 52, sliding sleeve, 53, sliding rod, 55, motor, 57, sliding circular plate, 58, lead screw, 59, moving plate, 61, rotating cylinder, 62, L-shaped gripper turning device, 63, first gripper, 64, second gripper, 71, bracket, 72, driving device, 73, transmitting device, 74, rotating device, 75, workpiece mounting positioning device, 76, positioning and lifting mechanism, 81, fixing plate, 82, positioning plate, 91, first supporting seat, 92, second supporting seat, 541, first connecting plate, 542, second connecting plate, 543, third connecting plate, 561, first connecting rod, 562, second connecting rod, 571, fixing rod 621, L-shaped fixing seat, 622, first turning device motor, 623, first worm gear mechanism, 624, 625. the second flipping device motor 626, the second worm gear mechanism 627, the second flipping disc 631, the first gripper motor 632, the first positive and negative screw, 633, the first fixed rod 634, the first arc rod 635, the first anti-collision sensor 636, the first movable rod 637, the first grabbing claw 638, the first fixed rod fixing plate 641, the second gripper motor 642, the second positive and negative screw, 643, the second fixed rod 644, the second arc rod 645, the second anti-collision sensor 646, the second movable rod 647, the second grabbing claw 648, the second fixed rod fixing plate 731, the driving wheel 732, the driven wheel 733, the synchronous belt 734, the synchronous chain 741, the rotating track 742, the rotating table 751, the mounting plate 752, the workpiece centering chuck 753, the workpiece lifting cylinder 761, the support seat 764, the lifting cylinder 762, the slide rail 763, the lifting plate 764, the workpiece cylinder 7531, the movable bottom 7532, the lifting positioning table 1, and the lifting 2.

Detailed Description

The invention is described in detail below with reference to the attached drawing figures:

the invention is further described in connection with the following detailed description.

As shown in fig. 1 and 2, the invention provides an automatic feeding and discharging truss robot of a numerically controlled lathe, which comprises a supporting seat 9, an XYZ shaft moving part 10, a grabbing manipulator 6, a rotary material table 7 and a truss robot mounting and positioning device 8. The support base 9 is provided with an XYZ-axis moving part 10, the grabbing manipulator 6 is arranged on the XYZ-axis moving part 10, and the XYZ-axis moving part 10 can drive the grabbing manipulator 6 to reciprocate along a horizontal front-back direction, namely an X-axis direction, a horizontal left-right direction, namely a Y-axis direction, and a vertical direction, namely a Z-axis direction; the grabbing mechanical arm 6 is provided with two grippers, and the feeding and discharging processes can be completed in one step. The rotary material table 7 is arranged in front of the lathe and located below the grabbing manipulator 6 and can rotate, the rotary material table 7 has 64 positions for placing materials, 64 materials can be placed in one feeding, and the feeding and discharging times of workers can be reduced. The X-axis, Y-axis and Z-axis movement of the workpiece is realized through the XYZ-axis moving part 10, the material is grabbed at a fixed position through the rotary material table 7 and the two grippers, and the feeding and discharging of the workpiece are realized in one step.

In the present embodiment, the XYZ-axis moving part 10 includes a first X-axis 1, a second X-axis 2, a first Y-axis 3, a second Y-axis 4, and a Z-axis moving part 5. Wherein, the first X-axis 1 is fixed on the top of the first supporting seat 91, the second X-axis 2 is fixed on the top of the second supporting seat 92, and one end of the first Y-axis 3 is fixed on the first X-axis 1 through the first Y-axis a fixing plate 15; the other end of the first Y-axis 3 is fixed on the second X-axis 2 through a first Y-axis b fixing plate 25; one end of a second Y-axis 4 is arranged on the first X-axis 1 through a first sliding block mounting seat 14, the other end of the second Y-axis 4 is arranged on the second X-axis 2 through a second sliding block mounting seat 24, a Z-axis moving part 5 is arranged on a Z-axis moving part mounting seat 43 of the second Y-axis 4, and a grabbing manipulator 6 is arranged on the Z-axis moving part 5; the first driving motor 11 and the second driving motor 21 synchronously rotate to drive the second Y-axis 4 and the Z-axis moving part 5 to realize movement in the X-axis direction, the third driving motor 31 and the fourth driving motor 41 synchronously operate to drive the Z-axis moving part 5 to move along the Y-axis, and the Z-axis moving part 5 drives the grabbing manipulator 6 to move along the Z-axis, so that the grabbing manipulator 6 is moved along the X-axis, the Y-axis and the Z-axis;

In this embodiment, the first X-axis 1 and the second X-axis 2 have the same composition structure, and the first X-axis 1 includes: the first driving motor 11, the first screw rod module 12, the first linear guide rail sliding block set 13, the first sliding block mounting seat 14, the first Y-axis a fixing plate 15 and the first ranging sensor 16; the second X-axis 2 includes: the second driving motor 21, the second screw rod module 22, the second linear guide rail sliding block set 23, the second sliding block mounting seat 24, the first Y-axis b fixing plate 25 and the second ranging sensor 26. The first Y-axis 3 includes: the third driving motor 31, the third linear guide rail slide block group 32, the third screw rod module 33, the X-axis moving slide 34, the X-axis moving slide rod 35 and the third slide block mounting seat 36; the second Y-axis 4 comprises: a fourth driving motor 41, a fourth screw module 42, and a Z-axis moving part mount 43;

The Z-axis moving section 5 includes a hydraulic driving section and an electric driving section, wherein the hydraulic driving section includes: a hydraulic cylinder 51, a sliding sleeve 52 and a sliding rod 53; the electric drive section includes: the first connection plate 541, the second connection plate 542, the third connection plate 543, the motor 55, the first link 561, the second link 562, the sliding circular plate 57, the fixed rod 571, the screw 58, and the moving plate 59;

