A workpiece loading robot

Abstract

A workpiece loading manipulator belongs to the technical field of column head processing equipment. It is characterized in that it includes a translation device, a lifting device and a workpiece clamp. The lifting device is installed on the translation device and moves horizontally with the translation device. The workpiece clamp is movably installed on the lifting device, and a buffer device is arranged between the workpiece clamp and the lifting device. The translation device and the lifting device of the workpiece loading manipulator cooperate with each other to drive the workpiece clamp to move, thereby realizing automatic loading of the workpiece. The workpiece clamp is movably connected to the lifting device, and a buffer device is arranged between the workpiece clamp and the lifting device. The buffer device can play a buffering effect when the workpiece clamp clamps the workpiece to the fixture, which can not only ensure the reliable fit between the workpiece and the fixture and the accurate positioning of the workpiece, but also avoid the rigid collision between the workpiece and the fixture, and avoid damage to the workpiece and the fixture.

Description

Technical Field

[0001] The invention discloses a workpiece feeding manipulator, belonging to the technical field of column head processing equipment. Background Art

[0002] The column head is an important part of a single hydraulic support. During the production of the column head, it is necessary to use a machine tool to turn the outer circle, turn the end face, and drill holes on the column head. In order to improve production efficiency and realize production automation, the column head is usually produced through an automatic production line, and the loading of the column head is achieved by a robot. Since the column head is a rotary workpiece, it is clamped by a three-jaw chuck when turning the outer circle and the end face. In order to ensure that the three-jaw chuck is coaxial with the column head, one end face of the column head needs to fit with the end face of the three-jaw chuck. However, when loading with a robot, it is difficult to ensure that the column head fits the three-jaw chuck exactly. It is easy to have problems such as loose fitting or collision between the column head and the chuck, resulting in insufficient workpiece processing accuracy, a high scrap rate of the product, and easy damage to the chuck. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a workpiece loading robot which can achieve a buffering effect and ensure that the workpiece is fully fitted with a machine tool.

[0004] The technical solution adopted by the present invention to solve its technical problem is: the workpiece loading robot is characterized by: it includes a translation device, a lifting device and a workpiece clamp, the lifting device is installed on the translation device and moves horizontally with the translation device, the workpiece clamp is movably installed on the lifting device, and a buffer device is arranged between the workpiece clamp and the lifting device.

[0005] Preferably, the buffer device comprises a buffer spring, a limiting portion is arranged on one side of the lifting device, one end of the buffer spring is supported on the lifting device, and the other end pushes the workpiece clamp to press the limiting portion.

[0006] Preferably, the buffer device also includes a buffer guide rod, which is arranged along the moving direction of the translation device, the buffer guide rod is installed on the lifting device, the workpiece clamp is slidably connected to the buffer guide rod, and the buffer spring is sleeved outside the buffer guide rod.

[0007] Preferably, a buffer guide rail is provided on the lifting device, the buffer guide rail is arranged parallel to the moving direction of the translation device, and the workpiece clamp is slidably installed on the buffer guide rail.

[0008] Preferably, the workpiece clamp comprises a clamping plate and a clamping cylinder, the clamping plate comprises two parallel and spaced-apart pieces, the clamping cylinder is connected to the clamping plates at the same time and pushes them to move synchronously in opposite directions.

[0009] Preferably, a clamping block is provided on the clamping plate, an arc-shaped groove is provided in the middle of the clamping block, and the grooves of the two clamping blocks are combined to form a circular clamping part.

[0010] Preferably, at least two lifting devices are provided, each lifting device is connected to the translation device, and each lifting device is equipped with a workpiece clamp.

[0011] Preferably, the translation device includes a translation motor and a translation frame, the translation motor is connected to the translation frame through a chain or a synchronous belt and drives it to translate, and the lifting device is installed on the translation frame and moves synchronously with the translation frame.

[0012] Preferably, the lifting device comprises a lifting cylinder, the lifting cylinder is vertically mounted on the translation device, and the workpiece clamp is movably mounted on the piston rod of the lifting cylinder.

