CN108127465B - Automatic feeding machine and automatic feeding method thereof - Google Patents
Automatic feeding machine and automatic feeding method thereof Download PDFInfo
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- CN108127465B CN108127465B CN201810109370.7A CN201810109370A CN108127465B CN 108127465 B CN108127465 B CN 108127465B CN 201810109370 A CN201810109370 A CN 201810109370A CN 108127465 B CN108127465 B CN 108127465B
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 9
- 238000003860 storage Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
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- Feeding Of Workpieces (AREA)
Abstract
The invention discloses an automatic feeding machine and an automatic feeding method thereof, and the technical scheme is characterized in that a turntable is arranged on a workbench, a plurality of stations are arranged on the turntable, a clamping jaw on a manipulator can sequentially grab a workpiece on the stations, the workpiece is placed on a machine tool fixture rotating at a high speed to process the front surface of the workpiece, an ejection mechanism capable of sequentially ejecting the workpiece on the stations to feed for grabbing by the manipulator is arranged below the workbench, and a temporary placing table is also arranged on the workbench and used for placing the workpiece for the manipulator to reversely grab the workpiece and placing the workpiece on the fixture of another machine tool to process the back surface of the workpiece. The automatic feeding machine is suitable for any workpiece which cannot be processed simultaneously in batches, has a very wide application range, replaces the original manual feeding, completely realizes unattended operation, greatly improves the processing efficiency, and also avoids the danger possibly occurring in the manual feeding.
Description
[ Field of technology ]
The invention relates to an automatic feeding machine and an automatic feeding method thereof.
[ Background Art ]
The front and back surfaces of some workpieces such as sealing rings are required to be respectively machined by two different machine tools, the machine tools can only machine one workpiece at a time, and the workpieces are rotated at high speed during machining, so that the development of the automatic feeding equipment is difficult due to various limitations. Therefore, manual feeding is generally adopted, and the production efficiency is low; in addition, the clamp for clamping the sealing ring on the machine tool always rotates at a high speed, so that the danger exists in the case of manual feeding.
The present invention has been made based on this situation.
[ Invention ]
The invention aims to overcome the defects of the prior art and provides the automatic feeding machine and the automatic feeding method thereof, which have the advantages of simple structure, safety, reliability, wide application range and capability of greatly improving the production efficiency.
The invention is realized by the following technical scheme:
An automatic feeding machine which is characterized in that: the automatic feeding machine comprises a workbench 1, wherein a turntable 3 which is driven to rotate by a multi-station divider 2 to form a plurality of stations is arranged on the workbench 1, an ejection mechanism which can extend out of the turntable 3 to sequentially jack up workpieces 22 on one station of the workbench 1 is arranged below the other station, the automatic feeding machine further comprises a manipulator 4 used for grabbing the uppermost workpiece 22 of the station jacked up by the ejection mechanism and placing the uppermost workpiece 22 on a machine tool 30 for processing, and a temporary placing table 5 used for placing the workpiece 22 for the manipulator 4 to grab the workpiece 22 from the other direction.
The automatic feeding machine as described above, characterized in that: the ejection mechanism comprises a driving motor 16, a screw transmission mechanism driven by the driving motor 16 and a push rod 17 driven by the screw transmission mechanism to lift, each station of the turntable 3 is provided with an ejection disc 10 driven by the push rod 17 to lift, a limiting rod 12 penetrating through the ejection disc 10 to limit a workpiece 22, and the position of the limiting rod 12 is adjustable.
The automatic feeding machine as described above, characterized in that: a plurality of guide posts 14 penetrating through the jacking disc 10 and guiding the jacking disc 10 are arranged on each station of the turntable 3, a positioning ring 27 for positioning the upper part of the guide post 14 on each station is arranged above each station, the upper part of the guide post 14 on each station is fixed on one positioning ring 27, a storage disc 11 capable of being driven to ascend together by the jacking disc 10 is fixed above the jacking disc 10, and the workpieces 22 are stacked on the storage disc 11.
The automatic feeding machine as described above, characterized in that: the manipulator 4 is provided with a mounting plate 6, the mounting plate 6 is provided with a first clamping jaw 7 and a second clamping jaw 8 which move together, the first clamping jaw 7 and the second clamping jaw 8 have the same structure, the workpiece 22 is an annular workpiece, the first clamping jaw 7 and the second clamping jaw 8 are respectively provided with an air cylinder 38 and a clamping plate 9 which can be driven by the air cylinders 38 to open and prop the inner annular surface of the annular workpiece so as to grab the workpiece, and the limiting rod 12 limits the outer annular surface of the annular workpiece.
