Automatic feeding, discharging and storing equipment

Abstract

The utility model discloses automatic feeding, discharging and storing equipment which is arranged at a position adjacent to a grinding machine and comprises a storing device used for storing workpieces and a feeding device used for transferring the workpieces between the storing device and a machining shaft of the grinding machine. The feeding device comprises a truss type mechanical arm and a material taking assembly arranged on the truss type mechanical arm, and the truss type mechanical arm drives the material taking assembly to move transversely and longitudinally. The material taking assembly comprises a material taking clamping jaw used for clamping and grabbing a workpiece. An elastic pushing component is further arranged on the material taking clamping jaw, when the material taking clamping jaw clamps the workpiece, the elastic pushing component abuts against the workpiece and is in a compressed state, and when the material taking clamping jaw loosens the workpiece, the elastic pushing component is released to push the workpiece so as to enable the workpiece to be placed in the machining shaft or the material storage device. According to the technical scheme, the workpiece can be effectively placed in the machining shaft of the grinding machine to be installed in place, and the situation that the grinding machine cannot automatically machine or the workpiece is damaged due to the fact that the workpiece is not in place or inclined is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical automation, in particular to an automatic loading and unloading and storage device. Background Art

[0002] Ball cages are primarily used in automotive differentials, requiring high machining precision. The pre-processed product must be transferred to a grinder for finishing. In existing processes, the ball cage cannot be directly placed into position after being picked up by a robotic arm and placed on the grinder's machining axis. This can easily tilt, requiring manual alignment and installation. Otherwise, the workpiece can be damaged during automated machining, and manual alignment in the grinder also poses safety risks. Utility Model Content

[0003] In view of the above problems existing in the prior art, an automatic loading and unloading and storage device is now provided to overcome at least one of the above technical defects.

[0004] The specific technical solutions are as follows:

[0005] An automatic loading and unloading and storage device is arranged near a grinding machine, comprising a storage device for storing workpieces and a feeding device for transferring the workpieces between the storage device and the machining axis of the grinding machine;

[0006] The feeding device includes a truss-type robotic arm and a material picking assembly disposed on the truss-type robotic arm, and the truss-type robotic arm drives the material picking assembly to move horizontally and vertically; the material picking assembly includes at least one material picking claw for gripping and grabbing a workpiece;

[0007] An elastic pushing component is also provided on the picking claw, and when the picking claw clamps the workpiece, the elastic pushing component contacts the workpiece and is in a compressed state. When the picking claw releases the workpiece, the elastic pushing component is released and pushes the workpiece to prompt the workpiece to be placed in the processing shaft or the storage device.

[0008] Preferably, the material-retrieving claw comprises a driving cylinder, two air claws arranged at the output end of the driving cylinder and opposite to each other, and a mounting plate is horizontally mounted on each air claw, the mounting plate is provided with two through holes facing the air claws and each of which is movably provided with a screw, and the ends of the two screws facing away from the mounting plate are commonly connected to a push plate;

[0009] A spring is sleeved on the outer periphery of each screw rod, and both ends of the spring are respectively against the mounting plate and the push plate, and the mounting plate, screw rod, push plate and spring together constitute an elastic push component.

[0010] Preferably, the material picking assembly includes a rotating seat connected to the end of the truss-type robotic arm, two material picking claws symmetrically connected to the output end of the rotating seat, and the two material picking claws are arranged vertically, and the rotating seat is used to drive the two material picking claws to rotate circumferentially.

[0011] Preferably, the rotating seat is a stepping motor.

[0012] Preferably, the truss-type robotic arm comprises:

[0013] The horizontal bracket is suspended by two vertical rods, and the lower ends of the vertical rods are fixed to the ground. The horizontal bracket is formed with a horizontal guide rail, and the horizontal guide rail is installed with a sliding seat;

[0014] A motor with a lead screw, the lead screw of which extends into the transverse guide rail and rotates to connect the sliding seat, so as to drive the sliding seat to slide transversely along the transverse guide rail;

[0015] A connecting bracket is mounted on the sliding seat;

[0016] The longitudinal rack slider is movably mounted on the connecting bracket, and a lifting motor is horizontally installed on the sliding seat. The output shaft of the lifting motor is equipped with a rotating wheel that meshes with the longitudinal rack of the longitudinal rack slider to drive the longitudinal rack slider to move longitudinally, and the lower end of the longitudinal rack slider is connected to the material picking assembly.

