CN110449998B - Feeding and discharging device for drill bit grinding equipment - Google Patents
Feeding and discharging device for drill bit grinding equipment Download PDFInfo
- Publication number
- CN110449998B CN110449998B CN201910878203.3A CN201910878203A CN110449998B CN 110449998 B CN110449998 B CN 110449998B CN 201910878203 A CN201910878203 A CN 201910878203A CN 110449998 B CN110449998 B CN 110449998B
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- drill bit
- temporary storage
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- 238000007599 discharging Methods 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 129
- 238000003860 storage Methods 0.000 claims abstract description 79
- 210000000078 claw Anatomy 0.000 claims abstract description 74
- 238000001514 detection method Methods 0.000 claims abstract description 60
- 239000000463 material Substances 0.000 claims abstract description 26
- 238000000034 method Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 16
- 238000003825 pressing Methods 0.000 claims description 8
- 230000035939 shock Effects 0.000 claims description 5
- 238000013016 damping Methods 0.000 claims description 4
- 239000011232 storage material Substances 0.000 claims 1
- 238000003754 machining Methods 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 description 8
- 238000005070 sampling Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 238000005553 drilling Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 1
Classifications
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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
- B24B3/00—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools
- B24B3/24—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools of drills
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
-
- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
- B24B47/06—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by liquid or gas pressure only
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Drilling And Boring (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention provides a feeding and discharging device for drill bit grinding equipment, belongs to the technical field of drill bit grinding processing equipment, and is used for solving the problems of low production efficiency caused by low feeding and discharging automation degree and low clamping precision of the drill bit grinding processing equipment. The device comprises a bottom plate, a detection temporary storage mechanism, a charging tray, an X-axis adjusting mechanism, a Z-axis adjusting mechanism and a manipulator, wherein the detection temporary storage mechanism, the charging tray and the X-axis adjusting mechanism are all arranged on the bottom plate, the X-axis adjusting mechanism is provided with the Z-axis adjusting mechanism, the manipulator is arranged on the Z-axis adjusting mechanism, and the manipulator is provided with a first mechanical claw and a second mechanical claw. According to the invention, the X-axis adjusting mechanism and the Z-axis adjusting mechanism are matched to control the accurate positioning and clamping of the manipulator, so that the operations of automatic material taking, feeding, discharging, stock, spot check and the like are realized, the personnel configuration is reduced, and the degree of automation is high; the continuous feeding and discharging of the two mechanical claws are realized, the clamping is accurate, the feeding and discharging time is saved, and the machining efficiency of the grinding equipment is improved.
Description
Technical Field
The invention belongs to the technical field of drill bit grinding equipment, and relates to a loading and unloading device, in particular to a loading and unloading device for drill bit grinding equipment.
Background
The drilling machine is a common device for processing and manufacturing, the workpiece is drilled through the rotation of the drilling bit, the drilling bit is divided into a plurality of types according to the use environment of the drilling bit, along with the fact that electronic products are lighter and thinner, specifications of PCB micro-drills are smaller and smaller successively, and accordingly the precision requirements on the micro-drill grinding device are higher and higher. The main equipment for processing the PCB micro-drills is a drill bit grinding machine tool, the drill bit processing relates to a plurality of processes and flows, and the process is a very important procedure for feeding and discharging materials for processing the micro-drills.
The feeding and discharging modes of the existing drill grinder bed are two, one is to feed and discharge by manpower, and the other is to feed and discharge by a manipulator. Because the micro-drill specification is smaller, the manual feeding and discharging strength is increased, the working efficiency is low, the manual feeding and discharging is inconvenient, and the working efficiency is low. The existing drill bit grinding equipment is usually designed with a single mechanical claw, feeding and discharging cannot be performed simultaneously, feeding and discharging time is long, functions of feeding and discharging devices are imperfect, a mechanical arm is used for taking materials, feeding, discharging, storing and sampling inspection, certain manual assistance is usually needed, accuracy of the mechanical arm during micro-drilling processing is required to be improved, and automation degree is low.
