阅读说明：本技术 一种精密车床加工用自动上下料机器人及其伺服方法 (Automatic feeding and discharging robot for precision lathe machining and servo method thereof ) 是由 肖枫 于 2021-09-10 设计创作，主要内容包括：本发明公开了一种精密车床加工用自动上下料机器人,属于车床加工辅助设备技术领域,包括立柱,所述立柱顶端的一侧通过轴承安装有摆臂,所述立柱的内部安装有用于带动摆臂摆动使用的电机一,所述摆臂远离立柱的一端安装有长度调整组件,所述长度调整组件包括滑动连接于摆臂外侧的安装座,所述安装座上设有一对用于连接摆臂使用的滑板。本发明上下料交替效率较高,利用摆臂进行物料的转运能够快速在卡盘与物料存放区域之间进行移动,调整的延伸杆二部位机械爪及棒料等待于摆臂复位时的移动轨迹上,延伸杆一部位工件拾取完毕等待摆臂复位时直接复位一定角度调整延伸杆二部位棒料对准卡盘轴心布置即可快速实现棒料的装填,增加上下料效率。(The invention discloses an automatic feeding and discharging robot for precision lathe machining, which belongs to the technical field of lathe machining auxiliary equipment and comprises an upright post, wherein a swing arm is mounted on one side of the top end of the upright post through a bearing, a motor I for driving the swing arm to swing for use is mounted inside the upright post, a length adjusting assembly is mounted at one end, away from the upright post, of the swing arm, the length adjusting assembly comprises a mounting seat connected to the outer side of the swing arm in a sliding mode, and a pair of sliding plates for connecting the swing arm for use are arranged on the mounting seat. The feeding and discharging device has high alternating efficiency of feeding and discharging, materials can be rapidly moved between the chuck and the material storage area by transferring the materials through the swing arm, the mechanical claws and the bars at the two parts of the adjusting extension rod wait on the moving track of the swing arm during resetting, the workpiece at the first part of the extension rod is picked up and directly reset for a certain angle after waiting for the resetting of the swing arm, the bars at the two parts of the extension rod are adjusted to be aligned with the axis of the chuck, the filling of the bars can be rapidly realized, and the feeding and discharging efficiency is increased.)

1. The utility model provides a precision lathe processing is with unloading robot in automation which characterized in that: the device comprises an upright post (5), wherein a swing arm (1) is mounted on one side of the top end of the upright post (5) through a bearing, a motor I (7) for driving the swing arm (1) to swing is mounted inside the upright post (5), and a length adjusting assembly is mounted at one end, far away from the upright post (5), of the swing arm (1);

the length adjusting assembly comprises a mounting seat (3) which is connected to the outer side of the swing arm (1) in a sliding mode, a pair of sliding plates (2) used for being connected with the swing arm (1) is arranged on the mounting seat (3), a second motor (10) is installed at one end inside the swing arm (1), a screw rod (22) is installed at the output end of the second motor (10), a connecting sleeve (23) is sleeved on the outer side of the screw rod (22), an internal thread hole matched with the screw rod (22) is arranged on the connecting sleeve (23) in a penetrating mode, a sliding rod is arranged between the connecting sleeve (23) and the sliding plates (2) on the two sides, the sliding rod penetrates through the side wall of the swing arm (1) and is arranged, and a guide groove (6) matched with the sliding rod is arranged on the side wall of the swing arm (1) in a penetrating mode;

a workpiece picking assembly is mounted on the mounting seat (3), and a bar placing assembly is mounted on the mounting seat (3) outside the workpiece picking and placing assembly;

the workpiece picking assembly comprises a movable block (13) which is arranged on the outer side of the bottom end of the mounting seat (3) in a telescopic mode, a first air cylinder (14) used for driving the movable block (13) to move is mounted on the mounting seat (3), the output end of the first air cylinder (14) is connected with the movable block (13), a first extension rod (15) is connected onto the movable block (13), and a mechanical claw is mounted at one end, far away from the movable block (13), of the first extension rod (15);

