Automatic feeding and discharging structure for machining

Abstract

The utility model relates to the technical field of machining, and discloses an automatic feeding and discharging structure for machining, which comprises a mechanical arm, the right end of the mechanical arm is fixedly connected with a clamping hand, the right side of the clamping hand is provided with a clamping jaw, the right end of the clamping jaw is hinged with a clamping plate, and the bottom surface of the clamping plate is fixedly connected with a rubber sheet. A chamfer is formed in the right end of the clamping plate, an extrusion unit is arranged on the outer side of the clamping plate, the extrusion unit comprises an arc-shaped barrel, the left end of the arc-shaped barrel is detachably connected with the upper surface of the clamping jaw, and a clamping spring is fixedly connected to the surface of the inner wall of the left side of the arc-shaped barrel. According to the clamping device, through the cooperation of the clamping plates, the rubber sheets, the chamfers and the clamping units, when the clamping jaws move to grab and feed and discharge machining parts, the contact area between the clamping device and the parts can be increased, and the clamping springs are compressed to generate elastic potential energy, so that the friction force between the clamping device and the parts is further increased.

Description

Technical Field

[0001] The utility model relates to the technical field of machining, in particular to an automatic loading and unloading structure for machining. Background Technique

[0002] Machining machines process parts through mechanical equipment. During loading and unloading, usually a robotic arm controls a gripper. First, the robotic arm is controlled to drive the gripper to move above the part, and then the gripper is controlled to pick up the part for processing. After processing, the robotic arm drives the gripper to move to the unloading area and releases the gripper, and the processed part drops.

[0003] After retrieval, Chinese Patent Publication No.: CN217668144U discloses an automatic loading and unloading structure for a machining machine. By setting an auxiliary disassembly and assembly mechanism, when the gripper is removed and the positioning unit is pushed into the plug board, at this time, the elastic unit pushes the plug board to push the plug board out of the robotic arm. During installation, the plug board is inserted into the robotic arm with the assistance of the guiding unit, making the disassembly and assembly of the gripper simpler and more convenient, and improving the disassembly and assembly efficiency.

[0004] However, in the actual use process of the above automatic loading and unloading structure, when the gripper starts to drive the gripper jaw to rotate to clamp the part, the gripper jaw may only contact and pick up the part at the end, and the contact area with the part is small, resulting in insufficient friction force on the part, making the part prone to dropping during the process of picking up and loading and unloading, thus affecting the loading and unloading efficiency. For this reason, an automatic loading and unloading structure for machining is proposed to solve the above problems. Summary of the Utility Model

[0005] In order to make up for the above deficiencies, the utility model provides an automatic loading and unloading structure for machining, aiming to improve the problem that the part is prone to dropping due to insufficient friction force on the part when the part is picked up and loaded and unloaded by the gripper jaw in the prior art.

[0006] In order to achieve the above purpose, the utility model adopts the following technical scheme: an automatic loading and unloading structure for machining, including a robotic arm, the right end of the robotic arm is fixedly connected with a gripper, a gripper jaw is arranged on the right side of the gripper, a clamping plate is hinged to the right end of the gripper jaw, a rubber sheet is fixedly connected to the bottom surface of the clamping plate, a chamfer is opened at the right end of the clamping plate, and an extrusion unit is arranged outside the clamping plate, and the extrusion unit is used for extrusion and limitation of the clamping plate.

[0007] As a further description of the above technical scheme:

[0008] The extrusion unit includes an arc-shaped cylinder. The left end of the arc-shaped cylinder is detachably connected to the upper surface of the clamping jaw. A clamping spring is fixedly connected to the inner surface of the left side wall of the arc-shaped cylinder. The right end of the clamping spring is fixedly connected to a moving ball. The right end of the moving ball is fixedly connected to an arc-shaped rod. The right end of the arc-shaped rod passes through the arc-shaped cylinder. The right end of the arc-shaped rod is fixedly connected to a slider. A chute is formed on the upper surface of the clamping plate.

[0009] As a further description of the above technical solution:

[0010] The left end of the arc-shaped cylinder is fixedly connected to a mounting block. A groove is formed on the front surface of the mounting block. A limiting spring is fixedly connected to the inner surface of the rear side wall of the groove. The front end of the limiting spring is fixedly connected to a clamping block. An installation groove is formed on the upper surface of the clamping jaw. A clamping groove is formed on the front surface of the installation groove. A push plate is inserted into the clamping groove. A handle is arranged on the front side of the clamping jaw.

