Machine tool feeding device with rolling type discharging structure

Abstract

The utility model discloses a machine tool feeding device with a rolling type blanking structure, which comprises a positioning pipe arranged on a mechanical arm. The connecting seat is rotationally connected to the positioning pipe; the number of the clamping parts is two; the number of the pull rods is two, and the pull rods are connected to the connecting base in a sliding mode. The two pull rods are in transmission connection with the two clamping parts respectively; a transmission block is connected to the positioning pipe in a sliding manner; a driving groove is formed in the transmission block; a positioning sliding block is arranged on the pull rod; and the positioning sliding block can selectively enter the driving groove. And one clamping air cylinder drives the two clamping parts respectively, so that the power requirement of the tail end of the mechanical arm is reduced, and meanwhile, the control logic is simplified. The two clamping parts can clamp one or two workpieces at the same time, or the corresponding clamping parts are switched according to the corresponding working process, secondary transformation is directly conducted on the mechanical arm, and the production and assembly cost is further reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of machine tools, and in particular relates to a machine tool feeding device with a rolling material feeding structure. Background Art

[0002] In the automated processing of machine tools, large quantities of workpieces are arrayed in conveyor belts or tray-type fixtures. In order to reduce the occupied space, the distance between adjacent workpieces is often very small, and multiple conveyor belts or fixtures are stacked in layers, which will undoubtedly increase the difficulty of the robot arm to clamp the workpiece. For cylindrical workpieces, that is, workpieces whose inner and outer walls can be used for clamping, the prior art generally adopts two clamping devices at the end of the robot arm, which can be used to clamp the inner and outer walls of the cylindrical workpiece respectively. According to the specific working conditions, the inner clamp or the outer clamp is selected to position the workpiece, and then the machine tool can be automatically loaded and unloaded.

[0003] The Chinese patent document with publication number CN110977590A discloses an automatic loading and unloading robot for CNC machine tools and its machine tool processing system, including a bracket; a transfer system, including a horizontal guide rail fixed to the bracket, a horizontal slider slidably fixed on the horizontal guide rail, a mounting seat is provided on the horizontal slider, and a vertical slide bar is slidably fixed on the mounting seat; a rotating claw fixed to the bottom of the vertical slide bar, the rotating claw includes a cylinder mounting plate, a rotating seat fixed to the bottom of the cylinder mounting plate and a rotating cylinder fixed to the top of the cylinder mounting plate, unloading claws and picking claws are respectively fixed on both sides of the rotating seat, so that the two steps of loading and unloading can be completed simultaneously in one cycle.

[0004] In the above patent scheme, the end actuator of the robot arm has two sets of clamping devices, namely two clamping parts and two power parts. Although the work efficiency is improved to a certain extent, the greater the load of the end actuator of the robot arm, the higher the power output requirement of the end, that is, the weight and volume of the end power device will increase accordingly, which will also cause the multi-stage power devices of the robot arm to increase synchronously, and the overall control difficulty is also increasing. In actual use, the two sets of clamping devices do not work at the same time. The clamping devices will only work when they are rotated to the specified position. Therefore, there is no need to set up two sets of power parts. Utility Model Content

[0005] In order to overcome the problem that two power units are set on the end actuator of the robot arm in the prior art, which increases the load of the end actuator and further increases the power output requirements of the robot arm; one purpose of the utility model is to provide a machine tool feeding device with a rolling unloading structure, by setting two clamping parts and a power unit on the actuator at the end of the robot arm, when the clamping part rotates to the working position, it transmits power to the power unit, and the other clamping part maintains the clamping / relaxing state, and then the workpiece is taken and placed, thereby reducing the load of the end actuator of the robot arm.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical solutions: a machine tool feeding device with a rolling unloading structure, including a positioning tube, which is arranged on a mechanical arm; a connecting seat, which is rotatably connected to the positioning tube; a clamping part, which has two clamping parts, and the two clamping parts are symmetrically arranged on the connecting seat; a pull rod, which has two pull rods and are respectively slidably connected to the connecting seat; the two pull rods are respectively transmission-connected to the two clamping parts; wherein a transmission block is slidably connected to the positioning tube; the sliding direction of the transmission block and the sliding direction of the pull rod are both arranged along the axial direction of the positioning tube; a driving groove is arranged on the transmission block; a positioning slider is arranged on the pull rod; the positioning slider can selectively enter the driving groove.