the bar placing assembly comprises a movable seat (17) which is arranged on the outer side of a mounting seat (3) in a telescopic mode, a groove (12) used for containing the movable seat (17) is formed in the mounting seat (3), a second air cylinder (11) used for driving the movable seat (17) to move is installed on the mounting seat (3), the output end of the second air cylinder (11) is connected with the movable seat (17), a rotary seat (20) penetrates through the inside of the movable seat (17), the rotary seat (20) is arc-shaped, a sliding groove matched with the rotary seat (20) is arranged on the movable seat (17) in a penetrating mode, a third motor (21) used for driving the rotary seat (20) to rotate is installed on the movable seat (17), the output end of the third motor (21) extends to the outer side of the rotary seat (20) and is provided with a bevel gear, and gear teeth meshed with the bevel gear are equidistantly arranged on the outer side wall of the rotary seat (20) along the circumferential direction of the rotary seat, the inside one end of roating seat (20) is equipped with piston chamber (30), the inside other end of roating seat (20) is equipped with movable chamber (31), the inside of piston chamber (30) is equipped with piston rod (16), the one end of piston rod (16) is equipped with piston (32) with piston chamber (30) looks adaptation, the other end of piston rod (16) extends to movable chamber (31) inside and is equipped with fixed block (19), be connected with gas injection pipe (28) on roating seat (20) of the inside one end of piston chamber (30), be connected with gas injection pipe two (29) on roating seat (20) of the inside other end of piston chamber (30), be connected with extension rod two (18) on fixed block (19), the one end that fixed block (19) was kept away from to extension rod two (18) runs through roating seat (20) and extends to the movable seat (17) outside, the gripper is installed to the one end that extension rod two (18) extended to the movable seat (17) outside, a first movable groove (25) for movable use of the second extension rod (18) is formed in the rotating seat (20), and a second movable groove (24) for movable use of the second extension rod (18) is formed in the movable seat (17);

and a camera (26) is arranged on the inner side of one end of the rotating seat (20).

2. The automatic loading and unloading robot for the precision lathe machining according to claim 1, characterized in that: the inside cavity of stand (5), motor four (8) are installed to the inside bottom of stand (5), walking wheel (9) are installed to the output of motor four (8), and the outside of stand (5) bottom is equipped with the flange.

3. The automatic loading and unloading robot for the precision lathe machining according to claim 2, characterized in that: the bottom of stand (5) is connected with a plurality of support column (4), the border position department of support column (4) both ends lateral wall all is equipped with the flange, support column (4) the end to end of stand (5) bottom connects gradually, and fixes through the bolt on the flange between stand (5) and support column (4).

4. The automatic loading and unloading robot for the precision lathe machining according to claim 1, characterized in that: the rotating seat (20) is in a major arc shape, and the diameter of a circle formed by the first extension rod (15) and the rotating seat (20) is located on the same straight line.

5. The automatic loading and unloading robot for the precision lathe machining according to claim 1, characterized in that: be equipped with guide bar (27) that are used for movable block (13) and movable seat (17) to remove the direction and use on mount pad (3), and all be equipped with the slot with guide bar (27) looks adaptation on movable block (13) and movable seat (17).

6. An automatic feeding and discharging servo method for machining of a precision lathe is characterized by comprising the following steps:

s1: the installation is selected, the installation mode of the robot is selected according to the requirements of a production workshop, a fixed installation mode is selected when the number of the workshop lathes is small, a movable installation mode is selected when the number of the workshop lathes is large and the height of the workshop is allowed, the fixed installation mode is that the mode that a plurality of supporting columns (4) are additionally arranged at the bottom of a stand column (5) is selected to be fixed on the ground or a table board, after the fixed installation mode is fixed, the position of the installation seat (3) is kept at one side of a chuck driven by a lathe spindle box, namely, the installation seat (3) can be aligned to a processing completion workpiece on the chuck by an extension rod I (15) after being driven by the turnover of a swing arm (1), the turnover angle of the swing arm (1) is adjusted according to the distance between the stand column (5) and the chuck, the extension length of the installation seat (3) is adjusted according to the top height of the stand column (5), and the movable installation mode is fixed without the supporting columns (4), the method comprises the steps that a slide rail is additionally arranged in a workshop above a lathe, the slide rail determines tracks along the placing directions of a plurality of lathes and fixes an upright post (5) on the slide rail, the slide platform is a sliding panel capable of enabling the upright post (5) to integrally slide along the slide rail, after the upright post (5) is fixed on the slide platform, travelling wheels (9) arranged at the output ends of four motors (8) are matched with guide ways on the slide rail in the radial direction to drive the upright post (5) and the slide platform to integrally move so as to complete feeding and discharging servo operation of the plurality of lathes, and position signals can be determined in various modes such as a stroke switch or a magnetic navigation sensor and the like for determining that the upright post (5) moves to various positions;

