CN108994396B - A Design of Automatic Loading and Unloading of CNC Gear Grinding Machine - Google Patents

Abstract

The invention relates to a set of automatic loading and unloading device, which comprises a transmission mechanism, a pair of mechanical arm mechanisms, an upright post mechanism and a pressing mechanism, wherein the transmission mechanism comprises a motor, a speed reducer, a driving gear and a driven gear, pair of mechanical arm mechanisms are identical in structure and opposite in direction, each mechanical arm mechanism comprises a rotating semicircular piece, a double-rod clamping cylinder and pair of mechanical claws, integral rotating structural parts formed by the driven gear, a circular guide rail and a pair of mechanical arm mechanisms are matched and sleeved at the middle section of the upright post mechanism and can rotate around the upright post, a special magnet and a magnetic control switch enable the rotating structure to move accurately, the double-rod jacking cylinder enables the rotating structure to move up and down, and the pressing mechanism at the upper section of the upright post mechanism realizes the clamping of a workpiece.

Description

A Design of Automatic Loading and Unloading of CNC Gear Grinding Machine

technical field

The invention belongs to the field of automatic loading and unloading of CNC gear grinding machine processing. The device can realize the functions of rapid workpiece replacement and automatic clamping, realizes high automation, greatly reduces auxiliary processing time and improves work efficiency.

Background technique

At present, most of the domestic CNC gear grinding machines still use manual clamping of gear workpieces. This traditional clamping method has many shortcomings, such as low automation and intelligence, and low processing efficiency. Especially when producing batches of workpieces, this traditional clamping method obviously cannot meet the requirements of a large number of repetitive and rapid production. Therefore, a device that can realize automatic loading and unloading is needed in the loading and unloading of CNC gear grinding machines, which can shorten the auxiliary time of loading and unloading and improve the processing efficiency, which also meets the high automation requirements of current industrial development.

The YK7230 CNC grinding wheel gear grinding machine produced by the domestic Qinchuan Machine Tool Factory can realize automatic loading and unloading. The automatic loading and unloading device of this machine tool can be divided into two sets of clamping devices, each set includes workpiece fixture, manipulator, tool setting device and clamping device device. One set of clamping devices clamps the workpiece and then turns to the processing position. During the processing, the other set of clamping devices performs clamping and tool setting at the position to be processed, and the processing position and the position to be processed are 180 degrees symmetrical. The whole set of YK7230 CNC grinding wheel gear grinding machine is too complicated, and it uses two sets of fixtures, tool setting devices and clamping devices at the same time, which greatly increases the cost of the machine tool.

SUMMARY OF THE INVENTION

The purpose of the invention is to design a set of automatic loading and unloading device according to the workpiece characteristics of the numerical control gear grinding machine, so as to shorten the auxiliary processing time and improve the processing efficiency.

A device for automatic loading and unloading of a CNC gear grinding machine includes a transmission mechanism, a pair of manipulator mechanisms 1 , a column mechanism 6 and a pressing mechanism 7 ;

The transmission mechanism includes a motor, a reducer 5, a driving gear 54 and a driven gear 3, the driving gear 54 is arranged on the output shaft of the reducer 5, and the driving gear 54 and the driven gear 3 mesh for transmission;

The pair of manipulator mechanisms 1 have the same structure and opposite directions;

Each manipulator mechanism 1 includes a rotating semicircular piece 11, a double-rod clamping cylinder 13 and a pair of manipulator claws 12;

The rotating semi-circular piece 11 is a semi-circular ring, and a special magnet 14 for magnetic control switch is arranged in the middle of one axial side surface. A semi-circular groove is radially provided in the middle of the inner annular surface of the semicircular piece 11; the double-rod clamping cylinder 13 is fixedly arranged on the convex block of the rotating semi-circular piece 11, and a pair of manipulator claws 12 are respectively connected with the double-exit rods The double-out rods of the clamping cylinder are clamped, and the pair of manipulator claws 12 and the rotating semicircular piece 11 are in the same plane;

The rotating semi-circular parts 11 of the pair of manipulator mechanisms 1 are fixedly connected so that the two pairs of manipulator claws 12 are located in the same plane; the pair of rotating semi-circular parts 11 are fixedly connected to form a circular ring, and the axial lower end faces of the circular ring are in the same order. The shaft is fixedly connected with the driven gear 3 and the annular guide rail 41, so that a pair of manipulator mechanisms 1, the driven gear 3 and the annular guide rail 41 form an integral rotating structure;

