Small part automatic feeding and discharging auxiliary machining device

Abstract

The invention provides an automatic feeding and discharging auxiliary machining device for small parts. The automatic feeding and discharging auxiliary machining device for the small parts comprises a machining table, a pressing mechanism, a storage mechanism and a universal mechanical arm. According to the automatic feeding and discharging auxiliary machining device for the small parts, when the automatic feeding and discharging auxiliary machining device for the small parts works, the universal mechanical arm drives the clamping jaw assembly to synchronously grab the small parts on the storage mechanism in an array mode and place the small parts on the machining table, and pre-fixing of the small parts is achieved through the clamping grooves and the jacking blocks on the machining table; and the small parts are pressed and fixed through the pressing mechanism. And the numerical control machine tool is started, the machining faces or the machining holes of the small parts are machined, and after machining is completed, the universal mechanical arm is used for discharging and feeding again. According to the feeding and discharging device, during feeding and discharging of small parts in machining, multiple small parts can be grabbed and discharged at the same time in a single row, the feeding and discharging efficiency is improved, complex operation of manual feeding is replaced, and the labor intensity of operators is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of machine tool processing, and particularly relates to an automatic feeding and discharging auxiliary processing device for small parts. BACKGROUND

[0002] After precision casting, small parts need to be processed by numerical control machine tools according to the design size of the assembly surface or assembly hole because some parts are involved in the problem of post-assembly. In the processing of numerical control machine tools, batch processing of parts is usually involved. Although batch processing tooling is usually used to realize batch processing of small parts at present in order to improve processing efficiency. However, batch processing of small parts involves frequent feeding and discharging of clamped parts during processing, and the operator needs to repeatedly disassemble and replace the parts to be processed. The operation process is complex, the labor intensity of the operator is large, and the manual clamping method can only realize the feeding and discharging of one part at a time. SUMMARY

[0003] The embodiment of the present application provides an automatic feeding and discharging auxiliary processing device for small parts, which can solve the problems of complex feeding and discharging operation and large labor intensity of operators in the prior art.

[0004] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is to provide an automatic feeding and discharging auxiliary processing device for small parts, comprising: a processing table, at least one clamping assembly for clamping small parts is arranged on the processing table, the clamping assembly comprises a clamping groove on the processing table and a pressing block for pressing the small parts in the clamping groove; a pressing mechanism installed on the processing table for pressing and fixing the small parts in the clamping assembly; a storage mechanism, the storage mechanism comprises a storage disc, a plurality of storage blocks for placing small parts are arranged on the storage disc, and the number of columns of storage blocks on the storage disc is odd, wherein one row of idle columns is used to uniformly arrange the small parts to be processed; a universal mechanical arm installed on one side of the processing table, a clamping jaw assembly for switching the same column of small parts between the processing table and the storage mechanism is installed on the working end of the universal mechanical arm.

[0005] In a possible implementation manner, the clamping assembly comprises two adjacent positioning blocks, the positioning blocks are provided with positioning surfaces for positioning the small parts, the positioning surfaces on the two positioning blocks are arranged perpendicular to each other, the pressing block is provided with an inclined surface, the processing table is provided with a guide block in sliding cooperation with the inclined surface, and a pushing piece for driving the guide block to move is arranged.

[0006] In a possible implementation manner, the pressing mechanism comprises: The rotary clamping cylinder is fixedly installed on the machining table; The pressing plate is fixedly installed on the driving end of the rotary clamping cylinder, and is used for pressing the small parts on the machining table.

[0007] In a possible implementation, the machining table comprises: The base is used for being fixed to the operating table of the numerical control machine tool; The clamping seat is rotationally arranged on the base, and the plurality of clamping assemblies are arranged on the clamping seat; The driving member is installed on the base, and the driving end of the driving member is in transmission connection with the clamping seat, and is used for driving the clamping seat to rotate on the base.

[0008] In a possible implementation, the machining table is further provided with a flushing mechanism for flushing the iron filings on the clamping seat.

[0009] In a possible implementation, the clamping jaw assembly comprises: The mounting bracket is fixedly installed on the working end of the universal mechanical arm; The grabbing bracket is rotationally arranged on the mounting bracket, and the grabbing bracket is provided with the clamping assembly for grabbing the small parts on both sides.

