Loading and unloading device and processing equipment equipped with the same

Abstract

The utility model relates to the technical field of workpiece processing, and in particular to a loading and unloading device for processing equipment. In order to improve the processing efficiency of annular workpieces, the utility model proposes a loading and unloading device, which includes a base, a sliding mechanism and a gripping mechanism. The sliding mechanism is installed on the base and can slide along the slide rail on the base; the gripping mechanism includes a long arm gripper, a long arm driving member, a short arm gripper and a short arm driving member. The long arm driving member is installed and fixed on the sliding mechanism, and the driving end of the long arm driving member is connected to the long arm gripper and can drive the long arm gripper to rotate and swing; the short arm driving member is installed and fixed on the sliding mechanism, and the driving end of the short arm driving member is connected to the short arm gripper and can drive the short arm gripper to rotate and swing. The loading and unloading device of the utility model is used to perform loading and unloading operations on annular workpieces, and the loading and unloading speed is fast and the processing efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of workpiece processing, in particular to a loading and unloading device for processing equipment. Background Art

[0002] When a ring-shaped workpiece is processed by a processing device, the ring-shaped workpiece usually has to enter and exit the processing station at a certain posture and angle.

[0003] In order to realize the automatic loading of the annular workpiece, the existing processing equipment is provided with a loading and unloading manipulator. The two material arms in the loading and unloading manipulator generally rotate under the drive of two swing gears to realize the transfer of the annular workpiece; the two swing gears are meshed and connected with the driving rack and rotate synchronously under the drive of the driving rack. In this way, the swing speed and swing angle of the two material arms in the loading and unloading manipulator are completely consistent and fixed. When the specifications and dimensions of the annular workpiece change, the loading and unloading manipulator cannot adjust the posture and angle of the annular workpiece entering the processing station according to the processing requirements, resulting in unsmooth conveying and processing of the annular workpiece and low processing efficiency. Utility Model Content

[0004] In order to improve the processing efficiency of annular workpieces, the utility model proposes a loading and unloading device, which includes a base, a sliding mechanism and a material grabbing mechanism, wherein the sliding mechanism is installed on the base and can slide along a slide rail on the base;

[0005] The material grabbing mechanism includes a long-arm gripper, a long-arm driving member, a short-arm gripper and a short-arm driving member. The long-arm driving member is installed and fixed on the sliding mechanism, and the driving end of the long-arm driving member is connected to the long-arm gripper and can drive the long-arm gripper to rotate and swing; the short-arm driving member is installed and fixed on the sliding mechanism, and the driving end of the short-arm driving member is connected to the short-arm gripper and can drive the short-arm gripper to rotate and swing.

[0006] The utility model discloses a loading and unloading device, in which a long-arm gripper and a short-arm gripper in a gripping mechanism rotate and swing respectively under the drive of a long-arm driving component and a short-arm driving component to complete the loading and unloading operations of annular workpieces; when the specifications and sizes of the annular workpieces to be loaded and unloaded change, the long-arm driving component and the short-arm driving component can adjust the rotation and swing angles of the long-arm gripper and the short-arm gripper as needed, and utilize a sliding mechanism to drive the gripping mechanism to slide along a slide rail on a base to adjust the loading and unloading positions of the long-arm gripper and the short-arm gripper, thereby realizing the adjustment of the posture and angle of the annular workpiece during loading and unloading, facilitating the conveying and processing of the annular workpieces and improving the processing efficiency of the annular workpieces.

[0007] Preferably, a limit plate is provided on the base, and the limit plate is perpendicular to the extension direction of the slide rail. In this way, when the grabbing mechanism in the loading and unloading device of the utility model is used to grab the annular workpiece to realize the loading and unloading operation of the annular workpiece, the long arm gripper and the short arm gripper in the grabbing mechanism clamp the grabbed annular workpiece between the grabbing mechanism and the limit plate, and in the process of the long arm gripper and the short arm gripper rotating and swinging, the grabbed annular workpiece slides along the limit plate to prevent the annular workpiece from falling off from the long arm gripper or the short arm gripper, affecting the loading and unloading speed of the annular workpiece and improving the processing efficiency of the annular workpiece. Furthermore, a clearance groove is provided on the limit plate, and the clearance groove is close to and facing the slide rail. In this way, when the sliding mechanism is used to push the grabbing mechanism to slide along the slide rail, it can pass through the clearance groove to prevent the limit plate from hindering the sliding mechanism from adjusting the position of the grabbing mechanism and affecting the loading and unloading posture and angle adjustment of the annular workpiece.

