摘　要

　　针对数控车床设计的一种门窗框自动组角机构自动上下料机构，实现了坯料的抓取、自动定位、夹紧以及工件的回放。该机构主要由自动安装夹具，坯料、工件拾取机械手，动力及控制系统组成。零件的自动定位、夹紧由弹簧涨胎心轴实现，涨胎心轴是以工件的内孔表面定位，由气缸驱动弹性筒夹向外扩涨，实现工件的定位和夹紧的。坯料、工件的拾取、回放是由单臂形式的机械手通过伸缩、旋转以及俯仰等运动实现的，这些运动均由气缸驱动获得。本设计中，为实现工件的自动上下料，单臂机械手的运动与涨胎心轴的张合需进行紧密配合。考虑到所夹持工件的实际尺寸、质量等因素，本机构采用气动、电气控制实现了坯料和工件的拾取、安装、回放过程的自动完成。

　　关键词： 自动上下料；气动机械手；气动夹具；门窗框自动组角机构  

 
Abstract

An automatic loading and unloading mechanism for door and window frame is designed for CNC lathe, which realizes the grabbing, automatic positioning, clamping and replaying of workpiece. The mechanism is mainly composed of automatic installation fixture, billet and workpiece pickup manipulator. The automatic positioning of the parts is realized by the spring core shaft, which is located on the surface of the inner hole of the workpiece, and the elastic cylinder is driven by the cylinder to expand outwards, so as to realize the positioning and clamping of the workpiece. The picking up and playback of workpiece are realized by single-arm manipulator through the motion of stretching, rotating and pitching, all of which are driven by cylinder. In this design, in order to realize the automatic loading and unloading of the workpiece, the movement of the single-arm manipulator and the tension of the center shaft of the expanding tire need to be closely coordinated. Considering the actual size and mass of the clamped workpiece, the mechanism adopts pneumatic. The electric control realizes the automatic completion of picking up, installing and replaying the billets and workpieces.

Keywords: automatic loading and unloading; Pneumatic manipulator; Pneumatic fixture; automatic angulation mechanism of door and window frame

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