[0010] In a possible implementation, the grabbing bracket is further provided with a detection bracket for detecting the position of the small parts on the machining table, and the detection bracket is provided with a plurality of inductors for inducting the position of the small parts.

[0011] In a possible implementation, the storage mechanism comprises: The fixing bracket is provided with a grabbing position for the clamping jaw assembly to grab the small parts; The storage rack is installed on the fixing bracket, and the position of the storage rack on the fixing bracket has the freedom degree in the vertical direction, and the storage rack is provided with a plurality of storage discs for storing the small parts in the vertical direction; The push-pull assembly is installed on the fixing bracket, and is used for pushing the storage disc to switch between the storage rack and the grabbing position.

[0012] In a possible implementation, the push-pull assembly comprises: The sliding seat is slidingly arranged on the fixing bracket; The connecting member is installed on the sliding seat, and the connecting member is provided with a limiting groove for connecting the storage disc; The jacking member is fixedly installed on the sliding seat, and the driving end is installed on the connecting member, and is used for driving the connecting member to move up and down.

[0013] In a possible implementation, one side of the fixing frame is provided with a baffle for limiting the storage tray, and the opposite side of the baffle is further provided with a pressing piece for pushing the storage tray against the baffle.

[0014] Compared with the prior art, the scheme shown in the embodiment of the application has the machining table installed on the operating table of the numerical control machine tool, at least one row of clamping assemblies for clamping small parts is arranged on the machining table, the universal mechanical arm is further installed on the outside of the numerical control machine tool, the fixed end of the universal mechanical arm is fixedly installed on the ground, the clamping jaw assembly for grabbing small parts is installed at the working end of the universal mechanical arm, the storage mechanism for storing small parts to be machined is further installed on one side of the numerical control machine tool, in working, the universal mechanical arm drives the clamping jaw assembly to synchronously grab the small parts on the storage mechanism in a row, and places the small parts on the machining table, the clamping jaw assembly is pre-fixed on the machining table through the clamping groove and the pressing block, and the small parts are press-fixed through the pressing mechanism. The numerical control machine tool is started, and the machining surface or machining hole of the small part is machined, after the machining is completed, the universal mechanical arm is used to unload and reload. The application can grab and unload the small parts in a row during the machining and unloading of the small parts, improves the efficiency of the unloading and loading, and replaces the complex operation of manual loading, and reduces the labor intensity of the operator. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 A structure schematic view of the small part automatic loading and unloading auxiliary machining device provided by the embodiment of the application is shown; Figure 2 A structure schematic view of the clamping jaw assembly provided by the embodiment of the application is shown; Figure 3 A structure schematic view of the machining table provided by the embodiment of the application is shown; Figure 4 A structure schematic view of the clamping assembly provided by the embodiment of the application is shown; Figure 5 A structure schematic view of the storage mechanism provided by the embodiment of the application is shown; Figure 6 A connection structure schematic view of the connecting piece and the storage tray provided by the embodiment of the application is shown.

[0016] MARKING OF THE DRAWINGS: 1, processing platform; 11, base; 12, clamping seat; 13, clamping assembly; 131, positioning block; 132, tightening block; 133, guide block; 134, pusher; 14, pressing mechanism; 141, rotary clamping cylinder; 142, pressing plate; 15, driving member; 2, storage mechanism; 21, fixed frame; 22, storage rack; 23, storage disc; 24, push-pull assembly; 241, sliding seat; 242, connecting member; 243, jacking member; 25, baffle; 26, tightening member; 3, universal mechanical arm; 4, jaw assembly; 41, mounting frame; 42, grabbing frame; 421, clamping assembly; 43, detection frame; 431, inductor; 5, flushing mechanism. DETAILED DESCRIPTION

[0017] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects more clear, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0018] Please refer to Figures 1 to 6 , now the small parts automatic feeding and discharging auxiliary processing device provided by the present application will be described. The small parts automatic feeding and discharging auxiliary processing device comprises a processing platform 1, a pressing mechanism 14, a storage rack 22 and a universal mechanical arm 3. The processing platform 1 is provided with at least one row of clamping assemblies 13 for clamping small parts, the clamping assembly 13 comprises a clamping groove on the processing platform 1 and a tightening block 132 for tightly clamping the small parts in the clamping groove; the pressing mechanism 14 is installed on the processing platform 1 and is used for pressing and fixing the small parts in the clamping assembly 13; the storage mechanism 2 comprises a storage disc 23, the storage disc 23 is provided with a plurality of storage blocks for placing small parts, and the number of storage blocks on the storage disc 23 is odd, one of which is an idle column, which is used to uniformly arrange the small parts to be processed; the universal mechanical arm 3 is installed on one side of the processing platform 1, and the working end of the universal mechanical arm 3 is provided with a jaw assembly 4 for clamping the small parts in the same column and switching between the processing platform 1 and the storage mechanism 2.

