An automatic loading and unloading production system for gear chamfering

Abstract

This invention discloses an automatic loading and unloading production system for gear chamfering, comprising: a robot; a dual-station gripper fixedly mounted on the robot; a rotary disk assembly including a turntable, quick-release clamps radiating outwards uniformly from the center of the turntable, and a material rod assembly vertically connected to the turntable, with the material rod assembly facing outwards from the quick-release clamps; an indexing device adapted to drive the rotary disk assembly to perform horizontal rotation; an automatic loading and unloading device connected to the side of the rotary disk assembly; a chamfering device located on the opposite side of the robot relative to the rotary disk assembly; and a control system adapted to control the movement of the robot, the rotary disk assembly, the indexing device, the chamfering device, and the automatic loading and unloading device. This invention utilizes automated equipment processing, adjusting the direction under the action of the rotary disk assembly, the indexing device, and the automatic loading and unloading device, facilitating changes in processing direction during processing. The structure is simple and compact, improving processing efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of gear processing, and in particular to an automatic loading and unloading production system for gear chamfering. Background Art

[0002] With the development of technology, the requirements for gear processing are getting higher and higher. Gears often produce burrs during the processing and forming process. These burrs are a major factor affecting the accuracy of gears. Gears are often scrapped due to burrs. Burrs also make gears produce noise during use. Therefore, the edges of gears need to be chamfered during processing to reduce the generation of burrs in subsequent processing.

[0003] However, most of the general gear chamfering machines now require workers to cooperate with the loading of materials, and the gears need to be fixed on the workstation manually, which is complicated to operate and affects the processing speed. The gear chamfering work on some production lines usually chamfers the edges and corners on both sides of the gear in turn, and the processing speed is relatively slow.

[0004] In addition, for the loading and unloading of automated equipment, the earlier method adopted manual loading and unloading. At present, only some automated equipment has realized the automatic loading and unloading of a single machine through a linear mechanism (Cartesian coordinate robot), but these auxiliary equipment can only realize automatic loading and unloading on a single machine, and the transfer of workpieces between equipment still relies on manual work. The degree of automation is not high, and the entire processing link requires manual intervention. Moreover, each machine tool has its own loading and unloading device, which makes the overall cost higher, occupies a large area, and the flexibility of the machine tool is not good. When changing products, each device needs to be adjusted separately, which is a large workload. Summary of the invention

[0005] In order to solve the defects of the above-mentioned technology, the present invention provides a gear chamfering automatic loading and unloading production system, comprising:

[0006] robot;

[0007] A double-station gripper, fixedly mounted on the robot;

[0008] The rotating disk assembly comprises a rotating disk, a quick clamp evenly radiated outwardly from the center of the rotating disk, and a material rod assembly vertically connected to the rotating disk, and the material rod assembly is arranged directly on the outer side of the quick clamp;

[0009] Every two adjacent material rod assemblies form a group, one of which is used to stack the processed gears, and the other is used for the robot to sequentially take out the gears stacked on the material rod assemblies;

[0010] A dividing device connected to the lower surface of the rotating disk assembly, the dividing device is suitable for driving the rotating disk assembly to perform horizontal rotational motion;

[0011] An automatic loading and unloading device connected to the side of the rotating disk assembly;

[0012] A chamfering device is provided on a side of the robot that is close to the rotating disk assembly;

[0013] A control system, wherein the control system is suitable for controlling the movement of the robot, the rotating disk assembly, the indexing device, the double-station clamp, the automatic loading and unloading device and the chamfering device to complete the chamfering of the gear.

[0014] Optionally, the material rod assembly includes a material rod seat connected to the upper surface of the turntable, a transition sleeve inserted in the material rod seat, a material rod bushing inserted on the transition sleeve, a material rod inserted on the material rod bushing, a magnet provided at the bottom of the material rod seat and an end cover connected to the lower end surface of the material rod seat, and the magnet is connected between the end cover and the material rod bushing.

[0015] Optionally, the indexing device includes a square bracket, a driving assembly arranged in the square bracket, a first synchronous belt wound around the driving assembly, a dividing plate turntable passing through and connected to the turntable, a first pressing cylinder assembly arranged directly below the dividing plate turntable, a hollow tube passing through the first pressing cylinder assembly, the dividing plate turntable and the square bracket in sequence, and a sensor connected to the top of the hollow tube;

[0016] The bottom end of the hollow tube is pressed against the bottom of the first pressing cylinder assembly, and the top end of the hollow tube passes through the upper surface of the turntable;

[0017] The driving assembly is suitable for driving the indexing disk turntable to rotate horizontally, thereby driving the turntable to perform horizontal rotational motion.

[0018] Optionally, the drive assembly includes a motor mounting bracket connected to the upper bottom surface of the square bracket and a servo drive assembly connected to the lower bottom surface of the motor mounting bracket.

