Workpiece loading and unloading device

Abstract

The utility model discloses a workpiece loading and unloading device which comprises an intelligent mechanical arm and a mechanical clamping jaw, the intelligent mechanical arm is connected with the mechanical clamping jaw through a quick-release connecting assembly, and the quick-release connecting assembly comprises a mechanical arm connecting part and a mechanical clamping jaw connecting part. The mechanical arm connecting part and the mechanical clamping jaw connecting part are connected in a matched mode through a linkage limiting mechanism, and the intelligent mechanical arm and the mechanical clamping jaw are connected and installed through the quick-release connecting assembly. A linkage limiting mechanism capable of quickly locking and limiting and conveniently unlocking is arranged between a mechanical arm connecting part and a mechanical clamping jaw connecting part in the quick-release connecting assembly, so that an adaptive mechanical clamping jaw can be quickly and conveniently replaced for grabbing operation in the loading and unloading process of loading and unloading different types of workpieces; and the efficiency and the stability when the workpieces are assembled and disassembled to the numerical control machine tool are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to numerical control machine tool field, specifically, relates to a workpiece loading and unloading device. BACKGROUND

[0002] In the field of numerical control machine tools, in order to realize automatic workpiece machining, the intelligent mechanical arm and mechanical gripper are often used to complete the automatic feeding and discharging of workpieces. However, the existing intelligent mechanical arm and mechanical gripper are usually connected by fasteners. Since there are many types of workpieces, different workpieces differ significantly in shape, structure and material, and the single specification and model of the mechanical gripper has poor adaptability when grabbing different types of workpieces, resulting in reduced grabbing stability. Moreover, the mechanical gripper and the mechanical arm are connected by fasteners, making the process of replacing the mechanical gripper complicated and inefficient, and it is difficult to achieve quick gripper replacement, which cannot meet the diversified and efficient production needs.

[0003] How to invent a workpiece loading and unloading device to improve these problems has become a problem that needs to be solved by technical personnel in the field. INVENTION CONTENTS

[0004] In order to make up for the above shortcomings, the utility model provides a workpiece loading and unloading device, which aims to improve the problem that when feeding and discharging workpieces by mechanical gripper and mechanical arm, due to the variety of workpieces, different workpieces differ significantly in shape, structure and material, and the single specification and model of the mechanical gripper has poor adaptability when grabbing different types of workpieces, resulting in reduced grabbing stability, and the existing mechanical gripper and mechanical arm are connected by fasteners, making the process of replacing the mechanical gripper complicated and inefficient.

[0005] The utility model is realized as follows: a workpiece loading and unloading device, comprising an intelligent mechanical arm and a mechanical gripper, the intelligent mechanical arm and the mechanical gripper are connected through a quick release connection assembly, the quick release connection assembly comprises a mechanical arm connecting part and a mechanical gripper connecting part, the mechanical arm connecting part and the mechanical gripper connecting part respectively comprise a first connecting plate connected with the end part of the intelligent mechanical arm and a second connecting plate connected with the mechanical gripper, an insertion sleeve is integrally arranged on the middle part of the upper surface of the first connecting plate, an insertion rod is integrally arranged on the middle part of the bottom surface of the second connecting plate, the insertion rod is inserted into the insertion sleeve, a plurality of first limiting protrusions evenly distributed in a ring shape are integrally arranged on the outer wall of the insertion rod, each first limiting protrusion is slidingly connected in the corresponding first limiting sliding groove, a plurality of first limiting sliding grooves are evenly arranged on the inner wall of the insertion sleeve in a ring shape, a clamping groove is arranged at the bottom end of the outer wall of the insertion rod, a clamping block is slidingly connected to the inner wall of the bottom end of each first limiting sliding groove, and each clamping block is connected with the linkage limiting mechanism.