The automatic feeding machine as described above, characterized in that: be equipped with a plurality of clamping jaw gag levers 32 and a layer board 34 on the first clamping jaw 7, be equipped with second bar hole 35 on the layer board 34, clamping jaw gag lever levers 3 follow second bar hole 35 stretches out, the top of clamping jaw gag lever levers 32 is equipped with boss 33, layer board 34 with be equipped with connecting rod 37 between the mounting panel 6, the cover has spring 36 on the connecting rod 37, spring 36 both ends top is between layer board 34 and mounting panel 6.
The automatic feeding machine as described above, characterized in that: a plurality of slide rails 13, a slide block 24 which can slide along the slide rails 13 to adjust the position of the limiting rod 12, and a locking piece 23 which locks the slide block 24 on the slide rails 13 are arranged on each station of the turntable 3, and the bottom of the limiting rod 12 is fixed on the slide block 24.
The automatic feeding machine as described above, characterized in that: the screw rod transmission mechanism comprises a screw rod 19, a nut matched with the screw rod 19 and a fixed block 20 fixed on the nut to drive the ejector rod 17 to lift, wherein the lower end of the ejector rod 17 is fixed on the fixed block 20, the top of the ejector rod 17 is provided with an ejector block 18 propped against the bottom of the jacking disc 10, and the cross section area of the ejector block 18 is larger than that of the ejector rod 17.
The automatic feeding machine as described above, characterized in that: three limit rods 12 are circumferentially arrayed on each station on the turntable 3, the limit rods 12 penetrate through the jacking disc 10 and the object placing disc 11, first strip-shaped holes 15 for the limit rods 12 to penetrate through are formed in the jacking disc 10 and the object placing disc 11, the jacking disc 10 is fixed between the object placing discs 11 through a plurality of straight rods 28, and the multi-station divider 2 is a four-station divider.
The automatic feeding machine as described above, characterized in that: the temporary placing table 5 comprises two flat plates 21 with adjustable intervals, the annular workpiece is erected on the two flat plates 21, a support 25 is arranged on the workbench 1, the temporary placing table 5 is arranged on the support 25, and two infrared sensors 29 which are opposite to each other and used for detecting the workpiece 22 are arranged on the workbench 1.
An automatic feeding method of the automatic feeding machine is characterized by comprising the following steps:
a. Filling the object placing disc 11 on each station with an annular workpiece, adjusting the limiting rod 12 to enable the limiting rod 12 on each station to limit the annular workpiece from the outer ring surface of the annular workpiece, starting the machine, lifting the jacking disc 10 of the station above the machine by lifting the jacking rod 17, and driving the object placing disc 11 to lift by the jacking disc 10;
b. The infrared sensor 29 detects that the workpiece 22 exists, the manipulator 4 acts, the first clamping jaw 7 grabs the first annular workpiece from the uppermost layer of the lifted object placing disc 11 and places the annular workpiece on the machine tool 30, and the machine tool 30 processes the front surface of the annular workpiece;
c. The ejector rod 17 is lifted to the height of an annular workpiece to drive the annular workpiece to lift;
d. The infrared sensor 29 detects that the workpiece 22 exists, the manipulator 4 acts, the first clamping jaw 7 on the manipulator 4 grabs a second annular workpiece from the uppermost layer of the object placing disc 11 and moves to the machine tool 30, the second clamping jaw 8 grabs the first annular workpiece with the processed front face from the machine tool 30, the first clamping jaw 7 puts the second annular workpiece on the machine tool 30, and the front face of the second annular workpiece is processed;
e. The second clamping jaw 8 is used for placing a first annular workpiece with the processed front surface on the temporary placing table 5, grabbing the annular workpiece from the lower side of the first annular workpiece, placing the annular workpiece on the other machine tool 30, and processing the back surface of the first annular workpiece;
f. The ejector rod 17 continuously ascends to the height of an annular workpiece to drive the annular workpiece to ascend;
g. The infrared sensor 29 detects that the workpiece 22 exists, the manipulator 4 acts, the first clamping jaw 7 grabs the third annular workpiece and moves to the machine tool 30, the second clamping jaw 8 grabs the second annular workpiece with the processed front face from the machine tool 30, the first clamping jaw 7 places the third annular workpiece on the machine tool 30, and the front face of the third annular workpiece is processed;
h. The second clamping jaw 8 is used for placing a second annular workpiece with the processed front surface on the temporary placing table 5, the second clamping jaw 8 is used for grabbing the annular workpiece from the lower side of the second annular workpiece, the mechanical arm is moved to the machine tool 30, the first clamping jaw 7 is used for grabbing a first annular workpiece with the processed back surface, the second clamping jaw 8 is used for placing the second annular workpiece on the other machine tool 30, the back surface of the annular workpiece is processed, and the first clamping jaw 7 is used for placing the processed first annular workpiece into the receiving basket;
i. repeating the steps f, g and h until the first clamping jaw 7 grabs the annular workpiece on one station, the four-station divider rotates 90 degrees, and the manipulator 4 continues to grab the annular workpiece on the next station.
