CN104526477A - Mechanical and automatic feeding and discharging mechanical device - Google Patents
Mechanical and automatic feeding and discharging mechanical device Download PDFInfo
- Publication number
- CN104526477A CN104526477A CN201410723437.8A CN201410723437A CN104526477A CN 104526477 A CN104526477 A CN 104526477A CN 201410723437 A CN201410723437 A CN 201410723437A CN 104526477 A CN104526477 A CN 104526477A
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- gear
- mechanical
- mechanical device
- automatic
- handgrip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/35—Accessories
- B24B5/355—Feeding means
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- Manipulator (AREA)
Abstract
The invention relates to a mechanical and automatic feeding and discharging mechanical device. The mechanical and automatic feeding and discharging mechanical device is composed of arm moving slide bars, a turning gear, long fingers of grasping hands, a horizontal shaft and the like; two arm moving slide bars are horizontally arranged on a wallboard of a machine above a conveying production line, and a movable large slide block has movable fit with the arm moving slide bars; the output shaft of a servo motor is connected with a pinion through a flat key; the pinion is externally engaged to the turning gear, the turning gear has stationary fit with a turning arm, when the turning gear rotates, the turning arm rotates, a fixed gear is arranged on a fixed shaft below the turning gear, and a planetary conical gear is arranged on the horizontal shaft and forms a pair of externally engaged conical gears with the fixed gear. The mechanical and automatic feeding and discharging mechanical device is capable of greatly reducing the workload of operators and saving manpower. The mechanical and automatic feeding and discharging mechanical device realizes mechanical and automatic feeding and discharging. The mechanical and automatic feeding and discharging mechanical device is especially suitable for grinding disc type mechanical parts, realizes to mechanically, automatically and remotely conducting an operation site in a wireless mode, is fast in feeding and discharging speed, and is precise in position.
Description
Technical field
The present invention relates to the mechanical device of automated handling material, be specifically related to automatic and mechanical loading and unloading mechanical device.
Background technology
In current industrial processes enterprise, particularly in Mechanical Manufacturing Enterprises, often can encounter machine components loading and unloading problem.Manual operation loading and unloading, working (machining) efficiency is low, the problem that there will be fatigue strength.Manual operation, homogeneity of product is difficult to ensure, manual operation, has qualification, the problem of technical merit, is difficult to the uniformity ensureing processing work.Producers' work under bad environment, it is large that operator is always in noise, and in the working environment that dust is many, operating environment can work the mischief to human body, and management cost is higher, and wage for workmen's cost is higher.Along with the increase of the uncertain risk of recruitment cost and skilled worker, automation processing mode uses advanced technology to make this system can process the workpiece of various complicated shape, and ensure that the crudy of workpiece and the uniformity of product.The production and processing mode of automation has more and more been subject to the accreditation of all trades and professions enterprise.
If designing a mechanism automation loading and unloading mechanical device, current a lot of enterprise thirsts for just.
Summary of the invention
The present invention is directed to above-mentioned existing problems, propose a kind of automatic and mechanical loading and unloading mechanical device.This device can give grinding machine charging and discharging automatically, is controlled, design remote controller by PLC, and motion accurately puts in place, and automaticity is high, can enhance productivity significantly and automaticity like this.