[0019] The servo drive assembly includes a first drive motor, a motor flange connected to the output shaft side of the first drive motor, a motor adjustment plate connected to the lower surface of the motor mounting bracket, a harmonic reducer connected to the motor adjustment plate and the motor mounting bracket, a driving synchronous pulley connected to the output shaft of the harmonic reducer, and a driven synchronous pulley sleeved and connected to the indexing disk turntable, and the first synchronous belt is wound and connected between the driving synchronous pulley and the driven synchronous pulley.

[0020] The indexing plate turntable comprises an indexing plate rotating shaft, a support seat sleeved and connected to the square bracket, a first tapered roller bearing, a bearing outer bushing, a second tapered roller bearing, a bearing inner bushing and a lower sealing cover connected to the lower end surface of the support seat;

[0021] The indexing plate rotating shaft is suitable for being installed on the support seat, the first tapered roller bearing, the bearing outer bushing, the second tapered roller bearing, the bearing inner bushing and the lower sealing cover;

[0022] The first tapered roller bearing, the bearing outer sleeve, the second tapered roller bearing and the bearing inner sleeve are all located in the support seat, and the bearing inner sleeve is located in the bearing outer sleeve.

[0023] Optionally, the automatic loading and unloading device includes a guide rail panel connected to the side of the square bracket, a driving mechanism installed at the bottom of the guide rail panel, a transmission mechanism installed at the periphery of the guide rail panel, a guide mechanism and a linear rail assembly installed in the middle of the guide rail panel.

[0024] The driving mechanism comprises a second driving motor and a reducer connected to an output shaft of the second driving motor, wherein the output shaft of the reducer passes through the guide rail panel;

[0025] The transmission mechanism includes a driving gear connected to the output shaft of the reducer, a first driven gear, a second driven gear, a third driven gear and a fourth driven gear uniformly distributed around the guide rail panel, and a second synchronous belt.

[0026] The second synchronous belt is wound between the driving gear, the first driven gear, the second driven gear, the third driven gear and the fourth driven gear.

[0027] Optionally, the linear rail assembly comprises a first linear rail mechanism and a second linear rail mechanism which are arranged in parallel on the guide rail panel, one side of the first linear rail mechanism is suitable for connecting to one side of the second synchronous belt, and one side of the second linear rail mechanism is suitable for connecting to the other side of the second synchronous belt;

[0028] The second synchronous belt is suitable for driving the first linear rail mechanism and the second linear rail mechanism to move in opposite directions.

[0029] Optionally, the first linear rail mechanism comprises a first linear rail bar connected to the guide rail panel, a first swing mechanism slidably connected to the first linear rail bar, and a first synchronous belt adjustment plate connected to one side of the first swing mechanism, and the first synchronous belt adjustment plate is connected to the synchronous belt at a side away from the first swing mechanism;

[0030] The second linear rail mechanism includes a second linear rail bar connected to the guide rail panel, a second swing mechanism slidably connected to the second linear rail bar, and a second synchronous belt adjustment plate connected to one side of the second swing mechanism, and the second synchronous belt adjustment plate is connected to the synchronous belt at a side away from the second swing mechanism.

[0031] Optionally, the first swing mechanism includes a first swing arm base slidably connected to the first linear rail, a first C-shaped plate connected to the first swing arm base, a first swing arm rod connected to the top of the first C-shaped plate, a first articulated seat connected to the first swing arm rod, a first stroke cylinder and a second articulated seat connected to the first swing arm base, one end of the first stroke cylinder is connected to the first articulated seat, and the other end is connected to the second articulated seat;

[0032] The second swing mechanism includes a second swing arm base slidably connected to the second linear rail, a second C-shaped plate connected to the second swing arm base, a second swing arm rod connected to the top of the second C-shaped plate, a third articulated seat connected to the second swing arm rod, a second stroke cylinder and a fourth articulated seat connected to the second swing arm base, one end of the second stroke cylinder is connected to the third articulated seat, and the other end is connected to the fourth articulated seat.

[0033] Optionally, the double-station gripper includes a gripper mounting plate, an adapter flange connected to the robot, a cylinder assembly connected to the bottom of the gripper mounting plate, a gripper assembly connected to one side of the gripper mounting plate, a second clamping cylinder assembly and a guide rod cylinder assembly.

[0034] One end of the second clamping cylinder assembly is fixedly connected to the top of the clamping jaw mounting plate, and the other end is located above the clamping jaw assembly;

[0035] One end of the guide rod cylinder assembly is connected to the side surface of the second pressing cylinder assembly, and the other end extends out and is pressed against the end surface of the gear in the clamping jaw assembly.