An annular track is provided on the outer cylindrical surface of the circular ring-shaped guide rail 41, and a pair of sliding blocks 42 are arranged in cooperation with the track, and each sliding block 42 is fixed on the gas rod of the double-exit rod jacking up the cylinder 61 by bolts;

The column mechanism 6 is composed of three sections, the upper section is an L-shaped arm 66, the middle section is a cylindrical column 65, and the lower section is a quadrangular prism block 64;

The long arm of the L-shaped arm 66 is a horseshoe-shaped plate 661, the lower part of the cantilever end of the horseshoe-shaped plate is provided with a pressing cylinder fixing block 662, and the short arm is an upper quadrangular prism block 663; the lower two of the upper quadrangular prism block 663 are symmetrical Magnetic switches 63 are respectively provided on the sides of the

The symmetrical cylindrical surfaces of the uprights 65 are respectively provided with grooves along the axial direction;

The rotating structure is fitted in the middle section of the column mechanism 6, so that the manipulator mechanism 1 can rotate around the column 65 and move up and down;

The pressing mechanism 7 includes a single-rod pressing cylinder 71 and a pressing block 72. The single-rod pressing cylinder 71 is fixed on the pressing cylinder fixing block 662 of the gear grinding machine column mechanism 6 by bolts. The block 72 is fixed on the lower end of the single-out rod pressing cylinder 71;

When in use, the device is fixedly installed on one side of the workpiece table 81 of the CNC gear grinding machine, and a manipulator 12 places the clamped workpiece 91 on the workpiece table 81; when the two magnetic control switches 63 and the special magnet 14 When corresponding respectively, the positions of the two rotating semi-circular parts 11 are determined; the pressing block 72 presses the workpiece 91 on the workpiece table 81 under the action of the single-rod pressing cylinder 71; then gear grinding is performed; at the same time, another A manipulator grips the unprocessed workpiece 92; when the processing is completed, the double-rod lifts the cylinder 61 to lift the entire rotating structure, and is driven by the motor to rotate to the corresponding position of the magnetic control switch 63 and the special magnet 14, the manipulator The claw 12 unloads the processed workpiece 91, and the manipulator claw holding the unprocessed workpiece 92 slides down a certain distance along the column 65, puts the unprocessed workpiece 92 on the workpiece table 81, and then presses the workpiece and performs gear grinding, and so on. .

Further limited technical solutions are as follows:

The upper end face of the quadrangular prism block 64 is provided with a pair of jacking cylinder fixing blocks 641 ; on the fixed block 641.

The rotating semicircular member 11 is provided with a trachea hole 15 therethrough, and the tracheal hole 15 communicates with the semicircular groove on the rotating semicircular member 11 .

The two axially symmetrical rectangular grooves on the cylindrical surface of the upright post 65 of the upright post mechanism 6 are used to provide a placement position for the trachea during rotation.

The motor is fixed on one side of the quadrangular column block 64 of the column mechanism 6 through the motor bracket, and the reducer is located on one side of the quadrangular column block 64 of the column mechanism 6 .

Each sliding block 42 is provided with an arc-shaped projection, and the arc-shaped projection forms a clearance fit with the annular guide rail 41 .

The beneficial technical effect of the present invention is embodied in the following aspects:

1. The present invention uses a pair of manipulator mechanisms. While one manipulator clamps the workpiece for processing, the other machine has already clamped the workpiece to be processed. After the processing is completed, the material can be loaded immediately to improve the processing efficiency.

2. The present invention only needs a set of workpiece fixture, tool setting device and clamping device to complete the automatic loading and unloading function. In this way, on the basis of realizing the automatic loading and unloading function, the manufacturing cost of the machine tool is greatly reduced, the economic benefit is improved, and it is more in line with the market requirements.

3. Reliable work, the use of electromagnetic switches and special magnets to achieve accurate positioning of the workpiece, through the grooves on the surface of the parts, the air pipes used to clamp the cylinder and lift the cylinder will not interfere.

4. Easy to maintain, all parts are connected by bolts that can be disassembled and assembled multiple times, which is beneficial to reduce maintenance costs.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention.

Figure 2 is a schematic diagram of the assembly of the gear grinding machine column and the guide rail slider device.

Figure 3 is a schematic diagram of the structure of the manipulator.

Figure 4 is a schematic diagram of the structure of the automatic loading and unloading mechanism.

Figure 5 is a schematic diagram of the assembly of the gear grinding machine column and the automatic loading and unloading mechanism.

FIG. 6 is a partial enlarged schematic view of the slider, the slide rail and the driven gear.

