A loading and unloading manipulator for a crank grinder

Abstract

The utility model provides a kind of feeding and discharging manipulator of crank grinder. It is related to the technical field of automated production. The feeding and discharging manipulator of crank grinder includes feeding and discharging manipulator, connecting frame is fixedly installed on the feeding and discharging manipulator, the bottom of the connecting frame is fixedly installed with shell, the shell is rotatably installed with adapter rod, the side of the shell is fixedly installed with driving motor, the output shaft of the driving motor is fixedly connected with the one end of adapter rod, the adapter rod is fixedly sleeved with circular gear, three driving mechanisms are provided on the shell, three the driving mechanism includes: two moving blocks, two lateral plates, two racks and two adjusting mechanisms, two the moving block is slidably installed on shell, two the lateral plate is fixedly installed on the side of two the moving block mutually close. The utility model has the advantages of increasing the gripping point of clamp, improving the gripping stability of clamp, facilitating more workpieces.

Description

Technical Field

[0001] This utility model relates to the field of automated production technology, specifically to a loading and unloading robot for a crank grinding machine. Background Technology

[0002] The crank-crank grinder is a machine tool specifically designed for grinding the eccentric outer diameter of small crank-type parts in the compressor industry. The machine uses an AC servo drive motor to move the grinding wheel head and worktable via a ball screw. Imported linear guides are used for the feed, ensuring precise and sensitive feeding. The machine is equipped with an automatic measuring instrument for online detection, achieving a closed-loop automatic grinding cycle and guaranteeing high dimensional accuracy. To increase production efficiency and reduce manual intervention, loading and unloading are handled by a robotic arm. This robotic arm fully automates the machine tool manufacturing process and utilizes integrated machining technology, making it suitable for loading and unloading, workpiece flipping, and workpiece transfer on production lines.

[0003] Traditionally, the grippers on loading and unloading robots are mostly double-claw structures. When gripping workpieces, the workpieces are prone to slipping or falling off, and the stability of gripping needs to be improved. In addition, the grippers on the robot have weak self-adaptability. When facing workpieces with different shapes, the grippers need to be customized and are difficult to be compatible with heterogeneous workpieces with certain differences in shape and size.

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

[0005] The purpose of this utility model is to provide a loading and unloading robot for crank grinding machines that increases the gripping points of the fixture, improves the gripping stability of the fixture, and is easy to use for more workpieces.

[0006] To solve the above technical problems, the present invention provides a loading and unloading robot for a crank grinding machine, comprising: a loading and unloading robot, a connecting frame fixedly mounted on the loading and unloading robot, a housing fixedly mounted on the bottom of the connecting frame, a transition rod rotatably mounted on the housing, a drive motor fixedly mounted on one side of the housing, the output shaft of the drive motor fixedly connected to one end of the transition rod, a circular gear fixedly sleeved on the transition rod, and three driving mechanisms provided on the housing, each of the three driving mechanisms comprising: two moving blocks, two transverse plates, two racks, and two adjusting mechanisms. The two moving blocks are slidably mounted on the housing, the two transverse plates are respectively fixedly mounted on the sides of the two moving blocks that are close to each other, the two racks are respectively fixedly mounted on the sides of the two transverse plates that are close to each other, and both racks mesh with the circular gears. The two adjusting mechanisms are respectively mounted on the two moving blocks... Each adjustment mechanism on the block includes: a fixed frame, a threaded rod one, a sliding block, a connecting block, a clamping plate, a threaded rod two, an adjusting block, two circular rods, two hinged rods, and two connecting rods. The fixed frame is fixedly installed on one side of the corresponding moving block. The threaded rod one is rotatably installed on the fixed frame, and one end of the threaded rod one is rotatably connected to the moving block. The sliding block is threadedly installed on the threaded rod one. The connecting block is fixedly installed on the top of the sliding block and is slidably connected to the moving block. The clamping plate is rotatably installed on one side of the connecting block. The threaded rod two is rotatably installed on the connecting block. The adjusting block is threadedly installed on the threaded rod two. The two circular rods are respectively fixedly installed on both sides of the adjusting block. The two hinged rods are respectively rotatably installed on the two circular rods. The two connecting rods are both fixedly installed on one side of the clamping plate, and the two connecting rods are respectively rotatably connected to the bottom ends of the two hinged rods.