As shown in fig. 11, the first screw module 12 is mounted on the first supporting seat 91, the output shaft of the first driving motor 11 is connected with the screw of the first screw module 12 through a coupling, two ends of the screw are mounted on the bottom plate of the first screw module 12 through bearing blocks, the first linear guide rail group 13 is mounted on the bottom plate of the first screw module 12, the first slider mounting seat 14 is mounted on the slider of the first linear guide rail group 13 and the slider of the first screw module 12, so as to ensure that the first screw module 12 can synchronously move with the first linear guide rail group 13, the first Y-axis a fixing plate 15 is fixedly mounted on the bottom plate of the first screw module 12, and the first ranging sensor 16 is mounted on the bottom plate of the first screw module 12; the second screw rod module 22 is arranged on the second supporting seat 92, an output shaft of the second driving motor 21 is connected with a screw rod of the second screw rod module 22 through a coupler, two ends of the screw rod are arranged on a bottom plate of the second screw rod module 22 through bearing blocks, the second linear guide rail group 23 is arranged on the bottom plate of the second screw rod module 22, the second slide block mounting seat 24 is arranged on a slide block of the second linear guide rail group 23 and a slide block of the second screw rod module 22, the second screw rod module 22 and the second linear guide rail group 23 can synchronously move, the first Y-axis b fixing plate 25 is fixedly arranged on the bottom plate of the second screw rod module 22, and the second ranging sensor 26 is arranged on the bottom plate of the second screw rod module 22; the two ends of the third screw rod module 33 are respectively arranged on the first Y-axis a fixing plate 15 and the first Y-axis b fixing plate 25, the output shaft of the third driving motor 31 is connected with the screw rod of the third screw rod module 33 through a coupler, the two ends of the screw rod are arranged on the bottom plate of the third screw rod module 33 through bearing blocks, the third linear guide rail group 32 is arranged on the bottom plate of the third screw rod module 33, the X-axis moving sliding seat 34 is arranged on the third sliding block mounting seat 36, and the third sliding block mounting seat 36 is arranged on the sliding block of the third linear guide rail group 32 and the sliding block of the third screw rod module 33; both ends of the fourth screw module 42 are respectively mounted on the first slider mount 14 and the second slider mount 24; as shown in fig. 12, an output shaft of the fourth driving motor 41 is connected with a screw of the fourth screw module 42 through a coupling, both ends of the screw are mounted on a bottom plate of the fourth screw module 42 through bearing blocks, and a Z-axis moving part mounting seat 43 is mounted on a slider of the fourth screw module 42;

The cylinder body of a hydraulic cylinder 51 in the hydraulic driving part of the Z-axis moving part 5 is fixedly arranged in a Z-axis moving part mounting seat 43, the lower end of the cylinder body of the hydraulic cylinder 51 is fixedly connected with the upper end of a sliding sleeve 52, one end of an X-axis moving sliding rod 35 is fixed on the sliding sleeve 52, and the other end of the X-axis moving sliding rod is arranged in an X-axis moving sliding seat 34, so that the X-axis moving sliding rod 35 can slide in the X-axis moving sliding seat 34, and the X-axis moving sliding rod can slide along the X-axis direction; the sliding rod 53 of the hydraulic cylinder is arranged in the sliding sleeve 52, the upper end of the sliding rod 53 is fixedly connected with the hydraulic rod of the hydraulic cylinder 51, and when the hydraulic cylinder 51 operates, the sliding rod 53 can move up and down in the sliding sleeve 52 along with the movement of the hydraulic rod, so that the preliminary movement of the Z-axis moving part 5 along the Z-axis direction is realized;

When the first driving motor 11 and the second driving motor 21 run synchronously, the first screw rod module 12 drives the first sliding block mounting seat 14 to move along the X axis, the second screw rod module 22 drives the second sliding block mounting seat 24 to move along the X axis, so that the second Y axis 4 moves along the X axis, and the X axis moving slide bar 35 slides in the X axis moving slide seat 34 at the same time, so that the X axis direction movement of the Z axis moving part 5 is realized; when the third driving motor 31 and the fourth driving motor 41 run synchronously, the third screw module 33 drives the third slider mounting seat 36 to move along the Y axis, and the fourth screw module 42 drives the Z-axis moving part mounting seat 43 to move along the Y axis, so as to realize the Y-axis movement of the Z-axis moving part 5; the first distance measuring sensor 16 can detect the distance between the sensor and the slider of the first linear guide group 13 on the first X axis 1 in real time, and the second distance measuring sensor 26 can detect the distance between the sensor and the slider of the second linear guide group 23 on the second X axis 2 in real time, so that the second Y axis 4 can be prevented from colliding with other parts when moving in the X axis direction.