s2: the method comprises the steps that a bar is picked up, a motor I (7) drives a swing arm (1) to turn clockwise and outwards to move to a bar storage area, then the bar is picked up by a mechanical claw at the position of an extension rod II (18), the extension rod II (18) picks up the bar under the condition that a rotating seat (20) and a piston rod (16) are kept in a contraction state, the servo of the bar picking up can be provided by external bar supply equipment, and the bar is picked up and then the alternate operation of feeding and discharging is waited;

s3: the method comprises the steps that a workpiece is picked up and a bar is placed, feeding and discharging are alternately carried out after lathe machining is finished, a motor I (7) drives a swing arm (1) to anticlockwise turn towards the inside of a lathe to move, a mechanical claw on an extension rod I (15) after turning is over and right faces a machined workpiece clamped at the position of the axis of a chuck, the workpiece is picked up by the mechanical claw on the extension rod I (15), the extension rod I (15) and a movable block (13) after picking up are extruded and pushed by a cylinder I (14) to outwards fall along the axis of the chuck, so that the workpiece is limited by clamping claws on the chuck, when the mechanical claw at the position of the extension rod I (15) picks up the workpiece, a rotary seat (20) and a piston rod (16) extend and rotate along the circumferential direction from the outer side of the chuck, the rotation is 45-90 degrees, the specific angle is limited by the positions of an upright column (5) and the chuck, and the mechanical claw at the position of the extension rod II (18) and the bar waiting for picking up can be positioned at one side of the bar The swing arm (1) swings clockwise to reset on a track extension line, namely, after the workpiece is picked up, when the swing arm (1) rotates clockwise to reset, a bar can move to the axis position of a chuck, the swing arm (1) stops after rotating for a certain angle, a mechanical claw at the position of a second extension rod (18) and the picked bar are positioned at the axis position of the chuck after stopping, at the moment, a second air cylinder (11) drives a movable seat (17) and the bar to move towards the inner side of the chuck for a certain distance to be inserted into the inner side of the chuck, the bar is fixed by the chuck after moving, the second air cylinder (11) resets, a rotary seat (20) and a piston rod (16) reset, the swing arm (1) rotates clockwise to reset, at the moment, the mechanical claw at the position of the second extension rod (18) is positioned in a bar storage area again, and an extension rod (15) with a certain height difference with the second extension rod (18) and the workpiece at the position move out of a lathe and are stored in a workpiece area, the loading and unloading operation in a movable installation mode is consistent with the steps, and the difference is that corresponding bar stock storage areas and workpiece placing areas are added at each lathe part;

s4: equipment running state monitoring, camera (26) of installation can rotate along with the rotation of roating seat (20) on roating seat (20), camera (26) have certain wide angle function of making a video recording, but rotatory camera of arranging can not receive the work piece, the all-round effect of making a video recording of equipment is carried out in the position restriction of chuck and knife rest, transmit the equipment behavior to the monitor room of mill in real time through the communication unit, make things convenient for the real-time all-round monitoring that carries out the behavior to lathe and robot in turn of mill personnel.

Technical Field

The invention relates to the technical field of lathe machining auxiliary equipment, in particular to an automatic loading and unloading robot for precision lathe machining and a servo method thereof.

Background

The application of the numerical control technology not only brings revolutionary changes to the traditional manufacturing industry and enables the manufacturing industry to become an industrialized sign, but also plays an increasingly important role in the development of some important industries (IT, automobiles, light industry, medical treatment and the like) of the national civilians with the continuous development of the numerical control technology and the expansion of the application field, and because the digitalization of equipment required by the industries is a great trend of modern development.

