Cross shaft automatic feeding and discharging device

Abstract

The utility model provides a kind of cross shaft automatic feeding and discharging device, comprising: associated clamping device, set to transfer mechanical arm;Queue type feeding device, for arranging cross shaft to be processed, and there is a lifting turnover mechanism in output direction;At least two queue type feeding devices are arranged in parallel with conveying axis, and the vertical plane where output port is the same vertical plane;Conveyer plane is provided at the top of queue type feeding device, and the top surface conveying direction of conveyer plane is opposite to the output direction of queue type feeding device;The first working position of lifting turnover mechanism is matched with the output port of queue type feeding device, and the second working position is matched with the conveying plane of conveyer plane;Associated clamping device and conveyer plane and lifting turnover mechanism cooperate work.

Description

Technical Field

[0001] This utility model relates to an automatic loading and unloading device, specifically a cross-shaft automatic loading and unloading device. Background Technology

[0002] The cross shaft, also known as the universal joint, is a key component of a cross-type rigid universal joint. Failures in drive shaft universal joints are mainly due to wear of the journals and bearings, as well as bending deformation of the journals, causing the center lines of the cross shafts to be out of plane or not perpendicular to adjacent center lines. Therefore, when machining cross shafts, the method of machining the cross shafts separately is usually not adopted; instead, a one-time forming solution using CNC machine tools is more common. In traditional assembly line designs, even when using CNC machine tools, several cross shafts are usually clamped in a single fixture for one-time machining, followed by centralized unloading. This method satisfies the time interval requirement of centralized loading and unloading for convenient worker operation, but it increases the complexity of the CNC machine tool's machining path and is not conducive to the design of robotic arm-type assembly lines. Therefore, a loading and unloading device that eliminates the need for centralized fixtures is needed. Summary of the Invention

[0003] This invention addresses the problem that centralized loading and unloading of cross shafts using clamping discs is not conducive to the use of robotic arms. It proposes an automatic loading and unloading device for cross shafts, which automates the loading and unloading process by employing a supply queue and an unloading queue, thereby eliminating the problem of centralized loading and unloading using clamping discs and increasing the degree of automation in cross shaft processing.

[0004] This utility model provides an automatic loading and unloading device for cross shafts, comprising: a clamping device mounted on a transfer robotic arm; a queue-type loading device for arranging cross shafts to be processed, with a lifting and flipping mechanism provided in the output direction; at least two queue-type loading devices are arranged parallel to each other with their conveying axes, and the vertical planes where their output ports are located are the same vertical plane; a conveyor belt plane is provided at the top of the queue-type loading device, and the conveying direction of the top surface of the conveyor belt plane is opposite to the output direction of the queue-type loading device; the first working position of the lifting and flipping mechanism matches the output port of the queue-type loading device, and the second working position matches the conveying plane of the conveyor belt plane; the clamping device works in conjunction with the conveyor belt plane and the lifting and flipping mechanism.

[0005] This utility model relates to an automatic cross-shaft loading and unloading device, which is used in conjunction with existing CNC machine tools and robotic arms. The clamping device is mounted on the robotic arm. During operation, the upstream unloading device automatically places the produced cross-shafts into the input end of the queue-type loading device. Because the queue-type loading device has a slot structure, the unloading end has a relatively spacious matching position, unlike traditional clamps which require precise matching. The cross-shafts in the queue-type loading device are arranged sequentially, and due to their own weight, the cross-shaft surface remains perpendicular to the horizontal plane as they are conveyed along the chain links. Even during waiting periods, the chain links do not negatively impact the cross-shafts. The specific operating conditions are adjusted according to the motor driving the chain-link conveyor belt during the practical installation. (It is divided into: conventional servo motors and stepper servo motors. When using a stepper servo motor, the chain links can be paused or reversed, further facilitating the operation of the lifting and tilting mechanism.)

[0006] When the lifting and tilting mechanism raises a cross shaft to be processed to the height of the conveyor belt plane, the robotic arm, carrying a clamping device, transfers the previously processed cross shaft from the CNC machine tool to the conveyor belt plane. Simultaneously, it clamps the cross shaft to be processed on the lifting and tilting mechanism and transfers it into the CNC machine tool. This operation reduces the back-and-forth movement of the CNC machine tool, thus reducing the complexity of its control. The conveyor belt plane is responsible for unloading.