[0036] Compared with the prior art, the present invention has at least the following beneficial effects:

[0037] 1. The automatic loading and unloading production system for gear chamfering replaces manual work. The gears can be stacked on the material rod assembly through the turntable of the rotating disk assembly. The quick clamp is used to position the material rod assembly, and the indexing device is used to position the angle of the rotating disk assembly. The automatic loading and unloading device is used to assist the robot in picking up and placing gears from the material rod assembly. The robot picks up and places the gears and transfers them to the chamfering device to chamfer the gears. The control system is used to control the robot, the rotating disk assembly, the indexing device, the double-station clamp, the automatic loading and unloading device, and the chamfering device to work together to complete the chamfering of the gear. The material rod assembly and the double-station clamp cooperate with the robot and the control system in synchronous operation, which greatly improves the processing efficiency of the equipment, reduces manual intervention, and finally realizes the automatic chamfering, grinding, and deburring of the gear workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a three-dimensional structural schematic diagram of the automatic loading and unloading production system for gear chamfering in an embodiment of the present invention;

[0039] Figure 2 It is a schematic diagram of the installation structure of the robot and the rotating disk assembly, the indexing device and the automatic loading and unloading device in the embodiment of the present invention;

[0040] Figure 3 It is a structural schematic diagram of a dividing device in an embodiment of the present invention;

[0041] Figure 4 It is a schematic diagram of the structure of the indexing device in another direction in an embodiment of the present invention;

[0042] Figure 5 It is a structural schematic diagram of another direction of the indexing device in an embodiment of the present invention;

[0043] Figure 6 It is a schematic diagram of the exploded structure of the indexing disk turntable in the embodiment of the present invention;

[0044] Figure 7 A schematic diagram of the structure of a servo drive assembly in an embodiment of the present invention;

[0045] Figure 8 It is a structural schematic diagram of a rotating disk assembly in an embodiment of the present invention;

[0046] Fig. 9 It is a schematic diagram of the structure of the rotating disk assembly in another direction according to an embodiment of the present invention;

[0047] Fig.10 It is a schematic diagram of the exploded structure of the material rod assembly in an embodiment of the present invention;

[0048] Fig.11 It is a schematic diagram of the structure of a double-station clamp in one direction in an embodiment of the present invention;

[0049] Fig.12 This is a schematic diagram of the structure of the double-station clamp in another direction in an embodiment of the present invention;

[0050] Fig.13 This is a schematic diagram of the structure of an automatic loading and unloading device in an embodiment of the present invention;

[0051] Fig.14 Schematic diagram of the structure of the linear rail assembly in an embodiment of the present invention.

[0052] Description of reference numerals:

[0053] 1- Robot;

[0054] 11-base frame, 12-robot body;

[0055] 2- Rotating disc assembly;

[0056] 21-turntable, 22-quick clamp, 23-material rod assembly, 221-material rod seat, 222-transition sleeve, 223-material rod bushing, 224-material rod, 225-magnet, 226-end cover, 24-cylindrical gear;

[0057] 3- Indexing device;

[0058] 31-square bracket, 32-drive assembly, 321-motor mounting bracket, 322-servo drive assembly, 3221-first drive motor, 3222-motor flange, 3223-motor adjustment plate, 3224-harmonic reducer, 3225-active synchronous pulley, 3226-driven synchronous pulley, 33-first synchronous belt, 34-indexing plate turntable, 341-indexing plate shaft, 342-upper skeleton oil seal, 343-support seat, 344-first tapered roller bearing, 345-bearing outer bushing, 346-second tapered roller bearing, 347-lower skeleton oil seal, 348-bearing inner bushing, 349-lower sealing cover, 35-first clamping cylinder assembly, 36-hollow tube, 37-sensor,

[0059] 4-Double-position clamping jaws;

[0060] 41-claw mounting plate, 42-adapter flange, 43-cylinder assembly, 431-first gas drive cylinder, 432-solenoid valve assembly, 44-claw assembly, 441-claw adapter plate, 442-finger cylinder, 443-claw finger, 45-second clamping cylinder assembly, 451-clamping cylinder cantilever plate, 452-clamping cylinder, 46-guide rod cylinder assembly, 461-guide rod cylinder, 462-pressing plate,

[0061] 5-Automatic loading and unloading device;

[0062] 51-guide rail panel, 52-driving mechanism, 521-second driving motor, 522-reducer, 53-transmission mechanism, 531-driving gear, 532-first driven gear, 533-second driven gear, 534-third driven gear, 535-fourth driven gear, 536-second synchronous belt, 54-guide mechanism, 541-first guide wheel, 542-second guide wheel, 55-linear rail assembly, 551-first linear rail mechanism, 5511-first linear rail bar, 5512-first swing mechanism, 55121-first swing arm base, 5512 2-first C-shaped plate, 55123-first swing arm rod, 55124-first articulated seat, 55125-first stroke cylinder, 55126-second articulated seat, 5513-first synchronous belt adjustment plate, 552-second linear rail mechanism, 5521-second linear rail bar, 5522-second swing mechanism, 55221-second swing arm base, 55222-second C-shaped plate, 55223-second swing arm rod, 55224-third articulated seat, 55225-second stroke cylinder, 55226-fourth articulated seat, 5523-second synchronous belt adjustment plate;

[0063] 6-chamfering device; 7-gear; 8-protective net, 9-control system. DETAILED DESCRIPTION