[0007] The connecting seat rotates relative to the positioning tube, so that one of the positioning slide blocks enters the driving groove, and then the transmission block slides to drive the clamping part to clamp the workpiece, completing the loading and unloading process. The number of power parts is reduced, and the load at the end of the robot arm is reduced. The power requirement of the robot arm is relatively low, and it is also convenient for program control.

[0008] Optionally, the robotic arm includes an upper actuator and an end actuator rotatably connected to the upper actuator; the connecting seat is rotatably connected to the end actuator; the positioning tube is rotatably connected to the upper actuator; the rotation axis of the positioning tube is coaxial with the rotation axis of the end actuator; the rotation axis of the connecting seat is arranged to coincide with the axis of the positioning tube.

[0009] The end actuator includes a second power unit for driving the connecting seat to rotate; the upper actuator includes a first power unit for driving the end rotating mechanism to rotate; for loading and unloading stations with lower precision requirements, the second power unit is directly used to drive the connecting seat to rotate. Although the workpiece has two degrees of freedom reduced, the robot arm is directly modified for the second time, which simplifies the control and manufacturing costs and also further reduces the load on the end of the robot arm.

[0010] Optionally, the robotic arm includes an end actuator; the positioning tube is arranged on the end actuator; and a switching motor for driving the connecting seat to rotate is arranged on the positioning tube.

[0011] For loading and unloading stations with high requirements for movement accuracy, the switching motor is directly arranged on the positioning tube, which can provide more degrees of freedom for the workpiece.

[0012] Furthermore, two positioning grooves are arranged on the inner wall of the positioning tube; the two positioning grooves are not connected to each other and are respectively coaxially arranged with the positioning tube; and the driving groove can be selectively connected to one of the positioning grooves.

[0013] When the connecting seat rotates relative to the positioning tube, the positioning slide block enters into the positioning groove, so that the clamping part maintains a clamping / relaxing state, that is, the two clamping parts can clamp two workpieces at the same time.

[0014] Specifically, the clamping part includes a clamping block, at least two of which are slidably connected to the connecting seat respectively; a linkage ring, which is slidably connected to the connecting seat and is respectively transmission-connected to the corresponding pull rod; a connecting rod, which has the same number as the clamping blocks, and both ends of the connecting rod are rotatably connected to the clamping block and the linkage ring respectively; wherein the clamping blocks in the same clamping part are evenly distributed along the circumferential direction of the linkage ring.

[0015] Specifically, a transmission transverse groove is arranged at one end of the linkage ring away from the clamping block; a transmission column is arranged at one end of the pull rod close to the linkage ring; the transmission column is located in the corresponding transmission transverse groove and can drive the linkage ring to slide.

[0016] Preferably, one end of the clamping block away from the linkage ring is detachably connected with a clamping finger; one end of the clamping finger away from the clamping block is provided with a rubber sleeve; and the clamping finger is an L-shaped structure.

[0017] The clamping fingers can be mounted on the clamping block in a forward or reverse manner, that is, the clamping ends of the clamping fingers can be located close to the axis of the linkage ring or away from the axis of the linkage ring. The inner clamping or outer clamping mode can be adjusted by the installation method of the clamping fingers.

[0018] Preferably, the sliding directions of the two linkage rings are perpendicular to each other; and the pull rod is eccentrically arranged on the connecting seat.

[0019] Furthermore, the transmission block is provided with sliding columns, and the sliding columns are located on both sides of the sliding direction of the transmission block; the positioning tube is provided with a clamping cylinder; the sliding rod of the clamping cylinder is provided with a power block; the power block is provided with an inclined groove; and the sliding column is located in the inclined groove.

[0020] Specifically, a connecting groove is provided at one end of the positioning tube away from the robotic arm; the transmission block is slidably connected in the connecting groove; two extension plates are provided on the side wall of the positioning tube; the extension plates are respectively located on both sides of the sliding direction of the power block; the extension plate is provided with a guide groove slidably connected to the sliding column; the guide groove is arranged along the axial direction of the positioning tube.