[0007] Preferably, the combined clamping device includes: a mounting base plate; and a number of gripper cylinders provided on the mounting base plate, the number of gripper cylinders being twice the number of the queue-type feeding device;

[0008] The gripper cylinder has a single claw on its gripper, with claw tips on both the front and rear faces of the single claw, and arc grooves on the inner surfaces of the claw tips.

[0009] The distance between the claw tips is greater than the width of the first side plate, and the cooperation between the second side plate and the fourth top post, rather than setting the side plate at the position of the fourth top post, also facilitates the gripping of the two single claws.

[0010] As a preferred embodiment, the queue-type feeding device includes: a queue slot provided on the frame, an opening at the top of the queue slot, and a chain-link conveyor belt provided inside the queue slot;

[0011] The drive teeth of the chain-link conveyor belt are located at the input end of the queue-type feeding device, and the driven teeth are located at the output end of the queue-type feeding device.

[0012] A guide plate is provided on the queue slot, and the guide plate is located at the output end of the queue-type feeding device. The guide plate is fixedly connected to the queue slot.

[0013] A set of end limit blocks is also provided at the output end of the queue-type feeding device; the end limit blocks are positioned to match the driven teeth, the surface adjacent to the driven teeth is an arc-shaped surface and the top surface is provided with a bifurcation groove; the highest point of the side fork of the bifurcation groove is flush with the conveying plane of the chain link conveyor belt; the end limit blocks are all fixedly connected to the queue groove.

[0014] Preferably, the lifting and tilting mechanism includes: a guide hole and a telescopic cylinder for lifting on the frame of the queue-type feeding device;

[0015] A connecting plate is provided on the telescopic end of the lifting telescopic cylinder, and a sliding rod is provided on the bottom surface of the connecting plate, which passes through the guide hole; a tilting cylinder is provided on the top surface of the connecting plate, and the tilting angle of the tilting cylinder is 90°, and a hook holding device is provided on the tilting surface of the tilting cylinder.

[0016] Preferably, the hook holding device includes: a first side plate, a second side plate, a third side plate, and a fourth top column, all of which are disposed on the flipping surface of the flipping cylinder;

[0017] The first and third side plates are mirror symmetrical; with the second working position of the lifting and flipping mechanism as the reference, the top edge of the first side plate is provided with a V-groove, and the side adjacent to the second side plate is set as a 60° inclined edge, with a stop bar extending from the inclined edge; the highest point of the stop bar is flush with the top edge of the first side plate.

[0018] The top edge of the second side panel has a V-groove;

[0019] The height of the fourth top column matches the bottom height of the V-groove of the second side plate.

[0020] Preferably, taking the first working position of the lifting and flipping mechanism as a reference, the hook point formed by the inclined side and the V-groove is higher in vertical height than the highest point of the side fork of the bifurcation groove.

[0021] The beneficial effects of this invention are as follows: the design of the queue-type feeding device provides a buffer for the output of the upstream device, avoiding the problem of processing interruption. The use of a lifting and flipping mechanism reduces the complexity of robotic arm operation. The design of the hook-holding device also simplifies the complexity of feeding and transfer. Attached Figure Description

[0022] Figure 1 Overall positional relationship diagram of this utility model;

[0023] Figure 2 Structural diagram of the single-queue feeding device of this utility model;

[0024] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0025] Figure 4Assembly diagram of the combined clamping device of this utility model;

[0026] Figure 5 Overall relationship diagram of the lifting and tilting mechanism of this utility model;

[0027] Figure 6 Assembly diagram of the upper half of the lifting and tilting mechanism;

[0028] Figure 7 Assembly diagram of the feeding device, conveyor belt plane, and lifting and tilting mechanism;

[0029] In the diagram: 1. CNC machine tool, 2. Robotic arm, 3. Clamping device, 301. Gripper cylinder, 302. Single jaw, 4. Queue-type feeding device, 401. Queue trough, 402. Chain-link conveyor belt, 403. Guide plate, 404. End limit block, 411. Third side plate, 412. Second side plate, 413. Turning surface of the tilting cylinder, 414. Tilting cylinder, 415. Connecting plate, 416. Flange, 417. Slide rod, 418. Lifting telescopic cylinder, 5. Conveyor belt plane, 6. Finished cross shaft, 7. Cross shaft to be processed. Detailed Implementation

[0030] The technical solution of this utility model will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings.