Disclosure of Invention
The invention aims at solving the problems in the prior art, and provides a feeding and discharging device for drill bit grinding equipment, which aims at solving the technical problems that: how to realize the accurate clamping and continuous automatic feeding and discharging of the drill bit.
The aim of the invention can be achieved by the following technical scheme:
The utility model provides a unloader is gone up to drill bit grinding equipment, go up unloader and include the bottom plate, detect temporary storage mechanism, the charging tray, X axle adjustment mechanism, Z axle adjustment mechanism and manipulator, detect temporary storage mechanism, charging tray and X axle adjustment mechanism all set up on the bottom plate, the charging tray is located to detect temporary storage mechanism and X axle adjustment mechanism between, set up Z axle adjustment mechanism on the X axle adjustment mechanism, the manipulator sets up on Z axle adjustment mechanism, be fixed with first integrated terminal box on the bottom plate, first integrated terminal box is with detecting temporary storage mechanism, X axle adjustment mechanism, Z axle adjustment mechanism and mechanical hand electric connection.
The working principle of the invention is as follows: during the drill bit processing, the drill bit is required to be clamped in a clamp on drill bit grinding equipment for processing, and the working procedures of the feeding and discharging device are as follows: the mechanical arm takes materials from the material tray, the mechanical arm loads a workpiece to be machined into the drill bit clamp, the grinding equipment grinds the drill bit, the mechanical arm takes the machined drill bit from the clamp, loads the machined drill bit onto the material tray, and automatic feeding and discharging of drill bit machining are completed; during sampling inspection, the processed drill bit is put into a detection temporary storage mechanism for sampling inspection, so that automatic sampling inspection is realized; the X-axis adjusting mechanism is used for realizing the X-axis position adjusting function of the manipulator, the Z-axis adjusting mechanism is used for realizing the Z-axis position adjusting function of the manipulator, the manipulator is used for completing operations such as material taking, material feeding, material discharging, material storage, sampling inspection and the like, and the X-axis adjusting mechanism and the Z-axis adjusting mechanism are matched to control the accurate positioning of the manipulator, so that the accurate clamping of the drill bit is realized; the automatic feeding and discharging and automatic spot check of the drill bit grinding equipment are completed, and the working efficiency is improved.
Be provided with two charging tray deflector on the bottom plate, the charging tray is located between the charging tray deflector, and the charging tray divide into finished product charging tray and wait to process the charging tray, and finished product charging tray is located and waits to process the charging tray outside, and the drill bit of waiting to process is placed on waiting to process the charging tray, and the drill bit of processing completion is placed on finished product charging tray.
By adopting the structure, the drill bits are placed in the partition, so that the operator can distinguish conveniently, the error is not easy to occur, and the drill bits are convenient to take and place.
The detection temporary storage mechanism comprises a detection temporary storage tray, a detection tray connecting cover plate, a temporary storage area sliding rail base, a floating joint, a detection cylinder, a cylinder support, a sliding rail side plate, a temporary storage area sliding block, a temporary storage area sliding rail and a shock absorbing block, wherein the detection cylinder is provided with an air pressure speed regulation joint, one end of the detection cylinder is fixed on the cylinder support, the cylinder support is fixed on a bottom plate through a bolt, the other end of the detection cylinder is connected with one end of the floating joint, the other end of the floating joint is connected with the temporary storage area sliding block, the temporary storage area sliding block is slidably arranged on the temporary storage area sliding rail, the temporary storage area sliding rail is fixed on the temporary storage area sliding rail base through a bolt, one end of the detection tray connecting cover plate is fixed on the temporary storage area sliding block through a bolt, the detection temporary storage tray is fixed on one side of the detection tray connecting cover plate, the other side of the detection tray connecting cover plate is provided with the sliding rail side plate, and the sliding rail side plate is fixed on the temporary storage area sliding rail base.