[0006] In a preferred technical scheme of the utility model, the linkage limiting mechanism includes first spring fixedly connected between the side surface of each clamping block and the inner wall of corresponding first limiting sliding groove, the inner wall of each first limiting sliding groove is provided with extension hole communicated with the outside of plug-in sleeve, each extension hole is provided with telescopic rod, the telescopic rod body part one end is rotationally connected with the side surface of corresponding clamping block, the telescopic rod sleeve part is slidingly connected in the extension hole, the both sides outer wall of telescopic rod sleeve part one end towards clamping block is integrally provided with second limiting convex strip, each second limiting convex strip is slidingly connected in corresponding second limiting sliding groove, two second limiting sliding grooves are respectively arranged in the inner wall of extension hole, the other end of telescopic rod sleeve part is located in threaded sleeve and is integrally provided with thread on outer wall and is screwed with the thread groove arranged on the inner wall of threaded sleeve, the threaded sleeve is rotationally installed in the installation groove arranged on the outer wall of plug-in sleeve, the threaded sleeve one end is fixedly connected with bevel gear, the bevel gear is meshingly connected with the adjusting member arranged on the outside of plug-in sleeve.

[0007] In a preferred technical scheme of the utility model, the adjusting member is adjusting sleeve, the adjusting sleeve is sleeved on the outside of plug-in sleeve and is rotationally connected with the outer wall of plug-in sleeve, the adjusting sleeve top surface is integrally provided with conical gear ring, the conical gear ring is meshingly connected with all bevel gears.

[0008] In a preferred technical scheme of the utility model, the adjusting sleeve inner wall and the outer wall of plug-in sleeve are further provided with torsion spring structure.

[0009] In a preferred technical scheme of the utility model, the outer wall of adjusting sleeve is provided with a plurality of annularly and uniformly distributed antiskid rubber blocks.

[0010] In a preferred technical scheme of the utility model, the bottom inner wall of plug-in sleeve is fixedly connected with one end of second spring, the other end of second spring is fixedly connected on the bottom surface of abutting block, the abutting block is slidingly connected with the inner wall of plug-in sleeve.

[0011] In a preferred technical scheme of the utility model, the bottom surface of each clamping block is plane and is slidingly connected with the bottom inner wall of corresponding first limiting sliding groove, and the side surface of each clamping block towards plug-in sleeve axis is provided as inclined surface.

[0012] The utility model discloses an advantageous effect is: the utility model discloses a workpiece mounting and demounting device through above -mentioned design, when using, through quick detachable connecting assembly connects and installs intelligent mechanical arm and mechanical clamping jaw, and the linkage limiting mechanism that quick detachable connecting assembly middle mechanical arm connecting portion and mechanical clamping jaw connecting portion are equipped with quick locking and convenient unlocking between, make in the loading and unloading process of the feeding of different types workpiece can quick convenient replacement adaptation mechanical clamping jaw carries out the operation of grabbing, promotes the efficiency and stability when loading and unloading workpiece to numerical control machine tool. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical scheme of the embodiment of the utility model, the following will be briefly introduced the drawing needed to be used in the embodiment, should understand, the following drawing only shows some embodiments of the utility model, therefore should not be regarded as the limitation to the range, for the ordinary skilled person in the art, under the premise of not paying the creative labor, still can obtain other related drawings according to these drawings.

[0014] Figure 1 It is the whole structure schematic perspective drawing of the utility model embodiment provides dismounting connecting assembly;

[0015] Figure 2 It is the whole separation structure schematic perspective drawing of the utility model embodiment provides dismounting connecting assembly;

[0016] Figure 3 It is the whole section structure schematic perspective drawing of the utility model embodiment provides dismounting connecting assembly;

[0017] Figure 4 It is the whole structure schematic perspective drawing of the linkage limiting mechanism of the utility model embodiment provides.

[0018] In the drawing: 1-mechanical arm connecting portion;2-mechanical clamping jaw connecting portion;101-first connecting plate;102-inserting sleeve;103-first limiting sliding slot;104-clamping block;105-first spring;106-telescopic rod;107-second limiting convex strip;108-second limiting sliding slot;109-threaded sleeve;110-thread;111-bevel gear;112-conical tooth ring;113-adjusting sleeve;114-second spring;115-abutment block;201-second connecting plate;202-inserting rod;203-first limiting convex strip;204-clamping groove. DETAILED DESCRIPTION