[0008] Preferably, the long arm gripper is connected to the long arm drive member via a long arm coupling, and the short arm gripper is connected to the short arm drive member via a short arm coupling. In this way, by connecting the long arm gripper and the long arm drive member via a long arm coupling, the rotation and swing center axis of the long arm gripper can be made to coincide with the center axis of the drive end of the long arm drive member, that is, they are kept coaxial, which facilitates the long arm drive member to control the rotation and swing angle of the long arm gripper as needed; by connecting the short arm gripper and the short arm drive member via a short arm coupling, the rotation and swing center axis of the short arm gripper can be made to coincide with the center axis of the drive end of the short arm drive member, that is, they are kept coaxial, which facilitates the short arm drive member to control the rotation and swing angle of the short arm gripper as needed. It can be seen from this that by connecting the gripper and the drive member via a coupling, it is convenient to control the rotation and swing angle of the gripper during loading and unloading, thereby improving the loading and unloading efficiency of the annular workpiece, and further improving the processing efficiency of the annular workpiece.

[0009] Preferably, the long arm gripper includes a long swing arm and a long arm grab head, the positioning end of the long swing arm is connected to the long arm driving member, and the connecting end of the long swing arm is connected to the long arm grab head; the short arm gripper includes a short swing arm and a short arm grab head, the positioning end of the short swing arm is connected to the short arm driving member, and the connecting end of the short swing arm is connected to the short arm grab head. In this way, when the loading and unloading device of the utility model is used to load and unload annular workpieces of different specifications, the long arm grab head and the short arm grab head can be replaced according to the specifications of the annular workpieces, thereby expanding the scope of application of the loading and unloading device of the utility model. Furthermore, the long arm gripper includes a long arm extension arm, which is connected to the long swing arm and the long arm grab head at the connecting end of the long swing arm; the short arm gripper includes a short arm extension arm, which is connected to the short swing arm and the short arm grab head at the connecting end of the short swing arm. In this way, the length of the long arm gripper and the short arm gripper can be adjusted by installing the long arm extension arm and the short arm extension arm, further expanding the applicable scope of the loading and unloading device of the utility model. Further preferably, the connecting end of the long swing arm is provided with a long arm extension slot and a long arm extension waist hole, the long arm extension slot and the long arm extension waist hole have the same extension direction, and the long arm extension arm is clamped in the long arm extension slot when connected to the long swing arm; the connecting end of the short swing arm is provided with a short arm extension slot and a short arm extension waist hole, the short arm extension slot and the short arm extension waist hole have the same extension direction, and the short arm extension arm is clamped in the short arm extension slot when connected to the short swing arm. In this way, a long arm extension slot and a long arm extension waist hole are set at the connecting end of the long swing arm, and the long arm extension slot can be used to limit the long arm extension arm, and the arm length of the extended long arm gripper can be fine-tuned by adjusting the fixed position of the bolt connecting the long arm extension arm and the long swing arm in the long arm extension waist hole; a short arm extension slot and a short arm extension waist hole are set at the connecting end of the short swing arm, and the short arm extension slot can be used to limit the short arm extension arm, and the arm length of the extended short arm gripper can be fine-tuned by adjusting the fixed position of the bolt connecting the short arm extension arm and the short swing arm in the short arm extension waist hole. It can be seen that an extension slot and an extension waist hole are set at the connecting end of the swing arm of the long-arm gripper and the short-arm gripper, and the extension slot can be used to clamp the extension arm to limit the extension arm, so as to prevent the extension arm from shaking or dislocating due to force during the process of grasping the workpiece, thereby affecting the gripper's loading and unloading operations; the arm length of the extended gripper can be fine-tuned by adjusting the fixed position of the bolt connecting the swing arm and the extension arm in the extension waist hole, so as to ensure that the gripper can accurately deliver the grasped annular workpiece into the transmission channel and processing station.