[0007] Preferably, in the three drive mechanisms, each of the six transverse plates has a transverse hole, and two connecting rods are fixedly installed between the inner walls of the two sides of the housing, with the two connecting rods slidably installed in the six transverse holes respectively.

[0008] Preferably, in the three drive mechanisms, the bottom of the housing has three movable holes, and the six movable blocks are slidably installed in the three movable holes respectively.

[0009] Preferably, in the six adjustment mechanisms, each of the six connecting blocks has a rectangular hole, the six adjustment blocks are slidably installed in the six rectangular holes, a circular hole is opened on one side of each of the six rectangular holes, the six threaded rods are threadedly connected to the inner wall of the six circular holes, and a handle is fixedly installed at one end of each of the six threaded rods.

[0010] Preferably, in the six adjustment mechanisms, each of the six fixed frames has a through hole, and each of the six through holes is adapted to one of the six handles. One end of each of the six threaded rods is fixedly fitted with a handle.

[0011] Preferably, in the six adjustment mechanisms, each of the six moving blocks has a passage hole, and a plurality of rolling balls are embedded in the inner wall of the six passage holes, and the plurality of rolling balls are slidably connected to the six connecting blocks respectively.

[0012] Preferably, in the six adjustment mechanisms, a limiting block one is fixedly installed on the end of each of the plurality of circular rods away from the adjustment block, and a limiting block two is fixedly installed on each of the plurality of connecting rods.

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

[0014] This invention utilizes three linearly distributed drive mechanisms and six clamping plates to form a multi-point collaborative clamping system. This increases the clamping contact area and envelope, disperses the clamping force, and effectively prevents the workpiece from shaking, rotating, or falling off during transport and grinding. It also increases the clamping force of the fixture and improves the stability of the workpiece during movement. Each clamping plate is driven by an independent threaded rod, allowing manual adjustment of the relative distance between the six clamping plates. This flexibly adapts to workpieces of different widths or thicknesses without the need to change the fixture. It can accommodate workpieces of different sizes within a certain range, improving the equipment's versatility. The tilt angle of each clamping plate can be adjusted via an independent threaded rod to conform to the curved or irregular side of the workpiece, ensuring the fixture's fit. The angles of the six clamping plates can be adjusted independently to handle situations where the workpiece shape is asymmetrical or different angles are required at each clamping point. This greatly improves the gripping fit and firmness of irregularly contoured workpieces and is compatible with a certain range of irregularly shaped workpieces. Attached Figure Description

[0015] Figure 1 This is a front view structural diagram of the present utility model;

[0016] Figure 2 for Figure 1 An enlarged schematic diagram of the outer casing shown;

[0017] Figure 3 This is a frontal sectional view of the present invention.

[0018] Figure 4 for Figure 3 An enlarged schematic diagram of the outer casing shown;

[0019] Figure 5 This is a front sectional view of the outer shell and the movable block in this utility model;

[0020] Figure 6 This is a bottom view of the structure of this utility model;

[0021] Figure 7 for Figure 6 An enlarged schematic diagram of the outer casing shown;

[0022] Figure 8 This is a top sectional view of the assembly of the connecting block in this utility model;

[0023] Figure 9 for Figure 8 An enlarged schematic diagram of the connecting blocks shown.