Compared with the prior art, the invention has the following advantages:
1. The automatic feeding machine is suitable for any workpiece which cannot be processed simultaneously in batches, is not only limited to the workpiece which needs to be processed on the front side and the back side, but also can be used for feeding if one workpiece needs to be grabbed for processing respectively, and has a very wide application range.
2. The clamping jaw grabbing mode of the annular workpiece is suitable for annular workpieces with various sizes, and if the workpieces are in other shapes, the clamping jaw is replaced correspondingly, so that automatic feeding can be realized.
3. The invention replaces the original manual feeding, completely realizes unattended operation and automatic feeding, greatly improves the processing efficiency and also avoids the possible danger of manual feeding.
4. The clamping jaw can rapidly put a workpiece into the machine tool clamp or take the workpiece out of the machine tool clamp under the condition that the machine tool clamp rotates at a high speed, and is ingenious in design.
[ Description of the drawings ]
FIG. 1 is a perspective view of an automatic feeder and machine tool of the present invention;
FIG. 2 is a perspective view of the automatic feeder of the present invention with portions of the components hidden;
FIG. 3 is a perspective view of two jaws of the present invention, with the pallet of one jaw moved up;
FIG. 4 is a perspective view of an ejector mechanism of the present invention;
FIG. 5 is a diagram of a temporary placement station of the present invention;
FIG. 6 is a perspective view of a station on the turntable of the present invention;
FIG. 7 is a state diagram of the machine tool fixture with a workpiece;
FIG. 8 is a state diagram of the machine tool fixture as it would be loaded with a workpiece;
fig. 9 is a partial schematic view of the jaws being offset from the workpiece to pull the workpiece from the machine tool fixture.
In the figure: 1 is a workbench; 2 is a multi-station divider; 3 is a turntable; 4 is a manipulator; 5 is a temporary placing table; 6 is a mounting plate; 7 is a first clamping jaw; 8 is a second clamping jaw; 9 is a clamping plate; 10 is a jacking disc; 11 is a storage tray; 12 is a limiting rod; 13 is a slide rail; 14 is a guide post; 15 is a first bar-shaped hole; 16 is a driving motor; 17 is a push rod; 18 is a top block; 19 is a screw; 20 is a fixed block; 21 is a flat plate; 22 is a workpiece; 23 is a locking member; 24 is a slide block; 25 is a bracket; 26 is a graduated scale; 27 is a positioning ring; 28 is a straight rod; 29 is an infrared sensor; 30 is a machine tool; 31 is a machine tool fixture; 32 is a clamping jaw limiting rod; 33 is a boss; 34 is a pallet; 35 is a second bar-shaped hole; 36 is a connecting rod; 37 is a spring; 38 are cylinders.
[ Detailed description ] of the invention
The invention is further described below with reference to the accompanying drawings:
As shown in fig. 1 to 6, an automatic feeding machine comprises a workbench 1, wherein a turntable 3 driven to rotate by a multi-station divider 2 is arranged on the workbench 1, a plurality of stations are arranged on the turntable 3, a plurality of layers of workpieces 22 can be stacked on each station, each layer comprises one workpiece 22, an ejection mechanism capable of extending out of the turntable 3 to sequentially eject the workpieces 22 is arranged below one of the stations of the workbench 1, the automatic feeding machine further comprises a manipulator 4 for grabbing the uppermost workpiece 22 of the station lifted by the ejection mechanism and placing the uppermost workpiece 22 on a machine tool for processing, and a temporary placing table 5 for placing the workpieces 22 for grabbing the workpieces 22 from the other direction by the manipulator 4.
The ejection mechanism is only provided with one, is arranged below one of the stations, and after the manipulator 4 grabs one workpiece 22 at the uppermost layer of the station, the ejection mechanism rises to drive the workpiece 22 on the station to rise, so that the height of the manipulator 4 for grabbing the workpiece 22 each time is unchanged. The temporary placement table 5 is provided so that the robot 4 can grasp the same workpiece 22 from different directions a plurality of times to perform a plurality of times of processing.