[0010] Preferably, the sliding mechanism includes a sliding drive and a slide seat for mounting the material grabbing mechanism, the sliding drive is mounted on the base, the slide seat is connected to the driving rod of the sliding drive and slides along the slide rail driven by the driving rod. In this way, the sliding mechanism can utilize the sliding drive to drive the slide seat to slide along the slide rail, thereby driving the material grabbing mechanism mounted on the slide seat to move along the extension direction of the slide rail, with a simple structure and convenient movement. Further, the sliding mechanism includes a connecting block, which is mounted on the driving rod of the sliding drive and connected to the slide seat. In this way, by connecting the slide seat and the driving rod of the sliding drive through the connecting block, the connection stability between the slide seat and the driving rod of the sliding drive can be improved, and the stability of the sliding mechanism in driving the material grabbing mechanism to slide along the slide rail can be further improved.

[0011] In addition, the utility model also proposes a processing equipment, which is equipped with any of the above-mentioned loading and unloading devices. In this way, by equipping the processing equipment with the above-mentioned loading and unloading device, the loading and unloading speed and loading and unloading accuracy of the processing equipment can be improved, thereby improving the processing efficiency of the processing equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the structure of the loading and unloading device of the utility model;

[0013] Figure 2 for Figure 1 A second perspective structural schematic diagram of the loading and unloading device is shown. DETAILED DESCRIPTION

[0014] Next, combine Figure 1 and 2 , the loading and unloading device of the utility model and the processing equipment equipped with the loading and unloading device are described in detail.

[0015] like Figure 1 and 2As shown, the loading and unloading device of the utility model comprises a base 1, a sliding mechanism 2 and a gripping mechanism, wherein the sliding mechanism 2 is mounted on the base 1 and can slide along the slide rail 11 on the base 1, and the gripping mechanism is mounted on the sliding mechanism 2. Among them, a limiting plate 31 is provided on the base 1, and the limiting plate 31 is perpendicular to the extension direction of the slide rail 11. In this way, when the gripping mechanism in the loading and unloading device of the utility model is used to grab the annular workpiece 4 to realize the loading and unloading operation of the annular workpiece 4, the gripping mechanism clamps the grabbed annular workpiece 4 between the gripping mechanism and the limiting plate 31, and in the process of the rotation and swinging of the gripping mechanism, the grabbed annular workpiece 4 slides along the limiting plate 31 toward the limiting surface of the gripping mechanism, so as to prevent the annular workpiece 4 from falling off from the gripping mechanism, affecting the loading and unloading speed of the annular workpiece 4, and improving the processing efficiency of the annular workpiece 4. In addition, when processing annular workpieces 4 of different specifications, the distance between the gripping mechanism and the limiting plate 31 can be adjusted according to the thickness of the annular workpiece 4 to be processed, thereby expanding the application scope of the loading and unloading device of the utility model. Preferably, the limit plate 31 is provided with a clearance groove 311, and the clearance groove 311 is close to and faces the slide rail 11. In this way, when the sliding mechanism 2 is used to push the grabbing mechanism to slide along the slide rail 11, it can pass through the clearance groove 311 to prevent the limit plate 31 from hindering the sliding mechanism 2 from adjusting the position of the grabbing mechanism, affecting the adjustment of the loading and unloading posture and angle of the annular workpiece 4. Preferably, the limit plate 31 is fixed on the base 1 through the limit bottom plate 32, and the limit bottom plate 32 is vertically connected to the limit plate 31 at the bottom of the limit plate 31. In this way, the limit plate 31 is fixed on the base 1 using the limit bottom plate 32 vertically connected to the limit plate 31, which can improve the installation stability of the limit plate 31 and prevent the limit plate 31 from shaking or even shifting due to force during the loading and unloading process, affecting the loading and unloading speed. Preferably, the limit bottom plate 32 is provided with a strip-shaped through groove 321 for installing a fixing bolt (not shown in the figure). In this way, when the limit plate 31 is installed and fixed on the base 1, the installation and fixing position of the limit plate 31 on the base 1 can be fine-tuned by adjusting the fixing position of the fixing bolt in the strip-shaped through groove 321. Preferably, an adjustment member is provided on the base 1, and the adjustment member includes a limit seat 51, an adjustment screw 52 and an adjustment seat 53. The limit seat 51 is installed and fixed on the base 1, and the adjustment seat 53 is installed and fixed on the limit bottom plate 32. The adjustment screw 52 is installed in the positioning groove on the limit seat 51, and the free end of the adjustment screw 52 passes through the adjustment screw hole (not shown in the figure) on the adjustment seat 53. In this way, when adjusting the installation and fixing position of the limit plate 31 on the base 1, it is only necessary to screw the adjustment screw 52, ​​and the adjustment is simple and convenient.