[0019] The automatic loading and unloading auxiliary processing device for small parts provided in this embodiment, compared with the prior art, has a processing table 1 installed on the operating table of a CNC machine tool. At least one row of clamping components 13 for clamping small parts is provided on the processing table 1. A universal robotic arm 3 is also installed on the outside of the CNC machine tool. The fixed end of the universal robotic arm 3 is fixedly installed on the ground, and a gripper assembly 4 for grasping small parts is installed at the working end of the universal robotic arm 3. A storage mechanism 2 for storing small parts to be processed is also installed on one side of the CNC machine tool. During operation, the universal robotic arm 3 drives the gripper assembly 4 to synchronously grasp the rows of small parts on the storage mechanism 2 and place them on the processing table 1. The small parts are pre-fixed by the slots and clamping blocks 132 on the processing table 1, and pressed and fixed by the pressing mechanism 14. The CNC machine tool is started to process the surface or holes of the small parts. After processing is completed, the universal robotic arm 3 is used to unload and reload the parts. This application allows for separate loading and unloading of small parts during processing, improving loading and unloading efficiency and replacing the complex manual loading operation, thus reducing the labor intensity of operators.

[0020] Specifically, in this embodiment, the specific structure and control method of the omnidirectional robotic arm 3 are existing technologies and will not be described further here.

[0021] Preferably, in this embodiment, two rows of clamping assemblies 13 are provided on the processing table 1, with multiple clamping assemblies 13 in each row, and the distance between adjacent clamping assemblies 13 is the same. The gripper assembly 4 can simultaneously grasp the number of small parts corresponding to the clamping assembly 13 in a single row, thereby realizing the synchronous grasping and placement of small parts in a single row, improving the efficiency of loading and unloading.

[0022] In some embodiments, the clamping assembly 13 described above may employ, for example... Figure 3 , Figure 4 The structure shown. See also... Figure 3 , Figure 4The clamping assembly 13 comprises two adjacent positioning blocks 131, the positioning blocks 131 are provided with positioning surfaces for positioning small parts, the positioning surfaces on the two positioning blocks 131 are arranged perpendicularly to each other, and the pressing block 132 is provided with an inclined surface, the machining table 1 is provided with a guide block 133 in sliding fit with the inclined surface, and a pushing piece 134 for moving the guide block 133. The two positioning blocks 131 are arranged adjacent to each other, and the positioning surfaces are arranged on the outer sides of the two positioning blocks 131. The two positioning surfaces are arranged perpendicularly to each other to form a clamping groove for positioning small parts. The pressing block 132 is also arranged in sliding fit on the machining table 1, each clamping assembly 13 comprises two pressing blocks 132, and the two pressing blocks 132 are arranged opposite to the two positioning surfaces respectively. When the pressing block 132 moves towards the corresponding positioning surface, the pressing block 132 can press the small part.

[0023] Specifically, in the embodiment, the inclined surface is arranged on the side of the pressing block 132 away from the positioning surface, the guide block 133 is arranged in sliding fit in the vertical direction on the machining table 1, the pushing piece 134 is a pneumatic cylinder, the fixed end of the pushing piece 134 is fixedly installed on the machining table 1, and the driving end of the pushing piece 134 is connected to the guide block 133. Thus, the guide block 133 can be moved up and down by the pushing piece 134, and the pressing block 132 can be pushed to move towards the corresponding positioning surface by the guide between the guide block 133 and the pressing block 132.

[0024] Preferably, in the embodiment, the machining table 1 is also provided with an elastic piece for pushing the pressing block 132 to move away from the corresponding positioning surface. Thus, the elastic piece can facilitate the unloading operation of the small parts in the later stage.

