Robot feeding and discharging device for crank grinding machine

Abstract

The utility model provides a robot feeding and discharging device for a crank grinding machine. Relates to the technical field of automatic feeding and discharging. The robot feeding and discharging device for the crank throw grinding machine comprises a hollow bearing shell, a first transposition shaft is rotationally mounted at the top of the hollow bearing shell, a connecting disc is fixedly mounted at the top end of the first transposition shaft, and a hollow cylinder is fixedly mounted at the top of the connecting disc; a lifting screw rod is rotatably installed in the hollow cylinder, a mechanical arm is installed on the lifting screw rod in a threaded mode, the two sides of the mechanical arm extend out of the hollow cylinder and are in sliding connection with the outer wall of the hollow cylinder, and finger air cylinders are fixedly installed on the two sides of the mechanical arm; clamping jaws of the two finger air cylinders are fixedly provided with clamping blocks. The device has the advantages that the material changing speed is high, and the machining efficiency of the grinding machine is obviously improved.

Description

Technical Field

[0001] This utility model relates to the field of automatic loading and unloading technology, and in particular to a robotic loading and unloading device for a crank grinding machine. Background Technology

[0002] The crankshaft is a core component of the engine crankshaft, typically consisting of a crank pin, crank arm, and main journal. During the crankshaft production process, in order to ensure its surface smoothness and meet production requirements, it is generally processed using a crankshaft grinding machine to achieve the required precision for delivery.

[0003] Currently, grinding machines are typically used by manually removing the ground crankshaft and placing the next crankshaft to be ground at the grinding station, or by using a fixed robotic arm to load and unload the crankshaft using the same process. However, whether it is manual operation or fixed robotic arm operation, unloading must be completed first, followed by loading. The entire loading and unloading process takes a long time, which prevents the grinding machine's processing efficiency from being improved.

[0004] Therefore, it is necessary to provide a new robotic loading and unloading device for crank grinding machines to solve the above-mentioned technical problems. Utility Model Content

[0005] The purpose of this invention is to provide a robotic loading and unloading device for crank grinding machines that offers faster material changing speed and significantly improved grinding efficiency.

[0006] To solve the above technical problems, the present invention provides a robotic loading and unloading device for a crank grinding machine, comprising: a hollow bearing shell, a first shifting shaft rotatably mounted on the top of the hollow bearing shell, a connecting disc fixedly mounted on the top of the first shifting shaft, a hollow cylinder fixedly mounted on the top of the connecting disc, a lifting screw rotatably mounted inside the hollow cylinder, a robotic arm threaded onto the lifting screw, both sides of the robotic arm extending out of the hollow cylinder and slidingly connected to the outer wall of the hollow cylinder, finger cylinders fixedly mounted on both sides of the robotic arm, clamping blocks fixedly mounted on the grippers of the two finger cylinders, and arc-shaped clamping grooves formed on the four clamping blocks; a hollow base fixedly mounted on one outer wall of the hollow bearing shell, and two support plates above the hollow base; and two... Each of the support plates is rotatably mounted with a second shifting shaft. The ends of the two second shifting shafts that are close to each other are respectively fixedly mounted with a first rotating plate and a second rotating plate. One finger cylinder is located above the center of the first rotating plate and the second rotating plate. Six first support members are rotatably mounted on the side of the first rotating plate that is close to the second rotating plate. Six second support members are rotatably mounted on the side of the second rotating plate that is close to the first rotating plate. The top of the first support member and the second support member are both provided with waist grooves. The six first support members are respectively adapted to the six second support members. A hollow column is fixedly mounted on the side of the first rotating plate that is close to the second rotating plate. A guide rod is slidably mounted in the hollow column. The end of the guide rod away from the first rotating plate extends to the outside of the hollow column and is fixedly connected to the second rotating plate.

[0007] Preferably, a first geared motor is fixedly installed inside the hollow load-bearing shell, and the output shaft of the first geared motor is fixedly connected to one end of the first shifting shaft. A second geared motor is fixedly installed on the top of the hollow cylinder, and the output shaft of the second geared motor is fixedly connected to the top end of the lifting screw.

