Automatic workpiece feeding and discharging mechanical arm of machining center

Abstract

The utility model relates to the technical field of feeding and discharging mechanical arms, in particular to an automatic workpiece feeding and discharging mechanical arm of a machining center, which is characterized in that after an abutting block is in contact with a workpiece, the workpiece can relatively apply counter-acting force, so that a supporting rod is gradually inserted into a sliding column, and the sliding column relatively pushes a circular plate; meanwhile, a hinge block I at the top of the circular plate can push a supporting rod, the two ends of the supporting rod can rotate relatively, the supporting rod can gradually push a linkage block through a hinge block II during rotation, and a shifting block on the inner side of the supporting rod can gradually abut against an elastic piece and enables the elastic piece to rotate; when the elastic piece rotates, the elastic piece not only compresses the second torsional spring, but also drives the clamping hook to rise, so that the clamping hook does not hook the cross rod any more, then the tensioned second spring pulls the clamping jaws instantly, the six sets of clamping jaws in a circumferential array lock a fixed part, and automatic workpiece grabbing and feeding and discharging are achieved by simply abutting against the workpiece.

Description

Technical Field

[0001] This utility model relates to the field of loading and unloading robotic arms, specifically a robotic arm for automatically loading and unloading workpieces in a machining center. Background Technology

[0002] A horizontal machining center is a high-precision, high-efficiency CNC machine tool mainly used for machining complex parts, especially suitable for workpieces requiring multi-face machining. Its spindle is horizontally arranged, and the worktable can usually rotate, allowing the workpiece to be machined on multiple sides in a single setup, reducing the number of setups and improving machining accuracy and efficiency.

[0003] Currently, workpieces in machining centers require manual placement onto the machining trays each time they are loaded or unloaded. This manual handling is prone to causing workpieces to fall off, and it is also inefficient, significantly impacting the overall efficiency of the machining center. Therefore, we propose an automated workpiece loading and unloading robotic arm for machining centers. Utility Model Content

[0004] The purpose of this utility model is to provide an automatic loading and unloading robot arm for machining centers, which solves the problem of low efficiency of manual loading and unloading.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A robotic arm for automatically loading and unloading workpieces in a machining center includes a base, and the robotic arm body is disposed on the top of the base.

[0007] It also includes a control unit, which is used to regulate when to automatically fix the workpiece;

[0008] The linkage unit is used to cooperate with the control unit to release the workpiece and facilitate the gripping of subsequent workpieces;

[0009] The control unit includes a connecting plate, which is fixedly connected to the output end of the robotic arm body. A cylinder is fixedly connected to the surface of the connecting plate, and a push block is fixedly connected to the output shaft of the cylinder. A bracket is fixedly connected to the surface of the connecting plate, and an anti-detachment frame is fixedly connected to the end of the bracket away from the connecting plate. The push block is located inside the anti-detachment frame, and a support rod is fixedly connected to the bottom surface of the push block. A sliding column is slidably connected through the support rod, and an abutment block is fixedly connected to the bottom end of the sliding column. A fixed disc is slidably connected through the sliding column.

[0010] Preferably, a circular plate is fixedly connected to the top surface of the sliding column, and a spring is fixedly connected between the circular plate and the pushing block.

[0011] Preferably, a hinge block one is fixedly connected to the top surface of the circular plate, a support rod is passed through and hinged to the inner side of the hinge block one, and a hinge block two is passed through and hinged to the end of the support rod away from the hinge block one.

[0012] Preferably, a linkage block is fixedly connected to the surface of the hinge block two away from the support rod, a toggle block is hinged to the inner side of the linkage block, and a toggle spring is fixedly connected between the toggle block and the linkage block.

[0013] Preferably, the sliding column passes through a linkage plate, and the linkage plate is slidably connected to the sliding column.

[0014] Preferably, the linkage part includes a slide groove, which is formed on the surface of the fixed plate. A gripper is slidably connected through the inner side of the slide groove. A positioning rod is fixedly connected to the inner side of the slide groove. The positioning rod passes through the gripper and is slidably connected. A spring is fixedly connected between the gripper and the inner side of the slide groove. A connecting block is fixedly connected to the surface of the gripper. A pull rod is hinged through the inner side of the connecting block. The end of the pull rod away from the connecting block passes through the linkage plate and is hinged thereto.