Figure 7 is a state diagram of use.

Fig. 8 is a use state diagram installed on a grinding machine.

The serial number in the above picture: manipulator mechanism 1, rotating semicircular part 11, manipulator claw 12, double-rod clamping cylinder 13, special magnet 14, trachea hole 15, driven gear 3, steering device 4, circular guide rail 41, sliding Block 42, reducer 5, driving gear 54, column mechanism 6, double-rod jacking cylinder 61, magnetic control switch 63, quadrangular column block 64, column 65, L-shaped arm 66, horseshoe-shaped plate 661, pressing cylinder fixing block 662, upper quadrangular prism block 663, lifting cylinder fixing block 641, pressing mechanism 7, single-rod pressing cylinder 71, pressing block 72, gear grinding machine tool 8, workpiece table 81, grinding wheel feed seat 82, grinding wheel 83, workpiece 91, unmachined workpiece 92.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

Referring to Figure 1, a device for automatic loading and unloading of CNC gear grinding machines includes a transmission mechanism, a pair of manipulator mechanisms 1, a column mechanism 6 and a pressing mechanism 7

The transmission mechanism includes a motor, a reducer 5, a driving gear 54 and a driven gear 3. The motor and the reducer 5 are connected through a coupling , and are assembled on the motor bracket through bolts, and the motor bracket is fixed on the gear grinding machine column through bolts. The driving gear 54 is installed on the output shaft of the reducer 5 through the hook wedge key to ensure interference fit; the driving gear 54 meshes with the driven gear 3 for transmission, and the end face of the driven gear 3 is provided with Evenly distributed bolt holes.

The pair of manipulator mechanisms 1 have the same structure and opposite directions.

The manipulator mechanism 1 includes a rotating semi-circular piece 11, a double-rod clamping cylinder 13 and a pair of manipulator claws 12; the rotating semi-circular piece 11 is a semi-circular ring, and a special magnet 14 for a magnetic control switch is installed in the middle of one axial side through a screw. The middle part of the outer annular surface of the rotating semi-circular piece 11 corresponding to the magnet 14 is provided with a bulge that protrudes outward. The movable gear 3 and the annular guide rail 41; a semicircular groove is radially provided in the middle of the inner annular surface of the rotating semicircular piece 11; The pair of manipulator claws 12 are respectively connected with the double-rods of the double-rod clamping cylinder; and the pair of manipulator claws 12 and the rotating semicircular piece 11 are in the same plane.

The rotating semi-circular parts 11 of the pair of manipulator mechanisms 1 are fixedly connected so that the pair of manipulator claws 12 are located in the same plane; the pair of rotating semi-circular parts 11 are fixedly connected to form a circular ring, and the lower end face of the circular ring is coaxial through bolts The driven gear 3 and the annular guide rail 41 are fixedly connected, so that a pair of manipulator mechanisms 12, the driven gear 3 and the annular guide rail 41 form an integral rotating structure;

The end surface of the annular guide rail 41 is provided with bolt holes with the same structure and distribution as the driven gear 3, and a track is provided on the outer cylindrical surface thereof, and a pair of sliding blocks 42 are arranged in cooperation with the track. There are arc-shaped bumps, and the arc-shaped bumps form a clearance fit with the annular guide rail 41 to ensure accurate and sensitive movement. The double-rod jacking cylinder 61 and the upper end face of the quadrangular column block 64 of the gear grinding machine column mechanism 6 jacking up the cylinder fixing block 641 are fixed by bolts.

The column mechanism 6 is composed of three sections, the upper section is an L-shaped arm 66 , the middle section is a cylindrical column 65 , and the lower section is a quadrangular prism block 64 .

The left end of the upper section is a horseshoe-shaped plate 661, which is provided with a pressing cylinder fixing block 662, and the right end is an upper quadrangular prism block 663; the lower two symmetrical sides of the upper quadrangular prism block 663 are respectively provided with magnetic control switches 63; A groove along the axial direction is respectively provided on the symmetrical cylindrical surface of the upright column 65 in the middle section, and a lifting cylinder fixing block 641 is provided on the upper end surface of the quadrangular column block 64 .

The integral rotating structure is fitted on the middle section of the column mechanism 6 to form a clearance fit, so that the manipulator mechanism 1 can rotate around the column 65 and move up and down accurately and flexibly.

The pressing mechanism 7 includes a single-rod pressing cylinder 71 and a pressing block 72. The single-rod pressing cylinder 71 is fixed on the pressing cylinder fixing block 662 of the gear grinding machine column mechanism 6 by bolts. The block 72 is fixed on the lower end of the air rod of the single-rod pressing cylinder 71 by bolts, and is used for pressing the workpiece 91 .