[0017] Preferably, the storage device comprises:

[0018] The base frame has two parallel tracks at its upper end;

[0019] The sliding frame has a lower end adapted to the track and capable of horizontally moving along the track on the base frame, and the sliding frame further has at least one nut seat extending into the base frame;

[0020] The lead screw motor is installed transversely on the base frame, and the lead screw of the lead screw motor extends forward and passes through the nut seat, so as to enable the sliding frame to move horizontally along the track through the matching lead screw and nut seat;

[0021] In addition, a plurality of storage rods are erected in parallel on two opposite sides of the upper end of the sliding frame for storing the ball cage workpieces.

[0022] Preferably, in the longitudinal plane projection direction, the extension direction of the transverse guide rail is perpendicular to the extension direction of the track.

[0023] Preferably, the transverse guide rail is arranged directly above the storage device.

[0024] Preferably, a mounting rod is vertically erected on the sliding seat, and a visual device is fixedly installed on the upper end of the mounting rod, and the visual probe of the visual device is downward and facing the material taking component.

[0025] The beneficial effects of the above technical solution are:

[0026] The automatic loading and unloading and storage equipment includes a storage device and a feeding device. The feeding device includes a truss-type robotic arm and a picking assembly. The picking assembly includes a picking claw and an elastic pushing component. The elastic pushing mechanism is compressed when the picking claw clamps the workpiece, and pushes the workpiece when the picking claw releases the workpiece, which can effectively place the workpiece into the processing axis of the grinder and install it in place, avoiding the workpiece being out of place or skewed, which causes the grinder to be unable to automatically process or damage the workpiece, thereby increasing the product yield. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a three-dimensional diagram of the automatic loading and unloading and storage equipment of the utility model;

[0028] Figure 2 This is a three-dimensional diagram of the feeding device in the automatic loading and unloading and storage equipment of the utility model;

[0029] Figure 3 This is a partial perspective view of the feeding device in the automatic loading and unloading and storage equipment of the utility model;

[0030] Figure 4 This is a side view of the material taking component of the feeding device in the automatic loading and unloading and storage equipment of the utility model;

[0031] Figure 5 This is a three-dimensional diagram of the material taking component of the feeding device in the automatic loading and unloading and storage equipment of the utility model;

[0032] Figure 6 It is a three-dimensional diagram of the storage device in the automatic loading and unloading and storage equipment of the utility model. DETAILED DESCRIPTION

[0033] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is described in detail in the following embodiments with reference to the accompanying drawings.

[0034] See Figures 1 to 6 As described in the above, the automatic loading and unloading and storage equipment is arranged at a position adjacent to the grinding machine, and the automatic loading and unloading and storage equipment includes a storage device 3 for storing workpieces, and a feeding device for transferring the workpieces between the storage device 3 and the processing axis 41 of the grinding machine 4; wherein,

[0035] The feeding device includes a truss-type robotic arm 1 and a pick-up assembly 2 disposed on the truss-type robotic arm 1. The truss-type robotic arm 1 drives the pick-up assembly 2 to move horizontally and vertically. The pick-up assembly 2 includes at least one pick-up claw 20 for gripping and grabbing a workpiece.

[0036] An elastic pushing member is also provided on the picking claw 20, and when the picking claw 20 clamps the workpiece, the free end of the elastic pushing member contacts the workpiece and is in a compressed state. When the picking claw 20 releases the workpiece, the elastic pushing member is released and pushes the workpiece to prompt the workpiece to be placed in the processing shaft 41 of the grinder 4 or the storage device 3.