[0015] Preferably, a fixing block is fixedly connected to the top surface of the fixing plate, a spring sheet is passed through and hinged to the inner side of the fixing block, a limiting plate is fixedly connected to the inner side of the fixing block, a torsion spring is fixedly connected between the limiting plate and the spring sheet, a crossbar is fixedly connected to the inner side of the gripper, and a hook is fixedly connected to the bottom surface of the spring sheet.

[0016] By employing the above technical solution, this utility model provides an automatic workpiece loading and unloading robotic arm for machining centers. It possesses at least the following beneficial effects:

[0017] 1. This utility model achieves automatic workpiece grabbing and loading / unloading by means of a contact block contacting the workpiece, whereby the workpiece exerts a reaction force, causing the support rod to gradually insert into the sliding column, and the sliding column to push the circular plate, shortening the distance between the circular plate and the push block. The circular plate not only compresses the first spring, but also the hinge block at the top of the circular plate pushes the support rod, causing both ends of the support rod to rotate relative to each other. As the support rod rotates, it gradually pushes the linkage block through the hinge block. After being pushed a certain distance, the actuating block on the inner side of the linkage block gradually contacts the spring and causes the spring to rotate. When the spring rotates, it not only compresses the second torsion spring, but also causes the hook to rise, so that the hook no longer hooks the crossbar. Then the tensioned second spring will instantly pull the gripper, causing the six sets of circumferentially arrayed grippers to lock the fixing parts. By simply contacting the workpiece, the automatic workpiece grabbing and loading / unloading is achieved.

[0018] 2. By restarting the cylinder, the cylinder will push the push block again, causing the sliding column to slide upwards again. At this time, the support rod will push the linkage block to move again through the hinge block, so that the bottom end of the linkage block is on the left side of the crossbar and pushes the gripper to slide in the groove. After the gripper is pushed to the hook position, the spring piece that is resisted will bounce up and hook the crossbar to complete the reset. The gripper will no longer clamp the workpiece. Then, the output shaft of the cylinder will be retracted, and the workpiece will be automatically put down. The loading and unloading are fast and continuous, which improves the work efficiency. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of the present invention, form part of this application:

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is an enlarged structural diagram of the linkage part in this utility model;

[0022] Figure 3 This is a schematic cross-sectional view of the fixed disc structure in this utility model;

[0023] Figure 4 This is an enlarged cross-sectional view of the fixed disk structure in this utility model;

[0024] Figure 5 This is an enlarged structural diagram of the linkage part in this utility model.

[0025] In the diagram: 1. Base; 2. Control unit; 21. Connecting plate; 22. Cylinder; 23. Bracket; 24. Anti-detachment frame; 25. Push block; 26. Sliding column; 27. Abutting block; 28. Circular plate; 29. ​​Spring 1; 210. Hinge block 1; 211. Support rod; 212. Hinge block 2; 213. Linkage block; 214. Actuating block; 215. Torsion spring 1; 216. Linkage plate; 217. Support rod; 218. Fixed plate; 3. Linkage unit; 31. Slide groove; 32. Gripper; 33. Positioning rod; 34. Spring 2; 35. Connecting block; 36. Pull rod; 37. Fixed block; 38. Spring piece; 39. Limiting plate; 310. Torsion spring 2; 311. Hook; 312. Crossbar; 4. Robotic arm body. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Please see Figures 1-5 A robotic arm for automatically loading and unloading workpieces in a machining center includes a base 1, with a robotic arm body 4 mounted on top of the base 1; a control unit 2 for controlling when to automatically fix the workpiece; and a linkage unit 3 for cooperating with the control unit 2 to release the workpiece and facilitate the gripping of subsequent workpieces. The control unit 2 includes a connecting plate 21, which is fixedly connected to the output end of the robotic arm body 4. A cylinder 22 is fixedly connected to the surface of the connecting plate 21, and a push block 25 is fixedly connected to the output shaft of the cylinder 22. The robotic arm body 4 is first connected to the machining center, or installed on the outside of the machining center for loading and unloading, and then the robotic arm body 4 is activated to move six sets of grippers 32. Align the workpiece to be loaded, and then start the cylinder 22. The output shaft of the cylinder 22 will push the push block 25, thereby causing the push block 25 to move the fixed plate 218 downward together through the support rod 217, spring 29 and sliding column 26. The surface of the connecting plate 21 is fixedly connected to the bracket 23. The end of the bracket 23 away from the connecting plate 21 is fixedly connected to the anti-detachment frame 24. The push block 25 is located inside the anti-detachment frame 24. The bottom surface of the push block 25 is fixedly connected to the support rod 217. The support rod 217 passes through and slides through the sliding column 26. The bottom end of the sliding column 26 is fixedly connected to the abutment block 27. The sliding column 26 passes through and slides through the fixed plate 218. A circular plate 28 is fixedly connected to the top surface of the sliding column 26. The contact block 27 contacts the workpiece first. After the contact block 27 contacts the workpiece, the workpiece will exert a reaction force, which will cause the support rod 217 to gradually insert into the sliding column 26. The sliding column 26 will push the circular plate 28 relative to each other, shortening the distance between the circular plate 28 and the push block 25. A spring 29 is fixedly connected between the circular plate 28 and the push block 25. A hinge block 210 is fixedly connected to the top surface of the circular plate 28. A support rod 211 passes through and is hinged to the inner side of the hinge block 210. A second hinge block 212 passes through and is hinged to the end of the support rod 211 away from the hinge block 210. A linkage block 213 is fixedly connected to the surface of hinge block 212 away from the support rod 211. The distance between the circular plate 28 and the push block 25 is shortened. The circular plate 28 not only compresses the spring 29, but also the hinge block 210 at the top of the circular plate 28 pushes the support rod 211. Both ends of the support rod 211 will rotate relative to each other. When the support rod 211 rotates, it will gradually push the linkage block 213 through hinge block 212. A toggle block 214 is hinged to the inner side of the linkage block 213. A toggle spring 215 is fixedly connected between the toggle block 214 and the linkage block 213. The sliding column 26 passes through the linkage plate 216, and the linkage plate 216 is slidably connected to the sliding column 26.

