Feeding device for hydraulic support pin shaft machining raw materials

Abstract

The utility model relates to a feeding device for hydraulic support pin shaft machining raw materials, and belongs to the technical field of hydraulic support pin shaft machining. Comprising a feeding mechanism and a grabbing mechanism, the feeding mechanism comprises a raw material frame, a transition frame and a material placing frame, the inclined transition frame is arranged between the raw material frame and the material placing frame, the material placing frame comprises a left row of material placing positions and a right row of material placing positions, and each row of material placing positions internally comprise a plurality of material placing positions arranged at equal intervals in the front-back direction; the forward moving assembly comprises a bearing rod, and raw materials on the material placing frame are moved forwards through the bearing rod. A mechanical arm is arranged above the material placing frame, a clamping jaw and a liftable material clamping assembly are arranged on a moving frame at the end part of the mechanical arm, the material clamping assembly comprises clamping rods which are bilaterally symmetrical, the clamping rods are arranged on two sides of a raw material on a material placing position on the foremost side of the material placing frame, and the clamping jaw is arranged above the raw material on the material placing position on the foremost side of the material placing frame; the problem that at present, the feeding efficiency of hydraulic support pin shaft machining raw materials is low is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of the pin processing of hydraulic supports, and particularly relates to a feeding device for the raw materials for the pin processing of hydraulic supports. Background Art

[0002] In the process of pin processing of hydraulic supports, it is necessary to process pre-openings at both ends of the raw materials in a round rod structure to ensure concentricity, and then convey the raw materials with pre-openings to a lathe for fixing and processing. Thus, the grasping and feeding of the raw materials are important and complex links. The traditional raw material grasping method usually relies on manual operation, which not only has low efficiency but also has potential safety hazards. In addition, since the raw materials are usually stored in a warehouse or on a rack, their placement positions and directions are different, making automatic grasping particularly difficult. The existing automatic grasping devices often have the following problems: inaccurate positioning. Due to the uneven placement or deviation of the raw materials, it is difficult for the traditional grasping device to accurately align with the raw materials, resulting in grasping failure or raw material damage; low efficiency. The traditional grasping device needs to adjust the position and angle multiple times during the grasping process, resulting in low overall efficiency. Content of the Utility Model

[0003] The utility model overcomes the deficiencies of the prior art and provides a feeding device for the raw materials for the pin processing of hydraulic supports, solving the problem of low feeding efficiency of the raw materials for the pin processing of hydraulic supports at present.

[0004] In order to achieve the above purpose, the utility model is realized by the following technical solutions.

[0005] A grasping device for the raw materials for the pin processing of hydraulic supports comprises a feeding mechanism and a material grasping mechanism. The feeding mechanism comprises a raw material rack, a transition rack and a material placing rack. The inclined transition rack is arranged between the raw material rack and the material placing rack. The material placing rack comprises two rows of material placing positions on the left and right. Each row internally comprises a plurality of material placing positions arranged at equal intervals along the front-back direction. A forward movement assembly is arranged between the two rows of material placing positions on the left and right. The forward movement assembly comprises a supporting rod for rotary motion. The raw materials on the material placing rack are moved forward through the supporting rod. A robotic arm is arranged above the material placing rack. A moving frame at the end of the robotic arm is provided with a clamping jaw and a liftable material clamping assembly. The material clamping assembly comprises symmetrically arranged clamping rods on the left and right. The clamping rods are arranged on both sides of the raw materials at the foremost material placing position on the material placing rack. The clamping jaw is arranged above the raw materials at the foremost material placing position on the material placing rack.

[0006] Further, a raw material bin is arranged inside the raw material rack. The front edge of the inner bottom surface of the raw material bin slopes downward, and a raw material outlet is arranged at the lower end of the front side wall of the raw material bin; the transition rack includes a transition surface and baffles on both the left and right sides. The front edge of the transition surface slopes downward, and the rear edge of the transition surface is connected to the raw material outlet of the raw material bin; the blanking rack includes symmetric blanking plates on the left and right. A row of blanking protrusions arranged at equal intervals in the front-rear direction are fixedly arranged on the upper end surface of the blanking plate. The space between adjacent blanking protrusions is a blanking position, and the space between the rearmost blanking protrusion and the front edge of the transition surface is the rearmost blanking position.

[0007] Further, the number of the supporting rods is two. A row of arc-shaped supporting grooves arranged at equal intervals in the front-rear direction are fixedly arranged on the upper end surface of the supporting rods. The number of the supporting grooves is the same as that of the blanking positions, and the distance between adjacent two supporting grooves is equal to the distance between adjacent two blanking positions.

[0008] Further, two symmetrically arranged front-rear rotating rods are respectively rotatably arranged on the left and right blanking plates. A swing rod is respectively rotatably arranged at the inner end of each rotating rod. One end of the swing rod is rotatably connected to the inner end of the rotating rod, and the other end of the swing rod is rotatably connected to the supporting rod on the same side; the front and rear two swing rods on the same side are parallel to each other; a driving motor is fixedly arranged on the inner bottom surface of the blanking rack, and a transmission rod is also rotatably arranged on the inner bottom surface of the blanking rack. The output shaft of the driving motor is in transmission connection with the transmission rod through a first synchronous belt transmission mechanism, and the two ends of the transmission rod are respectively in transmission connection with the front two rotating rods through a set of second synchronous belt transmission mechanisms.