[0025] Preferably, in the embodiment, each guide block 133 is connected to two pressing blocks 132, and the two pressing blocks 132 are the pressing blocks 132 corresponding to the adjacent two clamping assemblies 13. Thus, the adjacent two clamping assemblies 13 can clamp and fix the small parts by a single pushing piece 134.

[0026] In some embodiments, the pressing mechanism 14 can adopt the structure as shown in Figure 4 . Referring to Figure 4 , the pressing mechanism 14 comprises a rotary clamping pneumatic cylinder 141 and a pressing plate 142. The fixed end of the rotary clamping pneumatic cylinder 141 is fixedly installed on the machining table 1, and the pressing plate 142 is fixedly installed on the driving end of the rotary clamping pneumatic cylinder 141, for pressing the small parts on the machining table 1. Through the design of the rotary clamping pneumatic cylinder 141, the end of the pressing plate 142 can be pressed on the small parts in the pressing state, and when the pressing plate 142 is pushed by the rotary clamping pneumatic cylinder 141 in the loosening state, the pressing plate 142 is rotated to one side of the small parts, facilitating the clamping jaw assembly 4 to clamp or place the small parts in the later stage, and avoiding interference with the operation of the clamping jaw assembly 4.

[0027] Specifically, in the embodiment, the rotary pressing cylinder is an executing element which, through an internal mechanical structure, makes the cylinder rod rotate by a certain angle first and then linearly lower to realize the pressing function when the cylinder rod is extended. When the cylinder rod is retracted, it acts in the opposite order: first linearly lift, then reverse rotation reset. The internal structure is a prior art, which is not described here.

[0028] Specifically, in the embodiment, when fixing small parts to the machining table 1, since the jaw assembly 4 places the small parts inside the clamping assembly 13, sometimes the small parts cannot be effectively abutted on the machining table 1. After the small parts are placed in the clamping assembly 13, the rotary clamping cylinder 141 drives the pressing plate 142 to press the small parts, so that the small parts can be stably attached to the machining table 1, and finally the small parts are clamped by the jacking block 132 and the positioning block 131. Before machining, the rotary clamping cylinder 141 drives the pressing plate 142 to press on the surface of the small parts, further improving the stability of the fixation of the small parts.

[0029] In some embodiments, the machining table 1 can adopt the structure as shown in Figure 3 . Referring to Figure 3 , the machining table 1 comprises a base 11, a clamping seat 12 and a driving member 15. The base 11 is used to be fixed to the operating table of the numerical control machine tool; the clamping seat 12 is rotationally arranged on the base 11, and a plurality of clamping assemblies 13 are located on the clamping seat 12; the driving member 15 is installed on the base 11, and the driving end of the driving member 15 is in transmission connection with the clamping seat 12, for driving the clamping seat 12 to rotate on the base 11. Both ends of the clamping seat 12 are fixedly installed with rotating shafts rotationally arranged on the base 11, so that the clamping seat 12 can be flipped on the base 11. The driving member 15 is a motor, and the driving end of the driving member 15 is in transmission connection with the rotating shafts on the clamping seat 12, for driving the clamping seat 12 to rotate.

[0030] Specifically, in the embodiment, an encoder is installed on the rotating shaft of the clamping seat 12 or the driving shaft of the driving member 15 to monitor the flipping angle and flipping state of the clamping seat 12. The switching between various states is realized.

[0031] Preferably, in this embodiment, after the single batch of small part machining is completed, some iron filings will remain on the surface of the machining table 1, which facilitates the cleaning of the iron filings later. After the small parts are removed from the machining table 1, the clamping seat 12 can be flipped over by the driving member 15 to make the mounting surface of the small parts on the clamping seat 12 inclined relative to the horizontal direction, and then the cutting fluid spraying pipe on the numerical control machine tool can be used to spray cutting fluid on the clamping seat 12 to wash away the iron filings on the surface, thereby ensuring the cleanliness of the mounting surface of the small parts on the clamping seat 12. By flipping the clamping seat 12 to an inclined state, the cutting fluid spraying pipe on the machining head of the numerical control machine tool can be used to spray cutting fluid, and the iron filings on the surface can be washed and slid off to the machine tool, which facilitates the subsequent clamping of the small parts. In this embodiment, the washing is completed by cooperating with the machine tool, and no additional cleaning components are needed, thereby saving machining costs.