[0016] like Figure 1 and 2As shown, the sliding mechanism 2 includes a sliding drive 21 and a slide seat 22 for mounting the material grabbing mechanism, the sliding drive 21 is mounted on the base 1, and the slide seat 22 is connected to the driving rod 211 of the sliding drive 21 and slides along the slide rail 11 driven by the driving rod 211. In this way, the sliding mechanism 2 can drive the slide seat 22 to slide along the slide rail 11 by the sliding drive 21, thereby driving the material grabbing mechanism mounted on the slide seat 22 to move along the extension direction of the slide rail 11, with a simple structure and convenient movement. Preferably, the sliding mechanism 2 includes a connecting block 23, which is mounted on the driving rod 211 of the sliding drive 21 and connected to the slide seat 22. In this way, by connecting the slide seat 22 and the driving rod 211 of the sliding drive 21 through the connecting block 23, the connection stability between the slide seat 22 and the driving rod 211 of the sliding drive 21 can be improved, and the stability of the sliding mechanism 2 when driving the material grabbing mechanism to slide along the slide rail 11 can be further improved. Preferably, the driving rod 211 of the sliding driving member 21 is connected to the positioning end of the lead screw 25 through the driving coupling 24, and the connecting end of the lead screw 25 away from the sliding driving member 21 is inserted into the connecting screw hole (not shown in the figure) on the connecting block 23. In this way, the sliding driving member 21 can drive the slide seat 22 to reciprocate along the extension direction of the slide rail 11 by driving the lead screw 25 to rotate through the driving rod 211, so as to realize the loading and unloading operations of the annular workpiece 4. Preferably, a servo motor is used as the sliding driving member 21, which is convenient to select, simple to control and high in precision. Preferably, the sliding driving member 21 is fixed on the base 1 through the positioning seat 26 and the positioning bracket 27, wherein the positioning seat 26 is located between the slide rail 11 and the positioning bracket for installing and fixing the driving coupling 24, and the positioning bracket 27 is an L-shaped structure supporting the driving body 212 of the sliding driving member 21. In this way, the installation stability of the sliding drive member 21 on the base 1 can be improved, and the sliding drive member 21 can be prevented from moving or even dislocating when driving the slide seat 22 equipped with the material grabbing mechanism to slide along the slide rail 11, thereby affecting the loading and unloading operations.