[0009] Further, the robotic arm includes a first connecting rod, a second connecting rod, and a first cylinder; a first connecting rod and a second connecting rod which are vertically distributed and parallel to each other are rotatably arranged on the front end surface of the raw material rack. The rear ends of the first connecting rod and the second connecting rod are hinged to the front end surface of the raw material rack. A vertical first connecting rod is rotatably arranged between the front ends of the first connecting rod and the second connecting rod; a parallelogram structure is formed among the first connecting rod, the second connecting rod, the first connecting rod, and the front end surface of the raw material rack; the first cylinder is rotatably arranged between the front end surface of the raw material rack and the middle of the first connecting rod.

[0010] Further, the robotic arm further includes a third link, a fourth link, and a second cylinder; the third link and the fourth link are vertically distributed and parallel to each other. One end of the first link away from the raw material rack is hinged to the rear end of the third link, and one end of the second link away from the raw material rack is hinged to the rear end of the fourth link. The front ends of the third link and the fourth link are both hinged to the rear end face of the moving rack; a vertical second connecting rod is rotatably arranged between the rear end of the third link and the rear end of the fourth link; the upper and lower ends of the first connecting rod and the second connecting rod are rotatably connected to each other; a parallelogram structure is formed among the third link, the fourth link, the second connecting rod, and the rear end face of the moving rack; a second cylinder is arranged between the first link and the third link.

[0011] Further, the clamping component further includes a lifting frame, a lifting cylinder, a folding cylinder, and a folding plate; the lifting frame includes a U-shaped frame, a guide plate, and an extension plate. The U-shaped frame is a U-shaped plate structure with an opening downward, and the U-shaped frame is fixedly arranged at the lower end of the moving rack. A vertically penetrating guide hole is arranged at the center of the guide plate, and the guide plate is fixedly arranged at the middle height inside the U-shaped frame; two extension plates are respectively fixedly arranged at both ends of the lower opening of the U-shaped block; a folding plate is rotatably arranged at one end of each extension plate away from the U-shaped frame. The folding plate includes a second horizontal plate and a second vertical plate. One end of the second horizontal plate is hinged to one end of the extension plate away from the U-shaped frame, and the end of the second horizontal plate away from the extension plate is fixedly connected to the upper end of the second vertical plate; a folding cylinder is arranged between the extension plate and the folding plate; a lifting cylinder is fixedly arranged on the upper end face of the first horizontal plate of the moving rack. The bottom end of the lifting cylinder is fixedly arranged at the upper end face of the first horizontal plate of the moving rack, the piston rod of the lifting cylinder is vertically upward, and the piston rod of the lifting cylinder is fixedly connected to the inner top surface of the U-shaped frame.

[0012] Further, a horizontally penetrating insertion hole is arranged on the second vertical plate of the folding plate, and a clamping rod is slidably inserted into the insertion hole. An annular groove is arranged on the outer cylindrical surface of the clamping rod, and the annular groove of the insertion rod is inserted into the insertion hole on the second vertical plate of the folding plate; a return spring is further sleeved on the outer cylindrical surface of the annular groove of the clamping rod, and both ends of the return spring are respectively in contact with the second vertical plate of the folding plate and the end face of the annular groove of the clamping rod close to the other side of the folding plate; a conical head is arranged at one end of the clamping rod close to the other side of the folding plate.

[0013] Further, the clamping jaw includes a clamping cylinder, a fixed seat, a sliding seat, a fifth link, a sixth link, a seventh link, an eighth link, and a clamping plate.

[0014] One end of the bottom of the clamping cylinder is fixedly arranged at the lower end of the moving frame, and one end of the piston rod of the clamping cylinder extends vertically downward; the cylinder body of the clamping cylinder is slidably inserted into the guide hole of the guide plate; a fixed seat is fixedly arranged at one end of the cylinder body of the clamping cylinder close to the piston rod, a vertically extending sliding groove is arranged inside the fixed seat, and a sliding seat is slidably arranged inside the fixed seat.

[0015] Furthermore, a fifth connecting rod and a sixth connecting rod are respectively rotatably arranged at the front and rear ends of the sliding seat; the fifth connecting rod is located above the sixth connecting rod, and the fifth connecting rod is parallel to the sixth connecting rod; one end of the fifth connecting rod and the sixth connecting rod is hinged to the sliding seat, and the end of the fifth connecting rod and the sixth connecting rod far from the sliding seat is hinged to the seventh connecting rod; a parallelogram structure is formed among the fifth connecting rod, the sixth connecting rod, the end face of the sliding seat, and the seventh connecting rod; two symmetrically arranged eighth connecting rods are rotatably arranged at one end of the cylinder body of the clamping cylinder close to the piston rod, one end of the eighth connecting rod is hinged to the cylinder body of the clamping cylinder, and the end of the eighth connecting rod far from the cylinder body of the clamping cylinder is hinged to the middle of the fifth connecting rod on the same side; a clamping plate is fixedly arranged at the lower ends of the two seventh connecting rods.

[0016] The beneficial effects of the present utility model compared with the prior art are as follows:

[0017] (1) Accurate positioning: Through the design of the raw material rack, transition rack and blanking rack in the feeding mechanism, as well as the supporting rod and rotary motion at the blanking position, it can ensure that the raw material shaft is in the correct position and angle before being grabbed, thereby improving the accuracy of grabbing.