The working principle of the present invention is described as follows:

The invention needs to perform four movements successively to realize the automatic loading and unloading function of the workpiece:

Referring to FIG. 3 , the first movement is that the manipulator 12 can be opened and retracted to remove and grip the workpiece, respectively. The double-rod clamping cylinder 13 is fixed on the cylinder fixing frame of the rotating semicircular piece 11 by bolts, and the manipulator claws 12 are assembled on the air rod of the double-rod clamping cylinder 13 by bolting. When the two double-rod clamping cylinders 13 simultaneously extend the air rods, a pair of mechanical grippers 12 are driven to shrink and clamp the workpiece. When the two double-exit rods clamp the cylinder 13, the gas rods are retracted at the same time, thereby driving a pair of manipulator claws 12 to open and unload the workpiece. The workpiece to be processed is a gear with a modulus of 1-5mm and a diameter of the tip circle not exceeding 200mm.

Referring to Fig. 3, Fig. 4 and Fig. 5, the second movement is that the whole mechanism slides up and down along the cylindrical portion of the middle section 65 of the gear grinding machine column mechanism 6 axially up and down a distance, and the distance depends on the fixture itself on the workpiece table 81 the height of. A trachea hole 15 is provided in the middle of the rotating semi-circular piece 11 for connecting the trachea of the double-rod clamping cylinder 13 to the inside of the gear grinding machine column. A circular groove is opened in the middle of the rotating semi-circular member 11, which is used to provide a placement position for the trachea during rotation. There are two rectangular grooves in the middle of the cylindrical body part of the upright column 65 , and the two rectangular grooves are in symmetrical positions, and are used to lead the trachea to the inside of the upright column mechanism 6 of the gear grinding machine. Make sure that the trachea does not interfere with the rotation. When two double-exit rods in symmetrical positions jack up the cylinder 61 simultaneously input compressed air from the rodless cavity and exhaust air from the rod cavity, the air rods are extended, thereby jacking up the entire set of mechanisms. When the compressed air is input from the cavity with the rod and the air is exhausted from the cavity without the rod, the air rod is retracted, thereby driving the whole set of mechanisms to slide down a certain distance.

Referring to Figure 4, Figure 5, Figure 6, the third movement is to cooperate with the integral rotating structural member sleeved on the column mechanism 6, and rotate 180 degrees on the cylindrical column 65 in the middle of the column mechanism 6 of the gear grinding machine. The rotation of the motor drives the reducer 5 to rotate, which increases the torque and reduces the speed. The output shaft of the reducer and the driving gear 54 are assembled together by a hook head wedge key to ensure an interference fit. The driving gear 54 is brought into rotation by the driven gear 3 by meshing with the driven gear 3 . Therefore, the driven gear 3 drives the annular guide rail 41 and the rotating semi-circular member 11 to rotate 180 degrees on the column 65 in the middle of the column mechanism 6 of the gear grinding machine. The manipulator claws 12 are respectively fixed on the double-rod clamping cylinder 13 , and the double-rod clamping cylinder 13 is fixed on the rotating semicircular piece 11 . Therefore, when the motor rotates, the workpiece 91 and the unprocessed workpiece 92 can be simultaneously rotated 180 degrees to exchange positions. When the integral rotating structure rotates to the specified position, the magnetic control switch 63 senses the special magnet 14 and the motor stops rotating.

Referring to Figure 6 and Figure 7, the fourth movement is to place the unprocessed workpiece 92 on the workpiece table 81 after the entire mechanism rotates 180 degrees. long, drive the pressing block 72 to press the unprocessed workpiece 92 on the fixture, and then perform the grinding process.

Claims (5)

1, A device for automatic loading and unloading of a numerical control gear grinding machine, which is characterized by comprising a transmission mechanism, a pair manipulator mechanism (1), an upright post mechanism (6) and a pressing mechanism (7);

the transmission mechanism comprises a motor, a speed reducer (5), a driving gear (54) and a driven gear (3), the driving gear (54) is arranged on an output shaft of the speed reducer (5), and the driving gear (54) and the driven gear (3) are in meshing transmission;

the pairs of manipulator mechanisms (1) are identical in structure and opposite in direction;

each manipulator mechanism (1) comprises a rotary semicircular piece (11), a double-out-rod clamping cylinder (13) and pairs of mechanical claws (12);