[0019] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0020] Please refer to Figures 1 to 4 The present application provides a technical solution: a workpiece mounting and dismounting device, comprising an intelligent mechanical arm and a mechanical gripper, the intelligent mechanical arm and the mechanical gripper being connected through a quick-release connecting assembly, the quick-release connecting assembly comprising a mechanical arm connecting part 1 and a mechanical gripper connecting part 2, the mechanical arm connecting part 1 and the mechanical gripper connecting part 2 respectively comprising a first connecting plate 101 connected with the end part of the intelligent mechanical arm and a second connecting plate 201 connected with the mechanical gripper, the first connecting plate 101 being integrally provided with a plug-in sleeve 102 in the middle of the upper surface thereof, the second connecting plate 201 being integrally provided with a plug-in rod 202 in the middle of the bottom surface thereof, the plug-in rod 202 being plugged into the plug-in sleeve 102, the plug-in rod 202 being integrally provided with a plurality of first limiting protrusions 203 evenly distributed in a ring shape on the outer wall thereof, each first limiting protrusion 203 being slidingly connected in a corresponding first limiting sliding groove 103, the plurality of first limiting sliding grooves 103 being evenly provided in a ring shape on the inner wall of the plug-in sleeve 102, the outer wall of the plug-in rod 202 being provided with a clamping groove 204 in a ring shape at the bottom end thereof, the inner wall of the bottom end of each first limiting sliding groove 103 being slidingly connected with a clamping block 104, each clamping block 104 being simultaneously clamped with the clamping groove 204 and connected with a linkage limiting mechanism.

[0021] It should be noted that a plurality of assembly holes for plug-in fasteners are provided through the surfaces of the first connecting plate 101 and the second connecting plate 201, and the first connecting plate 101 and the second connecting plate 201 are respectively detachably connected with the intelligent mechanical arm and the mechanical gripper through the fasteners.

[0022] Please refer to Figures 2 to 4The linkage limiting mechanism includes a first spring 105 fixedly connected between the side surface of each clamping block 104 and the side inner wall of the corresponding first limiting sliding groove 103. An extension hole in communication with the outside of the plug sleeve 102 is formed in the side inner wall of each first limiting sliding groove 103. A telescopic rod 106 is arranged in each extension hole. The rod body part of the telescopic rod 106 is rotatably connected to the side surface of the corresponding clamping block 104. The telescopic rod 106 is slidably connected in the extension hole. Second limiting ribs 107 are integrally arranged on the two side outer walls of the telescopic rod 106 at the end towards the clamping block 104. Each second limiting rib 107 is slidably connected in the corresponding second limiting sliding groove 108. The two second limiting sliding grooves 108 are respectively formed in the inner walls of the extension hole. The telescopic rod 106 is located in the threaded sleeve 109 at the other end of the telescopic rod 106 and is integrally provided with a thread 110 on the outer wall. The thread 110 is threadedly engaged with the thread groove formed in the inner wall of the threaded sleeve 109. The threaded sleeve 109 is rotatably installed in the mounting groove formed in the outer wall of the plug sleeve 102. The threaded sleeve 109 is fixedly connected to a bevel gear 111 at one end. The bevel gear 111 is meshingly connected to the adjusting member arranged outside the plug sleeve 102.

[0023] When unlocked, the adjusting member drives the bevel gear 111 to rotate. Since the bevel gear 111 is fixedly connected to the threaded sleeve 109, the threaded sleeve 109 synchronously rotates. The telescopic rod 106 can only linearly slide in the extension hole and cannot independently rotate due to the cooperation of the second limiting rib 107 and the second limiting sliding groove 108. Since the thread 110 on the outer wall of the telescopic rod 106 is threadedly connected to the threaded sleeve 109, when the threaded sleeve 109 rotates, the telescopic rod 106 as a whole linearly slides to one side of the corresponding bevel gear 111. The displacement of the telescopic rod 106 synchronously displaces the corresponding clamping block 104, so that the clamping block 104 gradually separates from the clamping groove 204 until the clamping block 104 is completely retracted into the corresponding first limiting sliding groove 103. At this time, the plug rod 202 can be freely taken out of the plug sleeve 102. Through this linkage limiting mechanism, convenient control of locking and unlocking of the plug rod 202 is realized. The synchronous action of the plurality of clamping blocks 104 through the linkage structure ensures the consistency and reliability of the connection and disassembly operation, and improves the operation efficiency of the quick-release connection assembly.