[0018] (2) High efficiency: Through the automated operation of the robotic arm and the material clamping assembly, the rapid grabbing and transfer of the raw material shaft can be realized, greatly improving the production efficiency. In addition, the device also adopts a parallelogram structure and cylinder drive, making the movement of the robotic arm more stable and rapid.

[0019] (3) Low cost: The structure of the device is relatively simple, and the manufacturing cost is low. At the same time, due to its high degree of automation, manual operation can be reduced, thereby reducing the labor cost. In addition, the device also has a long service life and low maintenance cost.

[0020] (4) Safe and reliable: During the grabbing process, the design of the clamping jaw and the material clamping assembly fully considers safety and reliability. The clamping jaw adopts a multi-link mechanism and cylinder drive, which can ensure that the raw material shaft will not fall off or be damaged during the grabbing process. Description of the Drawings

[0021] The following further describes the present utility model in detail with reference to the drawings:

[0022] Figure 1 is the three-dimensional schematic diagram of the whole of the present utility model Figure 1 ;

[0023] Figure 2 is the three-dimensional schematic diagram of the whole of the present utility model Figure 2 ;

[0024] Figure 3 is the side view of the whole of the present utility model;

[0025] Figure 4 is the side sectional view of the whole of the present utility model;

[0026] Figure 5 is the connection schematic diagram between the raw material rack, the transition rack and the blanking rack;

[0027] Figure 6 is the connection schematic diagram between the raw material rack, the transition rack, the blanking rack and the raw materials;

[0028] Figure 7 is the three-dimensional schematic diagram of the robotic arm;

[0029] Figure 8 is the side view of the robotic arm;

[0030] Figure 9 is the connection schematic diagram between the moving rack, the material clamping assembly and the clamping jaw Figure 1 ;

[0031] Figure 10 is the connection schematic diagram between the moving rack, the material clamping assembly and the clamping jaw Figure 2 ;

[0032] Figure 11 is the connection schematic diagram between the moving rack, the material clamping assembly and the clamping jaw Figure 3 ;

[0033] Figure 12 is Figure 11 the partial enlarged schematic diagram of the A position in

[0034] Figure 13 is the three-dimensional schematic diagram of the clamping jaw;

[0035] Among them, 1 is a raw material rack, 2 is a raw material bin, 3 is a raw material outlet, 4 is a raw material, 5 is a transition rack, 6 is a transition surface, 7 is a baffle, 8 is a material swinging protrusion, 9 is a supporting rod, 10 is a supporting groove, 11 is a rotating rod, 12 is a swinging rod, 13 is a driving motor, 14 is a transmission rod, 15 is a first synchronous belt transmission mechanism, 16 is a second synchronous belt transmission mechanism, 17 is a robotic arm, 18 is a first connecting rod, 19 is a second connecting rod, 20 is a first cylinder, 21 is a first connecting rod, 22 is a third connecting rod, 23 is a fourth connecting rod, 24 is a second connecting rod, 25 is a second cylinder, 26 is a moving frame, 27 is a U-shaped frame, 28 is a guide plate, 29 is an extension plate, 30 is a folding plate, 31 is a folding cylinder, 32 is a lifting cylinder, 33 is a clamping rod, 34 is a return spring, 35 is a conical head, 36 is a jaw, 37 is a clamping cylinder, 38 is a fixed seat, 39 is a sliding seat, 40 is a fifth connecting rod, 41 is a sixth connecting rod, 42 is a seventh connecting rod, 43 is an eighth connecting rod, 44 is a clamping plate. Specific embodiments

[0036] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present utility model clearer, the present utility model will be further described in detail in conjunction with embodiments and drawings. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model. The technical solutions of the present utility model will be described in detail below in conjunction with embodiments and drawings, but the protection scope is not limited by this.

[0037] As Figure 1 —13 shows, the present utility model provides a feeding device for raw materials for the processing of pins of hydraulic supports, including a loading mechanism and a material grasping mechanism. The loading mechanism includes a raw material rack 1, a transition rack 5, and a material swinging rack. The inclined transition rack 5 is arranged between the raw material rack 1 and the material swinging rack. The material swinging rack includes two rows of material swinging positions on the left and right. Each row internally includes a plurality of material swinging positions arranged at equal intervals in the front-rear direction. A forward movement component is arranged between the two rows of material swinging positions on the left and right. The forward movement component includes a supporting rod 9 that rotates. The raw material 4 on the material swinging rack is moved forward by the supporting rod 9. A robotic arm 17 is arranged above the material swinging rack. A jaw 36 and a liftable material clamping component are arranged on the moving frame 26 at the end of the robotic arm 17. The material clamping component includes symmetric clamping rods 33 on the left and right. The clamping rods 33 are arranged on both sides of the raw material 4 at the frontmost material swinging position on the material swinging rack. The jaw 36 is arranged above the raw material 4 at the frontmost material swinging position on the material swinging rack.

[0038] A raw material bin 2 is arranged inside the raw material rack 1. The raw material bin 2 is communicated with the rear end of the upper end surface of the raw material rack 1 and the rear end surface of the raw material rack 1. The front edge of the inner bottom surface of the raw material bin 2 slopes downward. A raw material outlet 3 is arranged at the lower end of the front side wall of the raw material bin 2. The raw material outlet 3 is located at the front edge of the inner bottom surface of the raw material bin 2. The height of the raw material outlet 3 is slightly higher than the outer diameter of the raw material 4.