The manipulator 4 grabs the workpiece 22 from the upper part of the station every time, places the workpiece 22 on the machine tool 30 to process the front surface of the workpiece 22, then takes out the workpiece from the lower part of the workpiece 22 and places the workpiece on the other machine tool 30 to process the back surface of the workpiece 22, finally grabs the workpiece 22 and places the workpiece 22 in a receiving basket, after the workpiece 22 on one station is processed, the turntable 3 rotates, the next station rotates to the upper part of the ejection mechanism to continue processing, tens of workpieces 22 can be piled up on each station, the workpiece 22 can be fed after all the workpieces 22 on all the stations are processed, and after all the workpieces are processed, the feeding machine can be automatically stopped and an operator is informed, so that the feeding is not needed during man-hour, the processing efficiency is greatly improved, and the manpower is saved. The front and back surfaces of the workpiece 22 of this embodiment are processed by two machine tools 30 on both sides of the feeder.
Further, as shown in fig. 2, the multi-station divider 2 is a four-station divider, four stations are provided on the turntable 3, each station is fully stacked with workpieces 22, each layer has only one workpiece 22, the workpieces 22 on each station are limited to prevent the stacked workpieces 22 from falling, after the workpieces 22 on each station are processed, the four-station divider drives the turntable 3 to rotate by 90 degrees, and the workpieces 22 on the next station enter a state to be processed.
As shown in fig. 6, each station on the turntable 3 is provided with a lifting disc 10 driven by the lifting mechanism to lift, a storage disc 11 which can be driven by the lifting disc 10 to move together is fixed above the lifting disc 10, a plurality of workpieces 22 are stacked on the storage disc 11, and each station is provided with a limiting rod 12 which penetrates through the lifting disc 10 and the storage disc 11 to limit the workpieces 22 and can slide. The reason why the object placing tray 11 is arranged is that the jacking tray 10 cannot rise to a height exceeding the positioning ring 27, so that if the workpiece 22 is directly arranged on the jacking tray 10, the workpiece 22 is positioned below the positioning ring 27, the clamping jaw is inconvenient to grasp the workpiece, and after the object placing tray 11 is arranged, the object placing tray 11 can be driven to rise to a height exceeding the positioning ring 27, so that the clamping jaw is convenient to grasp the workpiece 22.
As shown in fig. 6, the ejection mechanism includes a driving motor 16, a screw transmission mechanism driven by the driving motor 16, and a jack rod 17 driven by the screw transmission mechanism to lift, wherein, each station is provided with a plurality of guide posts 14 penetrating through the jacking disc 10 to guide the jacking disc 10, each station is specifically provided with three guide posts 14 in a circumferential array, and a positioning ring 27 for positioning the top ends of the guide posts 14 on each station is arranged above each station. If only the bottom end of the guide post 14 is fixed, the guide post 14 is easy to shake when the jacking plate 10 is lifted, so that the top end of the guide post 14 also needs to be positioned and fixed.
As shown in fig. 3, the manipulator 4 is provided with a mounting plate 6, the mounting plate 6 is provided with a first clamping jaw 7 and a second clamping jaw 8 which move together, the structure sizes of the first clamping jaw 7 and the second clamping jaw 8 are identical, the workpiece 22 is an annular workpiece, the first clamping jaw 7 and the second clamping jaw 8 are respectively provided with a plurality of clamping plates 9 which can be opened and propped against the inner annular surface of the annular workpiece to grab the workpiece, in particular, three clamping plates 9 are arranged on one clamping jaw in an array manner, the three clamping plates 9 are driven to be opened or retracted simultaneously through an air cylinder 38, the limiting rod 12 limits the outer annular surface of the annular workpiece, the clamping plates 9 are opened to prop the workpiece 22 from the inner annular surface of the workpiece 22, so that grabbing is realized, and the air cylinder 38 is a triangular air cylinder.
Further, the first clamping jaw 7 and the second clamping jaw 8 are provided with a plurality of clamping jaw limiting rods 32 limiting the grabbed workpiece 22, the first clamping jaw 7 and the second clamping jaw 8 are provided with a supporting plate 34, the supporting plate 34 is provided with a second strip-shaped hole 35, the clamping jaw limiting rods 3 extend out of the second strip-shaped hole 35, the top ends of the clamping jaw limiting rods 32 are provided with bosses 33, a connecting rod 37 is arranged between the supporting plate 34 and the mounting plate 6, springs 36 are sleeved on the connecting rod 37, and two ends of each spring 36 are propped between the supporting plate 34 and the mounting plate 6.