The drill bit that grinds the completion needs to carry out the spot check and detects the processingquality of drill bit to check out the machining precision of equipment, detect temporary storage mechanism and be used for temporarily keeping in the drill bit of spot check, after the drill bit grinds the completion, the manipulator is put into the drill bit of spot check and is detected temporary storage charging tray, detect cylinder promotion temporary storage area slider and remove, temporary storage area slider drives and detects the charging tray and connect the apron and remove, detect temporary storage charging tray and connect the apron and remove along with detecting the charging tray, this drill bit grinding equipment is provided with the aircraft bonnet with last unloader outside, the drill bit of spot check is pushed out the aircraft bonnet along with detecting temporary storage charging tray, the inspection personnel of being convenient for take out the drill bit.
The X-axis adjusting mechanism comprises an X-axis track side plate, an X-axis driving wheel group, an X-axis beam line crawler, a Z-axis adjusting base, an X-axis sliding block, a belt pressing plate, an X-axis belt, an X-axis sliding rail base, an X-axis sliding rail and an X-axis driven wheel group, wherein the X-axis sliding rail base is fixed on a bottom plate through bolts, the X-axis sliding rail is fixed on the X-axis sliding rail base, the X-axis sliding block is slidably arranged on the X-axis sliding rail, the X-axis driving wheel group and the X-axis driven wheel group are respectively arranged at two ends of the X-axis sliding rail base, the X-axis driving wheel group and the X-axis driven wheel group are connected through the X-axis belt, the X-axis belt is arranged in an opening, two ends of the X-axis belt are all fixed on the X-axis sliding block through belt pressing plates, the Z-axis adjusting base is fixed on the X-axis sliding block through bolts, the X-axis track side plate is detachably connected on one side of the X-axis sliding rail base, the X-axis beam line crawler is arranged on the X-axis track side plate, and the lower end of the X-axis beam line crawler is fixed on the X-axis track side plate 5.
By adopting the structure, the X-axis adjusting mechanism is used for realizing the X-axis adjusting function of the device, the X-axis driving wheel set and the X-axis driven wheel set are connected through the X-axis belt, the driving wheel set rotates, the X-axis belt drives the X-axis sliding block to slide on the X-axis sliding rail, the X-axis sliding block drives the Z-axis adjusting base to move, and the Z-axis adjusting mechanism is arranged on the Z-axis adjusting base, namely, the X-axis adjusting mechanism drives the Z-axis adjusting mechanism to move in the X-axis direction.
Z axle adjustment mechanism includes Z axle slide rail base, Z axle driven wheelset, Z axle track curb plate, Z axle track fixed plate, manipulator connecting plate, Z axle initiative wheelset, Z axle slide rail, X axle track clamp plate, Z axle slider, Z axle belt and Z axle slide rail support, the one end of Z axle slide rail base passes through the bolt fastening on Z axle adjustment base, the other end of Z axle slide rail base passes through the bolt fastening on Z axle slide rail support, Z axle slide rail support lower part connection support slider, the support slider slides and sets up on the support slide rail, the support slide rail is fixed on the bottom plate, Z axle initiative wheelset and Z axle driven wheelset set are connected at the both ends of Z axle slide rail base respectively, Z axle belt opening sets up, Z axle slide rail is fixed on Z axle slide rail base, Z axle slider sliding set up on Z axle slide rail, the both ends of Z axle belt are all fixed on Z axle slider, the manipulator setting on Z axle slider, Z axle track curb plate can be connected on Z axle track base, Z axle track curb plate one side is fixed on Z axle track tie plate, Z axle track upper end is fixed on Z axle track tie plate, Z axle track tie plate is fixed on Z axle track X axle track tie plate, Z axle track upper end is fixed on Z axle track tie plate.
With the structure, the Z-axis adjusting mechanism is used for realizing the Z-axis adjusting function of the device, the Z-axis driving wheel set and the Z-axis driven wheel set are connected through the Z-axis belt, the Z-axis driving wheel set rotates, the Z-axis belt drives the Z-axis sliding block to slide on the Z-axis sliding rail, the Z-axis sliding block drives the manipulator connecting plate to move, the manipulator is arranged on the manipulator connecting plate, namely, the Z-axis adjusting mechanism drives the manipulator to move in the Z-axis direction, and the X-axis adjusting mechanism and the Z-axis adjusting mechanism cooperate to complete the movement of the manipulator in the X-axis direction and the Z-axis direction.