[0008] Preferably, a bidirectional adjusting screw is rotatably installed inside the hollow base. The end of the bidirectional adjusting screw away from the hollow supporting shell extends to the outside of the hollow base and is fixedly mounted with a handle. A protruding plate is fixedly installed on the side of the hollow base away from the hollow supporting shell. A set screw is threaded onto the protruding plate, and the end of the set screw abuts against the bidirectional adjusting screw. Two adjusting folding platforms are threaded onto the bidirectional adjusting screw. The tops of the two adjusting folding platforms extend above the hollow base and are slidably connected to the top of the hollow base. The bottoms of the two supporting plates are fixedly connected to the tops of the two adjusting folding platforms, respectively.

[0009] Preferably, six first connecting shafts are rotatably mounted on the side of the first connecting plate near the second connecting plate, and the ends of the six first connecting shafts are respectively fixedly connected to the six first support members. Six second connecting shafts are rotatably mounted on the side of the second connecting plate near the first connecting plate, and the ends of the six second connecting shafts are respectively fixedly connected to the six second support members.

[0010] Preferably, a limiting plate is fixedly installed at the bottom of each of the six first support members, and a connecting rod is fixedly installed at the bottom of each of the six second support members. The six connecting rods pass through the six limiting plates and are slidably connected to the corresponding limiting plates.

[0011] Preferably, a locking rod is fixedly installed at one end of the guide slide rod located inside the hollow column, and the locking rod passes through the hollow column and is slidably connected to the hollow column.

[0012] Preferably, a third geared motor is fixedly installed on the support plate away from the hollow cylinder. Gears are fixedly sleeved on the output shaft and the corresponding second shift shaft of the third geared motor, and the two gears mesh with each other.

[0013] Compared with related technologies, the robot loading and unloading device for crank grinding machines provided by this utility model has the following advantages:

[0014] This utility model provides a robotic loading and unloading device for a crank grinding machine. By equipping finger cylinders on both sides of the robotic arm and cooperating with multiple sets of first and second support members for material feeding, the device can simultaneously grip the processed crank and pick up the next crank to be processed. Then, by utilizing the rotation of the hollow cylinder, the positions of the two gripped cranks can be quickly switched, thus rapidly completing the overall loading and unloading action. This speeds up the material changing process and significantly improves processing efficiency. Furthermore, the distance between the first and second rotary plates is adjustable, making it suitable for processing cranks of various sizes and thus having a wide range of applications. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a preferred embodiment of the robot loading and unloading device for a crank grinding machine provided by this utility model;

[0016] Figure 2 This is a schematic diagram of the connection structure between the first transposition shaft and the hollow bearing shell in this utility model;

[0017] Figure 3 This is a partial cross-sectional view of the hollow cylinder in this utility model;

[0018] Figure 4 This is an assembly diagram of the first and second rotary joints in this utility model;

[0019] Figure 5 This is a schematic diagram of the connection structure between the first and second couplings in this utility model;

[0020] Figure 6 This is a cross-sectional structural diagram of the hollow column and guide slide rod in this utility model;

[0021] Figure 7 This is an assembly diagram of the first support member and the second support member in this utility model.

