Feeding and discharging device

Abstract

The utility model discloses a feeding and discharging device which comprises a machine base installed at the top end of a base, a large arm installed at the top end of the machine base, a small arm installed at the end of the large arm and a clamping jaw installed at the end of the small arm, and protection mechanisms are arranged at the connecting positions of the two ends of the large arm, the end of the small arm and the end of the machine base. By means of the designed protection mechanism, the problems that when an original mechanical arm type up-down device works, joints frequently rotate, bend and stretch, materials on the contact face can be gradually consumed after long-term operation, and when a workpiece is borne and the device moves, the joints need to bear large loads and are continuously stressed, so that joint parts are deformed and fatigued, and abrasion is aggravated are solved. The protection mechanisms are arranged at the joints of the mechanical arm type up-and-down device, so that certain intervals are formed between the two ends of the large arm of the mechanical arm type up-and-down device and the ends of the small arm and the ends of the machine base, abrasion generated during rotation due to complete attachment is avoided, and the abrasion resistance of the mechanical arm type up-and-down device during use is improved.

Description

Technical Field

[0001] This utility model belongs to the field of industrial technology, and specifically relates to a loading and unloading device. Background Technology

[0002] Loading and unloading devices are automatic or semi-automatic mechanical devices that feed the workpieces to be processed onto the processing position of the machine tool and remove the processed workpieces from the processing position. Robotic arm-type loading and unloading devices are devices that precisely control the position and posture of the workpieces according to a preset program or teach programming, so as to realize the actions of grasping, transporting and placing the workpieces.

[0003] Existing robotic arm-type loading and unloading devices involve frequent rotation and flexion at the joints during operation, resulting in relative sliding and rolling friction between the moving parts. Over long-term operation, the contact surface material will gradually wear down, leading to wear problems. To address this issue, this utility model proposes a loading and unloading device. Utility Model Content

[0004] The purpose of this utility model is to provide a loading and unloading device to solve the problem of wear and tear at the joints of the robotic arm-type loading and unloading device mentioned in the background art due to frequent rotation and bending.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a loading and unloading device, comprising a base mounted on the top of a base, a large arm mounted on the top of the base, a small arm mounted on the end of the large arm, and a gripper mounted on the end of the small arm. Protective mechanisms are provided at the connection points between the two ends of the large arm and the ends of the small arm and the base. The protective mechanisms consist of wear-resistant components and limiting grooves. The wear-resistant components are located on both sides of the two ends of the large arm, and the limiting grooves are located on the inner side of the end of the small arm and the inner side of the end of the base.

[0006] Preferably, the wear-resistant component is composed of multiple rolling components, each of which consists of a ball and a groove. The groove is formed on the end side of the upper arm, and the ball is disposed on the inner side of the groove.

[0007] Preferably, the limiting groove is located on the inner side of the end of the base and the inner side of the end of the forearm.

[0008] Preferably, oil injection grooves are provided on the inner sides of both ends of the boom. The oil injection groove consists of a guide groove and an oil injection port. The oil injection port is opened on the end surface of the boom and is located at the end of the guide groove.

[0009] Preferably, the guide groove is in communication with the end recess of the upper arm.

[0010] Preferably, the gripper is provided with a force sensor.

[0011] Preferably, position sensors are provided at the connection points between the two ends of the upper arm and the ends of the base and the lower arm.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] By designing protective mechanisms, the original robotic arm-type lifting device was improved. Frequent joint rotation and flexion / extension during operation caused relative sliding and rolling friction between moving parts, leading to gradual wear of the contact surface material over long-term operation. Furthermore, the joints bore significant loads when carrying workpieces and moving themselves, causing deformation, fatigue, and accelerated wear. By installing protective mechanisms at the joints of the robotic arm-type lifting device, a certain gap is created at the connection points between the ends of the upper arm and the lower arm, and at the end of the base. This prevents complete contact and wear during rotation, improving the wear resistance of the robotic arm-type lifting device during use. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model;

[0015] Figure 2 This is a schematic diagram of the boom and base installation of this utility model;

[0016] Figure 3 This is a schematic diagram of the limiting groove structure of this utility model;

[0017] Figure 4 This is a cross-sectional schematic diagram of the oil injection groove of this utility model;

[0018] In the diagram: 1. Base; 2. Machine base; 20. Protective mechanism; 201. Wear-resistant component; 2011. Ball; 2012. Groove; 202. Limiting groove; 30. Oil filling groove; 301. Guide groove; 302. Oil filling port; 3. Main arm; 4. Forearm; 5. Gripper. Detailed Implementation

[0019] 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.