[0031] Example 1

[0032] like Figure 1 and Figure 7 As shown, the automatic cross shaft loading and unloading device includes: a clamping device 3 mounted on a transfer robotic arm 2; two queue-type loading devices 4 for arranging the cross shafts to be processed, with a lifting and flipping mechanism in the output direction; the two queue-type loading devices are arranged parallel to each other with their conveying axes parallel, and the vertical planes where their output ports are located are the same vertical plane; a conveyor belt plane 5 is provided at the top of the queue-type loading devices, and the top surface of the conveyor belt plane has a conveying direction opposite to the output direction of the queue-type loading devices; the first working position of the lifting and flipping mechanism matches the output port of the queue-type loading devices, and the second working position matches the conveying plane of the conveyor belt plane; the clamping device works in conjunction with the conveyor belt plane and the lifting and flipping mechanism.

[0033] The automatic cross-axis loading and unloading device is used in conjunction with an existing CNC machine tool 1 and robotic arm 2, with the clamping device mounted on the robotic arm. During operation, the upstream unloading device automatically places the produced cross-axis into the input end of the queue-type loading device. Because the queue-type loading device has a slotted structure, the unloading end has a relatively spacious matching position, unlike traditional clamps which require precise matching. The cross-axis in the queue-type loading device are arranged sequentially, and due to their own weight, the cross-axis surfaces remain perpendicular to the horizontal plane as they are conveyed along the chain links. Even during waiting periods, the chain links do not negatively impact the cross-axis. The specific operating conditions are adjusted according to the motor driving the chain-link conveyor belt installed during the practical installation. (This is divided into: conventional servo motors and stepper servo motors. When using a stepper servo motor, the chain links can be paused or reversed, further facilitating the operation of the lifting and tilting mechanism.)

[0034] When the lifting and tilting mechanism lifts a cross shaft 7 to be processed to the height of the conveyor belt plane, the robotic arm, carrying a clamping device, transfers the previously processed cross shaft 6 from the CNC machine tool to the conveyor belt plane. Simultaneously, it clamps the cross shaft to be processed on the lifting and tilting mechanism and transfers it into the CNC machine tool. This operation reduces the back-and-forth movement of the CNC machine tool, thus reducing the complexity of its control. The conveyor belt plane is responsible for unloading.

[0035] like Figure 4 The assembled clamping device 3 shown includes: a mounting base plate; and four gripper cylinders 301 are provided on the mounting base plate;

[0036] The gripper cylinder has a single claw 302 on its gripper, wherein the front and rear faces of the single claw are provided with claw tips, and the inner side of the claw tip is provided with an arc groove.

[0037] The distance between the claw tips is greater than the width of the first side plate, and the cooperation between the second side plate and the fourth top post, rather than setting the side plate at the position of the fourth top post, also facilitates the gripping of the two single claws.

[0038] like Figure 2 and Figure 3 The forked trough queue-type feeding device shown includes: a queue trough 401 is provided on the frame, the queue trough is C-shaped and open at the top, and a chain link conveyor belt 402 is provided inside the queue trough;

[0039] The drive teeth of the chain-link conveyor belt are located at the input end of the queue-type feeding device. Figure 2 (On the left side), the driven tooth is located at the output end of the queue-type feeding device ( Figure 2 (right side)

[0040] A pair of guide plates 403 are provided on the queue slot. The guide plates are located at the output end of the queue-type feeding device and are fixedly connected to the queue slot.

[0041] A set of end limit blocks 404 is also provided at the output end of the queue-type feeding device; the end limit is set in a position that matches the driven tooth, the surface adjacent to the driven tooth is an arc surface and the top surface is provided with a bifurcation groove; the highest point of the side fork of the bifurcation groove is flush with the conveying plane of the chain link conveyor belt; the end limit blocks are all fixedly connected to the queue groove.

[0042] like Figure 5 and Figure 6 As shown, the lifting and tilting mechanism includes: a guide hole and a telescopic cylinder for lifting are provided on the frame of the queue-type feeding device; a flange 416 is also concentrically provided at the bottom of the guide hole.

[0043] A connecting plate 415 is provided on the telescopic end of the lifting telescopic cylinder 418. A sliding rod 417 is provided on the bottom surface of the connecting plate, and the sliding rod 417 passes through the guide hole and flange 416. A tilting cylinder 414 is provided on the top surface of the connecting plate. The tilting angle of the tilting cylinder is 90°, and a hook holding device is provided on the tilting surface 413 of the tilting cylinder. Figure 6 The flipping surface 413 of the central flipping cylinder is mainly T-shaped. A hook holding device is provided on the top surface of the T, and a hinge seat that is hinged to the flipping cylinder is provided on the vertical part of the T. The extension end of the flipping cylinder is hinged to the lower side of the top edge of the T to achieve the flipping effect.