[0028] The linkage unit 3 includes a slide 31, which is formed on the surface of the fixed plate 218. A gripper 32 is slidably connected through the inner side of the slide 31, and a positioning rod 33 is fixedly connected to the inner side of the slide 31. After the gripper 32 is pulled by the second spring 34 and grasps the workpiece, the workpiece is placed on the pallet in the machining center by the robotic arm body 4. Then, the cylinder 22 is activated again, which pushes the push block 25 again, causing the sliding column 26 to slide upwards again. At this time, the support rod 211 will... The linkage block 213 is moved by the hinge block 212, so that the bottom end of the linkage block 213 is located to the left of the crossbar 312 and pushes the gripper 32 to slide in the slide groove 31. The positioning rod 33 passes through the gripper 32 and is slidably connected. A spring 34 is fixedly connected between the gripper 32 and the inner side of the slide groove 31. A connecting block 35 is fixedly connected to the surface of the gripper 32. A pull rod 36 passes through and is hinged to the inner side of the connecting block 35. The end of the pull rod 36 away from the connecting block 35 passes through the linkage plate 216 and is hinged to it. A fixing block 37 is fixedly connected to the top surface of the fixing plate 218. A spring piece 38 passes through and is hinged to the inner side of the fixing block 37. A limit plate 39 is fixedly connected to the inner side of the fixing block 37. A torsion spring 310 is fixedly connected between the limit plate 39 and the spring piece 38. A crossbar 312 is fixedly connected to the inner side of the gripper 32. A hook 311 is fixedly connected to the bottom surface of the spring piece 38.

[0029] In use, first connect the robotic arm body 4 to the machining center, or install it on the outside of the machining center for loading and unloading. Then, start the robotic arm body 4 to align the six sets of grippers 32 with the workpiece to be loaded. Then, start the cylinder 22. The output shaft of the cylinder 22 will push the push block 25, which will cause the push block 25 to move downward along with the fixed plate 218 through the support rod 217, spring 29, and sliding column 26. The first contact with the workpiece is the abutment block 27. After the abutment block 27 contacts the workpiece, the workpiece will exert a reaction force, which will cause the support rod 217 to gradually insert into the sliding column 26, and cause the sliding column 26 to push the circular plate 28, shortening the distance between the circular plate 28 and the push block 25. The circular plate 28 will not only... When spring 29 is compressed, hinge block 210 at the top of circular plate 28 pushes support rod 211. Both ends of support rod 211 rotate relative to each other. As support rod 211 rotates, it gradually pushes linkage block 213 through hinge block 212. After linkage block 213 is pushed a certain distance, the inner actuating block 214 gradually contacts spring 38 and causes spring 38 to rotate. When spring 38 rotates, it not only compresses torsion spring 310, but also causes hook 311 to rise, so that hook 311 no longer hooks crossbar 312. Then, the tensioned spring 34 will instantly pull gripper 32, so that the six sets of circumferentially arrayed grippers 32 lock the fixing parts. By simply contacting the workpiece, automatic workpiece grabbing and loading / unloading are achieved.