[0032] In some embodiments, the machining table 1 described above can adopt the structure as shown in Figure 1 、 Figure 3 . Referring to Figure 1 、 Figure 3 , a washing mechanism 5 for washing the iron filings on the clamping seat 12 is further installed above the machining table 1. The washing mechanism 5 includes a spraying pipe installed on the machining head of the numerical control machine tool and a delivery pump for delivering cutting fluid to the inside of the spraying pipe. When the machining table 1 is cleaned, the machining head of the numerical control machine tool can be moved above the clamping seat 12 of the machining table 1, and the machining head can be moved along the arrangement direction of the plurality of clamping assemblies 13, so that the spraying pipe can effectively spray the clamping assemblies 13 to clean the iron filings.

[0033] Specifically, in this embodiment, the washing mechanism 5 can use the cutting fluid spraying pipe originally provided on the machining head of the machine tool. When cleaning, the flow rate of the spraying pipe can be increased to enhance the cleaning effect on the machining table 1.

[0034] In some embodiments, the clamping jaw assembly 4 described above can adopt the structure as shown in Figure 1 、 Figure 2 . Referring to Figure 1 、 Figure 2 , the clamping jaw assembly 4 includes a mounting frame 41 and a grabbing frame 42. The mounting frame 41 is fixedly installed on the working end of the universal mechanical arm 3. The grabbing frame 42 is rotatably arranged in the middle of the mounting frame 41, and the grabbing frame 42 is provided with clamping assemblies 421 for grabbing small parts on both sides. On the grabbing frame 42, the clamping assemblies 421 are installed on both sides along the width direction of the grabbing frame 42. The clamping assemblies 421 are standard parts of a purchased pneumatic clamp, and are preferably pneumatic fingers in the prior art. The spacing between adjacent two clamping assemblies 421 is the same as the spacing between adjacent two clamping assemblies 13 on the machining table 1. Therefore, after the clamping assemblies 421 clamp a plurality of small parts, the clamping assemblies 421 can simultaneously place the small parts on the corresponding clamping assemblies 13 on the machining table 1.

[0035] Specifically, in this embodiment, the middle part of the grabbing frame 42 is rotationally arranged on the mounting frame 41 and can be flipped by 180° on the mounting frame 41 through the driving of the motor, so that the grabbing frame 42 can simultaneously grab two groups of small parts through the clamping assemblies 421 on both sides, and when the small parts are placed on the processing table 1, the flipping of the grabbing frame 42 can sequentially place the two groups of small parts on the corresponding clamping assemblies 13 on the two columns of the processing table 1, further improving the clamping and unloading efficiency. Through the flipping of the grabbing frame 42 on the mounting frame, and the arrangement of multiple clamping assemblies 421 on both sides of the grabbing frame, the flipping by 180° can simultaneously clamp multiple parts.

[0036] In some embodiments, the above-mentioned grabbing frame 42 can adopt the structure as shown in Figure 2 . Referring to Figure 2 , the grabbing frame 42 is further provided with a detection frame 43 for detecting the position of the small parts on the processing table 1, and the detection frame 43 is provided with multiple inductors 431 for sensing the position of the small parts. The detection frame 43 is further arranged on the grabbing frame 42, and the detection frame 43 is provided with multiple inductors 431 corresponding to the positions of the multiple clamping assemblies 13 in the same column on the processing table 1, and the inductors 431 are used to sense whether the small parts are clamped in place. The installation state of the small parts can be detected by the detection frame 43 before processing, which can improve the safety during processing.

[0037] Specifically, in this embodiment, after the small parts are installed on the clamping seats 12 of the processing table 1 and clamped and fixed by the clamping assemblies 13, the clamping seats 12 are flipped by a driving member 15 to flip the side of the clamping seat 12 provided with the small parts to a direction close to the universal mechanical arm 3 by a certain angle. The small part mounting surface on the clamping seat 12 is in a state of being inclined to the horizontal direction, at this time, if the small parts that are not clamped will be displaced or fall off from the clamping seat 12, the small parts that are not clamped stably can be detected. At the same time, the angle of the outward inclination facilitates the adjustment of the angle of the grabbing frame 42 by the universal mechanical arm 3 to facilitate the detection of the clamping state of the small parts.