[0039] The transition frame 5 includes a transition surface 6 and baffles 7 on both the left and right sides. The front edge of the transition surface 6 slopes downward, and the rear edge of the transition surface 6 is connected to the raw material outlet 3 of the raw material bin 2. The two baffles 7 on both sides are located in the vertical plane in the front-rear direction, and the two baffles 7 on both sides are fixedly arranged at the left and right ends of the transition surface 6.

[0040] The material swinging frame includes symmetrically arranged material swinging plates on the left and right. The material swinging plates are located in the vertical plane in the front-rear direction, and the upper end surfaces of the material swinging plates are kept horizontal. A row of equidistant material swinging protrusions 8 are fixedly arranged at the upper end surfaces of the material swinging plates, and the two rows of material swinging protrusions 8 on the left and right are symmetric to each other; the material swinging protrusion 8 has a triangular structure, and the space between adjacent material swinging protrusions 8 is a material swinging position. The space between the rearmost material swinging protrusion 8 and the front edge of the transition surface 6 is the rearmost material swinging position.

[0041] The number of the supporting rods 9 is two, and the two supporting rods 9 are symmetrically arranged on the left and right between the two rows of material swinging protrusions 8. The supporting rods 9 are horizontally arranged along the front-rear direction, and a row of equidistant arc-shaped supporting grooves 10 are fixedly arranged at the upper end surfaces of the supporting rods 9. The number of the supporting grooves 10 is the same as the number of the material swinging positions, and the distance between adjacent two supporting grooves 10 is equal to the distance between adjacent two material swinging positions.

[0042] Two symmetrically arranged rotating rods 11 are respectively rotatably arranged on the left and right material swinging plates. The rotating rods 11 are horizontally arranged along the left-right direction. One swinging rod 12 is respectively rotatably arranged at the inner ends of the rotating rods 11. One end of the swinging rod 12 is rotatably connected to the inner end of the rotating rod 11, and the other end of the swinging rod 12 is rotatably connected to the supporting rod 9 on the same side. The front and rear two swinging rods 12 on the same side are parallel to each other. A driving motor 13 is fixedly arranged at the inner bottom surface of the material swinging frame, and a transmission rod 14 is also rotatably arranged at the inner bottom surface of the material swinging frame. The transmission rod 14 is horizontally arranged along the left-right direction, and the output shaft of the driving motor 13 is drivingly connected to the transmission rod 14 through a first synchronous belt transmission mechanism 15. The two ends of the transmission rod 14 are respectively drivingly connected to the front two rotating rods 11 through a set of second synchronous belt transmission mechanisms 16.

[0043] The driving motor 13 drives the transmission rod 14 to rotate through the first synchronous belt transmission mechanism 15. The transmission rod 14 drives the front two rotating rods 11 to rotate through the second synchronous belt transmission mechanisms 16 at both ends. The front two rotating rods 11 drive the front two swinging rods 12 to rotate, so as to drive the two supporting rods 9 to perform a rotary motion.

[0044] The robotic arm 17 includes a first connecting rod 18, a second connecting rod 19, a third connecting rod 22, a fourth connecting rod 23, a first air cylinder 20, and a second air cylinder 25.

[0045] At the front end face of the raw material rack 1, a first connecting rod 18 and a second connecting rod 19 that are parallel to each other are rotatably arranged. Both the first connecting rod 18 and the second connecting rod 19 are located above the transition rack 5, and the second connecting rod 19 is located on one side below the first connecting rod 18. The rear ends of the first connecting rod 18 and the second connecting rod 19 are hinged to the front end face of the raw material rack 1, and the front ends of the first connecting rod 18 and the second connecting rod 19 extend forward. A vertical first connecting rod 21 is rotatably arranged between the front end of the first connecting rod 18 and the front end of the second connecting rod 19. A parallelogram structure is formed among the first connecting rod 18, the second connecting rod 19, the first connecting rod 21, and the front end face of the raw material rack 1, so that the first connecting rod 21 always remains vertical.

[0046] A first cylinder 20 is also rotatably arranged on the front end face of the raw material rack 1. One end of the cylinder bottom of the first cylinder 20 is rotatably connected to the front end face of the raw material rack 1, and one end of the piston rod of the first cylinder 20 is rotatably connected to the middle of the first connecting rod 18. The first connecting rod 18 is driven to rotate by the telescopic movement of the first cylinder 20.

[0047] The third connecting rod 22 and the fourth connecting rod 23 are parallel to each other, and the fourth connecting rod 23 is located on one side below the third connecting rod 22. One end of the first connecting rod 18 away from the raw material rack 1 is hinged to the rear end of the third connecting rod 22, one end of the second connecting rod 19 away from the raw material rack 1 is hinged to the rear end of the fourth connecting rod 23. The front ends of the third connecting rod 22 and the fourth connecting rod 23 are inclined downward to the front side, and the front ends of the third connecting rod 22 and the fourth connecting rod 23 are both hinged to the rear end face of the moving rack 26. A vertical second connecting rod 24 is rotatably arranged between the rear end of the third connecting rod 22 and the rear end of the fourth connecting rod 23. The upper and lower ends of the first connecting rod 21 and the second connecting rod 24 are rotatably connected to each other. Therefore, the second connecting rod 24 always remains vertical along with the first connecting rod 21. A parallelogram structure is formed among the third connecting rod 22, the fourth connecting rod 23, the second connecting rod 24, and the rear end face of the moving rack 26. Since the second connecting rod 24 always remains vertical, the rear end face of the moving rack 26 also always remains vertical.