In the electric driving part of the Z-axis moving part 5, a first connecting plate 541 is fixedly connected with the bottom of the slide bar 53, the first connecting plate 541 is fixedly connected with a second connecting plate 542 through four first connecting rods 561, a motor 55 is fixed on the second connecting plate 542 through a motor mounting seat, an output shaft of the motor 55 is connected with a screw 58 through a coupler to drive the screw 58 to operate, two ends of the screw 58 are respectively mounted on the second connecting plate 542 and a third connecting plate 543 through screw supporting seats, the second connecting plate 542 and the third connecting plate 543 are fixedly connected through four second connecting rods 562, a screw nut in the screw 58 is fixedly connected with a sliding circular plate 57, the sliding circular plate 57 is positioned between the second connecting plate 542 and the third connecting plate 543 and can move up and down along with the movement of the screw nut of the screw 58, two fixing rods 571 on the sliding circular plate 57 pass through the third connecting plate 543 to be fixedly connected with the moving plate 59, the moving plate 59 is fixedly connected with a rotating cylinder 61 of the grabbing manipulator 6, and the motor 55 drives the screw 58 to move up and down so that the sliding circular plate 57 moves up and down, thereby driving the moving circular plate 59 to move up and down, and the Z-axis moving part 5 is accurately moved. The hydraulic cylinder runs rapidly and stably, but can only realize preset movement and cannot control running in real time, so that the invention adopts a mode of combining hydraulic driving and electric driving, firstly adopts the hydraulic driving to enable the Z-axis moving part 5 to bring the grabbing manipulator 6 to reach the preset position rapidly, and then adopts the electric driving to feed back the position of the grabbing hand in real time and adjust the running speed and the running distance, thereby enabling the grabbing hand to reach the correct position accurately and rapidly.

In the present embodiment, the grasping robot 6 includes: the rotary cylinder 61, the L-shaped gripper overturning device 62, the first gripper 63 and the second gripper 64, wherein the upper part of the rotary cylinder 61 is arranged on the moving plate 59 of the Z-axis moving part 5, the lower end of the rotary cylinder 61 is fixedly connected with the L-shaped gripper overturning device, and the rotary cylinder 61 rotates to drive the L-shaped gripper overturning gripper to rotate in the horizontal plane, so that the conversion of the gripper position in the horizontal plane is realized. The first handle 63 is installed on the second turnover table 627, the second handle 64 is installed on the first turnover table 624, and the first turnover table 624 and the second turnover table 627 are turned over by 90 degrees in the vertical direction, so that the grabbing directions of the second handle 64 and the first handle 63 are changed, and the vertical and transverse picking and placing of materials can be realized.

In this embodiment, as shown in fig. 4, the L-shaped gripper turning device 62 includes an L-shaped fixing seat 621, the L-shaped fixing seat 621 has two extending shells arranged at 90 ° and two sets of turning mechanisms with the same structure are installed inside the two extending shells, where the turning mechanism in the extending shells horizontally in fig. 4 includes a first turning device motor 622, a first worm gear mechanism 623, a first turning disc 624, and the first turning disc 624 is installed outside the extending shells and is fixedly connected coaxially with two ends of a worm wheel shaft in the first worm gear mechanism 623; the turnover device in the longitudinal extending shell comprises a second turnover device motor 625, a second worm and gear mechanism 626 and a second turnover disc 627, wherein the second turnover disc 627 is arranged on the outer side of the extending shell and is fixedly connected with two ends of a worm wheel shaft in the second worm and gear mechanism 626 coaxially, and balancing weights are arranged on two opposite sides of the extending shell, so that balance of the L-shaped gripper turnover device 62 is achieved. The positions of the first and second flipping panels 624, 627 in fig. 6 are two transition positions of the flipping panels. The motor drives the worm and gear mechanism to operate, so that 90-degree turnover of the turnover disc along the axis of the worm wheel is realized, and conversion of two positions of the turnover disc is realized.

In this embodiment, the first and second handles 63 and 64 are identical in structure and are mounted on the second and first flipping discs 624 and 627, respectively. The first gripper 63, as shown in fig. 13, includes: the first gripper motor 631, the first positive and negative screw rod 632, two groups of first fixed rods 633, four groups of first arc rods 634, a first anti-collision sensor 635, four groups of first movable rods 636, four first grabbing claws 637 and a first fixed rod plate 638, wherein an output shaft of the first gripper motor 631 is fixedly connected with the first positive and negative screw rod 632 through a coupler, the rotation directions of two sections of equally divided external threads of the first positive and negative screw rod 632 are opposite, nuts in threaded connection are respectively arranged on two sections of external threads of the first positive and negative screw rod 632, one end of each of the two groups of first arc rods 634 is hinged to the outer side of one nut of the first positive and negative screw rod 632, one end of each of the other two groups of first arc rods 634 is hinged to the outer side of the other nut of the first positive and negative screw rod 632, and the other ends of the four groups of first arc rods 634 are respectively hinged to one first grabbing claw 637; one end of each of the two groups of first movable rods 636 is hinged to the inner side of one of the nuts, one end of each of the other two groups of first movable rods 636 is hinged to the inner side of the other nut, the other ends of the four groups of first movable rods 636 are respectively hinged to the middle positions of the corresponding first arc-shaped rods 634, one ends of the two groups of first fixed rods 633 are hinged to the first fixed rod plates 638, the other ends of the two groups of first fixed rods 633 are hinged to the first grabbing claws 637, and the first fixed rod plates 638 are fixed to the upper end faces of the turntables;