[0037] Based on the above technical solution, the automatic loading and unloading and storage equipment includes a storage device 3 and a feeding device. The feeding device includes a truss-type robotic arm 1 and a material picking component 2. The material picking component 2 includes a material picking claw 20 and an elastic pushing component. The elastic pushing mechanism is compressed when the material picking claw 20 clamps the workpiece, and pushes the workpiece when the material picking claw 20 releases the workpiece, which can effectively place the workpiece in the processing axis 41 of the grinder 4 and install it in place, avoiding the workpiece being out of place or skewed, causing the grinder 4 to be unable to automatically process or damage the workpiece, thereby increasing the product yield.

[0038] In a preferred embodiment, the material-retrieving claw 20 includes a driving cylinder 26, two air claws 22 arranged at the output end of the driving cylinder 26 and arranged opposite to each other, and each air claw 22 is horizontally supported by a mounting plate 23, and two through holes facing the air claws 22 are arranged in parallel on the mounting plate 23 and are movably penetrated by screws 24. The ends of the two screws 24 facing away from the mounting plate 23 are commonly connected to a push plate 25, and a spring is also sleeved on the outer periphery of each screw 24, and the two ends of the spring are respectively against the mounting plate 23 and the push plate 25, and the mounting plate 23, screw 24, push plate 25, and spring together constitute an elastic push component.

[0039] In specific applications, when the air gripper 22 grasps a workpiece, one end face of the workpiece abuts against the push plate 25, causing the push plate 25, spring, and screw 24 to move away from the air gripper 22. The spring is compressed, generating a preload. When the air gripper 22 releases the workpiece, the push plate 25 pushes the workpiece under the spring force, thereby achieving the aforementioned technical purpose. However, the elastic push member can also be more simply designed as multiple springs or rubber elastic blocks, which can also achieve the same purpose, and is not limited to this.

[0040] As a further preferred embodiment, the retrieving assembly 2 includes a rotating base 21 connected to the end of the truss-type robotic arm 1, and two retrieving claws 20 symmetrically connected to the output end of the rotating base 21. The two retrieving claws 20 are arranged perpendicularly, and the rotating base 21 is used to drive the two retrieving claws 20 to rotate circumferentially. This allows the retrieving claws 20 to move in all directions under the combined action of the truss-type robotic arm 1 and the rotating base 21. Furthermore, the rotating base 21 is preferably a stepper motor.

[0041] As a further preferred embodiment, the truss-type robotic arm 1 includes:

[0042] The horizontal bracket 11 is suspended by two vertical rods, and the lower ends of the vertical rods are fixed to the ground. The horizontal bracket 11 is formed with a horizontal guide rail, and the sliding seat 12 is installed on the horizontal guide rail;

[0043] A lead screw motor 13, whose lead screw extends into the transverse guide rail and is rotatably connected to the sliding seat 12, so as to drive the sliding seat 12 to slide transversely along the transverse guide rail;

[0044] A connecting bracket 14 is mounted on the sliding seat 12;

[0045] The longitudinal rack slider 16 is movably mounted on the connecting bracket 14, and a lifting motor 15 is horizontally mounted on the sliding seat 12. The output shaft of the lifting motor 15 is equipped with a rotating wheel 17 that meshes with the longitudinal rack of the longitudinal rack slider 16 to drive the longitudinal rack slider 16 to move longitudinally, and the lower end of the longitudinal rack slider 16 is connected to the material taking assembly 2.

[0046] Thereby, the material taking assembly 2 can move laterally and longitudinally under the action of the truss type robotic arm 1 .

[0047] In a preferred embodiment, the storage device 3 comprises:

[0048] The base frame 31 has two parallel tracks at its upper end;

[0049] The sliding frame 32 has a lower end adapted to be on the track and capable of horizontally moving along the track on the base frame 31. The sliding frame 32 also has at least one nut seat 35 extending into the base frame 31.