[0048] A second cylinder 25 is arranged between the first connecting rod 18 and the third connecting rod 22. One end of the cylinder bottom of the second cylinder 25 is hinged to the middle of the first connecting rod 18, and one end of the piston rod of the second cylinder 25 is connected to the middle of the third connecting rod 22.

[0049] The moving rack 26 is an L-shaped plate structure, including a first horizontal plate and a first vertical plate. The first vertical plate is located in the vertical plane in the left-right direction, and the rear edge of the first horizontal plate is fixedly connected to the upper edge of the first vertical plate. The front ends of the third connecting rod 22 and the fourth connecting rod 23 are hinged to the rear end face of the first vertical plate of the moving rack 26.

[0050] The clamping component further includes a lifting frame, a lifting cylinder 32, a folding cylinder 31, and a folding plate 30.

[0051] The lifting frame includes a U-shaped frame 27, a guide plate 28, and an extension plate 29. The U-shaped frame 27 is a U-shaped plate structure with an opening downward, and the U-shaped frame 27 is fixedly arranged at the lower end surface of the first horizontal plate of the moving frame 26, and the front and rear ends of the U-shaped frame 27 remain open; the guide plate 28 is a horizontally arranged plate structure, and a through hole is provided in the center of the guide plate 28, and the left and right ends of the guide plate 28 are fixedly arranged at the middle height inside the U-shaped frame 27; two extension plates 29 are respectively fixedly arranged at both ends of the lower opening of the U-shaped block, and the end of the extension plate 29 away from the U-shaped frame 27 inclines downward.

[0052] A folding plate 30 is respectively rotatably arranged at the end of the extension plate 29 away from the U-shaped frame 27. The folding plate 30 includes a second horizontal plate and a second vertical plate. The second vertical plate is located in the vertical plane in the front-rear direction. One end of the second horizontal plate is hinged to the end of the extension plate 29 away from the U-shaped frame 27, and the end of the second horizontal plate away from the extension plate 29 is fixedly connected to the upper end of the second vertical plate; the hinge axis between the second horizontal plate and the extension plate 29 is horizontally arranged in the front-rear direction.

[0053] A folding cylinder 31 is arranged between the extension plate 29 and the folding plate 30. One end of the cylinder bottom of the folding cylinder 31 is hinged to the end of the upper end surface of the extension plate 29 close to the U-shaped frame 27, and one end of the piston rod of the folding cylinder 31 is hinged to the middle of the upper end surface of the second horizontal plate of the folding plate 30. The folding and unfolding of the folding plate 30 are realized by the telescopic movement of the piston rod of the folding cylinder 31.

[0054] A lifting cylinder 32 is fixedly arranged on the upper end surface of the first horizontal plate of the moving frame 26. One end of the cylinder bottom of the lifting cylinder 32 is fixedly arranged on the upper end surface of the first horizontal plate of the moving frame 26. The piston rod of the lifting cylinder 32 is vertically upward, and the piston rod of the lifting cylinder 32 is fixedly connected to the inner top surface of the U-shaped frame 27. The lifting of the lifting frame is realized by the telescopic movement of the piston rod of the lifting cylinder 32.

[0055] A through hole is provided in the second vertical plate of the folding plate 30, and a clamping rod 33 is slidably inserted into the through hole. An annular groove is provided on the outer cylindrical surface of the clamping rod 33, and the annular groove of the insertion rod is inserted into the through hole inside the second vertical plate of the folding plate 30. A return spring 34 is also sleeved on the outer cylindrical surface of the annular groove of the clamping rod 33. Both ends of the return spring 34 are respectively in contact with the second vertical plate of the folding plate 30 and the end surface of the annular groove of the clamping rod 33 close to the other side of the folding plate 30. A conical head 35 is arranged at the end of the clamping rod 33 close to the other side of the folding plate 30.

[0056] The clamping jaw 36 includes a clamping cylinder 37, a fixed seat 38, a sliding seat 39, a fifth connecting rod 40, a sixth connecting rod 41, a seventh connecting rod 42, an eighth connecting rod 43, and a clamping plate 44.

[0057] One end of the cylinder bottom of the clamping cylinder 37 is fixedly arranged at the lower end surface of the first horizontal plate of the moving frame 26, and one end of the piston rod of the clamping cylinder 37 is vertically downward. The cylinder body of the clamping cylinder 37 is slidably inserted into the guide hole of the guide plate 28. When the lifting frame is lifting, the cylinder body of the clamping cylinder 37 maintains sliding contact with the inner wall of the guide hole of the guide plate 28, ensuring the stability of the lifting frame during the lifting process.

[0058] A fixed seat 38 is fixedly arranged at one end of the cylinder body of the clamping cylinder 37 close to the piston rod. A sliding groove that runs through from front to back is arranged inside the fixed seat 38, and the sliding groove extends along the vertical direction. A sliding seat 39 is slidably arranged inside the fixed seat 38, and the sliding seat 39 is of a cube structure.