[0017] like Figure 1As shown, the material grabbing mechanism includes a long arm gripper 61, a long arm driving member 62, a short arm gripper 63 and a short arm driving member 64. The long arm driving member 62 is fixedly mounted on the sliding mechanism 2, and the driving end of the long arm driving member 62 is connected to the long arm gripper 61 and can drive the long arm gripper 61 to rotate and swing; the short arm driving member 64 is fixedly mounted on the sliding mechanism 2, and the driving end of the short arm driving member 64 is connected to the short arm gripper 63 and can drive the short arm gripper 63 to rotate and swing. Preferably, the long arm gripper 61 is connected to the long arm driving member 62 via a long arm coupling 65, and the short arm gripper 63 is connected to the short arm driving member 64 via a short arm coupling 66. In this way, by using the long arm coupling 65 to connect the long arm gripper 61 and the long arm drive 62, the rotation and swing center axis of the long arm gripper 61 can be made to coincide with the center axis of the drive end of the long arm drive 62, that is, they are kept coaxial, so that the long arm drive 62 can control the rotation and swing angle of the long arm gripper 61 as needed; by using the short arm coupling 66 to connect the short arm gripper 63 and the short arm drive 64, the rotation and swing center axis of the short arm gripper 63 can be made to coincide with the center axis of the drive end of the short arm drive 64, that is, they are kept coaxial, so that the short arm drive 64 can control the rotation and swing angle of the short arm gripper as needed. It can be seen that by using a coupling to connect the gripper and the drive, it is convenient to control the rotation and swing angle of the gripper during loading and unloading, improve the loading and unloading efficiency of the annular workpiece 4, and further improve the processing efficiency of the annular workpiece 4. Preferably, the long arm gripper 61 includes a long swing arm 611 and a long arm grabbing head 612, the positioning end of the long swing arm 611 is connected to the long arm driving member 62, and the connecting end of the long swing arm 611 is connected to the long arm grabbing head 612; the short arm gripper 63 includes a short swing arm 631 and a short arm grabbing head 632, the positioning end of the short swing arm 631 is connected to the short arm driving member 64, and the connecting end of the short swing arm 631 is connected to the short arm grabbing head 632. In this way, when the loading and unloading device of the utility model is used to load and unload annular workpieces 4 of different specifications, the long arm grabbing head 612 and the short arm grabbing head 632 can be replaced according to the specifications of the annular workpiece 4, thereby expanding the application scope of the loading and unloading device of the utility model. Preferably, the long arm gripper 61 includes a long arm extension arm 613, which is connected to the long swing arm 611 and the long arm material grabbing head 612 at the connecting end of the long swing arm 611; the short arm gripper 63 includes a short arm extension arm 633, which is connected to the short swing arm 631 and the short arm material grabbing head 632 at the connecting end of the short swing arm 631. In this way, the lengths of the long arm gripper 61 and the short arm gripper 63 can be adjusted by installing the long arm extension arm 613 and the short arm extension arm 633, further expanding the applicable scope of the loading and unloading device of the utility model.Preferably, the connecting end of the long swing arm 611 is provided with a long arm extension slot (not shown in the figure) and a long arm extension waist hole 6111, the long arm extension slot and the long arm extension waist hole 6111 have the same extension direction, and the long arm extension arm 613 is clamped in the long arm extension slot when connected to the long swing arm 611; the connecting end of the short swing arm 631 is provided with a short arm extension slot (not shown in the figure) and a short arm extension waist hole 6311, the short arm extension slot and the short arm extension waist hole 6311 have the same extension direction, and the short arm extension arm 633 is clamped in the short arm extension slot when connected to the short swing arm 631. In this way, a long arm extension slot and a long arm extension waist hole 6111 are set at the connecting end of the long swing arm 611, and the long arm extension slot can be used to limit the long arm extension arm 613, and the arm length of the extended long arm gripper 61 can be fine-tuned by adjusting the fixed position of the bolt (not shown in the figure) used to connect the long arm extension arm 613 and the long swing arm 611 in the long arm extension waist hole 6111; a short arm extension slot and a short arm extension waist hole 6311 are set at the connecting end of the short swing arm 631, and the short arm extension slot can be used to limit the short arm extension arm 633, and the arm length of the extended short arm gripper 63 can be fine-tuned by adjusting the fixed position of the bolt (not shown in the figure) used to connect the short arm extension arm 633 and the short swing arm 631 in the short arm extension waist hole 6311. It can be seen that an extension slot and an extension waist hole are set at the connecting end of the swing arm of the long arm gripper 61 and the short arm gripper 63, and the extension slot can be used to clamp the extension arm to limit the extension arm, so as to prevent the extension arm from shaking or dislocating under force during the process of grasping the workpiece 4, which affects the completion of the loading and unloading operation of the gripper; the arm length of the extended gripper can be fine-tuned by adjusting the fixed position of the bolt connecting the swing arm and the extension arm in the extension waist hole to ensure that the gripper can accurately deliver the grasped annular workpiece 4 to the transmission channel and processing station. Preferably, a servo motor is used as the long arm driving member 62 and the short arm driving member 64. In this way, when the loading and unloading device of the utility model is used to perform loading and unloading operations on the annular workpiece 4, the rotation and swing angles of the long arm gripper 61 and the short arm gripper 63 can be controlled by rotating the encoder on the servo motor, and the rotation and swinging sequence and starting time of the long arm gripper 61 and the short arm gripper 63 can be controlled by programming according to the loading and unloading needs, so as to realize synchronous or asynchronous control of the long arm gripper 61 and the short arm gripper 63 and separate adjustment of the rotation and swinging angles, and the control is simple and convenient.