[0024] In the diagram: 1. Loading / unloading robot; 2. Connecting frame; 3. Outer shell; 4. Adapter rod; 5. Drive motor; 6. Circular gear; 7. Moving block; 8. Horizontal plate; 9. Rack; 10. Fixed frame; 11. Threaded rod one; 12. Sliding block; 13. Connecting block; 14. Clamping plate; 15. Threaded rod two; 16. Adjusting block; 17. Circular rod; 18. Hinge rod; 19. Connecting rod. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] Please refer to the following: Figures 1-9 ,in, Figure 1 A side sectional view of the first embodiment of the loading and unloading robot for the crank grinding machine provided by this utility model; Figure 2 for Figure 1 An enlarged schematic diagram of part A shown; Figure 3 This is a top sectional view of the present invention; Figure 4 for Figure 3The enlarged schematic diagram of part B is shown. The loading and unloading robot of the crank grinding machine includes: a loading and unloading robot 1, a connecting frame 2 fixedly mounted on the loading and unloading robot 1, a housing 3 fixedly mounted on the bottom of the connecting frame 2, a transition rod 4 rotatably mounted on the housing 3, a drive motor 5 fixedly mounted on the front side of the housing 3, the output shaft of the drive motor 5 being fixedly connected to one end of the transition rod 4, a circular gear 6 fixedly sleeved on the transition rod 4, and three drive mechanisms arranged linearly on the housing 3. The three drive mechanisms form three sets of grippers, which can more firmly grip the workpiece. Each of the three drive mechanisms includes: two moving blocks 7, two transverse plates 8, and two... A rack 9 and two adjusting mechanisms are provided. Two movable blocks 7 are slidably mounted on the outer casing 3. The two movable blocks 7 have different heights and shapes. Two transverse plates 8 are fixedly mounted on the sides of the two movable blocks 7 that are close to each other. The two transverse plates 8 are slidably mounted inside the outer casing 3, and are staggered, located at the top and bottom of the circular gear 6. Two racks 9 are fixedly mounted on the sides of the two transverse plates 8 that are close to each other, and both racks 9 mesh with the circular gear 6. Two adjusting mechanisms are mounted on the two movable blocks 7. Each adjusting mechanism includes: a fixed frame 10 and a threaded rod. 11. Sliding block 12. Connecting block 13. Clamping plate 14. Threaded rod 15. Adjusting block 16. Two circular rods 17. Two hinged rods 18. Two connecting rods 19. A fixed frame 10 is fixedly installed on one side of the corresponding moving block 7. The fixed frame 10 is L-shaped. Threaded rod 11 is rotatably installed on the fixed frame 10. One end of threaded rod 11 is rotatably connected to the moving block 7. Sliding block 12 is threadedly installed on threaded rod 11. Connecting block 13 is fixedly installed on the top of sliding block 12. Connecting block 13 is slidably connected to the moving block 7. Clamping plate 14 is rotatably installed on one side of connecting block 13. A rubber pad is fixedly installed on one side to increase friction with the workpiece. Threaded rod 15 is rotatably installed on connecting block 13. Adjusting block 16 is threadedly installed on threaded rod 15. Two round rods 17 are fixedly installed on both sides of adjusting block 16. Limiting block 1 is fixedly installed on the ends of the two round rods 17 away from adjusting block 16. Two hinge rods 18 are rotatably installed on the two round rods 17. Two connecting rods 19 are fixedly installed on one side of clamping plate 14. The two connecting rods 19 are rotatably connected to the bottom ends of the two hinge rods 18. Limiting block 2 is fixedly installed on the two connecting rods 19.

[0027] To ensure proper meshing and the stability of the positions of the six transverse plates 8 and the rack 9, in this method, transverse holes are provided on all six transverse plates 8 in the three drive mechanisms. Two connecting rods are fixedly installed between the inner walls of both sides of the housing 3, and the two connecting rods are slidably installed in the six transverse holes respectively. Three movable holes are provided at the bottom of the housing 3, and six moving blocks 7 are slidably installed in the three movable holes respectively. The three movable holes provide sufficient space for the six moving blocks 7 to move.