[0064] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] In the description of the present invention, it should be noted that the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0066] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0067] To solve the above problems, Figure 1-14The embodiment of the present invention provides a gear chamfering automatic loading and unloading production system for chamfering and grinding a gear 7. The gear chamfering automatic loading and unloading production system comprises a robot 1, a double-station clamp 4, a rotating disk assembly 2, a dividing device 3, an automatic loading and unloading device 5, a chamfering device 6 and a control system 9, wherein:

[0068] The robot 1 includes a base frame 11 and a robot body 12 fixedly connected to the upper surface of the base frame 11. The base frame 11 as a support carrier is set in a rectangular parallelepiped form to meet the use strength requirements and save costs. No limitation is made here. The robot body 12 is an automation device. In this embodiment, a conventional six-degree-of-freedom joint robot is used as a driving carrier of the fixture.

[0069] The double-station gripper 4 is fixedly mounted on the robot 1 and moves under the driving action of the robot 1. The double-station gripper 4 has two gripper stations, one of which is used to take materials and the other is used to place processed materials, or the two stations are used to turn over the gear 7, so as to improve the overall processing efficiency and reduce the intermediate intervention of the operator.

[0070] See also Figure 8 , 9 As shown, the rotating disk assembly 2 includes a rotating disk 21, a plurality of quick clamps 22 and a plurality of material rod assemblies 23, wherein the plurality of quick clamps 22 are evenly arranged to radiate outward from the center of the rotating disk 21, and the plurality of material rod assemblies 23 are evenly distributed and vertically connected to the rotating disk 21, and each material rod assembly 23 is arranged directly opposite to the outer side of each quick clamp 22. The quick clamp 22 can be used to position the material rod assembly 23 indexed in place on the rotating disk 21.

[0071] Every two material rod assemblies 23 form a pair, one of which is used to stack the processed gears 7 , and the other is used by the robot 1 to sequentially take out the gears 7 stacked on the material rod assemblies 23 .

[0072] The indexing device 3 is connected to the lower surface of the rotating disk assembly 2. The indexing device 3 is suitable for driving the rotating disk assembly 2 to perform horizontal rotational motion. The rotating disk assembly 2 is driven to rotate horizontally by the indexing device 3, so that the material rod assembly 23 reaches a required use angle.

[0073] The automatic loading and unloading device 5 is connected to the side of the rotating disk assembly 2. Under the action of the automatic loading and unloading device 5, the material rod assembly 23 on the rotating disk 21 can be picked up and placed.

[0074] The chamfering device 6 is arranged on the opposite side of the robot 1 relative to the rotating disk assembly 2, so that within the working diameter range of the robot 1, the robot can pick up and place materials on the rotating disk assembly 2 and simultaneously move to one side of the chamfering device 6 to perform chamfering operations.

[0075] In this embodiment, two chamfering devices 6 are provided, and the other one is arranged between the chamfering device 6 and the rotating disk assembly 2, and is located on one side of the robot 1. The advantage of such a layout is that after the gear 7 has completed the chamfering operation, it can be quickly moved to the workstation of another chamfering device 6 to perform the gear flipping and chamfering operation. After the chamfering operation on both sides is completed, it can be quickly moved to the area for picking up and placing materials.

[0076] The control system 9 is arranged within the working area of ​​the robot 1 , and is suitable for controlling the movement of the robot 1 , the rotating disk assembly 2 , the indexing device 3 , the double-station clamp 4 , the automatic loading and unloading device 5 and the chamfering device 6 to complete the chamfering of the gear 7 .

[0077] Thus, the gear 7 can be stacked on the material rod assembly 23 through the turntable 21 of the rotating disk assembly 2, the quick clamp 22 is used to position the material rod assembly 23, and the dividing device 3 is used to angularly position the rotating disk assembly 2; the automatic loading and unloading device 5 is used to assist the robot 1 in picking up and placing the gear 7 from the material rod assembly 23, the robot 1 picks up and places the gear 7 and transfers it to the chamfering device 6 to chamfer the gear 7, the control system 9 is used to control the robot 1, the rotating disk assembly 2, the dividing device 3, the double-station clamp 4, the automatic loading and unloading device 5 and the chamfering device 6 to work together to complete the chamfering of the gear 7, the material rod assembly 23 and the double-station clamp 4 in the synchronous operation cooperation of the robot 1 and the control system 9, greatly improve the processing efficiency of the equipment, reduce manual intervention, and finally realize the automatic chamfering, grinding and deburring of the gear workpiece.

[0078] In addition, in order to ensure the safety of the operating diameter range of the robot 1, a protective net 8 is arranged around the equipment to ensure the safety of the operator.