In the lathe processing production process, the lathe can drive chuck and bar rotation according to programming automatic operation cutter cooperation headstock and cut into the work piece of wanting, and the unloading of bar and work piece is the part that needs artifical the participation in the numerical control lathe production, and in order to alleviate the manpower, thereby people have proposed and have utilized the robot to replace the manual work to go up unloading production not only can high-efficient increase production, and more importantly is the potential safety hazard that produces when having avoided manual operation.

At present, the existing automatic feeding and discharging robot is mostly an industrial six-axis robot, the activity of the industrial six-axis robot is overturned and the whole volume is large, the occupied factory floor area is large, in the feeding and discharging process, the feeding and discharging efficiency mainly influences the feeding and discharging alternation process of a workpiece, namely, the picking of the processed workpiece and the assembly efficiency of unprocessed bars are the main reasons influencing the production efficiency of a lathe, the automatic feeding and discharging robot does not generally have the function of monitoring equipment, a simple structure is provided for the automatic feeding and discharging robot, and the feeding and discharging robot with the monitoring function and the servo method thereof can efficiently replace materials.

Disclosure of Invention

The invention aims to provide an automatic loading and unloading robot for machining a precision lathe, which aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an automatic loading and unloading robot for precision lathe machining comprises a stand column, wherein a swing arm is mounted on one side of the top end of the stand column through a bearing, a first motor used for driving the swing arm to swing is mounted inside the stand column, a length adjusting assembly is mounted at one end, far away from the stand column, of the swing arm and comprises a mounting seat connected to the outer side of the swing arm in a sliding mode, a pair of sliding plates used for being connected with the swing arm is arranged on the mounting seat, a second motor is mounted at one end inside the swing arm, a screw rod is mounted at the output end of the second motor, a connecting sleeve is sleeved on the outer side of the screw rod and penetrates through the connecting sleeve, an internal thread hole matched with the screw rod is formed in the connecting sleeve, a sliding rod is arranged between the connecting sleeve and the sliding plates on two sides, the sliding rod penetrates through the side wall of the swing arm and is provided with a guide groove matched with the sliding rod, and a workpiece picking assembly is mounted on the mounting seat, the workpiece picking and placing assembly comprises a first cylinder, a first extending rod and a second cylinder, wherein the first cylinder is used for driving the movable block to move and use, the output end of the first cylinder is connected with the movable block, the first extending rod is connected onto the movable block, a mechanical claw is arranged at one end, away from the movable block, of the first extending rod, the bar placing assembly comprises a movable seat, the movable seat is arranged on the outer side of the mounting seat in a telescopic mode, a groove used for accommodating the movable seat is formed in the mounting seat, a second cylinder used for driving the movable seat to move and use is arranged on the mounting seat, the output end of the second cylinder is connected with the movable seat, a rotary seat is inserted into the movable seat, the rotary seat is arc-shaped, and a sliding chute matched with the rotary seat is arranged on the movable seat in a penetrating mode, the movable seat is provided with a third motor for driving the rotary seat to rotate for use, the output end of the third motor extends to the outer side of the rotary seat and is provided with a bevel gear, the outer side wall of the rotary seat is equidistantly provided with gear teeth meshed with the bevel gear along the circumferential direction, one end of the inner part of the rotary seat is provided with a piston cavity, the other end of the inner part of the rotary seat is provided with a movable cavity, the inner part of the piston cavity is provided with a piston rod, one end of the piston rod is provided with a piston matched with the piston cavity, the other end of the piston rod extends to the inner part of the movable cavity and is provided with a fixed block, the rotary seat at one end of the inner part of the piston cavity is connected with a first gas injection pipe, the rotary seat at the other end of the inner part of the piston cavity is connected with a second gas injection pipe, the fixed block is connected with a second extension rod, and one end of the second extension rod, which is far away from the fixed block, penetrates through the rotary seat and extends to the outer side of the movable seat, the mechanical claw is installed to the one end that extension rod two extends to the sliding seat outside, be equipped with the movable groove one that is used for the activity of extension rod two to use on the roating seat, and be equipped with the movable groove two that is used for the activity of extension rod two to use on the sliding seat, the camera is installed to the inboard of roating seat one end.

Preferably, the inside cavity of stand, motor four is installed to the inside bottom of stand, the walking wheel is installed to motor four's output, and the outside of stand bottom is equipped with the flange.