[0028] To provide space for the installation and movement of the six adjusting blocks 16, in this method, each of the six connecting blocks 13 in the six adjusting mechanisms has a rectangular hole. The six adjusting blocks 16 are slidably installed in the six rectangular holes. A circular hole is provided on one side of each of the six rectangular holes. The six threaded rods 15 are threadedly connected to the inner walls of the six circular holes. A handle is fixedly installed at one end of each of the six threaded rods 15. A through hole is provided on each of the six fixing brackets 10. The six through holes are adapted to the six handles 1. A handle is fixedly installed at one end of each of the six threaded rods 11. The six through holes provide space for the six threaded rods 15 and the handles 1 to pass through, so as to avoid restricting the movement of the connecting blocks 13.

[0029] To reduce wear and increase the smoothness of sliding of the six connecting blocks 13, in this method, each of the six moving blocks 7 in the six adjustment mechanisms is provided with a passage hole, and multiple rolling balls are embedded in the inner wall of the six passage holes. The multiple rolling balls are slidably connected to the six connecting blocks 13 respectively.

[0030] The working principle of the loading and unloading robot for the crank grinding machine provided by this utility model is as follows:

[0031] Initially, the six clamping plates 14 are far apart and open. When it is necessary to grasp the workpiece, the robot arm moves the outer shell 3 downward, so that the workpiece is placed between the six clamping plates 14. Then, the drive motor 5 is started, and the drive motor 5 drives the circular gear 6 to rotate counterclockwise. The circular gear 6 drives the horizontal plate 8 and the moving block 7 to slide together through the six racks 9. The six clamping plates 14 move closer to each other until the workpiece is clamped. After the workpiece is moved to the predetermined position, the output shaft of the drive motor 5 rotates in the opposite direction, and the six clamping plates 14 gradually open, releasing the workpiece and completing the transfer.

[0032] When clamping workpieces with different shapes, rotating one threaded rod 11 causes the sliding block 12 to slide the connecting block 13 on the threaded rod 11, and the corresponding clamping plate 14 moves simultaneously. Manually rotating all six threaded rods 11 can adjust the position of the six clamping plates 14 and the distance between them, making it suitable for workpieces of different widths. If the gripping surface of the workpiece is arc-shaped, rotating the threaded rod 15 allows the adjusting block 16 to slide on the threaded rod 15. Through the two hinge rods 18, the tilt of the clamping plate 14 can be adjusted so that the inclined surface of the clamping plate 14 fits against the side of the workpiece, ensuring a firm grip. In addition, the tilt of each of the six clamping plates 14 can be adjusted independently, making it suitable for workpieces with irregular shapes and improving the applicability and flexibility of the equipment.

[0033] Compared with related technologies, the loading and unloading robot for the crank grinding machine provided by this utility model has the following advantages:

[0034] In this invention, three sets of driving mechanisms are linearly distributed, and six clamping plates 14 form multi-point collaborative clamping, increasing the clamping contact area and envelope range, dispersing the clamping force, and effectively preventing the workpiece from shaking, rotating, or falling off during transmission and grinding. This increases the clamping force of the fixture and improves the stability of the workpiece during movement. Each clamping plate 14 is driven by an independent threaded rod 11, and the relative distance between the six clamping plates 14 can be manually adjusted to flexibly adapt to workpieces of different widths or thicknesses without changing the fixture. It can adapt to workpieces of different sizes within a certain range, improving the versatility of the equipment. The tilt angle of each clamping plate 14 can be adjusted by an independent threaded rod 15 to fit the arc or irregular side of the workpiece, ensuring the fit of the fixture. The angles of the six clamping plates 14 can be adjusted independently to deal with situations where the workpiece shape is asymmetrical or different angles are required at each clamping point. This greatly improves the gripping fit and firmness of irregular contour workpieces and is compatible with irregularly shaped workpieces within a certain range.