[0013] Preferably, the lifting device further comprises a vertically arranged lifting guide rail, and the workpiece clamp is slidably mounted on the lifting guide rail.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The translation device and lifting device of the workpiece loading robot cooperate with each other to drive the workpiece clamping jaws to move, thereby realizing automatic loading of the workpiece. The workpiece clamping jaws are movably connected to the lifting device, and a buffer device is arranged between the workpiece clamping jaws and the lifting device. The buffer device can play a buffering effect when the workpiece clamping jaws clamp the workpiece to the fixture, which can not only ensure the reliable fit between the workpiece and the fixture and the accurate positioning of the workpiece, but also avoid the rigid collision between the workpiece and the fixture, and avoid damage to the workpiece and the fixture.

[0016] 2. The buffer spring pushes the workpiece clamp to press the limit part, so that it can play a buffering effect when the workpiece contacts the fixture, ensuring that the workpiece and the fixture fit reliably, thereby ensuring accurate positioning of the workpiece and improving the accuracy of workpiece processing.

[0017] 3. The buffer guide rod can guide the workpiece clamping and can also guide the buffer spring to ensure that the force of the buffer spring pushing the workpiece clamping is more stable.

[0018] 4. The buffer guide rail can guide the workpiece clamp to ensure that the workpiece clamp rises and falls in a straight line, ensuring more accurate workpiece loading.

[0019] 5. The clamping cylinder pushes the two clamping plates to move synchronously in opposite directions, thereby realizing the clamping and loosening of the workpiece; a clamping block is provided on the clamping plate, and an arc-shaped groove is provided in the middle of the clamping block, so as to ensure reliable clamping of the workpiece when clamping the workpiece and avoid inaccurate clamping caused by loosening of the workpiece.

[0020] 6. There are at least two lifting devices, and the workpiece clamps correspond to the lifting devices one by one, so that a new workpiece can be placed in the fixture of the machine tool while removing the processed workpiece, and the workpiece clamping efficiency is high.

[0021] 7. The translation motor drives the translation frame to move through a chain or synchronous belt, so as to facilitate and accurately control the position of the workpiece clamp and ensure that the workpiece clamp is aligned with the fixture.

[0022] 8. The lifting cylinder pushes the workpiece clamp to move up and down, thereby ensuring that the workpiece clamp moves up and down in a straight line, and the stroke of the cylinder is used to fix it, thereby achieving accurate alignment between the workpiece and the fixture.

[0023] 9. The lifting guide rail can guide the workpiece clamp to ensure that the workpiece clamp rises and falls in a straight line and that the workpiece is accurately loaded. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the left side cross-section of the workpiece loading robot.

[0025] Figure 2 This is a schematic diagram of the main view of the workpiece loading robot.

[0026] Figure 3 This is a schematic diagram of the front view of the workpiece clamp installation.

[0027] Figure 4 This is a left side view of the workpiece clamp installation.

[0028] In the figure: 1, cross beam 2, translation frame 3, lifting frame 4, mounting frame 5, clamping cylinder 6, clamping plate 601, clamping part 7, workpiece 8, lifting guide rail 9, lifting cylinder 10, buffer guide rod 11, buffer spring 12, connecting plate. DETAILED DESCRIPTION

[0029] Figures 1 to 4 The best embodiment of the present invention is shown below in conjunction with the attached Figures 1 to 4 The present invention is further described.

[0030] A workpiece feeding manipulator includes a translation device, a lifting device and a workpiece clamp. The lifting device is installed on the translation device and moves horizontally with the translation device. The workpiece clamp is movably installed on the lifting device, and a buffer device is arranged between the workpiece clamp and the lifting device. The translation device and the lifting device of the workpiece feeding manipulator cooperate with each other to drive the workpiece clamp to move, thereby realizing automatic feeding of the workpiece 7. The workpiece clamp is movably connected to the lifting device, and a buffer device is arranged between the workpiece clamp and the lifting device. The buffer device can play a buffering effect when the workpiece clamp clamps the workpiece 7 to the fixture, which can not only ensure that the workpiece 7 fits the fixture reliably and the workpiece 7 is positioned accurately, but also avoid rigid collision between the workpiece 7 and the fixture, and avoid damage to the workpiece 7 and the fixture.

[0031] The present invention is further described below in conjunction with specific embodiments. However, people familiar with the art should understand that the detailed description given here in conjunction with the drawings is for better explanation, and the structure of the present invention necessarily exceeds these limited embodiments. For some equivalent replacement schemes or common means, they are no longer described in detail herein, but still belong to the scope of protection of the present application.

