Automatic feeding and discharging device for sleeve shaft machining

Abstract

The automatic feeding and discharging device for sleeve shaft machining comprises a bearing table and a taking and placing mechanism, and the bearing table is used for containing a tray for containing a semi-finished sleeve shaft; the picking and placing mechanism comprises a five-axis mechanical arm, and the free end of the five-axis mechanical arm can be adjusted at multiple angles. The taking and placing assembly comprises a base fixed to the free end and gripping apparatuses installed at the two ends of the base, the two gripping apparatuses are the first gripping apparatus and the second gripping apparatus respectively, the first gripping apparatus is used for gripping the sleeve shaft of the semi-finished product, and the second gripping apparatus is used for gripping the sleeve shaft of the finished product; the base can rotate around the first axis, and when the base rotates, the first gripping apparatus and the second gripping apparatus are driven to relatively rotate around the first axis, so that the positions of the first gripping apparatus and the second gripping apparatus are exchanged. According to the device, automatic feeding and discharging can be conducted in the sleeve shaft machining process, feeding and discharging are conducted synchronously, and the machining efficiency is improved.

Description

Technical Field

[0001] This disclosure generally relates to the field of sleeve and shaft machining technology, and specifically to an automatic loading and unloading device for sleeve and shaft machining. Background Technology

[0002] Sleeves, as a common mechanical transmission component, are widely used in automobiles, machine tools, precision instruments, and other fields. They are typically hollow cylindrical structures, requiring precision machining to ensure the concentricity of the inner hole and outer wall, as well as surface finish. In traditional sleeve machining, loading and unloading operations mostly rely on manual labor or step-by-step mechanical devices. The handling of semi-finished and finished products must be performed in separate steps, making it impossible to complete the handling simultaneously in a single operation, resulting in low processing efficiency. Utility Model Content

[0003] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide an automatic loading and unloading device for sleeve shaft processing to solve the above problems.

[0004] This application provides an automatic loading and unloading device for machining sleeve shafts, including a support platform and a picking and placing mechanism. The support platform is used to place a tray holding semi-finished sleeve shafts; the picking and placing mechanism includes:

[0005] A five-axis robotic arm, wherein the free end of the five-axis robotic arm can be adjusted at multiple angles;

[0006] The pick-and-place assembly includes a base fixed to the free end and grippers installed at both ends of the base. The two grippers are a first gripper and a second gripper. The first gripper is used to grip the sleeve shaft of the semi-finished product, and the second gripper is used to grip the sleeve shaft of the finished product. The base is rotatable about a first axis. When the base rotates, it drives the first gripper and the second gripper to rotate relative to each other about the first axis, so that the first gripper and the second gripper interchange positions.

[0007] According to the technical solution provided in the embodiments of this application, the second gripper is equipped with an air blowing device, which is connected to an air supply device and is used to remove water stains from the surface of the sleeve after gripping the finished product.

[0008] According to the technical solution provided in the embodiments of this application, the tray is arranged with multiple rows and columns of sleeve mounting positions; a through-beam sensor is provided on the support platform, and the transmitting end and receiving end of the through-beam sensor are respectively located at both ends of the last row of sleeve mounting positions. When a sleeve is placed on the last row of sleeve mounting positions, the sleeve blocks the optical signal transmission of the through-beam sensor.

[0009] According to the technical solution provided in the embodiments of this application, the gripper includes:

[0010] A guide rail extends in a direction perpendicular to the first axis, and a pair of support brackets are slidably mounted on the guide rail. When the pair of support brackets are pressed together, they can penetrate into the sleeve shaft.

[0011] A first driving member is used to drive the pair of said grippers to move closer to or further away from each other along the guide rail.

[0012] According to the technical solution provided in the embodiments of this application, the sides of the pair of support grips that are far apart from each other are set as arc surfaces.

[0013] According to the technical solution provided in the embodiments of this application, the gripper is mounted on the base via an adjustment assembly, the adjustment assembly comprising:

[0014] The second driving member includes a push rod that is telescopic along a direction parallel to the first axis, and a limiting rail is provided on the side wall of the second driving member, the limiting rail extending along a direction parallel to the first axis.

[0015] A connector is slidably connected to the limiting rail and connects the push rod and the first drive member.

[0016] According to the technical solution provided in the embodiments of this application, a groove is formed on the tray corresponding to each of the sleeve mounting positions.

[0017] According to the technical solution provided in the embodiments of this application, handles are provided on opposite sides of the tray.

[0018] According to the technical solution provided in the embodiments of this application, the bottom of the support platform is equipped with detachable support legs.