Preferably, the bottom of stand is connected with a plurality of support column, the border position department of support column both ends lateral wall all is equipped with the flange, the support column head and the tail of stand bottom connect gradually, and fix through the bolt on the flange between stand and the support column.

Preferably, the rotating seat is in a major arc shape, and the diameter of a circle formed by the first extension rod and the rotating seat is located on the same straight line.

Preferably, be equipped with on the mount pad and be used for the movable block and the movable seat guide bar that the removal direction was used, and all be equipped with the slot with guide bar looks adaptation on movable block and the movable seat.

An automatic feeding and discharging servo method for machining of a precision lathe comprises the following steps:

s1: selecting installation, selecting the installation mode of the robot according to the requirements of a production workshop, selecting a fixed installation mode when the number of the workshop lathes is small, selecting a movable installation mode when the number of the workshop lathes is large and the height of the workshop is allowed, wherein the fixed installation mode is that the bottom of a stand column is additionally provided with a plurality of support columns and is fixed on the ground or a table board, after the fixed installation mode is fixed, the position of an installation seat is kept at one side of a chuck driven by a lathe spindle box, namely, the installation seat can align an extension rod with a processing completion workpiece on the chuck after being driven by the turnover of a swing arm, adjusting the turnover angle of the swing arm according to the distance between the stand column and the chuck, adjusting the extension length of the installation seat according to the height of the top end of the stand column, and the movable installation mode is that the support columns are not selected for fixing, additionally arranging a slide rail in the workshop above the lathes, determining the track along the arrangement directions of the plurality of lathes and fixing the stand column on a movable platform on the slide rail, the moving platform is a sliding panel which can enable the whole upright post to slide along the sliding rail, after the upright post is fixed on the moving platform, travelling wheels arranged at four output ends of a motor are matched with a guide path on the sliding rail in the radial direction to drive the upright post and the moving platform to integrally move so as to complete the feeding and discharging servo operation of a plurality of lathes, and a travel switch or a magnetic navigation sensor and other modes can be additionally arranged for determining that the upright post moves to each position;

s2: the first motor drives the swing arm to rotate clockwise and outwards to move to a bar storage area, then a mechanical claw at the second extension rod part is used for picking up bars, the second extension rod part carries out bar picking up under the condition that the rotary seat and the piston rod are kept in a contraction state, the servo of bar picking up can be provided by external bar supply equipment, and the alternate operation of feeding and discharging is waited after the bars are picked up;

s3: the method comprises the steps that a workpiece is picked up and a bar is placed, feeding and discharging are alternately carried out for servo after lathe machining is finished, a motor I drives a swing arm to anticlockwise turn and move towards the inside of a lathe, a mechanical claw on an extension rod I after turning is over and right faces a machined workpiece clamped at the position of the axis of a chuck, the mechanical claw on the extension rod I is used for picking up the workpiece, the extension rod I and a movable block after picking up are extruded and pushed by a cylinder I to outwards fall off along the axis of the chuck, so that the workpiece is limited by a clamping jaw on the chuck, when the mechanical claw at the position of the extension rod I picks up the workpiece, a rotary seat and a piston rod are extended and rotated along the circumferential direction from the outer side of the chuck, the rotation is carried out for 45-90 degrees, the specific angle is limited by the positions of an upright column and the chuck, and the bar picked up at the position of the extension rod II and the bar can be positioned on one side of the chuck to wait for the extension line of the clockwise swing arm to reset track, after the workpiece is picked up, the swing arm rotates clockwise to reset, the bar can be moved to the axis position of the chuck, the swing arm stops after rotating for a certain angle, the mechanical claw at the second extension rod part and the bar picked up by the mechanical claw are positioned at the axis position of the chuck, the second air cylinder drives the movable seat and the bar to move towards the inner side of the chuck for a certain distance to be inserted into the inner side of the claw, the bar is fixed by the chuck after moving, the second air cylinder resets, the rotary seat and the piston rod reset, the swing arm rotates clockwise to reset, the mechanical claw at the second extension rod part is positioned in the bar storage area again, the first extension rod and the workpiece at the position of the first extension rod with a certain height difference with the second extension rod are moved out of the lathe and stored in a workpiece placing area, and the loading and unloading operation in a movable installation mode is consistent with the steps, so that the difference is that a corresponding bar material storing area and a corresponding workpiece placing area are added at each part of the lathe;

s4: the equipment running state monitoring, the camera of installation can rotate along with the rotation of roating seat on the roating seat, and the camera has certain wide angle function of making a video recording, but the camera of rotatory arrangement can not receive the position restriction of work piece, chuck and knife rest and carry out the all-round effect of making a video recording of equipment, transmits the equipment behavior to the monitor room of mill in real time through communication unit, makes things convenient for the real-time all-round monitoring that carries out the behavior to lathe and robot body in turn of mill personnel.