[0038] Preferably, in this embodiment, the mounting frame 41 has the freedom of adjusting the pitch angle under the driving of the universal mechanical arm 3. The detection frame 43 is located on the side of the grabbing frame 42 away from the mounting frame 41, and the clamping assemblies 421 are arranged on both sides of the detection frame 43 along the width direction of the grabbing frame 42, so that the switching between the various working components can be realized through the adjustment of the pitch angle of the mounting frame 41.

[0039] In some embodiments, the above-mentioned storage mechanism 2 can adopt the structure as shown in Figure 1 , Figure 5 and Figure 6 . Referring toFigure 1 、 Figure 5 and Figure 6 The storage mechanism 2 comprises a fixed frame 21, a storage frame 22 and a push-pull assembly 24. The fixed frame 21 is provided with a grabbing position for the jaw assembly 4 to grab small parts; the storage frame 22 is installed on the fixed frame 21 and has a vertical adjustment freedom in position on the fixed frame 21, and a plurality of storage trays 23 for storing small parts are arranged on the storage frame 22 in a vertical direction; and the push-pull assembly 24 is installed on the fixed frame 21 and used to push the storage tray 23 to switch between the storage frame 22 and the grabbing position. The fixed frame 21 is installed on the ground, the storage frame 22 is arranged on the side of the fixed frame 21 away from the universal mechanical arm 3, and the storage frame 22 can be adjusted in a vertical direction on the fixed frame 21. A plurality of groups of storage trays 23 are installed on the storage frame 22 in a vertical direction, and the storage frame 22 is provided with slots for placing the storage trays 23, and a plurality of storage trays 23 are inserted into the corresponding slots. The storage tray 23 can be pulled out of or pushed into the slot by the push-pull assembly 24.

[0040] Specifically, in the present embodiment, during application, the position of the storage frame 22 on the fixed frame 21 is adjusted so that the push-pull assembly 24 can move to the bottom of the storage tray 23 to be changed. Then the storage tray 23 is pulled out by the push-pull assembly 24, and the machined small parts are placed on the storage tray 23 by the universal mechanical arm 3, and the small parts to be machined on the storage tray 23 are clamped and machined.

[0041] Preferably, in the present embodiment, a plurality of rows of storage blocks for placing small parts are arranged on the storage tray 23, and the top surface of the storage block is an installation surface matched with the shape of the small part, so that the position of the small part can be positioned after the small part is placed on the storage block. The spacing between adjacent storage blocks in the same row is the same as the spacing between adjacent clamping assemblies 13 in the same row, so that the small part can be switched between the storage block and the clamping assembly 13 by the jaw assembly 4.

[0042] Preferably, in the present embodiment, two groups of grabbing assemblies 421 are arranged on the grabbing frame 42, so that two rows of small parts can be grabbed at the same time, and the number of rows of storage blocks on the storage tray 23 is an odd number, one of which is an idle row. The small parts grabbed by the grabbing frame 42 can be placed in the idle row first, and then the idle clamping assembly 13 is used to grab the small parts.

[0043] Meanwhile, in the embodiment, the position of the storage rack 22 on the fixing frame 21 can be adjusted in the vertical direction, so that the corresponding storage disc 23 can be switched for operation. Specifically, in the embodiment, two sprockets are rotatably arranged on the fixing frame 21, the two sprockets are arranged in the vertical direction, and a chain is arranged in meshing between the two sprockets, the chain is fixedly installed on the storage rack 22, and a motor for driving a single sprocket to rotate is installed on the fixing frame 21, when the sprocket rotates, the storage rack 22 can be driven to move up and down in the vertical direction by the chain.

[0044] In some embodiments, the push-pull assembly 24 described above can adopt the structure as shown in Figure 5 、 Figure 6 . Referring to Figure 5 、 Figure 6 , the push-pull assembly 24 includes a sliding seat 241, a connecting piece 242, and a jacking piece 243. The sliding seat 241 is slidably arranged on the fixing frame 21; the connecting piece 242 is installed on the sliding seat 241, and the connecting piece 242 is provided with a limiting groove for connecting the storage disc 23; the jacking piece 243 is fixedly installed on the sliding seat 241, and the driving end is installed on the connecting piece 242, for driving the connecting piece 242 to move up and down. A lead screw is rotatably arranged on the fixing frame 21, and a threaded sleeve is further installed on the sliding seat 241 and threadedly connected with the lead screw, so that the position of the sliding seat 241 can be adjusted by driving the lead screw to rotate by the motor. And the fixing frame 21 is provided with an inductor 431 for sensing the storage disc 23, the inductor 431 is electrically connected with a controller, and the controller is electrically connected with the motor for controlling the working state of the motor.