[0032] Specific: such as Figure 1~2 As shown: the workpiece feeding manipulator also includes a crossbeam 1, which is horizontally arranged, a translation device is installed on the crossbeam 1, and a lifting device is installed on the translation device. There are at least two lifting devices. In this embodiment, there are two lifting devices, both of which are connected to the translation device and drive the translation device to move horizontally synchronously. The workpiece clamps correspond to the lifting devices one by one and are movably installed on the corresponding lifting devices. A buffer device is arranged between each workpiece clamp and the corresponding lifting device.

[0033] The translation device includes a translation motor and a translation frame 2. A horizontal translation rail is installed on one side of the crossbeam 1. The translation frame 2 is slidably installed on the translation rail, and the translation motor is installed on the crossbeam 1. The translation device also includes a chain. Sprockets are rotatably installed at both ends of the crossbeam 1. The two ends of the chain are respectively engaged with the sprockets at the corresponding ends. The output shaft of the translation motor is connected to any one of the sprockets and drives it to rotate. The translation frame 2 is connected to one side of the chain and moves synchronously with the chain. The translation motor is a servo motor, thereby realizing the accurate movement of the translation frame 2.

[0034] The lifting device includes a lifting cylinder 9, a lifting guide rail 8 and a lifting frame 3. The lifting guide rail 8 is vertically installed on the translation frame 2, and the lifting frame 3 is slidably installed on the lifting guide rail 8. The lifting cylinder 9 is vertically installed on the translation frame 2. The piston rod of the lifting cylinder 9 is connected to the lifting frame 3 and drives it to lift linearly.

[0035] like Figure 3~4As shown: the workpiece clamp is installed on the lifting frame 3 through the mounting frame 4, the mounting frame 4 is slidably connected to the lifting frame 3, and a buffer device is provided between the mounting frame 4 and the lifting frame 3.

[0036] A limit plate is provided on one side of the lifting frame 3 to form a limit portion, and a connecting plate 12 is provided on one side of the mounting frame 4 close to the limit plate. The lower part of the connecting plate 12 is connected to the mounting frame 4, and the upper part is connected to the mounting frame 4 through a buffer device.

[0037] The buffer device includes a buffer spring 11 and a buffer guide rod 10. One end of the buffer guide rod 10 is fixedly connected to the lifting frame 3, and the other end is connected to the limit plate. The connecting plate 12 is slidably connected to the buffer guide rod 10. The buffer spring 11 is sleeved outside the buffer guide rod 10. The buffer spring 11 is arranged on the side of the connecting plate 12 away from the limit plate. The buffer spring 11 is in a compressed state. One end of the buffer spring 11 is supported on the lifting frame 3, and the other end is connected to the connecting plate 12, and pushes the connecting plate 12 to press the limit plate.

[0038] A horizontal buffer guide rail is provided on the lifting frame 3, and the mounting frame 4 is slidably mounted on the lifting frame 3, thereby ensuring that the mounting frame 4 moves linearly.

[0039] The workpiece clamp is installed on the mounting frame 4. The workpiece clamp includes a clamping plate 6 and a clamping cylinder 5. The clamping cylinder 5 is installed on the mounting frame 4. The clamping plate 6 has two parallel and spaced pieces. The clamping plate 6 is slidably installed on the lower side of the mounting frame 4. There are two clamping cylinders 5. The piston rod of each clamping cylinder 5 is connected to the clamping plate 6 and pushes the clamping plate 6 to translate, so that the two clamping plates 6 move synchronously in opposite directions, thereby realizing the opening and closing of the clamping plate 6.

[0040] The clamping plate 6 is arranged vertically, and the upper end of the clamping plate 6 is connected to the piston rod of the corresponding clamping cylinder 5, and the lower end is provided with a clamping block, which is arranged between the two clamping plates 6. An arc-shaped groove is arranged in the middle of the clamping block, and the axis of the groove is arranged horizontally. The grooves of the two clamping blocks enclose a circular clamping part, thereby clamping the cylindrical workpiece 7. After clamping, the workpiece 7 is ensured to be horizontal, thereby realizing accurate loading of the workpiece 7.