[0059] A fifth connecting rod 40 and a sixth connecting rod 41 are respectively rotatably arranged at the front and rear ends of the sliding seat 39. The front fifth connecting rod 40 and sixth connecting rod 41 are symmetrical to the rear fifth connecting rod 40 and sixth connecting rod 41; the fifth connecting rod 40 is located above the sixth connecting rod 41, and the fifth connecting rod 40 is parallel to the sixth connecting rod 41. The seventh connecting rod 42 includes an upper vertical section, a middle inclined section, and a lower vertical section. The upper vertical section is located outside the lower vertical section, and a middle inclined section is fixedly arranged between the lower end of the upper vertical section and the upper end of the lower vertical section. One end of the fifth connecting rod 40 and the sixth connecting rod 41 is hinged to the sliding seat 39, and the end of the fifth connecting rod 40 and the sixth connecting rod 41 far from the sliding seat 39 is hinged to the upper and lower ends of the upper vertical section of the seventh connecting rod 42. A parallelogram structure is formed among the fifth connecting rod 40, the sixth connecting rod 41, the end face of the sliding seat 39, and the upper vertical section of the seventh connecting rod 42, so as to ensure that the upper vertical section and the lower vertical section of the seventh connecting rod 42 always remain vertical.

[0060] Two symmetrical eighth connecting rods 43 are rotatably arranged at one end of the cylinder body of the clamping cylinder 37 close to the piston rod. One end of the eighth connecting rod 43 is hinged to the cylinder body of the clamping cylinder 37, and the end of the eighth connecting rod 43 far from the cylinder body of the clamping cylinder 37 is hinged to the middle of the fifth connecting rod 40 on the same side.

[0061] A clamping plate 44 is fixedly arranged at the lower end of the lower vertical section of each of the two seventh connecting rods 42. The clamping plates 44 are located in the vertical plane in the left - right direction. A horizontal arc groove is arranged at the middle height of the end faces on the side where the two clamping plates 44 are close to each other. The raw material 4 is stably clamped by the arc grooves on the two clamping plates 44.

[0062] The working principle of the present utility model is as follows:

[0063] First step: Stack all the raw materials 4 in the raw material bin 2 of the raw material rack 1. The raw materials 4 in the raw material bin 2 roll through the raw material outlet 3 onto the transition surface 6 of the transition rack 5. The foremost raw material 4 rolls to the last placing position, and the subsequent raw materials 4 are successively arranged in contact on the transition surface 6 of the transition rack 5.

[0064] Second step: Control the driving motor 13 to rotate. The driving motor 13 drives the transmission rod 14 to rotate one circle through the first synchronous belt transmission mechanism 15. The transmission rod 14 drives the two front rotating rods 11 to rotate one circle through the second synchronous belt transmission mechanisms 16 at both ends. The two front rotating rods 11 drive the two front swing rods 12 to rotate one circle, thereby driving the two supporting rods 9 to perform a one - circle rotary motion. When the supporting rod 9 rotates upward, the last supporting groove 10 on the supporting rod 9 contacts the raw material 4 at the last placing position, lifting the raw material 4 upward, and the raw material 4 rotates together with the supporting rod 9. As the supporting rod 9 continues to move, the raw material 4 on the supporting rod 9 contacts the penultimate placing position, causing the raw material 4 to be moved to the penultimate placing position, so that the raw material 4 advances one placing position. When the supporting rod 9 completes a one - circle rotary motion, the driving motor 13 stops operating, and the supporting rod 9 returns to the initial position. At this time, the second raw material 4 on the transition surface 6 slides to the last placing position.

[0065] Third step: Control the driving motor 13 to rotate one more circle, so that the raw material 4 at the penultimate placing position and the raw material 4 at the last placing position advance one placing position. Repeat this cycle until there is a raw material 4 placed at the foremost first placing position.

[0066] Fourth step: Control the first cylinder 20 and the second cylinder 25 to be in the contracted state. At this time, the lifting frame is above the raw material 4 at the foremost first placing position. Control the piston rod of the lifting cylinder 32 to contract, so that the lifting frame descends to the lowest height. At this time, the two folding cylinders 31 are in the contracted state. Control the piston rods of the two folding cylinders 31 to extend simultaneously, so that the two folding plates 30 rotate downward and unfold. During the downward rotation and unfolding process, the conical heads 35 of the two clamping rods 33 extend into the pre - drilled holes at both ends of the raw material 4. By setting the return spring 34, it is ensured that the conical heads 35 of the clamping rods 33 play a buffering role during the contact with the end face of the raw material 4. When the conical heads 35 of the two clamping rods 33 extend into the pre - drilled holes at both ends of the raw material 4, the raw material 4 is clamped between the two folding plates 30 on the lifting frame. At this time, the mutual positioning between the raw material 4 and the lifting frame is completed.

[0067] Step 5: Control the piston rod of the lifting cylinder 32 to extend, driving the lifting frame to rise to the set height. The lifting frame drives the raw material 4 to rise synchronously, so that the raw material 4 rises between the two clamping plates 44 of the jaw 36.

[0068] Step 6: Drive the piston rod of the clamping cylinder 37 to contract, driving the sliding seat 39 to rise. During the rising process of the sliding seat 39, the eighth connecting rod 43 rotates downward relative to the axis of the clamping cylinder 37, causing the two seventh connecting rods 42 to approach each other relatively, thereby driving the two clamping plates 44 to approach each other relatively, so as to clamp the lifted raw material 4 between the two clamping plates 44.

[0069] Step 7: Control the piston rods of the two folding cylinders 31 to contract, so that the two folding plates 30 rotate upward and fold, and the two clamping rods 33 are separated from both ends of the raw material 4.