[0018] In the loading and unloading device of the utility model, the long arm gripper and the short arm gripper in the gripping mechanism rotate and swing respectively under the drive of the long arm driving member and the short arm driving member to complete the loading and unloading operation of the annular workpiece; when the specifications and sizes of the annular workpiece to be loaded and unloaded change, the long arm driving member and the short arm driving member can adjust the rotation and swing angles of the long arm gripper and the short arm gripper as needed, and use the sliding mechanism to drive the gripping mechanism to slide along the slide rail on the base to adjust the loading and unloading position of the long arm gripper and the short arm gripper, so that the posture and angle of the annular workpiece can be adjusted during loading and unloading, which is convenient for the conveying and processing of the annular workpiece and improves the processing efficiency of the annular workpiece. When the loading and unloading device of the utility model is assembled into the processing equipment, the long arm gripper and the short arm gripper in the gripping mechanism can be used to rotate and swing to complete the loading and unloading operation of the annular workpiece, thereby improving the loading and unloading speed and loading and unloading accuracy, thereby improving the processing efficiency of the processing equipment.

Claims

1. A loading and unloading device, characterized in that: The loading and unloading device comprises a base, a sliding mechanism and a material grabbing mechanism, wherein the sliding mechanism is installed on the base and can slide along a slide rail on the base; The material grabbing mechanism includes a long-arm gripper, a long-arm driving member, a short-arm gripper and a short-arm driving member. The long-arm driving member is installed and fixed on the sliding mechanism, and the driving end of the long-arm driving member is connected to the long-arm gripper and can drive the long-arm gripper to rotate and swing; the short-arm driving member is installed and fixed on the sliding mechanism, and the driving end of the short-arm driving member is connected to the short-arm gripper and can drive the short-arm gripper to rotate and swing.

2. The loading and unloading device according to claim 1, characterized in that: A limiting plate is arranged on the base, and the limiting plate is perpendicular to the extending direction of the slide rail.

3. The loading and unloading device according to claim 2, characterized in that: The limiting plate is provided with a clearance groove, and the clearance groove is close to and faces the slide rail.

4. The loading and unloading device according to any one of claims 1 to 3, characterized in that: The long arm gripper is connected to the long arm driving member through a long arm coupling, and the short arm gripper is connected to the short arm driving member through a short arm coupling.

5. The loading and unloading device according to claim 4, characterized in that: The long-arm gripper includes a long swing arm and a long-arm grabbing head, the positioning end of the long swing arm is connected to the long-arm driving component, and the connecting end of the long swing arm is connected to the long-arm grabbing head; the short-arm gripper includes a short swing arm and a short-arm grabbing head, the positioning end of the short swing arm is connected to the short-arm driving component, and the connecting end of the short swing arm is connected to the short-arm grabbing head.

6. The loading and unloading device according to claim 5, characterized in that: The long arm gripper includes a long arm extension arm, which is connected to the long swing arm and the long arm grabbing head at the connecting end of the long swing arm; the short arm gripper includes a short arm extension arm, which is connected to the short swing arm and the short arm grabbing head at the connecting end of the short swing arm.

7. The loading and unloading device according to claim 6, characterized in that: The connecting end of the long swing arm is provided with a long arm extension slot and a long arm extension waist hole, the long arm extension slot has the same extension direction as the long arm extension waist hole, and the long arm extension arm is clamped in the long arm extension slot when connected to the long swing arm; the connecting end of the short swing arm is provided with a short arm extension slot and a short arm extension waist hole, the short arm extension slot has the same extension direction as the short arm extension waist hole, and the short arm extension arm is clamped in the short arm extension slot when connected to the short swing arm.

8. The loading and unloading device according to any one of claims 1 to 3, characterized in that: The sliding mechanism comprises a sliding drive member and a slide seat for mounting the material grabbing mechanism. The sliding drive member is mounted on the base. The slide seat is connected to a driving rod of the sliding drive member and slides along the slide rail driven by the driving rod.

9. The loading and unloading device according to claim 8, characterized in that: The sliding mechanism comprises a connecting block which is mounted on a driving rod of the sliding driving member and connected to the sliding seat.

10. A processing equipment, characterized in that: The processing equipment is equipped with a loading and unloading device as described in any one of claims 1-9.

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