The second grip 64 includes: the second hand-grabbing motor 641, the second positive and negative screw rod 642, two groups of second fixed rods 643, four groups of second arc-shaped rods 644, a second anti-collision sensor 645, four groups of second movable rods 646, four second grabbing claws 647 and a second fixed rod fixing plate 648, wherein the output shaft of the second hand-grabbing motor 641 is fixedly connected with the second positive and negative screw rod 642 through a coupler, the rotation directions of two sections of equally divided external threads of the second positive and negative screw rod 642 are opposite, nuts in threaded connection are respectively arranged on the two sections of external threads of the second positive and negative screw rod 642, one end of each of the two groups of second arc-shaped rods 644 is hinged to the outer side of one nut of the second positive and negative screw rod 642, one end of the other two groups of second arc-shaped rods 644 is hinged to the outer side of the other nut of the second positive and negative screw rod 642, and the other ends of the four groups of second arc-shaped rods 644 are respectively hinged to one second grabbing claw 647; one end of each of the two groups of second movable rods 646 is hinged to the inner side of one nut, one end of each of the other two groups of second movable rods 646 is hinged to the inner side of the other nut, the other ends of the four groups of second movable rods 646 are respectively hinged to the middle positions of the corresponding second arc-shaped rods 644, one ends of the two groups of second fixed rods 643 are hinged to a second fixed rod fixing plate 648, the other ends of the two groups of second fixed rods 643 are hinged to second grabbing claws 647, and the second fixed rod fixing plate 648 is fixed to the upper end face of the turnover disc; the motor drives the positive and negative screw rod, so that the two nuts of the positive and negative screw rod move, and when the two nuts move to two sides, the grabbing claw tightens and grabs a workpiece; when the two nuts move in opposite directions, the grabbing claw loosens the workpiece, so that the workpiece can be taken and placed. The first anti-collision sensor 635 is installed on the outer side of the first grabbing claw 637, the second anti-collision sensor 645 is installed on the outer side of the second grabbing claw 647, and the distance between the claw and other parts can be detected in real time when a workpiece is taken and placed, so that the claw is prevented from colliding with the other parts.

In this embodiment, as shown in fig. 1, the rotary table 7 includes: the support 71 is a main body supporting structure of the rotary table 7 and comprises a support inner ring 711 and a support outer ring 712, wherein the conveying device 73 is arranged on the support inner ring 711, the rotating device 74 is arranged on the support outer ring 712, a mounting plate 751 of the workpiece mounting and positioning device 75 is fixedly arranged on a rotary table 742 of the rotating device 74, and the inner side of the workpiece mounting and positioning device 75 is connected with the conveying device 73 through bolts. Two positioning and jacking mechanisms 76 are arranged on the rotary material table 7, wherein one positioning and jacking mechanism 76 is arranged on a bracket 71 below the fixed grabbing position of the grabbing manipulator 6, and the other positioning and jacking mechanism 76 is arranged at the edge position of the rotary material table 7;

In this embodiment, as shown in fig. 9, the conveying device 73 includes a driving wheel 731, a driven wheel 732, a synchronous belt 733, and a synchronous chain 734, where the driving device 72 is connected to the driving wheel 731 through a coupling, the driving wheel 731 and the driven wheel 732 are connected by the synchronous belt 733, the synchronous chain 734 is sleeved outside the synchronous belt 733 and moves synchronously with the synchronous belt 733, and the driving device 72 drives the driving wheel 731 to rotate, and drives the driven wheel 733 to rotate through the synchronous belt 733 and the synchronous chain 734, thereby realizing rotation of the conveying device 73.

In this embodiment, the rotating device 74 includes: the rotary table 742 comprises a rotary track 741 and a rotary table 742, wherein a pulley is arranged at the bottom of the rotary table 742 and is arranged in a slideway in the rotary track 741 to realize the sliding of the rotary table 742 in the rotary track 741; the rotary table 7 is provided with 32 workpiece mounting and positioning devices 75, each workpiece mounting and positioning device 75 has two workpiece lifting cylinders 753 symmetrically arranged for placing materials, thus 64 material placing positions are provided, and the workpiece mounting and positioning devices 75 are shown in fig. 6 and 8, and include: the workpiece lifting device comprises a mounting plate 751, a workpiece centering chuck 752 and workpiece lifting cylinders 753, wherein the bottom of the workpiece centering chuck 752 is fixedly connected with the top plate of the workpiece cylinder 7531, the bottom of the top plate of the workpiece cylinder 7531 is fixedly mounted on the mounting plate 751, two workpiece lifting cylinders 753 are symmetrically mounted on the mounting plate 751, the workpiece lifting cylinders 753 comprise a workpiece cylinder 7531 and a movable bottom 7532, the movable bottom 7532 is mounted in the workpiece cylinder 7531 and can slide up and down in the workpiece cylinder 7531, and the workpiece lifting device 76 is convenient to position and lift a workpiece.

In this embodiment, as shown in fig. 7, the positioning and lifting mechanism 76 includes: the support 761, the jacking hydraulic cylinder 762, the slide rail 763, the thimble board 764, the location thimble 7641, the jacking thimble 7642, the slide rail 763 is installed on the support 761 side, the support 761 is fixed on the support 71, the jacking hydraulic cylinder 762 is fixedly installed on the support 761 bottom plate, the thimble board 764 is fixed on the piston rod of the jacking hydraulic cylinder 762, the side of the thimble board 764 is provided with corresponding slide grooves matched with the slide rail 763, the thimble board 764 can slide on the slide rail 763, the location thimble 7641 and the jacking thimble 7642 are fixedly installed on the thimble board 764, the piston rod stretches out during operation of the jacking hydraulic cylinder 762, the slide grooves on the thimble board 764 move upwards along the slide rail 763, the location thimble 7641 corresponds to four holes on the mounting plate 751, the location function of the workpiece installation positioning device 75 is achieved, the jacking thimble 7642 jacks the movable bottom 7532, and the workpiece in the workpiece lifting cylinder 753 is lifted. The workpiece cylinder is applicable to materials with the diameter of 15-35 mm and the length of 150-300 mm, and the lifting size of the positioning and lifting mechanism 76 is adjusted according to the size of the materials.