[0019] Compared with the prior art, the beneficial effects of this application are as follows: by setting up a support platform, a tray for holding semi-finished bushings can be placed, which facilitates the subsequent gripping of the semi-finished bushings; by setting up a five-axis robotic arm, the five-axis robotic arm can drive the pick-and-place component to transfer between the tray and the lathe, and the pick-and-place component grips the bushings; by setting up a first gripper and a second gripper, and realizing the interchange of their positions when the base rotates, the first gripper picks up the semi-finished bushings from the tray and is transported to the lathe by the five-axis robotic arm; at the same time, the second gripper picks up the finished bushings on the lathe; after the base rotates, the first gripper will place the finished bushings on the lathe machining position, and the second gripper will carry the finished bushings away, thereby realizing synchronous loading and unloading of materials with a single robotic arm, which significantly improves processing efficiency. Attached Figure Description

[0020] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0021] Figure 1 A schematic diagram of the automatic loading and unloading device for sleeve shaft machining provided in this application;

[0022] Figure 2 for Figure 1 The side view of the automatic loading and unloading device for sleeve shaft machining is shown.

[0023] Figure 3 This is a schematic diagram of the pick-and-place component.

[0024] Figure 4 for Figure 3 The side view of the pick-and-place component is shown;

[0025] Figure 5 This is a schematic diagram of the support platform.

[0026] Figure 6 for Figure 5 The top view of the support platform shown.

[0027] Reference numerals: 100, support platform; 110, pallet; 111, sleeve mounting position; 112, handle; 120, through-beam sensor; 130, support foot; 200, sleeve; 300, five-axis robotic arm; 400, pick-and-place assembly; 410, base; 420, gripper; 421, first gripper; 422, second gripper; 423, guide rail; 424, support gripper; 425, first drive component; 426, second drive component; 427, push rod; 428, limit rail; 429, connector; 430, air blowing device. Detailed Implementation

[0028] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] Please refer to Figures 1-6 This application provides an automatic loading and unloading device for sleeve shaft processing, including a support platform 100 and a picking and placing mechanism. The support platform 100 is used to place a tray 110 for holding semi-finished sleeve shafts 200; the picking and placing mechanism includes:

[0031] A five-axis robotic arm 300, the free end of which can be adjusted at multiple angles;

[0032] The pick-and-place assembly 400 includes a base 410 fixed to the free end and grippers 420 mounted at both ends of the base 410. The two grippers 420 are a first gripper 421 and a second gripper 422. The first gripper 421 is used to grip the sleeve 200 of the semi-finished product, and the second gripper 422 is used to grip the sleeve 200 of the finished product. The base 410 is rotatable about a first axis. When the base 410 rotates, it drives the first gripper 421 and the second gripper 422 to rotate relative to each other about the first axis, so that the first gripper 421 and the second gripper 422 interchange positions.

[0033] Specifically, the top surface of the support platform 100 is flat. The pallet 110 is placed on the support platform 100 manually. Before the pallet 110 is placed on the support platform 100, the semi-finished sleeve shaft 200 is stacked. Then, the sleeve shaft 200 is picked up by the picking and placing mechanism.

[0034] Furthermore, the tray 110 is provided with multiple rows and columns of sleeve mounting positions 111; the support platform 100 is provided with a through-beam sensor 120, the transmitting end and the receiving end of the through-beam sensor 120 are respectively located at both ends of the last row of sleeve mounting positions 111, when a sleeve 200 is placed on the last row of sleeve mounting positions 111, the sleeve 200 blocks the optical signal transmission of the through-beam sensor 120.

[0035] Specifically, the tray 110 is a square tray, and multiple sleeve mounting positions 111 are arranged in a rectangular array on the tray 110. Each sleeve mounting position 111 can hold one semi-finished sleeve 200. The picking and placing mechanism picks up the semi-finished sleeves 200 row by row. First, it picks up the sleeves 200 in the first row from the first to the last in turn. Then it continues to pick up the sleeves 200 in the second row in turn until the last sleeve 200 in the last row is picked up.

[0036] The through-beam sensor 120 is used to detect whether the sleeves 200 on the tray 110 have been completely grasped. The transmitting end of the through-beam sensor 120 is located on the side away from the second row sleeve mounting position 111 of the first row, and the receiving end of the through-beam sensor 120 is located on the side away from the second-to-last row sleeve mounting position 111 of the last row. When a sleeve 200 is present in the last sleeve mounting position 111 of the tray 110, the signal emitted by the transmitter of the through-beam sensor 120 cannot be received by the receiver. This indicates that not all sleeves 200 on the tray 110 have been grabbed, and the grabbing mechanism continues to grab the sleeves 200. When there are no sleeves 200 in the last column of the tray 110, the signal emitted by the transmitter of the through-beam sensor 120 can be received by the receiver. This indicates that all sleeves 200 on the tray 110 have been grabbed. Then the grabbing mechanism stops grabbing the semi-finished sleeves 200 and prompts the operator to replace the tray 110.