[0011] As a further description of the above technical solution:

[0012] Anti-slip lines are formed on the bottom surface of the rubber sheet. The upper surface of the clamping plate is mutually attached to the bottom surface of the clamping jaw.

[0013] As a further description of the above technical solution:

[0014] The outer wall of the moving ball is mutually attached to the inner wall of the arc-shaped cylinder. The slider is slidably connected to the inside of the chute.

[0015] As a further description of the above technical solution:

[0016] The diameter of the arc-shaped rod is smaller than the diameter of the moving ball.

[0017] As a further description of the above technical solution:

[0018] The clamping block is inserted into the groove. The front end of the clamping block is clamped with the inside of the clamping groove.

[0019] As a further description of the above technical solution:

[0020] The rear end of the handle passes through the clamping jaw. The rear end of the handle is fixedly connected to the front surface of the push plate.

[0021] The utility model has the following beneficial effects:

[0022] 1. In the present utility model, through the cooperation of the clamping plate, rubber sheet, chamfer and clamping unit, when the clamping jaw moves to grasp and load and unload the parts for machining, the contact area with the parts can be increased, and the clamping spring is compressed to generate elastic potential energy, so that the friction force with the parts is further increased, avoiding the situation that only the end of the clamping jaw contacts the parts during the clamping and loading and unloading process, resulting in insufficient contact area and the parts falling off.

[0023] 2. In the present utility model, through the cooperation of the groove, limiting spring, clamping block, installation groove, clamping slot, push plate and handle, when the clamping spring is damaged after long-term use, the clamping and fixing of the arc-shaped cylinder and the limiting spring can be quickly released, so that the arc-shaped cylinder and the clamping spring can be quickly disassembled and replaced, with simple operation and improved processing efficiency. Description of the Drawings

[0024] Figure 1 is a schematic diagram of the overall automatic loading and unloading structure for machining proposed by the present utility model;

[0025] Figure 2 is a schematic diagram of the clamping jaw, rubber sheet and extrusion unit of the automatic loading and unloading structure for machining proposed by the present utility model;

[0026] Figure 3 is a schematic diagram of the front part of the inside of the clamping jaw and the mounting block of the automatic loading and unloading structure for machining proposed by the present utility model in a sectional view;

[0027] Figure 4 is a schematic diagram of the front part of the inside of the clamping jaw of the automatic loading and unloading structure for machining proposed by the present utility model in a sectional view.

[0028] Legend Explanation:

[0029] 1. Robot arm; 2. Gripper; 3. Clamping jaw; 4. Clamping plate; 5. Rubber sheet; 6. Chamfer; 71. Arc-shaped cylinder; 72. Clamping spring; 73. Moving ball; 74. Arc-shaped rod; 75. Slide block; 76. Slide groove; 8. Mounting block; 9. Groove; 10. Limiting spring; 11. Clamping block; 12. Installation groove; 13. Clamping slot; 14. Push plate; 15. Handle. Detailed Embodiment

[0030] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0031] Referring to Figure 1 , an embodiment provided by the present utility model: an automatic loading and unloading structure for machining, including a robotic arm 1, a gripper 2 is fixedly connected to the right end of the robotic arm 1, a clamping jaw 3 is arranged on the right side of the gripper 2, the number of the clamping jaws 3 is two, and the two clamping jaws 3 are arranged in a mirror structure. The gripper 2 can drive the two clamping jaws 3 to perform synchronous movements in opposite directions. When the two clamping jaws 3 approach each other, components or parts during the machining process can be clamped. This is an existing technical means in the art and will not be elaborated here. A clamping plate 4 is hinged to the right end of the clamping jaw 3, and the clamping plate 4 can rotate around the hinge with the clamping jaw 3. The upper surface of the clamping plate 4 is in mutual fit with the bottom surface of the clamping jaw 3.

[0032] Referring to Figure 1 - Figure 2 , a rubber sheet 5 is fixedly connected to the bottom surface of the clamping plate 4, and anti-slip patterns are provided on the bottom surface of the rubber sheet 5. By arranging the rubber sheet 5, the friction between the clamping plate 4 and the part can be increased, making the clamping of the part more stable. A chamfer 6 is provided at the right end of the clamping plate 4. When the two clamping plates 4 rotate and approach each other to clamp the part, the chamfer 6 of the clamping plate 4 will first come into contact with the part, which can increase the initial contact area with the part and avoid the tip of the clamping plate 4 coming into contact with the part, resulting in the situation that the part drops due to insufficient contact area.