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

1: the swing arm turnover device can complete material feeding and discharging in the turnover arrangement process of the swing arm, occupies small area when being turned over for use, and has the function of adjusting the height and the length direction when being installed for use.

2: the feeding and discharging alternating efficiency is high, the swing arm is utilized to transport materials, the materials can be rapidly moved between the chuck and the material storage area, when the mechanical claw at the first extension rod part moves to the chuck part to pick up the processed materials, the mechanical claw adjusting position at the second extension rod part waits for the completion of bar material filling when the swing arm is reset, time is saved, the adjusted mechanical claw and bar material at the second extension rod part wait for the movement track of the swing arm when the swing arm is reset, a workpiece at the first extension rod part is picked up and is directly reset for a certain angle when the swing arm is reset, the bar material at the second extension rod part is adjusted to be aligned with the axis of the chuck, the bar material filling can be rapidly realized, and the feeding and discharging efficiency is increased.

3: the two mechanical claws provided by the invention are always arranged at a certain interval, a certain height difference can be kept in a reset state, and the separation of material placing areas is conveniently realized, for example, the upper layer is set as a bar placing area, the lower layer is set as a workpiece placing area, and meanwhile, the effects of material taking and material placing can be synchronously performed, so that the effects are not influenced mutually, and the servo efficiency is increased.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic view of a front view of the loading/unloading device of the present invention;

FIG. 3 is a side view of the internal structure of the present invention;

FIG. 4 is an enlarged front view of the mounting seat according to the present invention;

fig. 5 is a schematic front view of the internal structure of the rotary base according to the present invention.