[0037] Specifically, the pick-and-place mechanism achieves multi-angle adjustment through the five-axis robotic arm 300, enabling flexible pick-and-place of the sleeve shaft 200; the pick-and-place mechanism uses the pick-and-place assembly 400 to pick up and place both the semi-finished and finished sleeve shafts 200. The pick-and-place mechanism consists of a base 410 and two grippers 420, which are respectively installed on opposite sides of the base 410. The base 410 can drive the two grippers 420 to rotate around a first axis relative to the free end of the five-axis robotic arm 300. The two grippers 420 have identical structures. One serves as the first gripper 421, used to load the semi-finished sleeve shaft 200 onto the pallet 110; the other serves as the second gripper 422, used to unload the finished sleeve shaft 200 from the lathe.

[0038] The working process of the pick-and-place mechanism:

[0039] The five-axis robotic arm 300 moves the pick-and-place component 400 onto the tray 110. The first gripper 421 picks up the semi-finished sleeve 200. Then, the five-axis robotic arm 300 moves the pick-and-place component 400 onto the lathe. Next, the second gripper 422 picks up the finished sleeve 200 on the lathe machining station. The first gripper 421 and the second gripper 422 are swapped by rotating the base 410. Then, the first gripper 421 places the semi-finished sleeve 200 onto the machining station. After that, the five-axis robotic arm 300 moves the second gripper 422 away from the lathe, thus completing one loading and unloading cycle.

[0040] Furthermore, the second gripper 422 is equipped with an air blowing device 430, which is connected to an air supply device and is used to remove water stains from the surface of the sleeve 200 after gripping the finished product.

[0041] Specifically, since the lathe needs to spray water on the sleeve 200 during processing, the second gripper 422 needs to remove any residual water stains from the surface of the sleeve 200 when it grips the finished product. Therefore, an air blowing device 430 is also installed on the second gripper 422. The air blowing device 430 is connected to the air supply equipment through an air pipe, and it cleans the sleeve 200 by blowing air to ensure its cleanliness.

[0042] Furthermore, the gripper 420 includes:

[0043] Guide slide rail 423 extends in a direction perpendicular to the first axis, and a pair of support brackets 424 are slidably mounted on the guide slide rail 423. After the pair of support brackets 424 are pressed together, they can penetrate into the sleeve shaft 200.

[0044] A first driving member 425 is used to drive a pair of the grippers 424 to move closer to or further away from each other along the guide rail 423.

[0045] Specifically, the gripper 420 consists of a guide rail 423, a pair of grippers 424, and a first driving member 425. The guide rail 423 is located at the bottom of the first driving member 425, and a sliding groove perpendicular to the first axis is formed at the bottom of the guide rail 423. The pair of grippers 424 are embedded in the sliding groove and can slide within the sliding groove. The first driving member 425 drives the pair of grippers 424, allowing them to move closer or further apart. When the pair of grippers 424 are close together and pressed together, they can penetrate deep into the sleeve 200. Driving the pair of grippers 424 further apart until they abut against the inner wall of the sleeve 200 allows the sleeve 200 to be gripped. Optionally, the first driving member 425 is a driving cylinder.

[0046] Furthermore, the sides of the pair of support grips 424 that are far apart from each other are configured as arc surfaces.

[0047] Specifically, by setting the side of the support 424 to be curved, it can better fit the inner wall of the sleeve shaft 200, thus preventing the support 424 from damaging the sleeve shaft 200 when gripping.

[0048] Furthermore, the gripper 420 is mounted on the base 410 via an adjustment assembly, the adjustment assembly comprising:

[0049] The second driving member 426 includes a push rod 427 that is telescopic along a direction parallel to the first axis. A limiting rail 428 is provided on the side wall of the second driving member 426, and the limiting rail 428 extends along a direction parallel to the first axis.

[0050] Connector 429 is slidably connected to the limiting rail 428 and connects the push rod 427 and the first drive member 425.

[0051] Specifically, the adjustment assembly connects the gripper 420 to the base 410 and also adjusts the position of the gripper 420 along the first axis. The adjustment assembly consists of a second drive member 426 and a connecting member 429. The second drive member 426 is fixedly mounted to the end of the base 410. The bottom of the second drive member 426 has a freely retractable push rod 427, which controls the extension and retraction of the push rod 427 along the first axis. The connecting member 429 connects the push rod 427 to the first drive member 425. The second drive member 426 drives the push rod 427, which in turn moves the connecting member 429. This movement of the connecting member 429 allows the gripper 420 to be adjusted along the first axis, thus facilitating the handling of the sleeve 200.