[0045] Specifically, in the embodiment, in the initial state, the driving end of the jacking piece 243 is withdrawn, so that the connecting piece 242 can slide into the lower part of the storage disc 23, and when the connecting piece 242 moves to the lower part of the storage disc 23, the connecting piece 242 is driven upward by the jacking piece 243, so that the storage disc 23 is located in the limiting groove of the connecting piece 242, and then the sliding seat 241 is moved to extract the storage disc 23 from the inside of the storage rack 22.

[0046] Preferably, in this embodiment, a plurality of limiting blocks are fixedly installed on the top of the connecting piece 242, which can simultaneously abut against the outer side of the storage tray 23. A positioning pin is also fixedly installed on the connecting piece 242, which, together with the limiting blocks, forms a limiting groove for clamping the storage tray 23. In this embodiment, a clearance hole is also arranged on the storage tray 23 for avoiding the positioning pin. When the lifting piece 243 is in the retracted state, the sliding seat 241 moves towards the storage tray 23, the positioning pin moves below the storage tray 23, and the limiting blocks abut against the side of the storage tray 23, thereby ensuring the stability of the relative position between the storage tray 23 and the connecting piece 242. Then the lifting piece 243 lifts the connecting piece 242, and the positioning pin slides into the clearance hole, so that the storage tray 23 can be pulled out through the positioning pin.

[0047] In some embodiments, the fixed frame 21 can adopt the structure as shown in Figure 5 . Referring to Figure 5 , one side of the fixed frame 21 is provided with a baffle 25 for limiting the storage tray 23, and the opposite side of the baffle 25 is also provided with a tightening piece 26 for pushing the storage tray 23 to abut against the baffle 25. The length direction of the baffle 25 is arranged along the sliding direction of the sliding seat 241, and the tightening piece 26 is arranged on the opposite side of the baffle 25. The tightening piece 26 is a pneumatic cylinder. When the sliding seat 241 pulls the storage tray 23 to move to the working position, the tightening piece 26 can push the side of the storage tray 23 to abut against the baffle 25, so that the position of the storage tray 23 can be repositioned, which is convenient for clamping and storing small parts on the storage tray 23 in the later stage.

[0048] Specifically, in this embodiment, the application also provides a small part automatic feeding and discharging method, which comprises the following steps: S1. The universal mechanical arm 3 drives the gripper assembly 4 to grab two rows of small parts at the storage mechanism 2; S2. The clamping seat 12 is flipped on the base 11 to the inside of the machine tool, and the flushing mechanism 5 cleans the surface of the clamping seat 12 with the movement of the machine tool head, which is synchronized with step S1; S3. The clamping seat 12 is rotated to the horizontal state, the universal mechanical arm 3 drives the gripper assembly 4 to place the small parts into the two rows of clamping assemblies 13 on the clamping seat 12, and adjusts the position of the small parts by pressing the pressing mechanism 14, and then clamps the small parts by the clamping assembly 13; S4. The clamping seat 12 is flipped to the outside of the machine tool, and the grabbing frame 42 on the universal mechanical arm 3 is flipped synchronously to the working position of the detection frame 43, the detection frame 43 is moved to the clamping seat 12 to detect the fixed state of the small parts, and the grabbing frame 42 is retracted after detection.

[0049] S5. The clamping seat 12 is rotated to a machining state, the pressing mechanism 14 further presses and fixes the small parts, and the machine tool processes the small parts.

[0050] S6. After the processing is completed, the pressing mechanism 14 and the clamping assembly 13 are both loosened to fix the small parts, the universal mechanical arm sequentially clamps and places the two rows of small parts to the storage mechanism, and the above steps S1-S6 are repeated.