In the figure: 1. swinging arms; 2. a slide plate; 3. a mounting seat; 4. a support pillar; 5. a column; 6. a guide groove; 7. a first motor; 8. a fourth motor; 9. a traveling wheel; 10. a second motor; 11. a second air cylinder; 12. a groove; 13. a movable block; 14. a first cylinder; 15. an extension rod I; 16. a piston rod; 17. a movable seat; 18. an extension rod II; 19. a fixed block; 20. a rotating base; 21. a third motor; 22. a screw; 23. connecting sleeves; 24. a second movable groove; 25. a first movable groove; 26. a camera; 27. a guide bar; 28. a first gas injection pipe; 29. a second gas injection pipe; 30. a piston cavity; 31. a movable cavity; 32. a piston.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-5, an embodiment of the present invention is shown: an automatic loading and unloading robot for precision lathe machining comprises a stand column 5, wherein the bottom of the stand column 5 is connected with a plurality of supporting columns 4, flanges are arranged at the edge positions of the outer side walls at the two ends of each supporting column 4, the supporting columns 4 at the bottom of the stand column 5 are sequentially connected end to end, the flange between the stand column 5 and the supporting column 4 is fixed through bolts, the stand column 5 can be independently installed on a table board with a certain height, a swing arm 1 is installed at one side of the top end of the stand column 5 through a bearing, a motor I7 used for driving the swing arm 1 to swing is installed in the stand column 5, the stand column 5 is hollow in the inside, a motor IV 8 is installed at the bottom end of the inside of the stand column 5, a traveling wheel 9 is installed at the output end of the motor IV 8, a flange is arranged on the outer side of the bottom end of the stand column 5, and a length adjusting assembly is installed at one end, far away from the stand column 5, of the swing arm 1, the length adjustment assembly comprises a mounting seat 3 which is connected to the outer side of the swing arm 1 in a sliding manner, a pair of sliding plates 2 used for being connected with the swing arm 1 are arranged on the mounting seat 3, a motor II 10 is installed at one end inside the swing arm 1, a screw rod 22 is installed at the output end of the motor II 10, a connecting sleeve 23 is sleeved outside the screw rod 22, an internal thread hole matched with the screw rod 22 is arranged on the connecting sleeve 23 in a penetrating manner, a sliding rod is arranged between the connecting sleeve 23 and the sliding plates 2 on the two sides and penetrates through the side wall of the swing arm 1, a guide groove 6 matched with the sliding rod is arranged on the side wall of the swing arm 1 in a penetrating manner, a workpiece picking assembly is installed on the mounting seat 3, a bar placing assembly is installed on the mounting seat 3 outside the workpiece picking assembly, the workpiece picking assembly comprises a movable block 13 which is arranged outside the bottom end of the mounting seat 3 in a telescopic manner, and a first air cylinder 14 used for driving the movable block 13 to move for use is installed on the mounting seat 3, the output of cylinder 14 is connected with movable block 13, be connected with extension rod 15 on the movable block 13, and extension rod 15 keeps away from the one end of movable block 13 and installs the gripper, the subassembly is placed to the bar includes that the expansion block 17 in the mount pad 3 outside is arranged to the extension rod, be equipped with the recess 12 that is used for holding the expansion block 17 and uses on the mount pad 3, install on the mount pad 3 and be used for driving the cylinder two 11 that the expansion block 17 removed the use, the output of cylinder two 11 is connected with the expansion block 17, be equipped with the guide bar 27 that is used for the movable block 13 and the expansion block 17 removal direction to use on the mount pad 3, and all be equipped with the slot with guide bar 27 looks adaptation on movable block 13 and the expansion block 17, the roating seat 20 has been interlude to the inside of expansion block 17, roating seat 20 is circular-arc, roating seat 20 is the major arc shape, and extension rod 15 is located same straight line with the diameter of the circle that roating seat 20 formed, the rotating seat 20 rotates to enable components fixed on the rotating seat to be aligned with the first extension rod 15 to rotate, a sliding groove matched with the rotating seat 20 is arranged on the movable seat 17 in a penetrating mode, a third motor 21 used for driving the rotating seat 20 to rotate for use is installed on the movable seat 17, the output end of the third motor 21 extends to the outer side of the rotating seat 20 and is provided with a bevel gear, gear teeth meshed with the bevel gear are arranged on the outer side wall of the rotating seat 20 at equal intervals along the circumferential direction of the outer side wall, a piston cavity 30 is arranged at one end inside the rotating seat 20, a movable cavity 31 is arranged at the other end inside the rotating seat 20, a piston rod 16 is arranged inside the piston cavity 30, a piston 32 matched with the piston cavity 30 is arranged at one end of the piston rod 16, the other end of the piston rod 16 extends to the inside the movable cavity 31 and is provided with a fixed block 19, and a first gas injection pipe 28 is connected onto the rotating seat 20 at one end inside the piston cavity 30, the rotary base 20 at the other end inside the piston cavity 30 is connected with a second gas injection pipe 29, the second gas injection pipe 29 and the first gas injection pipe 28 are externally connected with a gas source to control the extension and retraction of the piston rod 16, and in order to improve the precision of the moving position, the optional piston rod 16 moves to the end point positions at two ends for confirmation, the fixed block 19 is connected with a second extension rod 18, one end of the second extension rod 18 far away from the fixed block 19 penetrates through the rotating seat 20 and extends to the outer side of the movable seat 17, a mechanical claw is arranged at one end of the second extension rod 18 extending to the outer side of the movable seat 17, a movable groove I25 for the movable use of the second extension rod 18 is arranged on the rotary seat 20, and the movable seat 17 is provided with a second movable groove 24 for movably using the second extension rod 18, the inner side of one end of the rotating seat 20 is provided with a camera 26, and the camera 26 can also have a plurality of groups of specific conditions for respectively shooting and recording a plurality of parts.