The manipulator comprises a rotary cylinder fixing plate, an air pressure connector adapter seat, a rotary cylinder base, a rotary cylinder, a sliding table cylinder connecting plate, a sliding table cylinder, a mechanical claw assembly and a buffer mechanism; the mechanical claw assembly is arranged on the buffer mechanism, the buffer mechanism is arranged on the sliding table cylinder, the sliding table cylinder is arranged on the sliding table cylinder connecting plate, the sliding table cylinder is communicated with the rotating head of the rotating cylinder through bolts, the rotating cylinder is fixed on one side of the rotating cylinder fixing plate through bolts, the lower end of the rotating cylinder fixing plate is fixed on the rotating cylinder base through bolts, the second integrated junction box is arranged on the other side of the rotating cylinder fixing plate, the air pressure connector adapter is fixed on the rotating cylinder base through bolts, and the rotating angle of the rotating cylinder is 0-90 degrees in a reciprocating mode.
During the drill bit is processing, the manipulator is used for accomplishing to get the material from waiting to process the charging tray, will wait to add the machined part and load into the drill bit anchor clamps, take off the drill bit of processing completion from anchor clamps, load into the finished product charging tray with the drill bit of processing well and put into the detection temporary storage charging tray with it, realize the steering function of manipulator through revolving cylinder, the slip table cylinder realizes the flexible removal of manipulator, the gripper subassembly can centre gripping simultaneously the drill bit that has processed and unprocessed drill bit, the drill bit carries out accurate clamping, guarantee the continuity of drill bit processing.
The buffer mechanism comprises a buffer stop block, a guide pillar, a buffer sliding rail, a buffer sliding block and a buffer connecting block, wherein the buffer stop block and the buffer sliding rail are fixed on a sliding table cylinder through bolts, the buffer sliding block is arranged on the buffer sliding rail in a sliding manner, the buffer sliding block and the buffer sliding rail are in damping sliding manner, the buffer connecting block is fixed on the buffer sliding block through bolts, the buffer stop block is connected with the buffer connecting block through the guide pillar, and a sleeve is sleeved on the guide pillar.
By adopting the structure, when the drill bit is machined, the drill bit is clamped in the clamp, the drill bit is taken out and put in by pulling and inserting, the mechanical claw needs to bear force in the pulling and inserting process of the drill bit, and the buffer mechanism can slide for a certain stroke to buffer when the mechanical claw component pulls and inserts the drill bit, so that the drill bit is prevented from being damaged by force.
The mechanical claw assembly comprises a mechanical claw connecting plate, a first mechanical claw and a second mechanical claw, wherein the mechanical claw connecting plate is connected with the buffer connecting block through bolts, the first mechanical claw and the second mechanical claw are fixed on the mechanical claw connecting plate, inductors are arranged on the first mechanical claw and the second mechanical claw, and a positioning block is arranged at the joint of the first mechanical claw and the second mechanical claw and the mechanical claw connecting plate.
The structure of second gripper and first gripper is the same, first gripper includes the clamping jaw cylinder, installs the air pipe joint on the clamping jaw cylinder, and the one end of clamping jaw cylinder is provided with two spliced poles, and two clamping jaws of detachable connection are gone up to two spliced poles, and clamping jaw centre gripping side is provided with the draw-in groove, and the drill bit centre gripping is in the draw-in groove between two clamping jaws, and first gripper presss from both sides and gets unprocessed drill bit, and the drill bit centre gripping after the processing is got to the second gripper clamp, and the drill bit centre gripping is stable, and the location is accurate.
Compared with the prior art, the feeding and discharging device for the drill bit grinding equipment has the following advantages:
1. The invention provides a feeding and discharging device for drill bit grinding equipment, which is used for realizing the operations of automatic material taking, feeding, discharging, stock, spot check and the like by controlling the accurate positioning and clamping of a manipulator through the cooperation of an X-axis adjusting mechanism and a Z-axis adjusting mechanism, reducing personnel configuration, lowering the labor intensity of workers and improving the working efficiency.