The technical solution that the present invention relates to:
As shown in Figure 1, automatic and mechanical loading and unloading mechanical device, this device by arm move slide bar 1, swiveling gear 2, emery wheel 3, be ground part 4, the long finger 5 of handgrip, slide block 6, pivoted arm 7, fixed gear 8, planetary conical cone gear 9, handgrip short hand refer to 10, conveying pipeline 11, elevating ram 12, fabricated part 13, etc. part 14 to be ground, pinion 15, servomotor 16, mobile large slide block 17, remote controller 18, trunnion axis 19 form; It is horizontally disposed and be arranged on the large slide block 17 of movement on the wallboard of the machine of the top of conveying pipeline 11, described and arm and move between slide bar 1 and coordinate for dynamic that arm described in two moves slide bar; The output shaft of described servomotor 16 is connected with pinion 15 by flat key; Described pinion 15 and swiveling gear 2 external toothing, swiveling gear 2 and pivoted arm 7 secure fit, so that swiveling gear 2 have rotated, pivoted arm 7 just rotates, fixed gear 8 is arranged on the fixed axis below swiveling gear 2, and described planetary conical cone gear 9 to be arranged on trunnion axis 19 and to partner the conical gear of external toothing with fixed gear 8; At this moment servomotor 16 just can drive trunnion axis 19 to revolve turnback, the short hand of described handgrip refer to 10 with the long finger 5 of handgrip respectively symmetry be arranged on trunnion axis 19 two ends; Described slide block 6 assembles on the horizontal axis; Described pivoted arm 7 is connected with trunnion axis 19 by sleeve; Be positioned over above conveying pipeline 11 etc. part 14 to be ground; By conveying pipeline 11 by etc. part 14 to be ground be transferred to above elevating ram 12 one by one; Described fabricated part 13 is positioned over above conveying pipeline 11; The described part 4 that is ground is positioned over immediately below emery wheel 3.
The further technical solution of the present invention is:
Described trunnion axis 19 is hollow shaft, and the center of axle is provided with spring, and one end of spring and the long finger 5 of handgrip are to being connected, and the other end is held by planetary conical cone gear 9.Along with planetary conical cone gear 9 rotates, spring is just stretched or compresses, thus mechanical gripper is dehisced and tightened and can handle very skillfully.
Described remote controller 18 is amplitude-shift keying formula industrial remote controller.Amplitude-shift keying (Amplitude ShiftKeying, is abbreviated as ASK) is the digital modulation that the amplitude of carrier wave changes along with digital baseband signal.When digital baseband signal is binary system, be then binary system amplitude-shift keying (2ASK).Industrial remote controller is different from civilian remote controller, industrial remote controller utilizes wireless radio transmission to carry out a kind of device of remote-controlled operation control or Long-distance Control to industrial machinery, and industrial remote controller is that the emitter be made up of radio transmitter plate is to control the running of industrial machinery.Industrial remote controller claimed accuracy, sensitivity, signal continuity, anti-interference, remote control distance, water proof and dust proof, high-low temperature resistant, the technical parameters such as resistance to acids and bases, all high than civilian remote controller, industrial remote controller can adapt to various adverse circumstances; These are reasons that civilian remote controller can not replace industrial remote controller.
Described swiveling gear 2 is 20 degree with the pressure angle of pinion 15, and the modulus of two gears is 2 ~ 4mm.Pressure angle is the 20 domestic gears of Du Shi China, and two strength of gear are little, can the gear of selection of small modulus.
Described servomotor 16 is direct current brushless servo motor, and its torque is 10 ~ 20 Newton meters.Brushless electric machine volume is little, lightweight, and exert oneself large, response is fast, and speed is high, and inertia is little, and rotate level and smooth, moment is stablized.Control complicated, easily realize intellectuality, its electronics commutation mode is flexible, can square wave commutation or sinusoidal wave commutation.Motor is non-maintaining, and efficiency is very high, and running temperature is low, and electromagnetic radiation is very little, the long-life, can be used for various environment.
It is 0.010 ~ 0.029mm that described arm moves gap between slide bar 1 and mobile large slide block 17.Both coordinate for dynamic, and gap is little, and driving error is just low.
With the short hand of handgrip, the long finger 5 of described handgrip refers to that the inner side of 10 is provided with annular knurl lines.Set annular knurl lines increases frictional force when can grab machine components.
Part (14) external diameter to be ground such as described is 30 ~ 120mm.
Described elevating ram 12 upper surface is provided with photoelectric sensor.