[0021] Specifically, a U-shaped frame is provided at one end of the positioning tube away from the connecting seat; a connecting shaft rotatably connected to the upper actuator is provided on the inner wall of the U-shaped frame; a mounting plate is provided on the outer wall of the U-shaped frame; and the clamping cylinder is mounted on the mounting plate.

[0022] The clamping cylinder is arranged on the upper actuator, which further reduces the load to be borne by the end actuator and further reduces the power requirement of the end actuator.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] 1. By setting a clamping cylinder at the end of the robot arm to drive the two clamping parts respectively, the workpiece can be automatically loaded and unloaded, which reduces the power demand at the end of the robot arm and simplifies the control logic.

[0025] 2. When the clamping part rotates to the working position, it is connected to the clamping cylinder and clamps (internal clamping / external clamping) the workpiece under the control of the clamping cylinder, while the other clamping part maintains the original clamping state, that is, the two clamping parts can clamp one or two workpieces at the same time, or switch the corresponding clamping part for internal clamping or external clamping according to the corresponding working process.

[0026] 3. Perform secondary transformation directly on the robot arm, and use the original second power unit of the robot arm as the switching power source of the clamping unit, further reducing the production and assembly costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the assembly of the mechanical arm of the utility model;

[0028] Figure 2 It is a schematic diagram of the parts explosion of the utility model;

[0029] Figure 3 It is a structural schematic diagram of the connecting seat of the utility model;

[0030] Figure 4 This is a schematic diagram of the structure of the positioning tube of the utility model;

[0031] Figure 5 It is a structural schematic diagram of the working state of the utility model.

[0032] In the figure: 1. Robot arm; 11. Superior actuator; 111. First power unit; 12. End actuator; 121. Second power unit; 21. Positioning tube; 211. Positioning slot; 212. Connecting slot; 213. Guide slot; 214. U-shaped frame; 22. Clamping cylinder; 23. Transmission block; 231. Drive slot; 232. Sliding column; 24. Power block; 241. Oblique slot; 31. Connecting seat; 311. Clamping slot; 32. Clamping block; 33. Clamping finger; 34. Rubber sleeve; 35. Linkage ring; 351. Transmission transverse slot; 36. Connecting rod; 37. Pull rod; 371. Positioning slide block; 372. Transmission column; 4. Workpiece; 5. Machine tool; 6. Feeding device. DETAILED DESCRIPTION

[0033] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0034] In the description of the present invention, it should be noted that directional words, such as the terms "center", "lateral", "longitudinal", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions and positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of narrating the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and cannot be understood as limiting the specific protection scope of the present invention.

[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. Therefore, the definition of "first" and "second" features can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "several" is two or more, unless otherwise clearly and specifically defined.

[0036] In the present invention, unless otherwise specified and limited, the terms "setting", "installation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can also be a mechanical connection; it can be directly connected, or it can be connected through an intermediate medium, or two elements can be internally connected. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] See also Figure 1-Figure 5A machine tool feeding device with a rolling blanking structure includes a mechanical arm 1, a positioning tube 21 arranged on the mechanical arm 1, and a connecting seat 31 rotatably connected to the positioning tube 21; two clamping parts are arranged on the connecting seat 31; the clamping part includes three clamping blocks 32 slidably connected to the connecting seat 31, a linkage ring 35 slidably connected to the connecting seat 31, and three connecting rods 36; the two ends of the connecting rod 36 are rotatably connected to the clamping blocks 32 and the linkage ring 35 respectively; the clamping blocks 32 in the same clamping part are evenly distributed along the circumferential direction of the linkage ring 35.

[0038] The connecting seat 31 is provided with two mutually perpendicular planes; a cylindrical boss is provided at the center position of each of the planes; three clamping grooves 311 evenly distributed along the circumferential direction are provided on the cylindrical boss; and each of the clamping blocks 32 is slidably connected in the clamping groove 311 .

[0039] Each of the clamping blocks 32 is detachably connected with a clamping finger 33 ; each of the clamping fingers 33 is provided with a rubber sleeve 34 ; the clamping finger 33 is an L-shaped structure; the clamping finger 33 can be mounted on the clamping block 32 in a forward or reverse manner.