[0024] Further, the adjusting member is an adjusting sleeve 113. The adjusting sleeve 113 is sleeved outside the plug sleeve 102 and is rotatably connected to the outer wall of the plug sleeve 102. The adjusting sleeve 113 is integrally provided with a bevel gear ring 112 on the top surface. The bevel gear ring 112 is meshingly connected to all the bevel gears 111.

[0025] When the adjusting sleeve 113 is rotated, the conical gear ring 112 at the top of the adjusting sleeve 113 is rotated. Since the conical gear ring 112 is connected in meshing with the plurality of bevel gears 111, the rotation of the conical gear ring 112 drives the synchronous and same-direction rotation of all the bevel gears 111, thereby realizing the synchronous unlocking control of the plurality of clamping blocks 104. The design of the adjusting sleeve 113 enables the operator to conveniently control the unlocking of the quick-release connection assembly by directly rotating the adjusting sleeve 113, which is simple and intuitive to operate, and through the meshing of the conical gear ring 112 and the plurality of bevel gears 111, the synchronization and accuracy of the control of the plurality of clamping blocks 104 are ensured.

[0026] Further, a torsional spring structure is arranged between the inner wall of the adjusting sleeve 113 and the outer wall of the plug-in sleeve 102.

[0027] After the unlocking operation is completed, the torsional spring structure between the inner wall of the adjusting sleeve 113 and the outer wall of the plug-in sleeve 102 releases the torsional force by relying on the elastic potential energy stored therein, so that the adjusting sleeve 113 is automatically rotated and reset. The resetting of the adjusting sleeve 113 drives the rotation of the conical gear ring 112 connected thereto, thereby causing the threaded sleeve 109 and the telescopic rod 106 to move in the opposite direction to the unlocking and return to the initial position (in the initial position, the rod body part of the telescopic rod 106 has the maximum stroke, and the clamping block 104 can be displaced into the first limiting sliding groove 103 under the extrusion of the plug-in rod 202, thereby causing the rod body part of the telescopic rod 106 to retract into the sleeve part, and then reset to the maximum stroke of the rod body part in the clamping state, so as not to affect the effect of the overall displacement of the telescopic rod 106 pulling the clamping block 104 during unlocking), thereby preparing for the next locking and limiting of the plug-in rod 202. During the movement of the device with the intelligent mechanical arm, the torsional spring structure can also maintain the stability of the overall structure limiting. The arrangement of the torsional spring structure reduces the manual resetting operation of the adjusting sleeve 113 by the operator, thereby improving the convenience of use. At the same time, the stability of the overall structure during movement is enhanced.

[0028] Further, the outer wall of the adjusting sleeve 113 is provided with a plurality of annular anti-slip rubber blocks uniformly distributed.

[0029] When the operator manually rotates the adjusting sleeve 113, the anti-slip rubber blocks on the outer wall of the adjusting sleeve 113 increase the friction between the hand and the adjusting sleeve 113, so that the operator can more stably and accurately rotate the adjusting sleeve 113, thereby avoiding operation errors caused by hand slipping. The convenience and reliability of the operation are improved, the risk of misoperation caused by inconvenient operation is reduced, and the use experience of the quick-release connection assembly is further optimized.

[0030] Further, one end of the second spring 114 is fixedly connected to the inner wall of the bottom of the plug-in sleeve 102, and the other end of the second spring 114 is fixedly connected to the bottom surface of the abutting block 115, and the abutting block 115 is slidingly connected to the inner wall of the plug-in sleeve 102.

[0031] When the insertion rod 202 is inserted into the insertion sleeve 102 and limited by the clamping block 104, the second spring 114 at the bottom of the insertion sleeve 102 will push the abutting block 115 upwards. The abutting block 115 slides upwards along the inner wall of the insertion sleeve 102, and the upper surface thereof is in close abutment with the bottom end surface of the insertion rod 202, and at the same time, the inner wall on one side of the clamping groove 204 in close abutment with the part of the bottom surface of each clamping block 104 extending out of the first limiting sliding groove 103, so as to eliminate the possible gap and improve the connection stability.