An automatic feeding and discharging servo method for machining of a precision lathe comprises the following steps:

s1: selecting installation, selecting the installation mode of the robot according to the requirements of a production workshop, selecting a fixed installation mode when the number of the workshop lathes is small, selecting a movable installation mode when the number of the workshop lathes is large and the height of the workshop is allowed, wherein the fixed installation mode is that a mode of additionally installing a plurality of supporting columns 4 at the bottom of an upright post 5 is selected to be fixed on the ground or a table board, after the fixed installation mode is fixed, the part of an installation seat 3 is kept at one side of a chuck driven by a lathe spindle box, namely the installation seat 3 can be driven by the overturning of a swing arm 1 to align an extension rod I15 with a processed workpiece on the chuck, adjusting the overturning angle of the swing arm 1 according to the distance between the upright post 5 and the chuck, adjusting the extension length of the installation seat 3 according to the height of the top end of the upright post 5, and the movable installation mode is that the supporting columns 4 are not selected to be fixed, additionally installing slide rails in the workshop above the lathe, the slide rail determines tracks along the placing directions of a plurality of lathes and fixes the upright post 5 on a moving platform on the slide rail, the moving platform is a sliding panel which can enable the whole upright post 5 to slide along the slide rail, after the upright post 5 is fixed on the moving platform, the travelling wheels 9 arranged at the output ends of the motors 8 are matched with guide ways on the slide rail in the radial direction to drive the whole upright post 5 and the moving platform to move so as to complete the feeding and discharging servo operation of the plurality of lathes, and position signals can be determined in various ways such as installing travel switches or magnetic navigation sensors for determining that the upright post 5 moves to each position;

s2: the first motor 7 drives the swing arm 1 to turn clockwise and outwards to move to a bar storage area, then a mechanical claw at the position of the second extension rod 18 is used for picking up bars, the second extension rod 18 carries out bar picking up under the condition that the rotary seat 20 and the piston rod 16 are kept in a contraction state, the servo of bar picking up can be provided by external bar supply equipment, and the alternate operation of feeding and discharging is waited after the bars are picked up;

s3: picking up a workpiece and placing a bar, performing feeding and discharging alternate servo after the lathe is machined, driving a swing arm 1 to perform turnover movement anticlockwise towards the inside of the lathe by a motor I7, enabling a mechanical claw on an extension rod I15 after the turnover to be over against the machined workpiece clamped at the position of the axis of a chuck, picking up the workpiece by the mechanical claw on the extension rod I15, enabling the extension rod I15 and a movable block 13 after the picking up to fall off outwards along the axis of the chuck under the squeezing action of a cylinder I14, enabling the workpiece to fall off a clamping jaw on the chuck, enabling a rotary seat 20 and a piston rod 16 to extend and rotate along the circumferential direction from the outer side of the chuck when the mechanical claw at the position of the extension rod I15 picks up the workpiece, enabling the specific angle to be limited by the positions of an upright post 5 and the chuck, specifically enabling the mechanical claw at the position of the extension rod II 18 and the bar picked up to be positioned on a track extension line of the chuck side waiting for clockwise swing reset of the swing arm 1, namely, after the workpiece is picked up, when the swing arm 1 rotates clockwise to reset, the bar can be moved to the axis position of the chuck, the swing arm 1 stops after resetting and rotating for a certain angle, the mechanical claw at the position of the extension rod II 18 and the bar picked up by the mechanical claw are positioned at the axis position of the chuck, at the moment, the cylinder II 11 drives the movable seat 17 and the bar to move towards the inner side of the chuck for a certain distance to be inserted into the inner side of the claw, the bar is fixed by the chuck after moving, the cylinder II 11 resets, the rotary seat 20 and the piston rod 16 reset, the swing arm 1 rotates clockwise to reset, at the moment, the mechanical claw at the position of the extension rod II 18 is positioned in the bar storage area again, the extension rod I15 with a certain height difference with the extension rod II 18 and the workpiece at the position of the extension rod I move out of the lathe and are stored in a workpiece placing area, and the loading and unloading operation in a movable installation mode is consistent with the steps, so that the difference is that a corresponding bar material storing area and a corresponding workpiece placing area are added at each lathe part;

s4: equipment running state monitoring, the camera 26 of installation can rotate along with the rotation of roating seat 20 on roating seat 20, camera 26 has certain wide angle function of making a video recording, but the camera of rotatory arrangement can not receive the work piece, the all-round effect of making a video recording of equipment is carried out in the position restriction of chuck and knife rest, transmit the equipment behavior to the monitor room of mill in real time through communication unit, make things convenient for the real-time all-round monitoring that carries out the behavior to lathe and robot in turn of mill personnel.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.