[0050] The screw motor 33 is laterally mounted on the base frame 31, and the screw of the screw motor 33 extends forward and passes through the nut seat 35, so as to enable the sliding frame 32 to move horizontally along the track through the matching screw and nut seat 35;

[0051] Furthermore, a plurality of storage rods 34 are erected in parallel on opposite sides of the upper end of the sliding frame 32 for storing the ball cage workpieces.

[0052] As a further preferred embodiment, in the longitudinal plane projection direction, the extension direction of the transverse guide rail is perpendicular to the extension direction of the track. Furthermore, the transverse guide rail is arranged directly above the storage device 3. Furthermore, a mounting rod 18 is vertically erected on the sliding seat 12, and a visual device is fixed to the upper end of the mounting rod 18, with the visual probe of the visual device facing downward and directly facing the material retrieving assembly 2. Therefore, under the combined action of the truss-type robot arm 1, the material storage device 3, and the visual device, the material retrieving assembly 2 can automatically store materials on the material storage device 3.

[0053] In addition, a controller is configured in the grinder 4, on the truss-type robot arm 1, or in the base frame 31 of the storage device 3. The above-mentioned electrical components are electrically connected to the controller respectively, and the pneumatic components are electrically connected to the controller through the actuator to achieve unified control purposes. The controller can be a PLC controller or a single-chip microcomputer or other control component with a program entry function, which is a commonly used solution in this field. The visual device is also a commonly used electrical component in this field, so it is omitted here.

[0054] In a preferred embodiment, the automatic loading and unloading and storage device has a loading process, a unloading and storage process, and the ball cage workpieces to be processed are stacked and stored in sequence on the storage rod 34 on one side of the sliding frame 32 of the storage device 3;

[0055] The loading process includes: based on the image detected by the visual device, the screw motor 33 drives the sliding frame 32 to move horizontally, and the screw motor 3313 drives the sliding seat 12 to slide horizontally, causing the material picking assembly 2 to move to a position above the ball cage workpiece to be processed. Then, under the action of the lifting motor 15, the longitudinal rack slider 16 is moved downward, and the material picking claw 20 of the material picking assembly 2 grabs the ball cage workpiece to be processed, and the spring of the elastic pushing member is compressed; then, driven by the truss-type robot arm 1, the material picking claw 20 is driven to place the ball cage workpiece into the processing shaft 41 of the grinding machine 4 with the ball cage workpiece. The material picking claw 20 is released, and the spring is released to push the ball cage workpiece in the opposite direction, so that the ball cage workpiece is completely placed in the processing shaft 41 and installed in place;

[0056] The unloading and storage process includes: under the drive of the truss-type robotic arm 1, the material-picking claw 20 grabs the processed ball cage workpiece set in the processing shaft 41 of the grinder 4, and the spring of the elastic pushing component is compressed. Under the further action of the truss-type robotic arm 1, the material-picking claw 20 moves to the position above the storage rod 34 on the other side of the sliding frame 32, the material-picking claw 20 is released, and the spring is released to push the ball cage workpiece in the opposite direction so that the ball cage workpiece is stored in the storage rod 34.

[0057] In addition, the present application is mainly applicable to the loading and unloading and storage processing of ball cage products, but can also correspond to other disc-type workpieces, and is not limited to this.

[0058] The above description is merely a preferred embodiment of the present invention and is intended to be illustrative rather than restrictive of the present invention. Those skilled in the art will appreciate that many changes, modifications, and even equivalents may be made to the present invention within the spirit and scope of the claims, and all of these changes will fall within the scope of protection of the present invention.

Claims

1. An automatic loading and unloading and storage device, arranged in a position adjacent to a grinding machine, comprising a storage device (3) for storing workpieces, and a feeding device for transferring the workpieces between the storage device (3) and a processing axis (41) of a grinding machine (4); characterized in that: The feeding device comprises a truss-type mechanical arm (1), a material picking assembly (2) arranged on the truss-type mechanical arm (1), and the truss-type mechanical arm (1) drives the material picking assembly (2) to move horizontally and vertically; the material picking assembly (2) comprises at least one material picking claw (20) for holding and grasping a workpiece; The picking claw (20) is also provided with an elastic pushing member, and when the picking claw (20) clamps the workpiece, the elastic pushing member contacts the workpiece and is in a compressed state. When the picking claw (20) releases the workpiece, the elastic pushing member is released and pushes the workpiece, prompting the workpiece to be placed in the processing shaft (41) or the storage device (3).