The clamping jaw limiting rods 32 are particularly three circumferentially arrayed, and a boss 33 is arranged at the top end of each clamping jaw limiting rod 32. As shown in fig. 3, the height of the boss 33 is higher than that of the clamping plate 9, because the clamping jaw is propped up from the inner ring surface of the workpiece 22 to realize grabbing, the clamping jaw comprises a first clamping jaw and a second clamping jaw, when the clamping jaw grabs the workpiece 22 downwards and moves, the workpiece 22 is easy to drop, the boss 33 on the clamping jaw limiting rod 32 can press the workpiece 22 to prevent the workpiece from dropping, the boss 33 can also keep the grabbed workpiece 22 in a horizontal plane, the surface of the grabbed workpiece 22 is prevented from being not flush, the workpiece 22 is not beneficial to being mounted on the machine tool fixture 31 of the machine tool 30, the clamping jaw limiting rod 32 is fixed on the second bar-shaped hole 35, the clamping jaw limiting rod 32 is easy to assemble and disassemble, and the fixed position of the clamping jaw limiting rod 32 can be adjusted according to the workpieces 22 with different diameters.
As shown in fig. 3, 7 and 8, a workpiece 22 is grabbed by a clamping jaw and placed on a machine tool fixture 31 of a machine tool 30, the outer wall of the workpiece 22 is in interference fit with the inner wall of the machine tool fixture 31, the machine tool fixture 31 always rotates at a high speed, so that the workpiece 22 cannot be thrown out of the machine tool fixture 31 when rotating, and the workpiece 22 is pressed into the machine tool fixture 31 through a supporting plate 34.
As shown in fig. 9, the workpiece 22 in fig. 9 is mounted in a machine tool holder 31, the machine tool holder 31 is not shown in fig. 9, the workpiece 22 is taken out from the machine tool holder 31 rotating at a high speed, the clamping jaws cannot be directly used for stretching and grabbing from the inner annular surface of the workpiece 22, but after the clamping jaws extend into the machine tool holder 31, the supporting plate 34 is staggered from the workpiece 22 by a distance of a few centimeters, so that the boss 33 can pull the workpiece 22 from one side of the workpiece 22 out of the machine tool holder 31, the workpiece 22 is hung on the clamping jaw limiting rod 32, and then the clamping plate 9 stretches the inner annular surface of the workpiece 22 to stretch and grab the workpiece 22. The jaw stop bar 32 and the boss 33 therefore serve multiple functions.
The gripping mode of the gripping jaw is suitable for annular workpieces with various sizes, if the workpiece 2 is in other shapes, the gripping jaw is replaced correspondingly, and if the workpiece is sucked by a sucker, the automatic feeding can be realized. The automatic feeding machine is suitable for any workpiece which cannot be processed in batches, is not only limited to the workpiece which needs to be processed on the front side and the back side, but also can be used for feeding the workpiece repeatedly and repeatedly, and has a very wide application range.
The work table 1 is provided with two correlation infrared sensors 29, and the position of the workpiece 22 to be grasped by the clamp jaws can be detected by the correlation of infrared rays, and if the position is detected to be free of the workpiece 22, an alarm is given to remind a worker that all the workpieces are processed, and the manipulator 4 does not grasp the workpiece.
As shown in fig. 2, a plurality of slide rails 13, a slide block 24 capable of sliding along the slide rails 13, and a locking piece 23 for locking the slide block 24 on the slide rails 13 are provided on each of the stations, and the bottom of the limit rod 12 is fixed on the slide block 24. After the sliding block 24 slides to a designated position, the sliding block is locked by the locking piece 23, a graduated scale 25 is arranged beside the sliding rail 13, and the sliding position of each limiting rod 12 can be accurately adjusted according to the outer diameter of the annular workpiece, so that the three limiting rods 12 on each station just fix the annular workpiece on the station.
The automatic feeding machine comprises a screw 19, a nut matched with the screw 19, and a fixed block 20 fixed on the nut, wherein guide posts are also arranged on two sides of the screw 19, the lower end of the ejector rod 17 is fixed on the fixed block 20, a jacking block 18 propped against the bottom of the jacking disc 10 is arranged at the top of the ejector rod 17, the screw 19 is driven by a driving motor 16 to rotate, the nut drives the fixed block 22 and the ejector rod 17 to ascend, the ejector rod 17 drives the jacking disc 10 to ascend, the cross section area of the jacking block 18 is larger than that of the ejector rod 17, so that the stability of the jacking disc 10 is kept, the ejector rod 17 does not rotate together with the turntable 3, and therefore, a hole for the ejector rod 17 to stretch out is formed in each station of the turntable 3.