the rotary semicircular piece (11) is semicircular, a magnet (14) special for a magnetic control switch is arranged in the middle of the side face of the rotary semicircular piece (11) in the axial direction , a convex block protruding outwards is arranged in the middle of the outer circular ring face of the rotary semicircular piece (11) corresponding to the special magnet (14), a semicircular groove is radially arranged in the middle of the inner circular ring face of the rotary semicircular piece (11), the double-rod clamping cylinder (13) is fixedly arranged at the convex block of the rotary semicircular piece (11), pairs of mechanical claws (12) are respectively connected with double-rod of the double-rod clamping cylinder, and pairs of mechanical claws (12) and the rotary semicircular piece (11) are in the same plane;

fixedly connects the rotating semicircular piece (11) to form a circular ring piece, the axial lower end face of the circular ring piece is sequentially coaxially and fixedly connected with a driven gear (3) and a circular guide rail (41), so that forms integral rotating structural members for the manipulator mechanism (1), the driven gear (3) and the circular guide rail (41);

an annular track is arranged on the outer cylindrical surface of the circular guide rail (41), pairs of sliding squares (42) are arranged in a matching way with the track, and each sliding square (42) is fixedly arranged on an air rod of the double-ejection-rod jacking cylinder (61);

the upright post mechanism (6) is composed of three sections, the upper section is an L-shaped arm (66), the middle section is a cylindrical upright post (65), and the lower section is a quadrangular prism block (64);

the long arm of the L-shaped arm (66) is a horseshoe-shaped plate (661), a pressing cylinder fixing block (662) is arranged at the lower part of the cantilever end of the horseshoe-shaped plate (661), and the short arm is an upper four-prism block (663); two symmetrical side surfaces of the lower part of the upper quadrangular prism block (663) are respectively provided with a magnetic control switch (63);

the symmetrical cylindrical surfaces of the upright columns (65) are respectively provided with a groove along the axial direction;

the rotating structural part is matched and sleeved at the middle section of the upright post mechanism (6) to enable the manipulator mechanism (1) to rotate around the upright post (65) and move up and down;

the pressing mechanism (7) comprises a single-rod pressing cylinder (71) and a pressing block (72), the single-rod pressing cylinder (71) is fixedly arranged on a pressing cylinder fixing block (662) of the gear grinding machine upright post mechanism (6), and the pressing block (72) is fixedly arranged at the lower end of the single-rod pressing cylinder (71);

when the device is used, the device is fixedly arranged on side of a workpiece table (81) of a numerical control gear grinding machine, positions and determines the positions of two rotating semicircular pieces (11) of a mechanical claw (12) to place a clamped workpiece (91) on the workpiece table (81), when two magnetic control switches (63) correspond to a special magnet (14) respectively, a pressing block (72) presses the workpiece (91) on the workpiece table (81) under the action of a single-rod pressing cylinder (71), then gear grinding is carried out, meanwhile clamps an unprocessed workpiece (92) on the mechanical claw, when machining is finished, a double-rod jacking cylinder (61) jacks up an integral rotating structural part, the rotating cylinder rotates to the corresponding position of the special magnet (14) under the driving of a motor, the mechanical claw (12) unloads the machined workpiece (91), the mechanical claw clamping the unprocessed workpiece (92) slides down along a distance ) of a stand column (65), the workpiece (92) is placed on the workpiece table, and then the workpiece (81) is circularly machined and the workpiece (92) is pressed.

2. The device for automatic loading and unloading of a numerical control gear grinding machine is characterized in that pairs of jacking cylinder fixing blocks (641) are arranged on the upper end face of the four-prism block (64), and pairs of double-ejection-rod jacking cylinders (61) are respectively fixed on pairs of jacking cylinder fixing blocks (641) on the upper end face of the four-prism block (64) of the upright post mechanism (6).

3. The device for automatically feeding and discharging materials for the numerical control gear grinding machine is characterized in that the rotating semicircular piece (11) is provided with a through air pipe hole (15), and the air pipe hole (15) is communicated with a semicircular groove on the rotating semicircular piece (11).

4. device for automatic loading and unloading of numerical control gear grinding machine according to claim 1, wherein the upright post (65) of the upright post mechanism (6) has two symmetrical axial rectangular grooves on its cylindrical surface for providing a place for the air pipe during rotation.

5. The device for automatic loading and unloading of numerical control gear grinding machine is characterized in that each sliding block (42) is provided with an arc-shaped lug, and the arc-shaped lugs form clearance fit with the circular ring-shaped guide rail (41).

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