[0070] Step 8: Control the piston rods of the first cylinder 20 and the second cylinder 25 to extend, so that the moving frame 26 drives the lifting frame, the jaw 36, and the clamped raw material 4 to move forward until it moves to the processing position of the lathe, and then the lathe fixes the raw material 4. At this time, the piston rod of the clamping cylinder 37 extends, and the two clamping plates 44 are separated from the raw material 4, and the whole device returns to the initial state.

[0071] Step 9: Repeat the above steps 4 to 8, continuously transport the raw material 4 to the lathe for fixing and processing, and finally process it into the pin shaft of the hydraulic support in sequence.

[0072] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present utility model. Any reference signs in the claims should not be regarded as limiting the claimed rights.

Claims

1. A feeding device for processing raw materials for hydraulic support pins, characterized in that: The invention comprises a feeding mechanism and a material grabbing mechanism, wherein the feeding mechanism comprises a raw material rack (1), a transition rack (5), and a swing rack, wherein the inclined transition rack (5) is arranged between the raw material rack (1) and the swing rack, wherein the swing rack comprises two rows of swing positions on the left and right, wherein each row comprises a plurality of swing positions equidistantly arranged along the front-rear direction, wherein a forward moving assembly is arranged between the two rows of swing positions on the left and right, wherein the forward moving assembly comprises a supporting rod (9) capable of rotary motion, and the raw material (4) on the swing rack is moved forward by the supporting rod (9); a mechanical arm (17) is arranged above the swing rack, wherein a clamping claw (36) and a liftable clamping assembly are arranged on the movable rack (26) at the end of the mechanical arm (17), wherein the clamping claw (36) and a liftable clamping assembly are arranged, wherein the clamping claw (33) comprises left-right symmetrical clamping rods (33), wherein the clamping rods (33) are arranged on both sides of the raw material (4) on the swing position at the frontmost side of the swing rack, and the clamping claw (36) is arranged above the raw material (4) on the swing position at the frontmost side of the swing rack.

2. A feeding device for processing raw materials for hydraulic support pins according to claim 1, characterized in that: A raw material bin (2) is arranged inside the raw material rack (1), the front edge of the inner bottom surface of the raw material bin (2) is inclined downward, and a raw material outlet (3) is arranged at the lower end of the front side wall of the raw material bin (2); the transition rack (5) comprises a transition surface (6) and baffles (7) on the left and right sides, the front edge of the transition surface (6) is inclined downward, and the rear edge of the transition surface (6) is connected to the raw material outlet (3) of the raw material bin (2); the swinging rack comprises a swinging plate that is symmetrical on both sides, and a row of swinging protrusions (8) arranged equidistantly in front and behind are fixedly arranged on the upper end surface of the swinging plate, the space between adjacent swinging protrusions (8) is a swinging position, and the space between the rearmost swinging protrusion (8) and the front edge of the transition surface (6) is the rearmost swinging position.

3. A feeding device for processing raw materials for hydraulic support pins according to claim 2, characterized in that: The number of the supporting rods (9) is two, and a row of arc-shaped supporting grooves (10) arranged equidistantly from front to back are fixedly provided on the upper end surface of the supporting rod (9), the number of the supporting grooves (10) is the same as the number of the swinging positions, and the spacing between two adjacent supporting grooves (10) is equal to the spacing between two adjacent swinging positions.

4. A feeding device for processing raw materials for hydraulic support pins according to claim 3, characterized in that: Two front-to-back symmetrical rotating rods (11) are rotatably arranged on the left and right swing material plates, respectively; a swing rod (12) is rotatably arranged on the inner end of the rotating rod (11), one end of the swing rod (12) is rotatably connected to the inner end of the rotating rod (11), and the other end of the swing rod (12) is rotatably connected to the supporting rod (9) on the same side; the front and rear swing rods (12) on the same side are parallel to each other; a driving motor (13) is fixedly arranged on the inner bottom surface of the swing material rack, and a transmission rod (14) is also rotatably arranged on the inner bottom surface of the swing material rack; the output shaft of the driving motor (13) and the transmission rod (14) are transmission-connected via a first synchronous belt transmission mechanism (15), and the two ends of the transmission rod (14) are transmission-connected to the two rotating rods (11) on the front side via a set of second synchronous belt transmission mechanisms (16).

5. The feeding device for processing raw materials of hydraulic support pins according to claim 1 is characterized in that: The mechanical arm (17) comprises a first connecting rod (18), a second connecting rod (19), and a first cylinder (20); the first connecting rod (18) and the second connecting rod (19) are rotatably arranged at the front end surface of the raw material rack (1), and are distributed up and down and are parallel to each other; the rear ends of the first connecting rod (18) and the second connecting rod (19) are hinged to the front end surface of the raw material rack (1); a vertical first connecting rod (21) is rotatably arranged between the front ends of the first connecting rod (18) and the second connecting rod (19); the first connecting rod (18), the second connecting rod (19), the first connecting rod (21), and the front end surface of the raw material rack (1) form a parallelogram structure; the first cylinder (20) is rotatably arranged between the front end surface of the raw material rack (1) and the middle part of the first connecting rod (18).