The large slide block of described movement (17) control by programmable controller.Programmable controller product adopts modular form, and be equipped with the various hardware units of great variety of goods to select for user, user can carry out system configuration flexibly and easily, the system of composition difference in functionality, different scales.Programmable controller software function instead of the devices such as auxiliary reclays a large amount of in relay control system, the time relay, counter, after hardware configuration is determined, can by amendment user program, hardware need not be changed, adapt to the change of process conditions quickly and easily, there is good flexibility.
Beneficial effect of the present invention:
One, adopt the present invention can greatly reduce the workload of operative employee, save manpower.Realize automatic and mechanical loading and unloading.Be particularly suitable for grinding disc-like machine components, reach mechanization, automation, wireless remote control commander operation site, loading and unloading speed is fast, and position is accurate.
Two, delicate structure of the present invention, integrated use direct current brushless servo motor, wireless remote controller, mechanical arm, places the gimmicks such as spring at trunnion axis center.Particularly convenient to needing the discoid part of loading and unloading grinding, the extremely wireless remote control operation of handled easily personnel.Easy to maintenance, equipment manufacturing cost is moderate, is particularly suitable for medium-sized and small enterprises and uses.Safe and reliable, there is certain economic and practical value.
Three, the present invention has wide popularizing application prospect, can be widely used in the occasions such as machining center, and this device is radiationless, and equipment performance is stablized, and automaticity is high.
Accompanying drawing explanation
Accompanying drawing 1 is general structure schematic diagram of the present invention;
In Fig. 1: arm move slide bar 1, swiveling gear 2, emery wheel 3, be ground part 4, the long finger 5 of handgrip, slide block 6, pivoted arm 7, fixed gear 8, planetary conical cone gear 9, handgrip short hand refer to 10, conveying pipeline 11, elevating ram 12, fabricated part 13, etc. part 14 to be ground, pinion 15, servomotor 16, mobile large slide block 17, remote controller 18, trunnion axis 19.
Detailed description of the invention
As shown in Figure 1, when component of machine needs the outer bowlder of grinding, can by etc. part 14 to be ground be placed on conveying pipeline 11, this transmitting device can by etc. part 14 to be ground be transferred on elevating ram 12, elevating ram 12 has automatic lifting function, elevating ram 12 upper surface is provided with photoelectric sensor, etc. part 14 to be ground once be put into elevating ram 12 upper surface, elevating ram 12 automatic lifting, etc. part 14 to be ground once be taken away by manipulator, elevating ram 12 declines automatically.Because mobile large slide block 17 controlled by programmable controller, mobile large slide block 17 completes a working cycles just can slippage left automatically, servomotor 16 drives pinion 15 to rotate simultaneously, pinion 15 drives swiveling gear 2 to rotate, swiveling gear 2 rotates, and drives pivoted arm 7 to do 180 degree of rotations, planetary conical cone gear 9 now on trunnion axis does " planet " motion around fixed gear 8, making manipulator start to catch disc-like machine components is horizontal positioned, stand placement (see Fig. 1 etc. delivering to destination manipulator, the position that two, left and right manipulator is placed is different, left side manipulator horizontal positioned, the manipulator on the right is stood).By the time, after manipulator delivers to the right grinding machine assigned address disc-like machine components, manipulator becomes horizontal positioned again when manipulator forwards the left side to, goes round and begins again after returning along original route.When manipulator returns from the right, just grinding fabricated part 13 band is played back on left side conveying pipeline 11, making to be ground part 4, to become fabricated part 13 once grinding just removed, is unlikely to extruding.Described slide block 6 assembles on the horizontal axis, to dehisce amplitude for regulating manipulator.With the short hand of handgrip, the long finger 5 of described handgrip refers to that the inner side of 10 is provided with annular knurl lines.Set annular knurl lines can increase frictional force when capturing machine components.Prevent the landing of disc-like machine components.Described trunnion axis 19 is hollow shaft, the center of axle is provided with spring, one end of spring and the long finger 5 of handgrip are to being connected, the other end is held by planetary conical cone gear 9, the long finger 5 of handgrip can be regulated 10 clamping forces are referred to, so that disc-like machine components are picked up and put down to manipulator with the short hand of handgrip when star conical gear 9 rotates.In whole motion process, if any not in place, adjustment movement situation can be carried out by remote controller 18, manipulator be taken away and puts down disc-like machine components mutually to coordinate.