[0079] Specifically, see Fig.10 As shown, in an embodiment of the present invention, the material rod assembly 23 includes a material rod seat 221, a transition sleeve 222, a material rod bushing 223, a material rod 224, a magnet 225 and an end cover 226, wherein a plurality of material rod seats 221 are evenly distributed and connected to the upper surface of the turntable 21, the transition sleeve 222 is inserted in the material rod seat 221, and is used to stabilize the end of the material rod 224, the material rod bushing 223 is inserted on the transition sleeve 222, the material rod 224 is inserted on the material rod bushing 223, the magnet 225 is provided at the bottom of the material rod seat 221, and is used to magnetically fix the material rod 224, the end cover 226 is connected to the lower end surface of the material rod seat 221, and the magnet 225 is connected between the end cover 226 and the material rod bushing 223.

[0080] Specifically, see Figure 3 , 4, 5, in the embodiment of the present invention, the indexing device 3 includes a square bracket 31, a driving assembly 32 arranged in the square bracket 31, a first synchronous belt 33 wound around the driving assembly 32, a dividing plate turntable 34 inserted and connected to the turntable 21, a first pressing cylinder assembly 35 arranged directly below the dividing plate turntable 34, a hollow tube 36 sequentially inserted in the first pressing cylinder assembly 35, the dividing plate turntable 34 and the square bracket 31, and a sensor 37 connected to the top of the hollow tube 36, wherein:

[0081] The bottom end of the hollow tube 36 is pressed against the bottom of the first pressing cylinder assembly 35 , and the top end of the hollow tube 36 passes through the upper surface of the turntable 21 , so that the hollow tube 36 can be vertically fixed at the center of the indexing turntable 34 .

[0082] The driving assembly 32 is suitable for driving the indexing disk turntable 34 to rotate horizontally, thereby driving the turntable 21 to perform horizontal rotational motion.

[0083] Specifically, see Figure 3 , 4 5, in the embodiment of the present invention, the driving assembly 32 includes a motor mounting bracket 321 connected to the upper bottom surface of the square bracket 31 and a servo driving assembly 322 connected to the lower bottom surface of the motor mounting bracket 321, wherein:

[0084] The servo drive assembly 322 includes a first drive motor 3221, a motor flange 3222 connected to the output shaft side of the first drive motor 3221, a motor adjustment plate 3223 connected to the lower surface of the motor mounting bracket 321, a harmonic reducer 3224 connected through the motor adjustment plate 3223 and the motor mounting bracket 321, a driving synchronous pulley 3225 connected to the output shaft of the harmonic reducer 3224, and a driven synchronous pulley 3226 sleeved and connected to the dividing plate turntable 34, and a first synchronous belt 33 is wound around and connected between the driving synchronous pulley 3225 and the driven synchronous pulley 3226.

[0085] Therefore, the motor mounting bracket 321 serves as the installation load-bearing carrier of the servo drive assembly 322. Driven by the first drive motor 3221, the harmonic reducer 3224 is driven to work. The output shaft of the harmonic reducer 3224 rotates, driving the active synchronous pulley 3225 to rotate. The first synchronous belt 33 is wound around the active synchronous pulley 3225 and the driven synchronous pulley 3226. Under the transmission action of the first synchronous belt 33, the driven synchronous pulley 3226 is driven to rotate. The driven synchronous pulley 3226 is installed on the dividing plate turntable 34, thereby driving the dividing plate turntable 34 to rotate.

[0086] See also Figure 6As shown, in the embodiment of the present invention, the indexing plate turntable 34 includes an indexing plate rotating shaft 341, a support seat 343 sleeved and connected to the square bracket 31, a first tapered roller bearing 344, a bearing outer bushing 345, a second tapered roller bearing 346, a bearing inner bushing 348 and a lower sealing cover 349 connected to the lower end surface of the support seat 343, wherein:

[0087] The indexing plate shaft 341 is adapted to be inserted through the support seat 343 , the first tapered roller bearing 344 , the bearing outer bushing 345 , the second tapered roller bearing 346 , the bearing inner bushing 348 and the lower sealing cover 349 .

[0088] The first tapered roller bearing 344 , the bearing outer sleeve 345 , the second tapered roller bearing 346 and the bearing inner sleeve 348 are all located in the support seat 343 , and the bearing inner sleeve 348 is located in the bearing outer sleeve 345 .

[0089] Thus, the indexing plate shaft 341 is driven to perform horizontal rotational motion through the servo drive assembly 322 , and the top end of the indexing plate shaft 341 is connected to the turntable 21 , thereby driving the turntable 21 to move.

[0090] In addition, an upper skeleton oil seal 342 and a lower skeleton oil seal 347 are respectively provided on the upper and lower end surfaces of the support seat 343 to ensure the lubrication requirements inside the support seat 343 .

[0091] See also Fig.13 , 14 As shown, in the embodiment of the present invention, the automatic loading and unloading device 5 includes a guide rail panel 51 connected to the side of the square bracket 31, a driving mechanism 52 installed at the bottom of the guide rail panel 51, a transmission mechanism 53 installed on the periphery of the guide rail panel 51, a guide mechanism 54 and a linear rail assembly 55 installed in the middle of the guide rail panel 51.