Further, as shown in fig. 6, the lifting disk 10 and the storage disk 11 are respectively provided with a first bar-shaped hole 15 through which the limit rod 12 passes, because the limit rod 12 is required to slide on the slide rail 13 according to annular workpieces with different sizes to adjust positions, because the lifting disk 10 and the storage disk 11 are required to be provided with the first bar-shaped holes 15, and the lifting disk 10 is fixed between the storage disks 11 through a plurality of straight rods 28.
As shown in fig. 5, the temporary placement table 5 includes two flat plates 21 with adjustable intervals, the annular workpiece is erected on the two flat plates 21, a bracket 25 is provided on the workbench 1, and the temporary placement table 5 is provided on the bracket 25. The clamping jaw is used for grabbing the workpiece 22 on the upper grabbing station, and the workpiece 22 of the temporary placement table 5 is used for grabbing the workpiece from below, so that the reverse side of the workpiece can be machined on the other machine tool 30. When the workpiece 22 is grabbed from below, the clamping plate 9 cannot be directly used for opening and grabbing the workpiece 22, but the clamping jaw limiting rod 32 and the boss 33 thereof are used for pulling out the workpiece 22, so that the workpiece 22 is horizontally placed on the supporting plate 34, and then the clamping plate 9 is opened to grab the workpiece 22.
The invention also claims an automatic feeding method of the automatic feeding machine, which comprises the following steps:
a. Filling the object placing disc 11 on each station with an annular workpiece, adjusting the limiting rod 12 to enable the limiting rod 12 on each station to limit the annular workpiece from the outer ring surface of the annular workpiece, starting the machine, lifting the jacking disc 10 of the station above the machine by lifting the jacking rod 17, and driving the object placing disc 11 to lift by the jacking disc 10;
b. The infrared sensor 29 detects that the workpiece 22 exists, the manipulator 4 acts, the first clamping jaw 7 grabs the first annular workpiece from the uppermost layer of the lifted object placing disc 11 and places the annular workpiece on the machine tool 30, and the machine tool 30 processes the front surface of the annular workpiece;
c. The ejector rod 17 ascends to the height of an annular workpiece and drives the annular workpiece to ascend;
d. The infrared sensor 29 detects that the workpiece 22 is arranged, the workpiece 22 is fed back to the manipulator 4, the manipulator 4 acts, the first clamping jaw 7 on the manipulator 4 grabs a second annular workpiece from the uppermost layer of the object placing disc 11 and moves to the machine tool 30, the second clamping jaw 8 grabs the first annular workpiece with the processed front surface from the machine tool 30, the first clamping jaw 7 puts the second annular workpiece on the machine tool 30, and the front surface of the second annular workpiece is processed;
e. The second clamping jaw 8 is used for placing a first annular workpiece with the processed front surface on the temporary placing table 5, grabbing the annular workpiece from the lower side of the first annular workpiece, placing the annular workpiece on the other machine tool 30, and processing the back surface of the first annular workpiece;
f. the ejector rod 17 continues to ascend to the height of an annular workpiece and drives the annular workpiece to ascend;
g. the infrared sensor 29 detects that the workpiece 22 exists, the workpiece 22 is fed back to the manipulator 4, the manipulator 4 acts, the first clamping jaw 7 grabs a third annular workpiece and moves to the machine tool 30, the second clamping jaw 8 grabs a second annular workpiece with the processed front face from the machine tool 30, the first clamping jaw 7 places the third annular workpiece on the machine tool 30, and the front face of the third annular workpiece is processed;
h. The second clamping jaw 8 is used for placing a second annular workpiece with the processed front surface on the temporary placing table 5, the second clamping jaw 8 is used for grabbing the annular workpiece from the lower side of the second annular workpiece, the mechanical arm is moved to the machine tool 30, the first clamping jaw 7 is used for grabbing a first annular workpiece with the processed back surface, the second clamping jaw 8 is used for placing the second annular workpiece on the other machine tool 30, the back surface of the annular workpiece is processed, and the first clamping jaw 7 is used for placing the processed first annular workpiece into the receiving basket;
i. Repeating the steps f, g and h until the first clamping jaw 7 grabs the annular workpiece on one station, the four-station divider rotates 90 degrees, and the manipulator 4 continues to grab the annular workpiece on the next station.
The front and back sides of the annular workpiece are machined on two different machine tools 30, each machine tool 30 machining only one annular workpiece at a time.
The embodiments of the present invention are merely described in terms of preferred embodiments of the present invention, and are not intended to limit the scope and spirit of the present invention, but various modifications and improvements of the technical solutions of the present invention will be apparent to those skilled in the art without departing from the design concept of the present invention.