[0022] The following are the labeling elements in the diagram: 1. Hollow load-bearing outer shell; 2. First transposition shaft; 3. Connecting disc; 4. Hollow cylinder; 5. Lifting screw; 6. Robotic arm; 7. Finger cylinder; 8. Clamping block; 9. Arc-shaped clamping groove; 10. Hollow base; 11. Bidirectional adjusting screw; 12. Adjustment folding table; 13. Support plate; 14. Second transposition shaft; 15. First rotating plate; 16. First connecting shaft; 17. First support component; 18. Second rotating plate; 19. Second connecting shaft; 20. Second support component; 21. Hollow column; 22. Guide slide rod. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] Please refer to the following: Figures 1-7The robot loading and unloading device for a crank grinding machine includes: a hollow bearing shell 1, on which a first shifting shaft 2 is rotatably mounted; a connecting disc 3 is fixed to the top of the first shifting shaft 2; a first reduction motor is fixed inside the hollow bearing shell 1, and its output shaft is fixedly connected to one end of the first shifting shaft 2; to ensure the stability of the rotation of the connecting disc 3, a T-shaped ring is fixed to the top of the hollow bearing shell 1, on which four sliders are slidably mounted, the tops of which are fixed to the connecting disc 3; a hollow cylinder 4 is fixed to the top of the connecting disc 3, inside which a lifting screw 5 is rotatably mounted; a second reduction motor is fixed to the top of the hollow cylinder 4, and its output shaft is fixedly connected to the top of the lifting screw 5; and a threaded mounting is installed on the lifting screw 5. A robotic arm 6 extends to both sides of a hollow cylinder 4 and slides along the outer wall of the cylinder 4. This sliding connection involves two limiting slots on the outer wall of the hollow cylinder 4. The robotic arm 6 passes through these two limiting slots and contacts the inner wall of the slots, ensuring linear lifting and lowering. Finger cylinders 7 are fixed to both sides of the robotic arm 6. Each finger cylinder 7 has two grippers, resulting in a total of four grippers 8. Each gripper 8 has an arc-shaped groove 9 that matches the diameter of a crank, allowing for proper clamping. The grippers 8 are detachable. The design facilitates the processing of cranks of different diameters. A hollow base 10 is fixed on one outer wall of the hollow load-bearing shell 1. Two support plates 13 are provided above the hollow base 10. A second shifting shaft 14 is rotatably mounted on each of the two support plates 13. A first rotating plate 15 and a second rotating plate 18 are respectively fixed to the ends of the two second rotating plates 14 that are close to each other. One finger cylinder 7 is located above the center of the first rotating plate 15 and the second rotating plate 18. Six first support members 17 are rotatably mounted on the side of the first rotating plate 15 near the second rotating plate 18. Six second support members 20 are rotatably mounted on the side of the second rotating plate 18 near the first rotating plate 15. The top of the first support member 17 and the second support member 20 are both provided with waist grooves. The design of the groove allows the main journals on both sides of the crankshaft to be placed inside, and the six first support members 17 are respectively adapted to the six second support members 20. A hollow column 21 is fixed on the side of the first rotary joint 15 near the second rotary joint 18. A guide rod 22 is slidably installed inside the hollow column 21. The end of the guide rod 22 away from the first rotary joint 15 extends to the outside of the hollow column 21 and is fixedly connected to the second rotary joint 18. In order to ensure that the first rotary joint 15 and the second rotary joint 18 can form a rotational linkage, a locking rod is fixed at the end of the guide rod 22 located inside the hollow column 21. The locking rod passes through the hollow column 21 and is slidably connected to the hollow column 21. In this way, the spacing between the first rotary joint 15 and the second rotary joint 18 can be adjusted without hindering the adjustment of the distance between them.It can also form a rotational linkage. Furthermore, a third reduction motor is fixed on the support plate 13, which is away from the hollow cylinder 4. Gears are fixedly fitted onto both its output shaft and the corresponding second shifting shaft 14, and the two gears mesh with each other.

[0025] In the above method, in order to adaptively adjust the distance between the first rotating plate 15 and the second rotating plate 18, a bidirectional adjusting screw 11 is rotatably installed inside the hollow base 10. The end of the bidirectional adjusting screw 11 away from the hollow bearing shell 1 extends to the outside of the hollow base 10 and is fixed with a handle. A protruding plate is fixed on the side of the hollow base 10 away from the hollow bearing shell 1, and a set screw is threaded on it. The end of the set screw abuts against the bidirectional adjusting screw 11 to prevent the bidirectional adjusting screw 11 from rotating. Two adjusting folding platforms 12 are threaded on the bidirectional adjusting screw 11. The tops of the two adjusting folding platforms 12 extend above the hollow base 10 and are slidably connected to the top of the hollow base 10. The bottoms of the two support plates 13 are fixedly connected to the tops of the two adjusting folding platforms 12 respectively.

[0026] In this method, in order to stably install the first support member 17 and the second support member 20, six first connecting shafts 16 are rotatably installed on the side of the first connecting plate 15 near the second connecting plate 18, and the ends of the six first connecting shafts 16 are respectively fixedly connected to the six first support members 17. Six second connecting shafts 19 are rotatably installed on the side of the second connecting plate 18 near the first connecting plate 15, and the ends of the six second connecting shafts 19 are respectively fixedly connected to the six second support members 20.

[0027] In this method, in order to ensure the linkage performance between the corresponding set of first support members 17 and second support members 20, a limiting support plate is fixed at the bottom of each of the six first support members 17, and a connecting rod is fixed at the bottom of each of the six second support members 20. The six connecting rods pass through the six limiting support plates and are slidably connected to the corresponding limiting support plates.