[0092] The driving mechanism 52 includes a second driving motor 521 and a reducer 522 connected to the output shaft of the second driving motor 521, and the output shaft of the reducer 522 passes through the guide rail panel 51;

[0093] The transmission mechanism 53 includes a driving gear 531 connected to the output shaft of the reducer 522, a first driven gear 532, a second driven gear 533, a third driven gear 534 and a fourth driven gear 535 uniformly distributed around the guide rail panel 51, and a second synchronous belt 536.

[0094] A second synchronous belt 536 is wound between the driving gear 531 , the first driven gear 532 , the second driven gear 533 , the third driven gear 534 and the fourth driven gear 535 .

[0095] Thus, through the movement of the driving mechanism 52, the transmission mechanism 53 is driven to move, so that the driving gear 531 drives the first driven gear 532, the second driven gear 533, the third driven gear 534 and the fourth driven gear 535 to move through the second synchronous belt 536, and the linear rail assembly 55 is suitable for moving up and down under the action of the second synchronous belt 536, so as to realize the robot 1 to pick up and place the gear 7.

[0096] See also Fig.13 , 14 As shown, in the embodiment of the present invention, the linear rail assembly 55 includes a first linear rail mechanism 551 and a second linear rail mechanism 552 which are arranged in parallel on the guide rail panel 51, one side of the first linear rail mechanism 551 is suitable for connecting to one side of the second synchronous belt 536, and one side of the second linear rail mechanism 552 is suitable for connecting to the other side of the second synchronous belt 536;

[0097] The second synchronous belt 536 is suitable for driving the first linear rail mechanism 551 and the second linear rail mechanism 552 to move in opposite directions.

[0098] See also Fig.13 , 14 As shown, in the embodiment of the present invention, the first linear rail mechanism 551 includes a first linear rail bar 5511 connected to the guide rail panel 51, a first swing mechanism 5512 slidably connected to the first linear rail bar 5511, and a first synchronous belt adjustment plate 5513 connected to one side of the first swing mechanism 5512, and the first synchronous belt adjustment plate 5513 is connected to the second synchronous belt 536 at a side away from the first swing mechanism 5512;

[0099] The second linear rail mechanism 552 includes a second linear rail bar 5521 connected to the guide rail panel 51, a second swinging mechanism 5522 slidingly connected to the second linear rail bar 5521, and a second synchronous belt adjustment plate 5523 connected to one side of the second swinging mechanism 5522. The second synchronous belt adjustment plate 5523 is connected to the second synchronous belt 536 on the side away from the second swinging mechanism 5522.

[0100] See also Fig.13 , 14 As shown, in an embodiment of the present invention, the first swing mechanism 5512 includes a first swing arm base 55121 slidably connected to the first linear rail 5511, a first C-shaped plate 55122 connected to the first swing arm base 55121, a first swing arm rod 55123 connected to the top of the first C-shaped plate 55122, a first articulated seat 55124 connected to the first swing arm rod 55123, a first stroke cylinder 55125 and a second articulated seat 55126 connected to the first swing arm base 55121, one end of the first stroke cylinder 55125 is connected to the first articulated seat 55124, and the other end is connected to the second articulated seat 55126.

[0101] The second swing mechanism 5522 includes a second swing arm base 55221 slidably connected to the second linear rail 5521, a second C-shaped plate 55222 connected to the second swing arm base 55221, a second swing arm rod 55223 connected to the top of the second C-shaped plate 55222, a third articulated seat 55224 connected to the second swing arm rod 55223, a second stroke cylinder 55225 and a fourth articulated seat 55226 connected to the second swing arm base 55221, one end of the second stroke cylinder 55225 is connected to the third articulated seat 55224, and the other end is connected to the fourth articulated seat 55226.

[0102] See also Fig.11 , 12 As shown, in the embodiment of the present invention, the double-station gripper 4 includes a gripper mounting plate 41, an adapter flange 42 connected to the robot 1, a cylinder assembly 43 connected to the bottom of the gripper mounting plate 41, a gripper assembly 44 connected to one side of the gripper mounting plate 41, a second clamping cylinder assembly 45 and a guide rod cylinder assembly 46.

[0103] One end of the second clamping cylinder assembly 45 is fixedly connected to the top of the clamping jaw mounting plate 41, and the other end is located above the clamping jaw assembly 44;

[0104] One end of the guide rod cylinder assembly 46 is connected to the side surface of the second pressing cylinder assembly 45 , and the other end extends out and is pressed against the end surface of the gear 7 in the clamping jaw assembly 44 .

[0105] Specifically, see Fig.11 , 12 As shown, the clamp assembly 44 includes a clamp adapter plate 441 connected to the clamp mounting plate 41, a finger cylinder 442 connected to the clamp adapter plate 441, and a clamp finger 443 connected to the finger cylinder 442. The clamp finger 443 is suitable for clamping the gear 7, and the contour shape of the side of the clamp finger 443 that contacts the gear 7 is adapted.