[0041] The working process of this workpiece loading robot is as follows: first, the workpiece clamp on the rear side clamps the workpiece 7 to be processed, and the translation device drives the two workpiece clamps to move to the machine tool. Then, the workpiece clamp on the front side clamps the processed workpiece 7 on the workpiece, and then the workpiece clamp on the rear side places the workpiece 7 to be processed on the machine tool.

[0042] When the workpiece 7 is placed on the fixture of the machine tool, the buffer device can ensure that the workpiece 7 fits reliably with the fixture of the machine tool, which can not only ensure the accurate positioning of the workpiece 7, but also prevent the workpiece clamp from colliding with the machine tool due to inertia.

[0043] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A workpiece feeding robot, characterized in that: It includes a translation device, a lifting device and a workpiece clamping jaw. The lifting device is installed on the translation device and moves horizontally with the translation device. The workpiece clamping jaw is movably installed on the lifting device. A buffer device is arranged between the workpiece clamping jaw and the lifting device. The buffer device comprises a buffer spring (11), a limiting portion is arranged on one side of the lifting device, one end of the buffer spring (11) is supported on the lifting device, and the other end pushes the workpiece clamping claw to press the limiting portion; The buffer device further comprises a buffer guide rod (10), the buffer guide rod (10) being arranged along the moving direction of the translation device, the buffer guide rod (10) being mounted on the lifting device, the workpiece clamping jaw being slidably connected to the buffer guide rod (10), and the buffer spring (11) being sleeved outside the buffer guide rod (10); The workpiece clamp is mounted on the lifting frame (3) through a mounting frame (4), the mounting frame (4) is slidably connected to the lifting frame (3), a buffer device is arranged between the mounting frame (4) and the lifting frame (3), a limit plate is arranged on one side of the lifting frame (3) to form a limit portion, a connecting plate (12) is arranged on a side of the mounting frame (4) close to the limit plate, the lower part of the connecting plate (12) is connected to the mounting frame (4), and the upper part is connected to the mounting frame (4) through the buffer device, one end of the buffer guide rod (10) is fixedly connected to the lifting frame (3), and the other end is connected to the limit plate, the connecting plate (12) is slidably connected to the buffer guide rod (10), a buffer spring (11) is arranged on a side of the connecting plate (12) away from the limit plate, the buffer spring (11) is in a compressed state, one end of the buffer spring (11) is supported on the lifting frame (3), and the other end is connected to the connecting plate (12), and pushes the connecting plate (12) to press the limit plate.

2. The workpiece loading robot according to claim 1, characterized in that: The lifting device is provided with a buffer guide rail, which is arranged parallel to the moving direction of the translation device, and the workpiece clamp is slidably mounted on the buffer guide rail.

3. The workpiece loading robot according to claim 1 or 2, characterized in that: The workpiece clamp comprises a clamping plate (6) and a clamping cylinder (5). The clamping plate (6) comprises two parallel and spaced-apart pieces. The clamping cylinder (5) is simultaneously connected to the clamping plate (6) and drives them to move synchronously in opposite directions.

4. The workpiece loading robot according to claim 3 is characterized in that: The clamping plate (6) is provided with a clamping block, the middle part of which is provided with an arc-shaped groove, and the grooves of the two clamping blocks are combined to form a circular clamping part.

5. The workpiece loading robot according to claim 1, characterized in that: At least two lifting devices are provided, each lifting device is connected to the translation device, and each lifting device is equipped with a workpiece clamp.

6. The workpiece loading robot according to claim 1 or 5, characterized in that: The translation device comprises a translation motor and a translation frame (2); the translation motor is connected to the translation frame (2) via a chain or a synchronous belt and drives the translation frame (2); the lifting device is installed on the translation frame (2) and moves synchronously with the translation frame (2).

7. The workpiece loading robot according to claim 1 or 5, characterized in that: The lifting device comprises a lifting cylinder (9), the lifting cylinder (9) is vertically mounted on the translation device, and the workpiece clamping claw is movably mounted on the piston rod of the lifting cylinder (9).

8. The workpiece loading robot according to claim 7, characterized in that: The lifting device further comprises a lifting guide rail (8) arranged vertically, and the workpiece clamping jaws are slidably mounted on the lifting guide rail (8).

Images