[0044] The hook holding device includes: a first side plate, a second side plate 412, a third side plate 411, and a fourth top column, all of which are set on the flipping surface of the flipping cylinder;

[0045] The first and third side plates are mirror symmetrical; with the second working position of the lifting and flipping mechanism as the reference, the top edge of the first side plate is provided with a V-groove, and the side adjacent to the second side plate is set as a 60° inclined edge, with a stop bar extending from the inclined edge; the highest point of the stop bar is flush with the top edge of the first side plate.

[0046] The top edge of the second side panel has a V-groove;

[0047] The height of the fourth top column matches the bottom height of the V-groove of the second side plate.

[0048] Based on the first working position of the lifting and flipping mechanism, the hook point formed by the inclined side and the V-groove is higher in vertical height than the highest point of the side fork of the bifurcation groove.

[0049] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. Cross shaft automatic feeding and unloading device, characterized in that, include: A clamping device is mounted on the transfer robotic arm; A queue-type feeding device is used to arrange the cross shafts to be processed, and a lifting and flipping mechanism is provided in the output direction; At least two queue-type feeding devices are arranged parallel to each other with their conveyor axes in the same vertical plane as their output ports. A conveyor belt plane is set at the top of the queue-type feeding device, and the conveying direction of the top surface of the conveyor belt plane is opposite to the output direction of the queue-type feeding device. The first working position of the lifting and turning mechanism is matched with the output port of the queue-type feeding device, and the second working position is matched with the conveying plane of the conveyor belt. The clamping device works in conjunction with the conveyor belt plane and the lifting and turning mechanism. The assembly clamping device includes: a mounting base plate; and a number of gripper cylinders on the mounting base plate, the number of gripper cylinders being twice the number of the queue-type feeding device. The gripper of the gripper cylinder is equipped with a single claw, wherein the front end face and the rear end face of the single claw are both equipped with claw tips, and the inner side surface of the claw tip is equipped with an arc groove. A queue-type feeding device includes: a queue trough provided on a frame, an opening at the top of the queue trough, and a chain-link conveyor belt provided inside the queue trough; The drive teeth of the chain-link conveyor belt are located at the input end of the queue-type feeding device, and the driven teeth are located at the output end of the queue-type feeding device. A guide plate is provided on the queue slot, and the guide plate is located at the output end of the queue-type feeding device. The guide plate is fixedly connected to the queue slot. A set of end limit blocks is also provided at the output end of the queue-type feeding device; the end limit blocks are positioned to match the driven teeth, the surface adjacent to the driven teeth is an arc-shaped surface and the top surface is provided with a bifurcation groove; the highest point of the side fork of the bifurcation groove is flush with the conveying plane of the chain link conveyor belt; the end limit blocks are all fixedly connected to the queue groove.

2. The automatic cross axle loading and unloading device according to claim 1, characterized in that, The lifting and tilting mechanism includes: guide holes and telescopic cylinders for lifting on the frame of the queue-type feeding device; A connecting plate is provided on the telescopic end of the lifting telescopic cylinder, and a sliding rod is provided on the bottom surface of the connecting plate, which passes through the guide hole; a tilting cylinder is provided on the top surface of the connecting plate, and the tilting angle of the tilting cylinder is 90°, and a hook holding device is provided on the tilting surface of the tilting cylinder.

3. The automatic cross axle loading and unloading device according to claim 2, characterized in that, The hook holding device includes: a first side plate, a second side plate, a third side plate, and a fourth top column, all of which are set on the flipping surface of the flipping cylinder; The first and third side plates are mirror symmetrical; with the second working position of the lifting and flipping mechanism as the reference, the top edge of the first side plate is provided with a V-groove, and the side adjacent to the second side plate is set as a 60° inclined edge, with a stop bar extending from the inclined edge; the highest point of the stop bar is flush with the top edge of the first side plate. The top edge of the second side panel has a V-groove; The height of the fourth top column matches the bottom height of the V-groove of the second side plate.

4. The automatic cross axle loading and unloading device according to claim 3, characterized in that, Based on the first working position of the lifting and flipping mechanism, the hook point formed by the inclined side and the V-groove is higher in vertical height than the highest point of the side fork of the bifurcation groove.

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