2. The automatic loading and unloading and storage equipment according to claim 1, characterized in that: The material-retrieving claw (20) includes a driving cylinder (26), two air claws (22) arranged at the output end of the driving cylinder (26) and arranged opposite to each other, and each of the air claws (22) is horizontally supported by a mounting plate (23), and the mounting plate (23) is provided with two through holes facing the air claws (22) and movably provided with screw rods (24), and the ends of the two screw rods (24) facing away from the mounting plate (23) are commonly connected to a push plate (25); A spring is sleeved on the outer periphery of each screw rod (24), and the two ends of the spring respectively abut against the mounting plate (23) and the push plate (25), and the mounting plate (23), the screw rod (24), the push plate (25), and the spring together constitute the elastic push member.

3. The automatic loading and unloading and storage equipment according to claim 2, characterized in that: The material picking assembly (2) comprises a rotating seat (21) connected to the end of the truss-type mechanical arm (1), two material picking claws (20) symmetrically connected to the output end of the rotating seat (21), and the two material picking claws (20) are arranged vertically, and the rotating seat (21) is used to drive the two material picking claws (20) to rotate circumferentially.

4. The automatic loading and unloading and storage equipment according to claim 3, characterized in that: The rotating seat (21) is a stepping motor.

5. The automatic loading and unloading and storage equipment according to claim 3, characterized in that: The truss-type mechanical arm (1) comprises: A transverse bracket (11) is suspended in the air by two vertical rods, and the lower ends of the vertical rods are fixed on the ground. A transverse guide rail is formed on the transverse bracket (11), and a sliding seat (12) is installed on the transverse guide rail. A motor with a screw (13), the screw of which extends into the transverse guide rail and is rotatably connected to the sliding seat (12), so as to drive the sliding seat (12) to slide transversely along the transverse guide rail; A connecting bracket (14) is mounted on the sliding seat (12); A longitudinal rack slider (16) is movably mounted on the connecting bracket (14), and a lifting motor (15) is horizontally mounted on the sliding seat (12). The output shaft of the lifting motor (15) is provided with a rotating wheel (17) meshing with the longitudinal rack of the longitudinal rack slider (16) to drive the longitudinal rack slider (16) to move longitudinally, and the lower end of the longitudinal rack slider (16) is connected to the material taking assembly (2).

6. The automatic loading and unloading and storage equipment according to claim 5, characterized in that: The storage device (3) comprises: The base frame (31) has two parallel tracks at its upper end; a sliding frame (32), the lower end of which is adapted to the track and can move horizontally along the track on the base frame (31); the sliding frame (32) also has at least one nut seat (35) extending into the base frame (31); A screw motor (33) is transversely mounted on the base frame (31), and a screw of the screw motor (33) extends forward and passes through the nut seat (35), so as to enable the sliding frame (32) to move horizontally along the track through the matching screw and nut seat (35); In addition, a plurality of storage rods (34) are erected in parallel on opposite sides of the upper end of the sliding frame (32) for storing ball cage workpieces.

7. The automatic loading and unloading and storage equipment according to claim 6, characterized in that: In the longitudinal plane projection direction, the extension direction of the transverse guide rail is perpendicular to the extension direction of the track.

8. The automatic loading and unloading and storage equipment according to claim 7, characterized in that: The transverse guide rail is arranged directly above the storage device (3).

9. The automatic loading and unloading and storage equipment according to claim 6, characterized in that: A mounting rod (18) is also vertically erected on the sliding seat (12), and a visual device is fixedly mounted on the upper end of the mounting rod (18), wherein the visual probe of the visual device is downward and directly facing the material taking component (2).

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