The driving device 72 drives the driving wheel 731 of the conveying device 73, the driving wheel drives the driven wheel 732 to rotate through the synchronous belt 733, and drives the workpiece mounting and positioning device 75 to slide along the rotating track 741 of the rotating device 74, so that the rotating function of the material table is realized, a worker can perform one-time feeding process on the rotating material table, a machine tool is started to perform material processing, 64 material placing positions are provided, time can be saved, and the working efficiency is improved; the positioning and jacking mechanism 76 is shown in fig. 5, after the rotating material table 7 rotates to a fixed position, the positioning and jacking mechanism 76 positions the mounting plates 751, simultaneously, jacking materials in the two workpiece lifting cylinders 753 on each mounting plate 751 at the same time, so that the workpieces are lifted to a fixed position, and then the respective workpiece centering chucks 752 center the workpieces. The other positioning and jacking mechanism 76 is arranged at the edge of the rotary material table 7, and the device does not work in the material table rotating and feeding process, and the purpose of the device is that after all materials on the whole material table 7 are processed, the device can jack up the workpiece, so that a worker or a robot can conveniently take down the processed workpiece, and the materials to be processed are placed, thereby providing convenience for the preparation work of the worker or the robot.

In this embodiment, the truss robot mounting and positioning device 8 includes: the L-shaped fixing plate 81 and positioning plate 82 are, as shown in fig. 2, fixed on the inner side of the first supporting seat 91 at the vertical portion of the fixing plate 81, and when the second Y-axis 4 is at the initial position of moving along the X-axis, i.e., the position closest to the first Y-axis, the center line of the slide bar 53 on the Z-axis moving portion 5 is perpendicular to and in the same plane as the center line of the fixing plate 81 along the Y-axis direction, and the positioning plate 82 is vertically disposed and fixedly connected to the end portion of the horizontal portion of the fixing plate 81. The installation accuracy of the truss robot can be improved, and the debugging time is shortened. The big hole on the locating plate 82 is the same as the main shaft hole of the machine tool, before installation, the locating plate 82 is overlapped with the main shaft hole of the machine tool, and the lower end hole of the locating plate is correspondingly located on the machine tool and drilled. After the hole on the machine tool is drilled, the positioning plate 82 can be directly installed on the machine tool, so that the robot can be installed on the machine tool, the main axis of the machine tool and the initial center line of the Z-axis moving part of the truss robot can be ensured to be on the same plane, the installation is simple, the efficiency is high, and the reliability is high.

The feeding and discharging processes of the automatic feeding and discharging truss robot of the numerically controlled lathe are exemplified below.

After the automatic feeding and discharging truss robot of the numerical control lathe is mounted on the lathe through the mounting plate, the truss robot is debugged according to the position and the size of the lathe, the position of the rotary material table and the size between the rotary material table and the lathe, and on the basis, the automatic feeding and discharging process of the lathe is performed by utilizing the device.

After the automatic feeding and discharging truss robot of the numerical control lathe is installed, the Z-axis moving part at the initial position drives the grabbing manipulator 6 to be positioned above a machined workpiece of the machine tool, and before formally starting to work, the grabbing manipulator should be moved to the position above the material at the fixed position corresponding to the rotary material table.

After the workpiece is machined, the electric driving part of the Z-axis moving part 5 controls the gripper 6 to descend, after the Z-axis moving part descends to a fixed position, the first gripper motor 631 of the first gripper 63 drives the two nuts of the first positive and negative screw rod 632 to move towards two sides to tighten the gripper, unprocessed materials clamped on the workpiece centering chuck 752 are grabbed, at the moment, the workpiece centering chuck 752 loosens blanks, the piston rod of the hydraulic cylinder 51 rapidly retracts to drive the gripper 6 to ascend, then the third driving motor 31 and the fourth driving motor 41 synchronously operate to drive the Z-axis moving part to move along the Y-axis, the first driving motor 11 and the second driving motor 21 synchronously rotate to drive the Z-axis moving part to move along the X-axis direction to reach the upper side of the materials, the rotary cylinder 61 rotates to enable the second gripper 64 to be parallel to the lathe spindle, the piston rod of the hydraulic cylinder 51 stretches out, the Z-axis moving part descends to the initial position, and then the electric driving part of the Z-axis moving part 5 controls the gripper 6 to continuously descend to reach the position where the workpiece is located. The second gripper motor 641 of the second gripper 64 drives the two nuts of the second positive and negative screw 642 to move to both sides, the grippers tighten and grip the workpiece, the spindle chuck releases the workpiece, and then the third driving motor 31 and the fourth driving motor 41 operate synchronously to drive the Z-axis moving part to move along the Y-axis direction, and the workpiece is taken out.

The rotary cylinder 61 rotates to rotate the first gripper 63 to be parallel to the lathe spindle, then the third drive motor 31 and the fourth drive motor 41 synchronously run to drive the Z-axis moving part to move along the Y-axis direction, raw materials are installed in the spindle, the piston rod of the hydraulic cylinder 51 rapidly retracts to drive the gripper 6 to ascend, then the third drive motor 31 and the fourth drive motor 41 synchronously run to drive the Z-axis moving part to move along the Y-axis direction, meanwhile, the first drive motor 11 and the second drive motor 21 synchronously rotate to drive the Z-axis moving part to move along the X-axis direction, the electric drive part of the Z-axis moving part 5 controls the gripper 6 to descend, and after the raw materials descend to a fixed position, the second gripper motor 641 of the second gripper 64 drives two nuts of the second positive and negative screw 642 to move towards each other, the gripper is loosened, and the materials are released.

At this time, the piston rod of the jacking cylinder 762 in the positioning and jacking device 76 below the workpiece mounting and positioning device moves downward to drive the ejector plate to descend. The driving device 72 drives the driving wheel 731, the driving wheel 731 drives the driven wheel 732 through the synchronous belt 733, the next workpiece positioning and mounting device 75 is rotated to a fixed position, then a piston rod of a jacking hydraulic cylinder 762 in the positioning and jacking device 76 moves upwards to drive a jacking plate to lift a blank in a workpiece lifting cylinder, then the workpiece centering chuck 752 clamps the blank, and then the workpiece loading and unloading process of the next wheel is performed.