[0033] An extrusion unit is arranged on the outer side of the clamping plate 4. The extrusion unit includes an arc-shaped cylinder 71. The left end of the arc-shaped cylinder 71 is detachably connected to the upper surface of the clamping jaw 3. A clamping spring 72 is fixedly connected to the inner surface of the left side wall of the arc-shaped cylinder 71. The right end of the clamping spring 72 is fixedly connected to a moving ball 73. When the moving ball 73 moves to the left inside the arc-shaped cylinder 71, the clamping spring 72 can be extruded, so that the clamping spring 72 is compressed to generate elastic potential energy. In the initial state, the clamping spring 72 is in a compressed state, and the outer wall of the moving ball 73 is in mutual fit with the inner wall of the arc-shaped cylinder 71. The right end of the moving ball 73 is fixedly connected to an arc-shaped rod 74. The diameter of the arc-shaped rod 74 is smaller than that of the moving ball 73. By arranging the moving ball 73, the arc-shaped rod 74 can be limited to prevent the arc-shaped rod 74 from detaching from the arc-shaped cylinder 71. The right end of the arc-shaped rod 74 penetrates through the arc-shaped cylinder 71, and the right end of the arc-shaped rod 74 is fixedly connected to a slider 75. When the slider 75 moves, it can drive the arc-shaped rod 74 to move synchronously. A chute 76 is provided on the upper surface of the clamping plate 4, and the slider 75 is slidably connected to the inside of the chute 76. The slider 75 can perform linear motion in the left-right direction inside the chute 76.

[0034] When the gripper 3 rotates to grip the part, it will squeeze the clamping plate 4, causing the clamping plate 4 to rotate, so that the clamping plate 4 makes full contact with the surface of the part, increasing the contact area with the part, and further preventing the part from falling due to insufficient contact area during the clamping process. At the same time, during the rotation of the clamping plate 4, the slider 75 and the arc-shaped rod 74 will move synchronously, thereby realizing the extrusion of the clamping spring 72, causing the clamping spring 72 to compress and generate elastic potential energy. Through the elastic potential energy of the clamping spring 72 acting on the clamping plate 4, the rubber sheet 5 and the part are made closer, further preventing the part from falling. During the rotation of the clamping plate 4, the slider 75 can slide left and right inside the chute 76, preventing the arc-shaped rod 74 from hindering the rotation of the clamping plate 4.

[0035] Refer to Figure 3 - Figure 4 , a mounting block 8 is fixedly connected to the left end of the arc-shaped cylinder 71. A groove 9 is formed on the front surface of the mounting block 8. A limiting spring 10 is fixedly connected to the rear inner wall surface of the groove 9. A clamping block 11 is fixedly connected to the front end of the limiting spring 10. An installation groove 12 is formed on the upper surface of the gripper 3. The mounting block 8 is inserted into the installation groove 12 and can be directly pulled out. A clamping groove 13 is formed on the front surface of the installation groove 12. The clamping block 11 is inserted into the groove 9. The front end of the clamping block 11 is clamped with the inner part of the clamping groove 13. At this time, the clamping cooperation between the clamping block 11 and the clamping groove 13 can clamp and fix the mounting block 8 and the arc-shaped cylinder 71. A push plate 14 is inserted into the clamping groove 13. When the push plate 14 moves backward, it can squeeze the clamping block 11, causing the clamping block 11 to enter the groove 9, quickly releasing the clamping and fixing of the mounting block 8 and the arc-shaped cylinder 71, so that the arc-shaped cylinder 71 can be quickly disassembled. A handle 15 is arranged on the front side of the gripper 3. The rear end of the handle 15 penetrates through the gripper 3. The rear end of the handle 15 is fixedly connected to the front surface of the push plate 14. By setting the handle 15, it is convenient for the staff to move the push plate 14. When the clamping spring 72 is fatigued and damaged, the handle 15 can be pushed backward to drive the push plate 14 to push the clamping block 11 into the groove 9, releasing the fixation of the arc-shaped cylinder 71, and quickly disassembling and replacing the arc-shaped cylinder 71 and the clamping spring 72. The operation is simple and can improve the processing efficiency.