2. Two mechanical claws are arranged to clamp the processed drill bit and the unprocessed drill bit respectively, so that continuous feeding and discharging are realized, feeding and discharging time is saved, and the processing efficiency of grinding equipment is improved.
3. The manipulator clamping is accurate, and stability is strong, and degree of automation is high, is fit for the last unloading of multiple drill bit, and application scope is wide.
Drawings
Fig. 1 is a schematic diagram of the positive side structure of the present invention.
Fig. 2 is a schematic view of the oblique-axis side structure of the present invention.
Fig. 3 is an exploded view of the structure of the present invention.
Fig. 4 is a schematic structural view of the tray according to the present invention.
Fig. 5 is a schematic perspective view of a detecting and temporary storage mechanism in the present invention.
FIG. 6 is a schematic diagram of the internal structure of the detecting register mechanism according to the present invention.
Fig. 7 is a schematic structural view of an X-axis adjusting mechanism in the present invention.
Fig. 8 is an exploded view of the X-axis adjustment mechanism of the present invention.
Fig. 9 is a schematic structural view of the Z-axis adjusting mechanism in the present invention.
Fig. 10 is an exploded view of the Z-axis adjustment mechanism of the present invention.
Fig. 11 is a schematic view of the structure of the manipulator according to the present invention.
FIG. 12 is an exploded view of the damping mechanism and the gripper assembly of the present invention.
In the figure: 1-bottom plate, 1 a-supporting slide rail, 1 b-supporting slide block, 1 c-tray guide plate, 2-first integrated junction box, 3-detection temporary storage mechanism, 3 a-detection temporary storage tray, 3 b-detection tray connecting cover plate, 3 c-temporary storage area slide rail base, 3 d-floating joint, 3 e-pneumatic speed regulation joint, 3 f-detection cylinder, 3 g-cylinder support, 3 h-slide rail side plate, 3 i-temporary storage area slide block, 3 j-temporary storage area slide rail, 3 k-shock absorbing block, 4-tray, 4 a-finished product tray, 4 b-to-be-processed tray, 5-X axis adjusting mechanism, 5a-X axis track side plate, 5b-X axis driving wheel set, 5c-X axis beam line track, 5d-Z axis adjusting base, 5e-X axis slide block, 3 i-temporary storage area slide block, 3 k-X axis shock absorbing block, 4-X axis guide plate, 5 d-X axis adjusting base, 3 d-X axis beam line guide plate, 3 d-X axis adjusting base 5 f-belt press plate, 5g-X axis belt, 5h-X axis slide rail base, 5i-X axis slide rail, 5j-X axis driven wheel set, 6-Z axis adjusting mechanism, 6a-Z axis slide rail base, 6b-Z axis driven wheel set, 6c-Z axis track side plate, 6d-Z axis harness track, 6e-Z axis track fixed plate, 6 f-manipulator connecting plate, 6g-Z axis driving wheel set, 6h-Z axis slide rail, 6i-X axis track press plate, 6j-Z axis slide block, 6k-Z axis belt, 6l-Z axis slide rail support, 7-manipulator, 7 a-second integrated junction box, 7 b-revolving cylinder fixed plate, 7 c-pneumatic joint adapter, 7 d-revolving cylinder base, 7 e-revolving cylinder, 7 f-slipway cylinder connecting plate, 7 g-slip table cylinder, 7 h-gripper assembly, 7h 1-gripper connecting plate, 7h 2-first gripper, 7h 3-second gripper, 7h 4-locating piece, 7 i-buffer mechanism, 7i 1-buffer stop, 7i 2-sleeve, 7i 3-guide pillar, 7i 4-buffer slide rail, 7i 5-buffer slide block, 7i 6-buffer connecting block.
Detailed Description
The technical scheme of the patent is further described in detail below with reference to the specific embodiments.
Embodiments of the present patent are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the patent and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be configured and operated in a particular orientation, and are therefore not to be construed as limiting the patent.