Claims

1. The automatic feeding and discharging truss robot of the numerical control lathe is characterized by comprising a supporting seat (9), an XYZ axis moving part (10), a grabbing manipulator (6), a rotating material table (7) and a truss robot mounting and positioning device (8), wherein the XYZ axis moving part (10) is arranged at the top of the supporting seat (9), the grabbing manipulator (6) is arranged on the XYZ axis moving part (10), and the XYZ axis moving part (10) can drive the grabbing manipulator (6) to reciprocate along the front and back directions of a horizontal plane, namely the X axis direction, the left and right directions of the horizontal plane, namely the Y axis direction and the vertical direction, namely the Z axis direction; the grabbing mechanical arm (6) is provided with two grippers, and can finish the feeding and discharging processes in one step; the rotary material table (7) is arranged in front of the lathe and below the grabbing manipulator (6) and is used for storing materials and rotating, the rotary material table (7) is provided with 64 positions for storing the materials, and the truss robot mounting and positioning device (8) is arranged on the rotary material table (7) and can position and lift the materials;

The grasping manipulator (6) comprises: the device comprises a rotary cylinder (61), an L-shaped gripper overturning device (62), a first gripper (63) and a second gripper (64), wherein the upper part of the rotary cylinder (61) is arranged on a moving plate (59) of a Z-axis moving part (5), the lower end of the rotary cylinder (61) is fixedly connected with the L-shaped gripper overturning device (62), and the rotary cylinder (61) rotates to drive the L-shaped gripper overturning device (62) to rotate in the horizontal plane, so that the position of the gripper is converted in the horizontal plane; the first gripper (63) is arranged on the second turnplate (627), the second gripper (64) is arranged on the first turnplate (624), and the first turnplate (624) and the second turnplate (627) are turned by 90 degrees in the vertical direction, so that the grabbing directions of the second gripper (64) and the first gripper (63) are changed, and the vertical and horizontal picking and placing of materials are realized;

The L-shaped gripper overturning device (62) comprises an L-shaped fixing seat (621), the L-shaped fixing seat (621) is provided with two extending shells which are arranged at 90 degrees, two groups of overturning mechanisms with the same structure are installed inside the two extending shells, each overturning mechanism comprises an overturning device motor, a worm gear mechanism and an overturning disc, the overturning disc is installed on the outer side of the extending shell and is fixedly connected with two ends of a worm wheel shaft in the worm gear mechanism in a coaxial manner and is coaxial with the worm wheel shaft, balancing weights are arranged on opposite sides of the two extending shells, balance of the L-shaped gripper overturning device (62) is achieved, the worm gear mechanism is driven by the overturning device motor to operate, and 90-degree overturning of the overturning disc along the axis of the worm wheel is achieved;

The first grip (63) and the second grip (64) are identical in structure and each comprise: the device comprises a gripper motor, a front lead screw, two groups of fixed bars, four groups of arc bars, an anti-collision sensor, four groups of movable bars, four grabbing claws and a fixed bar fixing plate, wherein an output shaft of the gripper motor is connected with the front lead screw and the back lead screw through a coupler, the rotation directions of two sections of external threads which are equally divided on the front lead screw and the back lead screw are opposite, nuts which are in threaded connection are respectively arranged on the two sections of external threads of the front lead screw and the back lead screw, one end of each of the two groups of arc bars is hinged to the outer side of one nut of the front lead screw and the back lead screw, one end of each of the other two groups of arc bars is hinged to the outer side of the other nut of the front lead screw and the back lead screw, and the other ends of the four groups of arc bars are respectively hinged to one grabbing claw; one end of each of the two groups of movable rods is hinged to the inner side of one nut, one end of the other two groups of movable rods is hinged to the inner side of the other nut, and the other ends of the four groups of movable rods are respectively hinged to the middle positions of the corresponding arc-shaped rods; one ends of the two groups of fixed rods are hinged to the fixed rod fixing plates, the other ends of the two groups of fixed rods are hinged to the grabbing claws, the fixed rod fixing plates are fixed to the upper end face of the turning disc, the grabbing hand motor drives the positive and negative screw rod to enable the positive and negative screw rod to move, when the two nuts move to two sides, the grabbing claws tighten to grab a workpiece, when the two nuts move in opposite directions, the grabbing claws loosen the workpiece to achieve picking and placing of the workpiece, and the anti-collision sensor is arranged on the outer side of one grabbing claw and can detect the distance between the grabbing claws and other parts in real time when the workpiece is picked and placed to prevent the grabbing claws from colliding with other parts;

The rotary material table (7) comprises a bracket (71), a driving device (72), a conveying device (73), a rotating device (74), a workpiece mounting and positioning device (75) and a positioning and jacking mechanism (76), the bracket (71) is a main body supporting structure of the rotary material table (7), the rotary material table comprises a bracket inner ring (711) and a bracket outer ring (712), the conveying device (73) is arranged on the bracket inner ring (711), the rotating device (74) is arranged on the bracket outer ring (712), a mounting plate (751) of the workpiece mounting and positioning device (75) is fixedly arranged on a rotary table (742) of the rotating device (74), the inner side of the workpiece mounting and positioning device (75) is connected with the conveying device (73) through bolts, two positioning and jacking mechanisms (76) are arranged on the rotary material table (7), one positioning and jacking mechanism (76) is arranged on the bracket (71) below the fixed grabbing position of the grabbing manipulator (6), and the other positioning and jacking mechanism (76) is arranged at the edge position of the rotary material table (7);