[0020] Please see Figures 1 to 4This utility model provides a technical solution: a loading and unloading device, including a base 2 mounted on the top of a base 1, a large arm 3 mounted on the top of the base 2, a small arm 4 mounted on the end of the large arm 3, and a gripper 5 mounted on the end of the small arm 4. Protective mechanisms 20 are provided at the connection points between the two ends of the large arm 3 and the ends of the small arm 4 and the base 2. Each protective mechanism 20 consists of wear-resistant components 201 and limiting grooves 202. The wear-resistant components 201 are located on both sides of the large arm 3, and the limiting grooves 202 are located on the inner sides of the ends of the small arm 4 and the base 2. Through the designed protective mechanism 20, the problems of frequent joint rotation and flexion / extension during operation of the original robotic arm loading and unloading device are improved. These problems include relative sliding and rolling friction between moving parts, gradual wear of the contact surface material over long-term operation, and the large load on the joints when carrying workpieces and moving itself, leading to deformation, fatigue, and accelerated wear of the joint components. This improvement addresses the issues of wear and tear in the original robotic arm loading and unloading device. A protective mechanism 20 is provided at the joints of the device to create a certain gap between the ends of the upper arm 3 and the ends of the lower arm 4 and the ends of the base 2 of the robotic arm-type lifting device. This avoids complete contact and wear during rotation, thus improving the wear resistance of the robotic arm-type lifting device during use. The wear-resistant component 201 is composed of multiple rolling components, each of which consists of a ball 2011 and a groove 2012. The groove 2012 is opened on the side of the end of the upper arm 3, and the ball 2011 is located inside the groove 2012. The limiting groove 202 is opened on the inner side of the end of the base 2 and the inner side of the end of the lower arm 4. A force sensor is provided on the gripper 5 to sense the gripping force, operating force, etc., to avoid excessive gripping and damage to the workpiece, or to achieve force control in assembly and other operations. Position sensors are provided at the ends of the upper arm 3 and the ends of the base 2 and the lower arm 4 to detect the position of each joint of the robotic arm.

[0021] In this embodiment, preferably, oil injection grooves 30 are provided on the inner sides of both ends of the upper arm 3. The oil injection groove 30 consists of a guide groove 301 and an oil injection port 302. The oil injection port 302 is opened on the end surface of the upper arm 3 and is located at the end of the guide groove 301. During the oil injection process, the oil is injected through the oil injection port 302 and guided by the guide groove 301, so that the lubricating oil drips naturally into the inner side of the recesses on both sides of the end of the upper arm 3. When the joint of the robotic arm upper and lower device is twisted, the lubricating oil is evenly coated on the inner side of the joint, so as to achieve a lubrication effect. The guide groove 301 is in a communication state with the end recess of the upper arm 3.

[0022] The working principle and usage process of this utility model are as follows: During loading, the control system adjusts the opening degree of the gripper 5 to prepare for gripping. The gripper closes and firmly grips the workpiece. The base 2, upper arm 3, and lower arm 4 lift the workpiece according to the preset motion path and accurately place the workpiece in the designated position, ready for processing. The robotic arm lifting device waits next to the processing equipment until the equipment sends a processing completion signal. Then, the opening degree of the gripper 5 is adjusted again to adapt to the state of the processed workpiece, ready for gripping. The gripper closes and grips the processed workpiece, lifting the workpiece from the processing equipment and transporting it to the designated unloading area. The workpiece is placed in the designated position, completing the unloading operation. During the operation of the robotic arm lifting device according to the preset motion path, the ends of the upper arm 3 and the ends of the lower arm 4 and the ends of the base 2 are twisted, causing multiple balls 2011 to roll inside the roller groove 2012 and the limiting groove 202. The lubrication is increased by the injected lubricating oil, improving the wear resistance of the joints of the robotic arm lifting device.

[0023] 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 loading and unloading device, comprising a base (2) mounted on the top of a base (1), a large arm (3) mounted on the top of the base (2), a small arm (4) mounted on the end of the large arm (3), and a gripper (5) mounted on the end of the small arm (4), characterized in that: Protective mechanisms (20) are provided at the connection points between the two ends of the upper arm (3) and the ends of the lower arm (4) and the machine base (2). The protective mechanism (20) consists of a wear-resistant component (201) and a limiting groove (202). The wear-resistant component (201) is located on both sides of the two ends of the upper arm (3), and the limiting groove (202) is located on the inner side of the end of the lower arm (4) and the inner side of the end of the machine base (2).

2. The loading and unloading device according to claim 1, characterized in that: The wear-resistant component (201) is composed of multiple rolling components, each of which consists of a ball (2011) and a groove (2012). The groove (2012) is opened on the end side of the upper arm (3), and the ball (2011) is disposed on the inner side of the groove (2012).

3. The loading and unloading device according to claim 1, characterized in that: The limiting groove (202) is located on the inner side of the end of the base (2) and the inner side of the end of the forearm (4).

4. The loading and unloading device according to claim 1, characterized in that: Oil injection grooves (30) are provided on the inner sides of both ends of the boom (3). The oil injection groove (30) consists of a guide groove (301) and an oil injection port (302). The oil injection port (302) is located on the end surface of the boom (3) and at the end of the guide groove (301).

5. The loading and unloading device according to claim 1, characterized in that: The guide groove (301) is in communication with the end recess of the upper arm (3).

6. The loading and unloading device according to claim 1, characterized in that: A force sensor is provided on the gripper (5).

7. The loading and unloading device according to claim 1, characterized in that: Position sensors are provided at the connection points between the two ends of the upper arm (3) and the ends of the base (2) and the lower arm (4).

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