[0028] The working principle of the robot loading and unloading device for a crank grinding machine provided by this utility model is as follows:

[0029] When in use, this device is placed on one side of the grinding machine, and the clamping block 8, which is away from the first rotating plate 15, is located above the grinding station on the grinding machine.

[0030] When it is necessary to load and unload cranks, the cranks to be processed are first placed in the grooves on the corresponding first support member 17 and second support member 20. At this time, a large number of cranks to be processed are placed between the first rotary joint plate 15 and the second rotary joint plate 18.

[0031] Then, the second geared motor is started in the forward direction, and its output shaft drives the lifting screw 5 to rotate. The robotic arm 6 begins to descend until it reaches its final position. At this point, the main journal on the crank is located between the two arc-shaped clamping slots 9. Then, the corresponding finger cylinder 7 is activated, and the crank is clamped by the two clamping blocks 8. Then, the second geared motor is started in the reverse direction, and the robotic arm 6 begins to rise. After rising to the original height position, the first geared motor is started in the forward direction, and its output shaft drives the first shifting shaft 2 to rotate. This allows the connecting disc 3 to rotate until the robotic arm 6 has rotated 180°. Then, the first geared motor is turned off, and the second geared motor is started in the forward direction. The robotic arm 6 begins to descend until it reaches its final position. The crank is then placed on the grinding station of the grinding machine. Then, the corresponding finger cylinder 7 is activated to release the clamped crank. Then, the second geared motor is started in the reverse direction, and the robotic arm 6 is raised to the original position again. Grinding can then be performed.

[0032] At the same time, the cranks to be processed are placed back into the waist grooves on the empty first support 17 and second support 20.

[0033] After the crank being ground is finished, the second geared motor is started in the forward direction, and the robotic arm 6 begins to descend, eventually positioning the finished crank between a set of clamping blocks 8. At the same time, the uppermost unprocessed crank, located between the first rotary joint 15 and the second rotary joint 18, is positioned between another set of clamping blocks 8. Then, the two finger cylinders 7 are activated to clamp the two cranks simultaneously. Immediately afterward, the second geared motor is started in the reverse direction, and the robotic arm 6 rises with the two cranks. After reaching the final position, the first geared motor is started in the reverse direction. When the robotic arm 6 rotates 180°, the first geared motor is turned off. At this point, the finished and unprocessed cranks have exchanged positions. Immediately afterward, the second geared motor is started in the forward direction, and the robotic arm 6 descends again. After reaching the final position, the grippers of the two finger cylinders 7 are moved away from each other, thus releasing the two cranks simultaneously. Immediately afterward, the second geared motor is started in the reverse direction, bringing the robotic arm 6 and the finger cylinders 7 back to their original height positions.

[0034] Afterwards, grinding can continue. At the same time, the third reduction motor is started. Through the meshing of the two gears and the locking effect between the locking rod and the hollow column 21, the first rotary joint 15 and the second rotary joint 18 can be driven to rotate simultaneously. After the first rotary joint 15 and the second rotary joint 18 have rotated 30°, the third reduction motor is turned off. At this time, the first support member 17 and the second support member 20 have changed positions, thereby bringing the next crank to be processed to the uppermost position between the first rotary joint 15 and the second rotary joint 18.

[0035] After the crank being polished is finished, the loading and unloading process is repeated in the same way. During the loading and unloading process, the finished cranks placed on the first support 17 and the second support 20 can be removed and unprocessed cranks can be placed in, until all the processing is completed.

[0036] In subsequent use, when it is necessary to load and unload cranks of different lengths, first tighten the set screw to separate it from the bidirectional adjusting screw 11, then rotate the bidirectional adjusting screw 11, and the two adjusting folding tables 12 move towards each other, thereby changing the distance between the first support member 17 and the second support member 20 until the specified distance is adjusted. Furthermore, when it is necessary to grind cranks of different diameters, the bolts on the clamping block 8 can be removed directly, and then the corresponding clamping block 8 can be replaced.

[0037] Compared with related technologies, the robot loading and unloading device for crank grinding machines provided by this utility model has the following advantages:

[0038] This utility model provides a robotic loading and unloading device for a crank grinding machine. By setting finger cylinders 7 on both sides of the robotic arm 6, and with the material feeding cooperation of multiple sets of first support members 17 and second support members 20, it can pick up the next crank to be processed while picking up the processed crank. Then, by using the rotation of the hollow cylinder 4, the two picked cranks are quickly swapped, thus quickly completing the overall loading and unloading action, thereby speeding up the material changing speed and significantly improving the processing efficiency. In addition, the distance between the first rotary plate 15 and the second rotary plate 18 is adjustable, which can be used for processing cranks of various sizes, and has a wide range of applications.