To sum up, the automatic and mechanical loading and unloading mechanical device designed by the present invention, can reach the object of expection.
Claims (10)
1. automatic and mechanical loading and unloading mechanical device, it is characterized in that: this device moves slide bar (1) by arm, swiveling gear (2), emery wheel (3), be ground part (4), the long finger (5) of handgrip, slide block (6), pivoted arm (7), fixed gear (8), planetary conical cone gear (9), the short hand of handgrip refers to (10), conveying pipeline (11), elevating ram (12), fabricated part (13), etc. part (14) to be ground, pinion (15), servomotor (16), mobile large slide block (17), remote controller (18), trunnion axis (19) forms, it is horizontally disposed and be arranged on the wallboard of the machine of the top of conveying pipeline (11) that arm described in two moves slide bar, and the large slide block of described movement (17) and arm move between slide bar (1) and coordinate for dynamic, the output shaft of described servomotor (16) is connected with pinion (15) by flat key, described pinion (15) and swiveling gear (2) external toothing, swiveling gear (2) and pivoted arm (7) secure fit, fixed gear (8) is arranged on the fixed axis of swiveling gear (2) below, and fixed gear (8) can not rotate around fixed axis, it is upper and to partner the conical gear of external toothing with fixed gear (8) that described planetary conical cone gear (9) is arranged on trunnion axis (19), the short hand of described handgrip refer to (10) and handgrip long point (5) respectively symmetry be arranged on trunnion axis (19) two ends, described slide block (6) assembling on the horizontal axis, described pivoted arm (7) is connected with trunnion axis (19) by sleeve, conveying pipeline (11) top is positioned over etc. part (14) to be ground, by conveying pipeline (11) by etc. part (14) to be ground be transferred to one by one elevating ram (12) top, described fabricated part (13) is positioned over conveying pipeline (11) top, the described part (4) that is ground is positioned over immediately below emery wheel (3).
2. automatic and mechanical loading and unloading mechanical device according to claim 1, it is characterized in that: described trunnion axis (19) is hollow shaft, the center of axle is provided with spring, (5) are pointed to being connected with the long of handgrip in one end of spring, and the other end is held by planetary conical cone gear (9).
3. automatic and mechanical loading and unloading mechanical device according to claim 1, is characterized in that: described remote controller (18) is amplitude-shift keying formula industrial remote controller.
4. automatic and mechanical loading and unloading mechanical device according to claim 1, is characterized in that: described swiveling gear (2) is 20 degree with the pressure angle of pinion (15), and the modulus of two gears is 2 ~ 4mm.
5. automatic and mechanical loading and unloading mechanical device according to claim 1, is characterized in that: described servomotor (16) is direct current brushless servo motor, and its torque is 10 ~ 20 Newton meters.
6. automatic and mechanical loading and unloading mechanical device according to claim 1, is characterized in that: it is 0.010 ~ 0.029mm that described arm moves gap between slide bar (1) and mobile large slide block (17).
7. automatic and mechanical loading and unloading mechanical device according to claim 1, is characterized in that: with the short hand of handgrip, the long finger (5) of described handgrip refers to that the inner side of (10) is provided with annular knurl lines.
8. automatic and mechanical loading and unloading mechanical device according to claim 1, is characterized in that: part (14) external diameter to be ground such as described is 30 ~ 120mm.
9. automatic and mechanical loading and unloading mechanical device according to claim 1, is characterized in that: described elevating ram (12) upper surface is provided with photoelectric sensor.