Claims (6)
1. An automatic feeding machine which is characterized in that: the automatic feeding machine comprises a workbench (1), wherein a turntable (3) which is driven to rotate by a multi-station divider (2) to form a plurality of stations is arranged on the workbench (1), an ejection mechanism which can extend out of the turntable (3) to sequentially eject workpieces (22) on one station is arranged below the workbench (1), the automatic feeding machine further comprises a manipulator (4) for grabbing the uppermost workpiece (22) of the station which is ejected by the ejection mechanism and placing the uppermost workpiece (22) on a machine tool (30) for processing, and a temporary placement table (5) for placing the workpiece (22) for the manipulator (4) to grab the workpiece (22) from the other direction; The ejection mechanism comprises a driving motor (16), a screw transmission mechanism driven by the driving motor (16) and a push rod (17) driven by the screw transmission mechanism to lift, each station of the turntable (3) is provided with a lifting disc (10) driven by the push rod (17) to lift, a plurality of limiting rods (12) penetrating through the lifting disc (10) to limit the workpiece (22), the limiting rods (12) on each station are adjusted to enable the limiting rods (12) on each station to face the annular workpiece from the outer ring of the annular workpiece to limit, and the positions of the limiting rods (12) are adjustable; a plurality of guide posts (14) penetrating through the jacking disc (10) to guide the jacking disc (10) are arranged on each station of the turntable (3), a positioning ring (27) for positioning the upper part of the guide post (14) on each station is arranged above each station, the upper part of the guide post (14) on each station is fixed on one positioning ring (27), a storage disc (11) capable of being driven to ascend by the jacking disc (10) is fixed above the jacking disc (10), and the workpieces (22) are stacked on the storage disc (11); the mechanical arm (4) is provided with a mounting plate (6), the mounting plate (6) is provided with a first clamping jaw (7) and a second clamping jaw (8) which move together, the first clamping jaw (7) and the second clamping jaw (8) have the same structure, the workpiece (22) is an annular workpiece, the first clamping jaw (7) and the second clamping jaw (8) are respectively provided with a cylinder (38) and a clamping plate (9) which can be driven by the cylinders (38) to open and prop against the inner annular surface of the annular workpiece so as to grab the workpiece, and the limiting rod (12) limits the outer annular surface of the annular workpiece; The first clamping jaw (7) is provided with a plurality of clamping jaw limiting rods (32) and a supporting plate (34), the supporting plate (34) is provided with a second strip-shaped hole (35), the clamping jaw limiting rods (32) extend out of the second strip-shaped hole (35), the top ends of the clamping jaw limiting rods (32) are provided with bosses (33), the heights of the bosses (33) are higher than those of the clamping plates (9), a connecting rod (37) is arranged between the supporting plate (34) and the mounting plate (6), springs (36) are sleeved on the connecting rod (37), two ends of each spring (36) are propped between the supporting plate (34) and the mounting plate (6), When the mechanical arm (4) grabs the annular workpiece and puts the annular workpiece to a machine tool fixture (31) of a machine tool (30), the clamping jaw is propped up from the inner annular surface of the workpiece (22) to realize grabbing, a boss (33) on a clamping jaw limiting rod (32) can press the workpiece (22) to prevent the workpiece from falling off, or the boss (33) can grab the workpiece (22) to keep a horizontal plane, so that the surface of the grabbed workpiece (22) is prevented from being not flush and being unfavorable for installing the workpiece (22) on the machine tool fixture (31) of the machine tool (30), the machine tool fixture (31) rotates at a high speed all the time, and the workpiece (22) is pressed into the machine tool fixture (31) through a supporting plate (34); When the manipulator (4) takes out the workpiece (22) from the machine tool fixture (31) rotating at a high speed, after the clamping jaw stretches into the machine tool fixture (31), the supporting plate (34) and the workpiece (22) are staggered by a distance of a few centimeters, the boss (33) can pull the workpiece (22) from one side of the workpiece (22) from the machine tool fixture (31), the workpiece (22) is hung on the clamping jaw limiting rod (32), and then the clamping plate (9) stretches the inner annular surface of the workpiece (22) to prop open and grasp the workpiece (22).
2. The automatic feeding machine according to claim 1, wherein: each station of the turntable (3) is provided with a plurality of sliding rails (13), a sliding block (24) which can slide along the sliding rails (13) to adjust the position of the limiting rod (12), and a locking piece (23) which locks the sliding block (24) on the sliding rails (13), wherein the bottom of the limiting rod (12) is fixed on the sliding block (24).