[0040] The rotating axis of the connecting seat 31 coincides with the axis of the positioning tube 21; two pull rods 37 are slidably connected to the connecting seat 31; the axis of the pull rod 37 is eccentric to and does not coincide with the axis of the positioning tube 21; a transmission transverse groove 351 is provided at one end of the linkage ring 35 away from the clamping block 32; a transmission column 372 is provided at one end of the pull rod 37 close to the linkage ring 35; the transmission column 372 is located in the corresponding transmission transverse groove 351.

[0041] Two positioning grooves 211 are arranged on the inner wall of the positioning tube 21; the two positioning grooves 211 are not connected to each other and are respectively arranged coaxially with the positioning tube 21; a connecting groove 212 is arranged at one end of the positioning tube 21 facing the clamping portion; a transmission block 23 is slidably connected in the connecting groove 212; a driving groove 231 is arranged on one side of the transmission block 23 facing the inside of the positioning tube 21; the driving groove 231 can be selectively connected to one of the positioning grooves 211.

[0042] The transmission block 23 is provided with a sliding column 232, and the sliding column 232 is located on both sides of the sliding direction of the transmission block 23; the outer wall of the positioning tube 21 is provided with two extension plates; the two extension plates are respectively located on both sides of the connecting groove 212; the extension plate is provided with a guide groove 213 which is slidably connected with the sliding column 232; the guide groove 213 is axially arranged along the positioning tube 21; the positioning tube 21 is provided with a clamping cylinder 22; the sliding rod of the clamping cylinder 22 is provided with a power block 24; the power block 24 is provided with an inclined groove 241; the sliding column 232 is located in the inclined groove 241.

[0043] The robotic arm 1 includes an upper actuator 11 and an end actuator 12 rotatably connected to the upper actuator 11; the connecting seat 31 is rotatably connected to the end actuator 12; the positioning tube 21 is rotatably connected to the upper actuator 11; the rotation axis of the positioning tube 21 is coaxial with the rotation axis of the end actuator 12; the rotation axis of the connecting seat 31 is arranged to coincide with the axis of the positioning tube 21; the end actuator 12 includes a second power unit 121 for driving the connecting seat 31 to rotate; the upper actuator 11 includes a first power unit 111 for driving the end rotating mechanism 12 to rotate; a U-shaped frame 214 is provided at one end of the positioning tube 21 away from the connecting seat 31; the inner wall of the U-shaped frame 214 is provided with a connecting shaft rotatably connected to the upper actuator 11; the outer wall of the U-shaped frame 214 is provided with a mounting plate; the clamping cylinder 22 is mounted on the mounting plate.

[0044] In another embodiment, the positioning tube 21 may be disposed on the end actuator; the connecting seat 31 is rotatably connected in the positioning tube 21; and a switching motor for driving the connecting seat 31 to rotate is disposed on the positioning tube 21.

[0045] Clamping (releasing) process: the clamping cylinder 22 extends to drive the power block 24 to slide, and then the inclined slot 241 slides. The sliding of the inclined slot 241 drives the sliding column 232 to move, and then the transmission block 23 slides, that is, the driving slot 231 slides. The driving slot 231 drives the positioning slider 371 to move, and then the pull rod 37 slides away from the linkage ring 35, that is, the transmission column 372 slides away from the linkage ring 35. The sliding of the transmission column 372 drives the transmission transverse groove 351 to slide, and then the linkage ring 35 slides away from the clamping finger 33. The sliding of the linkage ring 35 drives each clamping finger 33 to gather together toward the center through the connecting rod 36, thereby completing the clamping of the workpiece from the outside (or releasing the workpiece from the inside).

[0046] Loosening (clamping) process; similar to the above process, the contraction of the clamping cylinder 22 drives the power block 24 to slide, thereby driving each clamping finger 33 to disperse toward the outer circumference, thereby completing the loosening of the workpiece (or supporting the workpiece from the inside to achieve clamping).

[0047] Clamping part switching process: driven by the second power unit 121 / switching motor, the connecting seat 31 rotates half a circle relative to the positioning tube 21 to enter the working position, so that one positioning slider 371 enters the driving groove 231, and the corresponding clamping part can perform the clamping operation under the drive of the clamping cylinder 22. At the same time, the other positioning slider 371 enters one of the positioning grooves 211, and the pull rod 37 cannot slide, that is, the position of the clamping finger 33 remains fixed, maintaining the original clamping state or release state.