The conveying device (73) comprises a driving wheel (731), a driven wheel (732), a synchronous belt (733) and a synchronous chain (734), an output shaft of the driving device (72) is connected with the driving wheel (731) through a coupler, the driving wheel (731) is connected with the driven wheel (732) through the synchronous belt (733), the synchronous chain (734) is sleeved outside the synchronous belt (733) and synchronously moves with the synchronous belt (733), the driving device (72) drives the driving wheel (731) to rotate, and the synchronous belt (733) and the synchronous chain (734) drive the driven wheel (733) to rotate, so that the conveying device (73) is rotated;

The rotating device (74) includes: the device comprises a rotating track (741) and a rotating table (742), wherein a pulley is arranged at the bottom of the rotating table (742) and is arranged in an inner slideway of the rotating track (741); the rotary material platform (7) is provided with 32 work piece installation positioner (75), and every work piece installation positioner (75) have two work piece lift cylinders (753) that the symmetry set up to be used for laying the material, consequently have 64 material to lay the position, and work piece installation positioner (75) include: the workpiece lifting device comprises a mounting plate (751), a workpiece centering chuck (752) and a workpiece lifting cylinder (753), wherein the bottom of the workpiece centering chuck (752) is fixedly connected with a top plate of the workpiece cylinder (7531), the bottom of the top plate of the workpiece cylinder (7531) is fixedly arranged on the mounting plate (751), the two workpiece lifting cylinders (753) are symmetrically arranged on the mounting plate (751), the workpiece lifting cylinder (753) comprises the workpiece cylinder (7531) and a movable bottom (7532), and the movable bottom (7532) is arranged in the workpiece cylinder (7531) and can slide up and down in the workpiece cylinder (7531) so as to facilitate the positioning and lifting device (76) to lift a workpiece;

The positioning and lifting mechanism (76) comprises: support (761), jack hydraulic cylinder (762), slide rail (763), thimble board (764), location thimble (7641) and jack thimble (7642), slide rail (763) are installed on support (761) side, support (761) are fixed on support (71), jack hydraulic cylinder (762) fixed mounting is on the bottom plate of support (761), thimble board (764) are fixed on the piston rod of jack hydraulic cylinder (762), there is the spout that corresponds with slide rail (763) side, can make thimble board (764) slide on slide rail (763), location thimble (7641) and jack thimble (7642) fixed mounting are on thimble board (764), the piston rod stretches out when jack hydraulic cylinder (764) operates, the spout on thimble board (764) is along slide rail (763) upwards moved, four holes on location thimble (7641) correspond mounting panel (751), realize the locate function to work piece installation positioner (75), jack 2) carries out the effect of jack (7532) to the work piece of jack up in movable thimble (753).

2. The automatic feeding and discharging truss robot of the numerically controlled lathe according to claim 1, wherein the supporting seat (9) comprises a first supporting seat (91) and a second supporting seat (92) which are arranged at intervals in the vertical direction;

The XYZ-axis moving part (10) comprises a first X-axis (1), a second X-axis (2), a first Y-axis (3), a second Y-axis (4) and a Z-axis moving part (5), wherein the first X-axis (1) is fixed at the top of a first supporting seat (91), the second X-axis (2) is fixed at the top of a second supporting seat (92), one end of the first Y-axis (3) is fixed on the first X-axis (1) through a first Y-axis a fixing plate (15), and the other end of the first Y-axis (3) is fixed on the second X-axis (2) through a first Y-axis b fixing plate (25); one end of a second Y shaft (4) is arranged on the first X shaft (1) through a first sliding block mounting seat (14), and the other end of the second Y shaft (4) is arranged on the second X shaft (2) through a second sliding block mounting seat (24); the Z-axis moving part (5) is arranged on a Z-axis moving part mounting seat (43) of the second Y-axis (4), and the grabbing manipulator (6) is arranged on the Z-axis moving part (5); the first driving motor (11) and the second driving motor (21) synchronously rotate to drive the second Y-axis (4) and the Z-axis moving part (5) to realize movement in the X-axis direction, the third driving motor (31) and the fourth driving motor (41) synchronously operate to drive the Z-axis moving part (5) to move along the Y-axis, and the Z-axis moving part (5) drives the grabbing manipulator (6) to move along the Z-axis, so that the grabbing manipulator (6) is moved along the X-axis, the Y-axis and the Z-axis.

3. The automated loading and unloading truss robot of numerically controlled lathes of claim 2, wherein the first X-axis (1) and the second X-axis (2) have the same structure, and the first X-axis (1) comprises: the device comprises a first driving motor (11), a first screw rod module (12), a first linear guide rail sliding block set (13), a first sliding block mounting seat (14), a first Y-axis a fixing plate (15) and a first ranging sensor (16);

The second X-axis (2) comprises: the device comprises a second driving motor (21), a second screw rod module (22), a second linear guide rail sliding block set (23), a second sliding block mounting seat (24), a first Y-axis b fixing plate (25) and a second ranging sensor (26);

The first Y-axis (3) comprises: the device comprises a third driving motor (31), a third linear guide rail sliding block set (32), a third screw rod module (33), an X-axis moving sliding seat (34), an X-axis moving sliding rod (35) and a third sliding block mounting seat (36);

The second Y-axis (4) comprises: a fourth driving motor (41), a fourth screw module (42), and a Z-axis moving part mounting seat (43);