[0052] Furthermore, a groove is formed on the tray 110 corresponding to each of the sleeve mounting positions 111.

[0053] Specifically, to ensure the stability of the sleeve 200 when placed on the tray 110, multiple slots are arranged in a square array on the tray 110, each slot corresponding to a sleeve mounting position 111. Placing the sleeve 200 in the slot can improve the stability of the sleeve 200.

[0054] Furthermore, handles 112 are provided on opposite sides of the tray 110.

[0055] Specifically, the handle 112 is provided to facilitate the handling of the pallet 110.

[0056] Furthermore, the bottom of the support platform 100 is equipped with detachable support legs 130.

[0057] Specifically, the support platform 100 is equipped with four legs at its base, and each leg has a support foot 130 installed at its bottom. The support foot 130 increases the contact area with the ground, thus making the support platform 100 more stable when placed. The support foot 130 is detachably connected to the support leg, making it easy to replace if one of the support feet 130 is damaged. The support foot 130 can also be used to adjust the height of the support platform 100.

[0058] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. An automatic loading and unloading device for sleeve shaft processing, characterized in that, The system includes a support platform (100) and a pick-and-place mechanism. The support platform (100) is used to place a tray (110) holding a semi-finished sleeve shaft (200). The pick-and-place mechanism includes: A five-axis robotic arm (300), the free end of which can be adjusted at multiple angles; The pick-and-place assembly (400) includes a base (410) fixed to the free end and grippers (420) installed at both ends of the base (410). The two grippers (420) are a first gripper (421) and a second gripper (422). The first gripper (421) is used to grip the sleeve (200) of the semi-finished product, and the second gripper (422) is used to grip the sleeve (200) of the finished product. The base (410) is rotatable about a first axis. When the base (410) rotates, it drives the first gripper (421) and the second gripper (422) to rotate relative to each other about the first axis, so that the first gripper (421) and the second gripper (422) exchange positions.

2. The automatic loading and unloading device for sleeve shaft processing according to claim 1, characterized in that, The second gripper (422) is equipped with an air blowing device (430), which is connected to an air supply device and is used to remove water stains from the surface of the sleeve (200) after gripping the finished product.

3. The automatic loading and unloading device for sleeve shaft processing according to claim 2, characterized in that, The tray (110) is arranged with multiple rows and columns of sleeve mounting positions (111); the support platform (100) is provided with a through-beam sensor (120), the transmitting end and receiving end of the through-beam sensor (120) are respectively located at both ends of the last row of sleeve mounting positions (111), when a sleeve (200) is placed on the last row of sleeve mounting positions (111), the sleeve (200) blocks the optical signal transmission of the through-beam sensor (120).

4. The automatic loading and unloading device for sleeve shaft processing according to claim 3, characterized in that, The gripper (420) includes: The guide slide rail (423) extends in a direction perpendicular to the first axis. A pair of support claws (424) are slidably mounted on the guide slide rail (423). After the pair of support claws (424) are pressed together, they can penetrate into the sleeve shaft (200). A first drive member (425) is used to drive a pair of the grippers (424) to move closer to or further away from each other along the guide rail (423).

5. The automatic loading and unloading device for sleeve shaft processing according to claim 4, characterized in that, The sides of the pair of said support grips (424) that are far apart from each other are set as arc surfaces.

6. The automatic loading and unloading device for sleeve shaft processing according to claim 5, characterized in that, The gripper (420) is mounted on the base (410) via an adjustment assembly, the adjustment assembly comprising: The second driving member (426) includes a push rod (427) that is telescopic in a direction parallel to the first axis. A limiting rail (428) is provided on the side wall of the second driving member (426), and the limiting rail (428) extends in a direction parallel to the first axis. Connector (429), which is slidably connected to the limiting rail (428), and the connector (429) connects the push rod (427) and the first drive member (425).

7. The automatic loading and unloading device for sleeve shaft processing according to claim 6, characterized in that, A groove is formed on the tray (110) corresponding to each of the sleeve mounting positions (111).

8. The automatic loading and unloading device for sleeve shaft processing according to claim 7, characterized in that, The tray (110) is provided with handles (112) on opposite sides.

9. The automatic loading and unloading device for sleeve shaft processing according to claim 8, characterized in that, The bottom of the support platform (100) is equipped with detachable support feet (130).

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