[0048] Special note: When the two positioning slide blocks 371 are respectively located in the two positioning grooves 211, that is, when the connecting seat 31 rotates relative to the positioning tube 21, the clamping cylinder 22 drives the transmission block 23 to slide, so that the driving groove 231 is opposite to the positioning slide block 371 that is about to enter the working position.

[0049] The above description is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by any technician in the field of the present invention are included in the patent scope of the present invention.

Claims

1. A machine tool feeding device with a rolling material feeding structure, characterized in that: It includes a positioning tube, and the positioning tube is arranged on the mechanical arm; A connecting seat, the connecting seat is rotatably connected to the positioning tube; A clamping part, the clamping part has two, and the two clamping parts are symmetrically arranged on the connecting seat; a pull rod, the pull rod has two, and is respectively slidably connected to the connecting seat; the two pull rods are respectively transmission-connected to the two clamping parts; Among them, a transmission block is slidably connected to the positioning tube; the sliding direction of the transmission block and the sliding direction of the pull rod are both set along the axial direction of the positioning tube; a driving groove is set on the transmission block; a positioning slider is set on the pull rod; the positioning slider can selectively enter the driving groove.

2. The feeding device according to claim 1, characterized in that: The robotic arm includes an upper actuator and an end actuator rotatably connected to the upper actuator; the connecting seat is rotatably connected to the end actuator; the positioning tube is rotatably connected to the upper actuator; the rotation axis of the positioning tube is coaxial with the rotation axis of the end actuator; the rotation axis of the connecting seat is arranged to coincide with the axis of the positioning tube.

3. The feeding device according to claim 1, characterized in that: The mechanical arm includes an end actuator; the positioning tube is arranged on the end actuator; and a switching motor for driving the connecting seat to rotate is arranged on the positioning tube.

4. The feeding device according to any one of claims 1 to 3, characterized in that: The inner wall of the positioning tube is provided with two positioning grooves; the two positioning grooves are not connected to each other and are respectively coaxially arranged with the positioning tube; the driving groove can be selectively connected to one of the positioning grooves.

5. The feeding device according to any one of claims 1 to 3, characterized in that: The clamping portion includes a clamping block, and the clamping blocks have at least two and are respectively slidably connected to the connecting seat; A linkage ring, wherein the linkage ring is slidably connected to the connection seat and is respectively transmission-connected to the corresponding pull rod; Connecting rods, the number of the connecting rods is the same as the number of the clamping blocks, and the two ends of the connecting rods are rotatably connected to the clamping blocks and the linkage ring respectively; Wherein, the clamping blocks in the same clamping portion are evenly distributed along the circumferential direction of the linkage ring.

6. The feeding device according to claim 5, characterized in that: A transmission transverse groove is arranged at one end of the linkage ring away from the clamping block; a transmission column is arranged at one end of the pull rod close to the linkage ring; the transmission column is located in the corresponding transmission transverse groove and can drive the linkage ring to slide.

7. The feeding device according to claim 5, characterized in that: One end of the clamping block away from the linkage ring is detachably connected with a clamping finger; one end of the clamping finger away from the clamping block is provided with a rubber sleeve; and the clamping finger is an L-shaped structure.

8. The feeding device according to claim 4, characterized in that: The transmission block is provided with sliding columns, and the sliding columns are located on both sides of the sliding direction of the transmission block; the positioning tube is provided with a clamping cylinder; the sliding rod of the clamping cylinder is provided with a power block; the power block is provided with an inclined groove; the sliding column is located in the inclined groove.

9. The feeding device according to claim 8, characterized in that: A connecting groove is provided at one end of the positioning tube away from the robotic arm; the transmission block is slidably connected in the connecting groove; two extension plates are provided on the side wall of the positioning tube; the extension plates are respectively located on both sides of the sliding direction of the power block; the extension plate is provided with a guide groove slidably connected to the sliding column; the guide groove is arranged along the axial direction of the positioning tube.

10. The feeding device according to claim 2, characterized in that: A U-shaped frame is arranged at one end of the positioning tube away from the connecting seat; and a connecting shaft rotatably connected to the upper-level actuator is arranged on the inner wall of the U-shaped frame.

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