[0032] Further, the bottom surface of each clamping block 104 is a plane and is in sliding connection with the inner wall at the bottom of the corresponding first limiting sliding groove 103, and the surface of each clamping block 104 towards the side of the axis of the insertion sleeve 102 is an inclined surface.

[0033] During installation, the insertion rod 202 is inserted into the insertion sleeve 102, and the bottom end thereof slides along the inclined surface of the clamping block 104 towards the side of the axis of the insertion sleeve 102, smoothly extruding the clamping block 104 into the first limiting sliding groove 103, until the position of the clamping groove 204 corresponds to the clamping block 104, and the clamping block 104 is reset into the clamping groove 204 under the action of the first spring 105 after losing the extrusion force, so as to limit the insertion rod 202 and prevent it from coming out of the insertion rod 202. An automatic locking and limiting action is realized.

[0034] Working principle: when using the workpiece loading and unloading device, first, the mechanical arm connecting part 1 is detachably installed on the intelligent mechanical arm through the first connecting plate 101 by using fasteners, and similarly, the mechanical gripper connecting part 2 is installed on the mechanical gripper through the second connecting plate 201 by using fasteners.

[0035] When it is necessary to load and unload workpieces of different structures, shapes and materials, in order to avoid the limitation and stability decline of a single type of mechanical gripper when grabbing different workpieces, it is necessary to replace the appropriate mechanical gripper. When connecting, the insertion rod 202 of the mechanical gripper connecting part 2 is aligned with the insertion sleeve 102 of the mechanical arm connecting part 1 and is inserted into the insertion sleeve 102. The first limiting protrusions 203 around the insertion rod 202 slide axially along the first limiting sliding grooves 103 of the inner wall of the insertion sleeve 102, preventing the insertion rod 202 from rotating and allowing only axial displacement. As the insertion rod 202 penetrates deeper, the bottom end thereof contacts the inclined surface of the clamping block 104, and the insertion rod 202 is continuously pressed down to overcome the elastic force of the first spring 105, extruding the clamping block 104 into the first limiting sliding groove 103. Until the clamping groove 204 of the insertion rod 202 corresponds to the clamping block 104, the clamping block 104 is reset into the clamping groove 204 under the action of the first spring 105, completing the connection and limiting of the mechanical arm connecting part 1 and the mechanical gripper connecting part 2, preventing the insertion rod 202 from coming out, and at the same time, the second spring 114 pushes the abutting block 115, eliminating the connection gap and improving the stability.

[0036] When the mechanical clamping jaw needs to be replaced, the unlocking and separating operation is carried out. The operator stands in a suitable position, ensures that the hand can stably contact the adjusting sleeve 113 and the operation space is not blocked, manually rotates the adjusting sleeve 113, drives the top conical tooth ring 112 to rotate, and then synchronously rotates the plurality of bevel gears 111 in the same direction. Since the bevel gears 111 are fixedly connected with the threaded sleeve 109, the threaded sleeve 109 rotates synchronously. The telescopic rod 106 can only slide linearly in the extension hole due to the cooperation of the second limiting protrusion 107 and the second limiting sliding groove 108. The outer wall thread 110 of the sleeve part of the telescopic rod 106 is connected with the internal thread of the threaded sleeve 109, so when the threaded sleeve 109 rotates, the telescopic rod 106 slides linearly to the side of the corresponding bevel gear 111, pulls the clamping block 104 to synchronously displace, so that it is separated from the clamping groove 204, and until the clamping block 104 is completely retracted into the first limiting sliding groove 103. At this time, the plug rod 202 can be freely taken out, the separation of the mechanical clamping jaw connecting part 2 and the mechanical arm connecting part 1 is completed, and the suitable mechanical clamping jaw can be replaced to meet the loading and unloading requirements of different workpieces. After the unlocking operation is completed, the torsional spring structure between the inner wall of the adjusting sleeve 113 and the outer wall of the plug-in sleeve 102 releases the torsional force, so that the adjusting sleeve 113 automatically rotates and resets, drives the related parts to return to the initial position, and prepares for the next connection.