The Z-axis moving part (5) comprises a hydraulic driving part and an electric driving part, wherein the hydraulic driving part comprises a hydraulic cylinder (51), a sliding sleeve (52) and a sliding rod (53); the electric driving part comprises a first connecting plate (541), a second connecting plate (542), a third connecting plate (543), a motor (55), a first connecting rod (561), a second connecting rod (562), a sliding circular plate (57), a fixed rod (571), a screw rod (58) and a moving plate (59);

The first lead screw module (12) is arranged on the first supporting seat (91), an output shaft of the first driving motor (11) is connected with a lead screw of the first lead screw module (12) through a coupler, two ends of the lead screw are arranged on a bottom plate of the first lead screw module (12) through bearing blocks, the first linear guide rail group (13) is arranged on the bottom plate of the first lead screw module (12), the first slide block mounting seat (14) is arranged on a slide block of the first linear guide rail group (13) and a slide block of the first lead screw module (12), the first Y-axis a fixing plate (15) is fixed on the bottom plate of the first lead screw module (12), and the first ranging sensor (16) is arranged on the bottom plate of the first lead screw module (12); the second screw rod module (22) is arranged on the second supporting seat (92), an output shaft of the second driving motor (21) is connected with a screw rod of the second screw rod module (22) through a coupler, two ends of the screw rod are arranged on a bottom plate of the second screw rod module (22) through bearing blocks, the second linear guide rail group (23) is arranged on the bottom plate of the second screw rod module (22), the second slide block mounting seat (24) is arranged on a slide block of the second linear guide rail group (23) and a slide block of the second screw rod module (22), the first Y-axis b fixing plate (25) is fixed on the bottom plate of the second screw rod module (22), and the second ranging sensor (26) is arranged on the bottom plate of the second screw rod module (22); the two ends of the third screw rod module (33) are respectively arranged on the first Y-axis a fixed plate (15) and the first Y-axis b fixed plate (25), an output shaft of the third driving motor (31) is connected with a screw rod of the third screw rod module (33) through a coupler, the two ends of the screw rod are arranged on a bottom plate of the third screw rod module (33) through bearing blocks, the third linear guide rail sliding block set (32) is arranged on the bottom plate of the third screw rod module (33), the X-axis moving sliding seat (34) is arranged on a third sliding block mounting seat (36), and the third sliding block mounting seat (36) is arranged on a sliding block of the third linear guide rail set (32) and a sliding block of the third screw rod module (33); the two ends of the fourth screw rod module (42) are respectively arranged on the first sliding block mounting seat (14) and the second sliding block mounting seat (24), an output shaft of the fourth driving motor (41) is connected with a screw rod of the fourth screw rod module (42) through a coupler, the two ends of the screw rod are arranged on a bottom plate of the fourth screw rod module (42) through bearing blocks, and the Z-axis moving part mounting seat (43) is arranged on a sliding block of the fourth screw rod module (42); a cylinder body of a hydraulic cylinder (51) in a hydraulic driving part of the Z-axis moving part (5) is fixedly arranged in a Z-axis moving part mounting seat (43), the lower end of the cylinder body of the hydraulic cylinder (51) is fixedly connected with the upper end of a sliding sleeve (52), one end of an X-axis moving sliding rod (35) is fixed on the sliding sleeve (52), and the other end of the X-axis moving sliding rod is arranged in an X-axis moving sliding seat (34), so that the X-axis moving sliding rod (35) can slide in the X-axis moving sliding seat (34); so that the X-axis movable slide bar (35) can slide along the X-axis direction; the sliding rod (53) of the hydraulic cylinder (51) is arranged in the sliding sleeve (52), and the upper end of the sliding rod (53) is fixedly connected with the hydraulic rod of the hydraulic cylinder (51), so that the sliding rod (53) can move up and down in the sliding sleeve (52) along with the movement of the hydraulic rod when the hydraulic cylinder (51) operates, and the primary movement of the Z-axis moving part (5) along the Z-axis direction is realized;

In the electric driving part of the Z-axis moving part (5), a first connecting plate (541) is fixedly connected with the bottom of a sliding rod (53), the first connecting plate (541) is fixedly connected with a second connecting plate (542) through four first connecting rods (561), a motor (55) is fixed on the second connecting plate (542) through a motor mounting seat, an output shaft of the motor (55) is connected with a screw rod (58) through a coupling to drive the screw rod (58) to operate, two ends of the screw rod (58) are respectively arranged on the second connecting plate (542) and a third connecting plate (543) through screw rod supporting seats, the second connecting plate (542) and the third connecting plate (543) are fixedly connected through four second connecting rods (562), a screw nut in the screw rod (58) is fixedly connected with a sliding circular plate (57), the sliding circular plate (57) is positioned between the second connecting plate (542) and the third connecting plate (543) and can move up and down along with the movement of the screw rod (58), two fixed rods (58) on the sliding circular plate (57) penetrate through the third connecting plate (543) and pass through the third connecting plate (571) to be fixedly connected with a cylinder (59) to move along with the upper connecting plate (59), thereby driving the moving plate (59) to move up and down, and realizing the accurate movement of the Z-axis moving part (5).

4. The automatic feeding and discharging truss robot for the numerically controlled lathe according to claim 2, wherein the truss robot mounting and positioning device (8) comprises an L-shaped fixing plate (81) and a positioning plate (82), a vertical portion of the fixing plate (81) is fixed on the inner side of the first supporting seat (91), and when the second Y axis (4) is located at an initial position moving along the X axis, that is, a position closest to the first Y axis, a center line of the sliding rod (53) on the Z axis moving portion (5) is perpendicular to and in the same plane as a center line of the fixing plate (81) along the Y axis direction, and the positioning plate (82) is vertically arranged and fixedly connected with an end portion of a horizontal portion of the fixing plate (81).