3. The automatic feeding machine according to claim 1, wherein: the screw rod transmission mechanism comprises a screw rod (19), a nut matched with the screw rod (19) and a fixed block (20) fixed on the nut to drive the ejector rod (17) to lift, the lower end of the ejector rod (17) is fixed on the fixed block (20), the top of the ejector rod (17) is provided with an ejector block (18) which is propped against the bottom of the jacking disc (10), and the cross section area of the ejector block (18) is larger than that of the ejector rod (17).
4. The automatic feeding machine according to claim 1, wherein: three limit rods (12) are circumferentially arrayed on each station on the rotary table (3), the limit rods (12) penetrate through the jacking disc (10) and the storage disc (11), first strip-shaped holes (15) for the limit rods (12) to penetrate through are formed in the jacking disc (10) and the storage disc (11), the jacking disc (10) is fixed between the storage discs (11) through a plurality of straight rods (28), and the multi-station divider (2) is a four-station divider.
5. The automatic feeding machine according to claim 1, wherein: the temporary placing table (5) comprises two flat plates (21) with adjustable intervals, the annular workpiece is erected on the two flat plates (21), a support (25) is arranged on the workbench (1), the temporary placing table (5) is arranged on the support (25), and two infrared sensors (29) which are opposite to each other and used for detecting the workpiece (22) are arranged on the workbench (1).
6. An automatic feeding method of an automatic feeding machine according to any one of claims 1 to 5, characterized by comprising the steps of:
a. Filling the object placing disc (11) on each station with an annular workpiece, adjusting the limiting rod (12) to enable the limiting rod (12) on each station to limit the annular workpiece from the outer ring surface of the annular workpiece, starting the machine, lifting the jacking disc (10) of the station above the machine by lifting the jacking rod (17), and driving the object placing disc (11) to lift by the jacking disc (10);
b. the infrared sensor (29) detects that a workpiece (22) exists, the manipulator (4) acts, the first clamping jaw (7) grabs a first annular workpiece from the uppermost layer of the lifted object placing disc (11) and places the annular workpiece on the machine tool (30), and the machine tool (30) processes the front surface of the annular workpiece;
c. the ejector rod (17) ascends to the height of an annular workpiece and drives the annular workpiece to ascend;
d. The infrared sensor (29) detects that a workpiece (22) exists, the manipulator (4) acts, a first clamping jaw (7) on the manipulator (4) grabs a second annular workpiece from the uppermost layer of the object placing disc (11) and moves to the machine tool (30), the second clamping jaw (8) grabs the first annular workpiece with the processed front face from the machine tool (30), and the first clamping jaw (7) places the second annular workpiece on the machine tool (30) and processes the front face of the second annular workpiece;
e. the second clamping jaw (8) is used for placing a first annular workpiece with the processed front on the temporary placing table (5), grabbing the annular workpiece from the lower part of the first annular workpiece, placing the annular workpiece on another machine tool (30) and processing the back surface of the first annular workpiece;
f. The ejector rod (17) continuously ascends to the height of an annular workpiece to drive the annular workpiece to ascend;
g. the infrared sensor (29) detects that a workpiece (22) exists, the manipulator (4) acts, the first clamping jaw (7) grabs a third annular workpiece and moves to the machine tool (30), the second clamping jaw (8) grabs a second annular workpiece with the front processed surface from the machine tool (30), the first clamping jaw (7) places the third annular workpiece on the machine tool (30) and processes the front surface of the third annular workpiece;
h. The second clamping jaw (8) is used for placing a second annular workpiece with the processed front surface on the temporary placing table (5), the second clamping jaw (8) is used for grabbing the annular workpiece from the lower part of the second annular workpiece, the mechanical arm is moved to the machine tool (30), the first clamping jaw (7) is used for grabbing a first annular workpiece with the processed back surface, the second clamping jaw (8) is used for placing the second annular workpiece on the other machine tool (30) and processing the back surface of the annular workpiece, and the first clamping jaw (7) is used for placing the processed first annular workpiece into the receiving basket;
i. Repeating the steps f, g and h until the first clamping jaw (7) grabs the annular workpiece on one station, the four-station divider rotates 90 degrees, and the mechanical arm (4) continues to grab the annular workpiece on the next station.
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| CN201810109370.7A CN108127465B (en) | 2018-02-05 | 2018-02-05 | Automatic feeding machine and automatic feeding method thereof |
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| CN201810109370.7A CN108127465B (en) | 2018-02-05 | 2018-02-05 | Automatic feeding machine and automatic feeding method thereof |
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