[0036] Working principle: When the clamping hand 2 starts to drive the clamping jaw 3 to move for picking up and loading and unloading the parts for machining, the clamping plate 4 will contact the part. At this time, the part will squeeze the clamping plate 4 along the inclined surface of the chamfer 6, causing the clamping plate 4 to rotate until the rubber sheet 5 is vertically attached to the surface of the part. At the same time, when the clamping plate 4 rotates, it can drive the slider 75 and the arc-shaped rod 74 to move synchronously, squeezing the clamping spring 72, so that the clamping spring 72 is compressed to generate elastic potential energy. At this time, the elastic potential energy generated by the clamping spring 72 will act on the rubber sheet 5, making the rubber sheet 5 fit more tightly with the surface of the part, further increasing the friction force between the rubber sheet 5 and the surface of the part, preventing the part from falling off, and avoiding that when only the clamping jaw 3 is used to pick up and load and unload parts of different specifications, only the end of the clamping jaw 3 contacts the part, resulting in insufficient contact area with the part and causing the part to fall off. When the clamping spring 72 is fatigued and damaged after long-term use, the handle 15 can be pushed to drive the block 11 into the groove 9 to release the clamping and fixing of the mounting block 8 and the arc-shaped cylinder 71, so that the arc-shaped cylinder 71 and the clamping spring 72 can be quickly disassembled and replaced, and the operation is simple.

[0037] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic loading and unloading structure for machining, including a robotic arm (1), characterized in that: The right end of the robotic arm (1) is fixedly connected to a gripper (2). A jaw (3) is arranged on the right side of the gripper (2). The right end of the jaw (3) is hinged to a clamping plate (4). A rubber sheet (5) is fixedly connected to the bottom surface of the clamping plate (4). A chamfer (6) is formed at the right end of the clamping plate (4). An extrusion unit is arranged outside the clamping plate (4). The extrusion unit is used for extruding and limiting the clamping plate (4). The extrusion unit includes an arc-shaped cylinder (71). The left end of the arc-shaped cylinder (71) is detachably connected to the upper surface of the jaw (3). A clamping spring (72) is fixedly connected to the inner surface of the left side wall of the arc-shaped cylinder (71). A moving ball (73) is fixedly connected to the right end of the clamping spring (72). An arc-shaped rod (74) is fixedly connected to the right end of the moving ball (73). The right end of the arc-shaped rod (74) penetrates through the arc-shaped cylinder (71). A slider (75) is fixedly connected to the right end of the arc-shaped rod (74). A chute (76) is formed on the upper surface of the clamping plate (4).

2. The automatic loading and unloading structure for machining according to claim 1, wherein: An installation block (8) is fixedly connected to the left end of the arc-shaped cylinder (71). A groove (9) is formed on the front surface of the installation block (8). A limiting spring (10) is fixedly connected to the inner surface of the rear side wall of the groove (9). A clamping block (11) is fixedly connected to the front end of the limiting spring (10). An installation groove (12) is formed on the upper surface of the jaw (3). A clamping groove (13) is formed on the front surface of the installation groove (12). A push plate (14) is inserted into the clamping groove (13). A handle (15) is arranged on the front side of the jaw (3).

3. An automatic loading and unloading structure for machining according to claim 1, characterized in that: Anti-slip lines are formed on the bottom surface of the rubber sheet (5). The upper surface of the clamping plate (4) is in mutual fit with the bottom surface of the jaw (3).

4. An automatic loading and unloading structure for machining according to claim 1, characterized in that: The outer wall of the moving ball (73) is in mutual fit with the inner wall of the arc-shaped cylinder (71). The slider (75) is slidably connected to the inside of the chute (76).

5. The automatic loading and unloading structure for machining according to claim 1, wherein: The diameter of the arc-shaped rod (74) is smaller than the diameter of the moving ball (73).

6. The automatic loading and unloading structure for machining according to claim 2, characterized in that: The clamping block (11) is inserted into the groove (9). The front end of the clamping block (11) is clamped in the clamping groove (13).

7. The automatic loading and unloading structure for machining according to claim 2, characterized in that: The rear end of the handle (15) penetrates through the jaw (3). The rear end of the handle (15) is fixedly connected to the front surface of the push plate (14).

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