[0037] It should be noted that the specific model and specifications of the intelligent mechanical arm and the mechanical clamping jaw need to be selected and determined according to the actual specifications of the device. The specific selection and calculation method adopts the existing technology in the art, and therefore will not be described in detail.

[0038] The power supply of the intelligent mechanical arm and the mechanical clamping jaw and its principle are clear to those skilled in the art, and will not be described in detail here.

[0039] The above only describes preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can be changed and varied in various ways. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A workpiece handling device comprising an intelligent robot arm and a mechanical gripper, the intelligent robot arm and the mechanical gripper being connected by a quick release connection assembly, characterised in that, The quick release connecting assembly comprises a mechanical arm connecting part and a mechanical gripper connecting part, the mechanical arm connecting part and the mechanical gripper connecting part comprise a first connecting plate connected with the end of the intelligent mechanical arm and a second connecting plate connected with the mechanical gripper respectively, an insertion sleeve is integrally arranged on the middle of the upper surface of the first connecting plate, an insertion rod is integrally arranged on the middle of the bottom surface of the second connecting plate, the insertion rod is inserted into the insertion sleeve, a plurality of annularly and uniformly distributed first limiting protrusions are integrally arranged on the outer wall of the insertion rod, each first limiting protrusion is slidingly connected in the corresponding first limiting sliding groove, a plurality of first limiting sliding grooves are annularly and uniformly arranged on the inner wall of the insertion sleeve, a clamping groove is arranged on the bottom end of the outer wall of the insertion rod, each first limiting sliding groove is slidingly connected with a clamping block on the inner wall of the bottom end, and each clamping block is simultaneously clamped with the clamping groove and connected with a linkage limiting mechanism.

2. The workpiece handler of claim 1, wherein: The linkage limiting mechanism comprises a first spring fixedly connected between the side surface of each clamping block and the side inner wall of the corresponding first limiting sliding groove, an extension hole is arranged on the side inner wall of each first limiting sliding groove and communicates with the outside of the insertion sleeve, an extension rod is arranged in each extension hole, one end of the rod body of the extension rod is rotatably connected with the side surface of the corresponding clamping block, the extension rod sleeve is slidingly connected in the extension hole, second limiting protrusions are integrally arranged on the two side outer walls of the extension rod sleeve towards the clamping block, each second limiting protrusion is slidingly connected in the corresponding second limiting sliding groove, and the two second limiting sliding grooves are arranged on the inner wall of the extension hole.

3. The workpiece handler of claim 2, wherein: The extension rod sleeve is located in the threaded sleeve and integrally arranged with threads on the outer wall and is threadedly connected with the threaded groove arranged on the inner wall of the threaded sleeve, the threaded sleeve is rotatably arranged in the mounting groove arranged on the outer wall of the insertion sleeve, one end of the threaded sleeve is fixedly connected with a bevel gear, and the bevel gear is meshingly connected with an adjusting member arranged outside the insertion sleeve.

4. The workpiece handler of claim 3, wherein: The adjusting member is an adjusting sleeve, the adjusting sleeve is sleeved outside the insertion sleeve and is rotatably connected with the outer wall of the insertion sleeve, a conical gear ring is integrally arranged on the top surface of the adjusting sleeve, and the conical gear ring is meshingly connected with all the bevel gears.

5. The workpiece handler of claim 3, wherein: A torsional spring structure is further arranged between the inner wall of the adjusting sleeve and the outer wall of the insertion sleeve.

6. The workpiece handler of claim 1, wherein: A plurality of annularly and uniformly distributed anti-skid rubber blocks are arranged on the outer wall of the adjusting sleeve.

7. The workpiece handler of claim 1, wherein: One end of a second spring is fixedly connected with the bottom inner wall of the insertion sleeve, the other end of the second spring is fixedly connected with the bottom surface of an abutting block, and the abutting block is slidingly connected with the inner wall of the insertion sleeve. The bottom surface of each clamping block is a plane and is slidingly connected with the bottom inner wall of the corresponding first limiting sliding groove, and the side surface of each clamping block towards the axis of the insertion sleeve is an inclined surface.

Images