[0035] It should be noted that the device structure and accompanying drawings of this utility model mainly describe the principle of this utility model. In terms of the technical aspects of this design principle, the setting of the power mechanism, power supply system and control system of the device is not fully described. However, those skilled in the art who understand the principle of the above utility model can clearly understand the specific details of its power mechanism, power supply system and control system.

[0036] The above are merely embodiments of this utility model and do not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, 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 loading / unloading robot for a crank grinding machine, comprising a loading / unloading robot arm, wherein a connecting frame is fixedly mounted on the loading / unloading robot arm, characterized in that, A housing is fixedly installed at the bottom of the connecting frame. An adapter rod is rotatably mounted on the housing. A drive motor is fixedly installed on one side of the housing. The output shaft of the drive motor is fixedly connected to one end of the adapter rod. A circular gear is fixedly sleeved on the adapter rod. Three drive mechanisms are provided on the housing. Each drive mechanism includes: two moving blocks, two horizontal plates, two racks, and two adjusting mechanisms. The two moving blocks are slidably mounted on the housing. The two horizontal plates are respectively fixedly mounted on the sides of the two moving blocks that are close to each other. The two racks are respectively fixedly mounted on the sides of the two horizontal plates that are close to each other, and both racks mesh with the circular gear. The two adjusting mechanisms are respectively mounted on the two moving blocks. Each adjusting mechanism includes: a fixed frame, a threaded rod, a sliding block, and... The system comprises a connecting block, a clamping plate, a threaded rod II, an adjusting block, two circular rods, two hinged rods, and two connecting rods. A fixed frame is fixedly installed on one side of the corresponding moving block. A threaded rod I is rotatably installed on the fixed frame, with one end rotatably connected to the moving block. A sliding block is threaded onto threaded rod I. A connecting block is fixedly installed on the top of the sliding block and slidably connected to the moving block. A clamping plate is rotatably installed on one side of the connecting block. A threaded rod II is rotatably installed on the connecting block. An adjusting block is threaded onto threaded rod II. Two circular rods are fixedly installed on both sides of the adjusting block. Two hinged rods are rotatably installed on the two circular rods. Two connecting rods are fixedly installed on one side of the clamping plate, and each connecting rod is rotatably connected to the bottom end of one of the two hinged rods.

2. The loading and unloading robot for a crank grinding machine according to claim 1, characterized in that, In the three drive mechanisms, each of the six transverse plates has a transverse hole, and two connecting rods are fixedly installed between the inner walls of the two sides of the housing. The two connecting rods are slidably installed in the six transverse holes respectively.

3. The loading and unloading robot for a crank grinding machine according to claim 1, characterized in that, In the three drive mechanisms, the bottom of the housing has three movable holes, and the six movable blocks are slidably installed in the three movable holes respectively.

4. The loading and unloading robot for a crank grinding machine according to claim 1, characterized in that, In the six adjustment mechanisms, each of the six connecting blocks has a rectangular hole, and the six adjustment blocks are slidably installed in the six rectangular holes. A circular hole is opened on one side of each of the six rectangular holes. The six threaded rods are threadedly connected to the inner wall of the six circular holes. A handle is fixedly installed at one end of each of the six threaded rods.

5. The loading and unloading robot for a crank grinding machine according to claim 4, characterized in that, In the six adjustment mechanisms, each of the six fixed frames has a through hole, and each of the six through holes is adapted to one of the six handles. Each of the six threaded rods has a handle fixedly installed at one end.

6. The loading and unloading robot for a crank grinding machine according to claim 1, characterized in that, In the six adjustment mechanisms, each of the six moving blocks has a passage hole, and multiple rolling balls are embedded in the inner wall of the six passage holes. The multiple rolling balls are slidably connected to the six connecting blocks respectively.

7. The loading and unloading robot for a crank grinding machine according to claim 1, characterized in that, In the six adjustment mechanisms, a limit block 1 is fixedly installed on the end of each of the circular rods away from the adjustment block, and a limit block 2 is fixedly installed on each of the connecting rods.

Images