6. A feeding device for processing raw materials for hydraulic support pins according to claim 5, characterized in that: The mechanical arm (17) further comprises a third connecting rod (22), a fourth connecting rod (23), and a second cylinder (25); the third connecting rod (22) and the fourth connecting rod (23) are arranged vertically and parallel to each other; an end of the first connecting rod (18) away from the raw material rack (1) is hinged to a rear end of the third connecting rod (22); an end of the second connecting rod (19) away from the raw material rack (1) is hinged to a rear end of the fourth connecting rod (23); and front ends of the third connecting rod (22) and the fourth connecting rod (23) are both hinged to the movable rack (26). The rear end surfaces of the third connecting rod (22) and the fourth connecting rod (23) are hinged; a vertical second connecting rod (24) is rotatably arranged between the rear end of the third connecting rod (22) and the rear end of the fourth connecting rod (23); the upper and lower ends of the first connecting rod (21) and the second connecting rod (24) are rotatably connected to each other; a parallelogram structure is formed between the rear end surfaces of the third connecting rod (22), the fourth connecting rod (23), the second connecting rod (24) and the moving frame (26); and a second cylinder (25) is arranged between the first connecting rod (18) and the third connecting rod (22).

7. The feeding device for processing raw materials for hydraulic support pins according to claim 1 is characterized by: The clamping assembly further comprises a lifting frame, a lifting cylinder (32), a folding cylinder (31), and a folding plate (30); the lifting frame comprises a U-shaped frame (27), a guide plate (28), and an extension plate (29); the U-shaped frame (27) is a U-shaped plate-like structure with an opening facing downward; the U-shaped frame (27) is fixedly arranged at the lower end of the moving frame (26); a guide hole penetrating from top to bottom is arranged at the center of the guide plate (28); the guide plate (28) is fixedly arranged at the middle height of the inner side of the U-shaped frame (27); two extension plates (29) are respectively fixedly arranged at the two ends of the lower opening of the U-shaped block; a folding plate (30) is rotatably arranged at one end of the extension plate (29) away from the U-shaped frame (27); the folding plate ( The folding plate (30) comprises a second horizontal plate and a second vertical plate, one end of the second horizontal plate is hinged to one end of the extension plate (29) away from the U-shaped frame (27), and one end of the second horizontal plate away from the extension plate (29) is fixedly connected to the upper end of the second vertical plate; a folding cylinder (31) is arranged between the extension plate (29) and the folding plate (30); a lifting cylinder (32) is fixedly arranged on the upper end surface of the first horizontal plate of the movable frame (26), one end of the cylinder bottom of the lifting cylinder (32) is fixedly arranged on the upper end surface of the first horizontal plate of the movable frame (26), the piston rod of the lifting cylinder (32) is vertically upward, and the piston rod of the lifting cylinder (32) is fixedly connected to the inner top surface of the U-shaped frame (27).

8. The feeding device for processing raw materials of hydraulic support pins according to claim 7 is characterized in that: A plug-in hole is provided on the second vertical plate of the folding plate (30) and is passed through from left to right. A clamping rod (33) is slidably inserted into the plug-in hole. An annular groove is provided on the outer cylindrical surface of the clamping rod (33). The annular groove of the plug-in rod is inserted into the plug-in hole on the second vertical plate of the folding plate (30). A return spring (34) is sleeved on the outer cylindrical surface of the annular groove of the clamping rod (33). The two ends of the return spring (34) are respectively in contact with the second vertical plate of the folding plate (30) and the end surface of the annular groove of the clamping rod (33) close to the folding plate (30) on the other side. A conical head (35) is provided on the end of the clamping rod (33) close to the folding plate (30) on the other side.

9. The feeding device for processing raw materials of hydraulic support pins according to claim 7 is characterized in that: The clamping claw (36) comprises a clamping cylinder (37), a fixed seat (38), a sliding seat (39), a fifth connecting rod (40), a sixth connecting rod (41), a seventh connecting rod (42), an eighth connecting rod (43), and a clamping plate (44); One end of the cylinder bottom of the clamping cylinder (37) is fixedly arranged at the lower end of the moving frame (26), and one end of the piston rod of the clamping cylinder (37) is vertically downward; the cylinder body of the clamping cylinder (37) is slidably inserted into the guide hole of the guide plate (28); a fixed seat (38) is fixedly arranged at one end of the cylinder body of the clamping cylinder (37) close to the piston rod, a vertically extending sliding groove is arranged inside the fixed seat (38), and a sliding seat (39) is slidably arranged inside the fixed seat (38).

10. A feeding device for processing raw materials for hydraulic support pins according to claim 9, characterized in that: A fifth connecting rod (40) and a sixth connecting rod (41) are rotatably arranged at the front and rear ends of the sliding seat (39), respectively; the fifth connecting rod (40) is located above the sixth connecting rod (41), and the fifth connecting rod (40) and the sixth connecting rod (41) are parallel; one end of the fifth connecting rod (40) and the sixth connecting rod (41) are hinged to the sliding seat (39), and one end of the fifth connecting rod (40) and the sixth connecting rod (41) away from the sliding seat (39) is hinged to the seventh connecting rod (42); the fifth connecting rod (40) and the sixth connecting rod (41) are hinged to the sliding seat (39); A parallelogram structure is formed between the rod (41), the end surface of the sliding seat (39), and the seventh connecting rod (42); two symmetrical eighth connecting rods (43) are rotatably arranged at one end of the cylinder body of the clamping cylinder (37) close to the piston rod, one end of the eighth connecting rod (43) is hinged to the cylinder body of the clamping cylinder (37), and one end of the eighth connecting rod (43) away from the cylinder body of the clamping cylinder (37) is hinged to the middle part of the fifth connecting rod (40) on the same side; a clamping plate (44) is fixedly arranged at the lower ends of the two seventh connecting rods (42).

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