[0030] After the gripper 32 is pulled by the spring 34 and grips the workpiece, the robotic arm 4 places the workpiece onto the pallet in the machining center. Then, the cylinder 22 is activated again, which pushes the push block 25 again, causing the sliding column 26 to slide upwards again. At this time, the support rod 211 pushes the linkage block 213 to move again through the hinge block 212, so that the bottom end of the linkage block 213 is located on the left side of the crossbar 312 and pushes the gripper 32 to slide in the slide groove 31. After the gripper 32 is pushed to the position of the hook 311, the spring piece 38, which is subjected to the resistance force, will bounce up and hook the crossbar 312 to complete the reset. The gripper 32 will no longer clamp the workpiece. Then, the output shaft of the cylinder 22 is retracted, and the workpiece will be automatically released. The loading and unloading are fast and continuous, which improves the work efficiency.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0032] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm for automatically loading and unloading workpieces in a machining center, comprising a base (1), characterized in that: The robotic arm body (4) is disposed above the base (1); It also includes a control unit (2) for regulating when to automatically fix the workpiece; Linkage unit (3) is used to cooperate with control unit (2) to release the workpiece and facilitate the gripping of subsequent workpieces; The control unit (2) includes a connecting plate (21), which is fixedly connected to the output end of the robotic arm body (4). A cylinder (22) is fixedly connected to the surface of the connecting plate (21), and a push block (25) is fixedly connected to the output shaft of the cylinder (22). A bracket (23) is fixedly connected to the surface of the connecting plate (21), and an anti-detachment frame (24) is fixedly connected to the end of the bracket (23) away from the connecting plate (21). The push block (25) is located inside the anti-detachment frame (24). A support rod (217) is fixedly connected to the bottom surface of the push block (25). A sliding column (26) is slidably connected through the support rod (217). An abutment block (27) is fixedly connected to the bottom end of the sliding column (26). A fixed plate (218) is slidably connected through the sliding column (26).

2. The automatic workpiece loading and unloading robotic arm for a machining center according to claim 1, characterized in that: A circular plate (28) is fixedly connected to the top surface of the sliding column (26), and a spring (29) is fixedly connected between the circular plate (28) and the push block (25).

3. The automatic workpiece loading and unloading robotic arm for a machining center according to claim 2, characterized in that: The top surface of the circular plate (28) is fixedly connected to a hinge block one (210), and a support rod (211) is passed through and hinged to the inner side of the hinge block one (210). The end of the support rod (211) away from the hinge block one (210) is passed through and hinged to a hinge block two (212).

4. The automatic workpiece loading and unloading robotic arm for a machining center according to claim 3, characterized in that: A linkage block (213) is fixedly connected to the side surface of the hinge block two (212) away from the support rod (211). A toggle block (214) is hinged to the inner side of the linkage block (213). A torsion spring (215) is fixedly connected between the toggle block (214) and the linkage block (213).

5. The automatic workpiece loading and unloading robotic arm for a machining center according to claim 1, characterized in that: The sliding column (26) passes through the linkage plate (216), and the linkage plate (216) is slidably connected to the sliding column (26).

6. The automatic workpiece loading and unloading robotic arm for a machining center according to claim 5, characterized in that: The linkage part (3) includes a slide groove (31), which is formed on the surface of the fixed plate (218). A gripper (32) is slidably connected through the inner side of the slide groove (31). A positioning rod (33) is fixedly connected to the inner side of the slide groove (31). The positioning rod (33) passes through the gripper (32) and is slidably connected. A spring (34) is fixedly connected between the gripper (32) and the inner side of the slide groove (31). A connecting block (35) is fixedly connected to the surface of the gripper (32). A pull rod (36) is hinged through the inner side of the connecting block (35). The end of the pull rod (36) away from the connecting block (35) passes through the linkage plate (216) and is hinged thereto.

7. The automatic workpiece loading and unloading robotic arm for a machining center according to claim 6, characterized in that: A fixing block (37) is fixedly connected to the top surface of the fixing plate (218). A spring piece (38) is threaded through and hinged to the inner side of the fixing block (37). A limiting plate (39) is fixedly connected to the inner side of the fixing block (37). A torsion spring (310) is fixedly connected between the limiting plate (39) and the spring piece (38). A crossbar (312) is fixedly connected to the inner side of the gripper (32). A hook (311) is fixedly connected to the bottom surface of the spring piece (38).

Images