[0106] See also Fig.12 As shown, the cylinder assembly 43 includes a first gas-driven cylinder 431 and a solenoid valve assembly 432 . The first gas-driven cylinder 431 provides gas power to the pressing cylinder 452 , the guide rod cylinder 461 and the finger cylinder 442 through the solenoid valve assembly 432 .

[0107] See also Fig.11 As shown, the second clamping cylinder assembly 45 includes a clamping cylinder cantilever plate 451 and a clamping cylinder 452 , wherein one end of the clamping cylinder cantilever plate 451 is fixedly connected to the upper surface of the clamping jaw mounting plate 41 , and the other end is fixedly connected to the clamping cylinder 452 .

[0108] See also Fig.11As shown, the guide rod cylinder assembly 46 includes a guide rod cylinder 461 and a pressure plate 462 . The guide rod cylinder 461 is fixedly connected to one side of the pressing cylinder 452 , and the pressure plate 462 is connected to the output shaft end of the pressing cylinder 452 .

[0109] Although the disclosure is disclosed as above, the protection scope of the disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A gear chamfering automatic loading and unloading production system, characterized in that: include: Robot (1); A double-station gripper (4) fixedly mounted on the robot (1); A rotating disk assembly (2) comprises a rotating disk (21), quick clamps (22) uniformly arranged radially outward from the center of the rotating disk (21), and a material rod assembly (23) vertically connected to the rotating disk (21), wherein the material rod assembly (23) is arranged directly opposite to the outer side of the quick clamps (22); Every two adjacent material rod assemblies (23) form a group, one of which is used to stack the processed gears (7), and the other is used for the robot (1) to sequentially take out the gears (7) stacked on the material rod assemblies (23); A dividing device (3) comprising a square bracket (31), the dividing device (3) being connected to the lower surface of the rotating disk assembly (2), the dividing device (3) being suitable for driving the rotating disk assembly (2) to perform horizontal rotational motion; an automatic loading and unloading device (5) connected to a side of the rotating disk assembly (2), and comprising a guide rail panel (51), a driving mechanism (52) installed at the bottom of the guide rail panel (51), a transmission mechanism (53) installed at the periphery of the guide rail panel (51), a guide mechanism (54), and a linear rail assembly (55) installed in the middle of the guide rail panel (51); A chamfering device (6) is arranged on a side of the robot (1) opposite to the rotating disk assembly (2); A control system (9), wherein the control system (9) is respectively adapted to control the movement of the robot (1), the rotating disk assembly (2), the indexing device (3), the double-station clamp (4), the automatic loading and unloading device (5) and the chamfering device (6) to complete chamfering of the gear (7); The guide rail panel (51) is connected to a side surface of the square bracket (31); the driving mechanism (52) comprises a second driving motor (521) and a reducer (522) connected to an output shaft of the second driving motor (521); the output shaft of the reducer (522) passes through the guide rail panel (51); The transmission mechanism (53) comprises a driving gear (531) connected to the output shaft of the reducer (522), a first driven gear (532), a second driven gear (533), a third driven gear (534), and a fourth driven gear (535) uniformly distributed around the guide rail panel (51), and a second synchronous belt (536). The second synchronous belt (536) is wound between the driving gear (531), the first driven gear (532), the second driven gear (533), the third driven gear (534) and the fourth driven gear (535); The linear track assembly (55) comprises a first linear track mechanism (551) and a second linear track mechanism (552) which are arranged in parallel on the guide rail panel (51), one side of the first linear track mechanism (551) is suitable for being connected to one side of the second synchronous belt (536), and one side of the second linear track mechanism (552) is suitable for being connected to the other side of the second synchronous belt (536); The second synchronous belt (536) is suitable for driving the first linear track mechanism (551) and the second linear track mechanism (552) to move in opposite directions.

2. The gear chamfering automatic loading and unloading production system according to claim 1 is characterized in that: The material rod assembly (23) comprises a material rod seat (221) connected to the upper surface of the turntable (21), a transition sleeve (222) inserted in the material rod seat (221), a material rod bushing (223) inserted on the transition sleeve (222), a material rod (224) inserted on the material rod bushing (223), a magnet (225) provided at the bottom of the material rod seat (221), and an end cover (226) connected to the lower end surface of the material rod seat (221), wherein the magnet (225) is connected between the end cover (226) and the material rod bushing (223).

3. The automatic loading and unloading production system for gear chamfering according to claim 2 is characterized in that: The indexing device (3) further comprises a driving assembly (32) arranged in the square bracket (31), a first synchronous belt (33) wound around the driving assembly (32), a dividing plate turntable (34) inserted through and connected to the turntable (21), a first pressing cylinder assembly (35) arranged directly below the dividing plate turntable (34), a hollow tube (36) inserted through the first pressing cylinder assembly (35), the dividing plate turntable (34) and the square bracket (31) in sequence, and a sensor (37) connected to the top of the hollow tube (36). The bottom end of the hollow tube (36) is pressed against the bottom of the first pressing cylinder assembly (35), and the top end of the hollow tube (36) passes through the upper surface of the rotating disk (21); The driving assembly (32) is suitable for driving the indexing disk turntable (34) to rotate horizontally, thereby driving the turntable (21) to perform horizontal rotational movement.