[0051] The above only describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement and improvement within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An automatic loading and unloading auxiliary processing device for small parts, characterized in that, include: A processing table (1) is provided with at least one row of clamping assemblies (13) for clamping small parts. The clamping assembly (13) includes a slot located on the processing table (1) and a clamping block (132) for clamping the small parts inside the slot. A pressing mechanism (14) is installed on the processing table (1) for pressing and fixing the small parts into the clamping assembly (13); The storage mechanism (2) includes a storage tray (23), which has multiple columns of storage blocks for placing small parts. The number of columns of storage blocks on the storage tray (23) is odd, with one row of empty columns for evenly arranging and storing small parts to be processed. A universal robotic arm (3) is installed on one side of the processing table (1). The working end of the universal robotic arm (3) is equipped with a gripper assembly (4) for switching between the processing table (1) and the storage mechanism (2) to pick up small parts in the same row.

2. The automatic loading and unloading auxiliary processing device for small parts as described in claim 1, characterized in that, The clamping assembly (13) includes two adjacent positioning blocks (131), each positioning block (131) having a positioning surface for positioning the small part. The positioning surfaces on the two positioning blocks (131) are perpendicular to each other. The clamping block (132) has an inclined surface. The processing table (1) has a guide block (133) that slides with the inclined surface, and a pusher (134) for moving the guide block (133).

3. The automatic loading and unloading auxiliary processing device for small parts as described in claim 1, characterized in that, The pressing mechanism (14) includes: A rotary clamping cylinder (141) is fixedly mounted on the processing table (1) at its fixed end; The pressure plate (142) is fixedly installed on the drive end of the rotary clamping cylinder (141) and is used to press the small parts onto the processing table (1).

4. The automatic loading and unloading auxiliary processing device for small parts as described in claim 1, characterized in that, The processing table (1) includes: The base (11) is used to fix it to the operating table of the CNC machine tool; A clamping base (12) is rotatably mounted on the base (11), and a plurality of clamping assemblies (13) are located on the clamping base (12); A drive unit (15) is mounted on the base (11). The drive end of the drive unit (15) is connected to the clamping seat (12) for driving the clamping seat (12) to rotate on the base (11).

5. The automatic loading and unloading auxiliary processing device for small parts as described in claim 4, characterized in that, A flushing mechanism (5) for flushing iron filings on the clamping seat (12) is also installed above the processing table (1).

6. The automatic loading and unloading auxiliary processing device for small parts as described in claim 1, characterized in that, The gripper assembly (4) includes: Mounting bracket (41) is fixedly installed on the working end of the universal robotic arm (3); The gripper (42) is rotatably mounted on the mounting frame (41) in the middle, and gripping components (421) for gripping small parts are provided on both sides of the gripper (42).

7. The automatic loading and unloading auxiliary processing device for small parts as described in claim 6, characterized in that, The gripper (42) is also equipped with a detection frame (43) for detecting the position of the small part on the processing table (1), and the detection frame (43) is equipped with a plurality of sensors (431) for sensing the position of the small part.

8. The automatic loading and unloading auxiliary processing device for small parts as described in claim 1, characterized in that, The storage mechanism (2) includes: A fixing frame (21) is provided with a gripping position for the gripper assembly (4) to grip small parts; A storage rack (22) is installed on the fixed frame (21) and has a vertical degree of freedom to adjust its position on the fixed frame (21). The storage rack (22) is provided with a plurality of storage trays (23) for storing small parts arranged at intervals in the vertical direction. A push-pull assembly (24), mounted on the fixed frame (21), is used to push the storage tray (23) to switch between the storage rack (22) and the gripping position.

9. The automatic loading and unloading auxiliary processing device for small parts as described in claim 8, characterized in that, The push-pull assembly (24) includes: A sliding seat (241) is slidably mounted on the fixed frame (21); A connector (242) is mounted on the sliding seat (241), and the connector (242) is provided with a limiting groove for connecting the storage tray (23); The lifting component (243) has its fixed end mounted on the sliding seat (241) and its driving end mounted on the connecting component (242), and is used to drive the connecting component (242) to move up and down.

10. The automatic loading and unloading auxiliary processing device for small parts as described in claim 9, characterized in that, One side of the fixing frame (21) is provided with a baffle (25) for limiting the storage tray (23), and the opposite side of the baffle (25) is provided with a clamping member (26) for pushing the storage tray (23) against the baffle (25).

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