10. automatic and mechanical loading and unloading mechanical device according to claim 1, is characterized in that: the large slide block of described movement (17) control by programmable controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410723437.8A CN104526477A (en) | 2014-12-02 | 2014-12-02 | Mechanical and automatic feeding and discharging mechanical device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410723437.8A CN104526477A (en) | 2014-12-02 | 2014-12-02 | Mechanical and automatic feeding and discharging mechanical device |
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| Publication Number | Publication Date |
|---|---|
| CN104526477A true CN104526477A (en) | 2015-04-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410723437.8A Pending CN104526477A (en) | 2014-12-02 | 2014-12-02 | Mechanical and automatic feeding and discharging mechanical device |
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| Country | Link |
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| CN (1) | CN104526477A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106891210A (en) * | 2017-02-06 | 2017-06-27 | 岳睿 | Disk set class grinding part automation transfer mechanism |
| CN107984312A (en) * | 2017-11-27 | 2018-05-04 | 宁波江北珂达汽车技术有限公司 | A kind of drive grinding apparatus |
| CN108356615A (en) * | 2018-02-08 | 2018-08-03 | 浙江浪潮精密机械有限公司 | Manipulator self-feeding cut-in type is not in the mood for grinding machine and tool shank full-automatic grinding method |
| CN114310200A (en) * | 2022-02-15 | 2022-04-12 | 航天华盛源机电（苏州）有限公司 | Production method of servo motor shell |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3317255B2 (en) * | 1998-11-30 | 2002-08-26 | 株式会社ワイドマン | Dry flow polishing equipment |
| CN202207955U (en) * | 2011-08-12 | 2012-05-02 | 新乡日升数控轴承装备股份有限公司 | Automatic feeing and discharging device of tooling-free manipulator |
| CN102744658A (en) * | 2012-07-18 | 2012-10-24 | 浙江石轴数控设备有限公司 | Double-arm full-automatic material loading and unloading device for tapered roller bearing inner race crowned grinding machine |
| WO2013142931A1 (en) * | 2012-03-26 | 2013-10-03 | Moeller Lucas | Tyre-retreading system constituted by a robotized arm with angular interpolation movements |
-
2014
- 2014-12-02 CN CN201410723437.8A patent/CN104526477A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3317255B2 (en) * | 1998-11-30 | 2002-08-26 | 株式会社ワイドマン | Dry flow polishing equipment |
| CN202207955U (en) * | 2011-08-12 | 2012-05-02 | 新乡日升数控轴承装备股份有限公司 | Automatic feeing and discharging device of tooling-free manipulator |
| WO2013142931A1 (en) * | 2012-03-26 | 2013-10-03 | Moeller Lucas | Tyre-retreading system constituted by a robotized arm with angular interpolation movements |
| CN102744658A (en) * | 2012-07-18 | 2012-10-24 | 浙江石轴数控设备有限公司 | Double-arm full-automatic material loading and unloading device for tapered roller bearing inner race crowned grinding machine |
Non-Patent Citations (1)
| Title |
|---|
| 作者不详: "剃齿机上下料机械手", 《汽车技术》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106891210A (en) * | 2017-02-06 | 2017-06-27 | 岳睿 | Disk set class grinding part automation transfer mechanism |
| CN107984312A (en) * | 2017-11-27 | 2018-05-04 | 宁波江北珂达汽车技术有限公司 | A kind of drive grinding apparatus |
| CN108356615A (en) * | 2018-02-08 | 2018-08-03 | 浙江浪潮精密机械有限公司 | Manipulator self-feeding cut-in type is not in the mood for grinding machine and tool shank full-automatic grinding method |
| CN108356615B (en) * | 2018-02-08 | 2023-12-19 | 浙江浪潮精密机械有限公司 | Full-automatic grinding method for tool handle of mechanical arm automatic feeding cut-in type centerless grinder |
| CN114310200A (en) * | 2022-02-15 | 2022-04-12 | 航天华盛源机电（苏州）有限公司 | Production method of servo motor shell |
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Application publication date: 20150422 |
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| RJ01 | Rejection of invention patent application after publication |