[0039] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A robotic loading and unloading device for a crank grinding machine, comprising a hollow load-bearing shell, characterized in that, A first shifting shaft is rotatably mounted on the top of the hollow load-bearing shell. A connecting disc is fixedly mounted on the top of the first shifting shaft. A hollow cylinder is fixedly mounted on the top of the connecting disc. A lifting screw is rotatably mounted inside the hollow cylinder. A robotic arm is threaded onto the lifting screw. Both sides of the robotic arm extend out of the hollow cylinder and slide against the outer wall of the hollow cylinder. Finger cylinders are fixedly mounted on both sides of the robotic arm. Clamping blocks are fixedly mounted on the grippers of the two finger cylinders. Arc-shaped clamping grooves are formed on the four clamping blocks. A hollow base is fixedly mounted on one outer wall of the hollow load-bearing shell. Two support plates are provided above the hollow base. A second shifting shaft is rotatably mounted on each of the two support plates. The first and second rotating discs are fixedly installed at their respective ends, which are close to each other. One finger cylinder is located above the center of the first and second rotating discs. Six first support members are rotatably installed on the side of the first rotating disc closest to the second rotating disc, and six second support members are rotatably installed on the side of the second rotating disc closest to the first rotating disc. The tops of the first and second support members are provided with waist grooves, and the six first support members are respectively adapted to the six second support members. A hollow column is fixedly installed on the side of the first rotating disc closest to the second rotating disc. A guide rod is slidably installed inside the hollow column. The end of the guide rod away from the first rotating disc extends to the outside of the hollow column and is fixedly connected to the second rotating disc.

2. The robot loading and unloading device for a crank grinding machine according to claim 1, characterized in that, A first geared motor is fixedly installed inside the hollow load-bearing shell. The output shaft of the first geared motor is fixedly connected to one end of the first shifting shaft. A second geared motor is fixedly installed on the top of the hollow cylinder. The output shaft of the second geared motor is fixedly connected to the top end of the lifting screw.

3. The robot loading and unloading device for a crank grinding machine according to claim 1, characterized in that, A bidirectional adjusting screw is rotatably installed inside the hollow base. The end of the bidirectional adjusting screw away from the hollow supporting shell extends to the outside of the hollow base and is fixedly mounted with a rotating handle. A protruding plate is fixedly installed on the side of the hollow base away from the hollow supporting shell. A set screw is threaded onto the protruding plate, and the end of the set screw abuts against the bidirectional adjusting screw. Two adjusting folding platforms are threaded onto the bidirectional adjusting screw. The tops of the two adjusting folding platforms extend above the hollow base and are slidably connected to the top of the hollow base. The bottoms of the two supporting plates are fixedly connected to the tops of the two adjusting folding platforms, respectively.

4. The robot loading and unloading device for a crank grinding machine according to claim 1, characterized in that, The first rotary disc has six first connecting shafts rotatably mounted on the side near the second rotary disc, and the ends of the six first connecting shafts are respectively fixedly connected to the six first support members. The second rotary disc has six second connecting shafts rotatably mounted on the side near the first rotary disc, and the ends of the six second connecting shafts are respectively fixedly connected to the six second support members.

5. The robot loading and unloading device for a crank grinding machine according to claim 1, characterized in that, Each of the six first support members has a limiting plate fixedly installed at its bottom, and each of the six second support members has a connecting rod fixedly installed at its bottom. The six connecting rods pass through the six limiting plates and are slidably connected to the corresponding limiting plates.

6. The robot loading and unloading device for a crank grinding machine according to claim 1, characterized in that, A locking rod is fixedly installed at one end of the guide slide rod located inside the hollow column. The locking rod passes through the hollow column and is slidably connected to the hollow column.

7. The robot loading and unloading device for a crank grinding machine according to claim 1, characterized in that, A third geared motor is fixedly installed on the support plate away from the hollow cylinder. Gears are fixedly sleeved on the output shaft and the corresponding second shift shaft of the third geared motor, and the two gears mesh with each other.

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