4. The automatic loading and unloading production system for gear chamfering according to claim 3 is characterized in that: The drive assembly (32) comprises a motor mounting bracket (321) connected to the upper bottom surface of the square bracket (31) and a servo drive assembly (322) connected to the lower bottom surface of the motor mounting bracket (321). The servo drive assembly (322) comprises a first drive motor (3221), a motor flange (3222) connected to the output shaft side of the first drive motor (3221), a motor adjustment plate (3223) connected to the lower surface of the motor mounting bracket (321), a harmonic reducer (3224) connected to the motor adjustment plate (3223) and the motor mounting bracket (321), a driving synchronous belt pulley (3225) connected to the output shaft of the harmonic reducer (3224), and a driven synchronous belt pulley (3226) sleeved and connected to the indexing disk turntable (34), wherein the first synchronous belt (33) is wound and connected between the driving synchronous belt pulley (3225) and the driven synchronous belt pulley (3226).

5. The automatic loading and unloading production system for gear chamfering according to claim 4 is characterized in that: The indexing disk turntable (34) comprises an indexing disk rotating shaft (341), a support seat (343) sleeved and connected to the square bracket (31), a first tapered roller bearing (344), a bearing outer bushing (345), a second tapered roller bearing (346), a bearing inner bushing (348), and a lower sealing cover (349) connected to the lower end surface of the support seat (343); The indexing plate rotating shaft (341) is suitable for being inserted into the support seat (343), the first tapered roller bearing (344), the bearing outer bushing (345), the second tapered roller bearing (346), the bearing inner bushing (348) and the lower sealing cover (349); The first tapered roller bearing (344), the bearing outer sleeve (345), the second tapered roller bearing (346) and the bearing inner sleeve (348) are all located in the support seat (343), and the bearing inner sleeve (348) is located in the bearing outer sleeve (345).

6. The gear chamfering automatic loading and unloading production system according to claim 1 is characterized in that: The first linear rail mechanism (551) comprises a first linear rail bar (5511) connected to the guide rail panel (51), a first swing mechanism (5512) slidably connected to the first linear rail bar (5511), and a first synchronous belt adjustment plate (5513) connected to one side of the first swing mechanism (5512), wherein a side of the first synchronous belt adjustment plate (5513) away from the first swing mechanism (5512) is connected to the second synchronous belt (536); The second linear rail mechanism (552) comprises a second linear rail bar (5521) connected to the guide rail panel (51), a second swing mechanism (5522) slidably connected to the second linear rail bar (5521), and a second synchronous belt adjustment plate (5523) connected to one side of the second swing mechanism (5522), wherein the second synchronous belt adjustment plate (5523) is connected to the second synchronous belt (536) at a side away from the second swing mechanism (5522).

7. The automatic loading and unloading production system for gear chamfering according to claim 6 is characterized in that: The first swing mechanism (5512) comprises a first swing arm base (55121) slidably connected to the first linear rail (5511), a first C-shaped plate (55122) connected to the first swing arm base (55121), a first swing arm rod (55123) connected to the top of the first C-shaped plate (55122), a first articulated seat (55124) connected to the first swing arm rod (55123), a first stroke cylinder (55125) and a second articulated seat (55126) connected to the first swing arm base (55121), one end of the first stroke cylinder (55125) is connected to the first articulated seat (55124), and the other end is connected to the second articulated seat (55126); The second swing mechanism (5522) comprises a second swing arm base (55221) slidably connected to the second linear rail (5521), a second C-shaped plate (55222) connected to the second swing arm base (55221), a second swing arm rod (55223) connected to the top of the second C-shaped plate (55222), a third articulated seat (55224) connected to the second swing arm rod (55223), a second stroke cylinder (55225) and a fourth articulated seat (55226) connected to the second swing arm base (55221), one end of the second stroke cylinder (55225) is connected to the third articulated seat (55224), and the other end is connected to the fourth articulated seat (55226).

8. The gear chamfering automatic loading and unloading production system according to claim 1 is characterized in that: The double-station gripper (4) comprises a gripper mounting plate (41), an adapter flange (42) connected to the robot (1), a cylinder assembly (43) connected to the bottom of the gripper mounting plate (41), a gripper assembly (44) connected to one side of the gripper mounting plate (41), a second clamping cylinder assembly (45) and a guide rod cylinder assembly (46). One end of the second clamping cylinder assembly (45) is fixedly connected to the top of the clamping jaw mounting plate (41), and the other end is located above the clamping jaw assembly (44); One end of the guide rod cylinder assembly (46) is connected to the side surface of the second pressing cylinder assembly (45), and the other end extends out and presses against the end surface of the gear (7) in the clamping jaw assembly (44).

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