In the description of this patent, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "disposed" are to be construed broadly, and may be fixedly connected, disposed, detachably connected, disposed, or integrally connected, disposed, for example. The specific meaning of the terms in this patent will be understood by those of ordinary skill in the art as the case may be.
Referring to fig. 1-12, the present embodiment provides a feeding and discharging device for a drill grinding apparatus, and in the description of this patent, the direction along the guide rail on the base plate 1 is the X-axis, and the plane on which the base plate 1 is located is the Z-axis perpendicular to the X-axis.
The feeding and discharging device comprises a bottom plate 1, a detection temporary storage mechanism 3, a material tray 4, an X-axis adjusting mechanism 5, a Z-axis adjusting mechanism 6 and a manipulator 7, wherein the detection temporary storage mechanism 3, the material tray 4 and the X-axis adjusting mechanism 5 are all arranged on the bottom plate 1, the material tray 4 is positioned between the detection temporary storage mechanism 3 and the X-axis adjusting mechanism 5, the X-axis adjusting mechanism 5 is provided with the Z-axis adjusting mechanism 6, the manipulator 7 is arranged on the Z-axis adjusting mechanism 6, a first integrated junction box 2 is fixed on the bottom plate 1, and the first integrated junction box 2 is electrically connected with the detection temporary storage mechanism 3, the X-axis adjusting mechanism 5, the Z-axis adjusting mechanism 6 and the manipulator 7.
Two tray guide plates 1c are arranged on the bottom plate 1, the tray 4 is located between the tray guide plates 1c, the tray 4 is divided into a finished tray 4a and a to-be-processed tray 4b, the finished tray 4a is located on the outer side of the to-be-processed tray 4b, a drill bit to be processed is placed on the to-be-processed tray 4b, and a drill bit after processing is placed on the finished tray 4 a.
The detection temporary storage mechanism 3 comprises a detection temporary storage tray 3a, a detection tray connecting cover plate 3b, a temporary storage area sliding rail base 3c, a floating joint 3d, a detection cylinder 3f, a cylinder support 3g, a sliding rail side plate 3h, a temporary storage area sliding block 3i, a temporary storage area sliding rail 3j and a shock absorbing block 3k, wherein an air pressure speed regulation joint 3e is installed on the detection cylinder 3f, one end of the detection cylinder 3f is fixed on the cylinder support 3g, the cylinder support 3g is fixed on a bottom plate 1 through a bolt, the other end of the detection cylinder 3f is connected with one end of the floating joint 3d, the other end of the floating joint 3d is connected with the temporary storage area sliding block 3i, the temporary storage area sliding block 3i is slidably arranged on the temporary storage area sliding rail 3j, the temporary storage area sliding rail 3j is fixed on the temporary storage area sliding rail base 3c through a bolt, one end of the detection tray connecting cover plate 3b is fixed on the sliding rail 3i through a bolt, one end of the detection tray connecting cover plate 3b is fixed on the temporary storage area sliding block 3i, one end of the detection tray 3a side plate 3b is fixed on the other side of the detection cover plate 3h, and the sliding rail 3h is arranged on the temporary storage area sliding rail base 3 h.
The grinding finished drill bit needs to carry out spot check to detect the machining quality of drill bit to the machining precision of check out test set, detect the drill bit that temporary storage mechanism 3 is used for the spot check, after the drill bit grinds the completion, the manipulator is put the drill bit of spot check into the detection and is saved the tray 3a temporarily, detect cylinder 3f and promote the slider 3i of temporary storage and remove, the slider 3i of temporary storage drives the detection tray and connects apron 3b and remove, detect and save the tray 3a and connect apron 3b and remove with the detection, this drill bit grinding equipment is provided with the aircraft bonnet with last unloader outside, the drill bit of spot check is pushed out the aircraft bonnet along with detecting temporarily to save the tray 3a, the measuring personnel of being convenient for takes out the drill bit.
The X-axis adjusting mechanism 5 comprises an X-axis track side plate 5a, an X-axis driving wheel set 5b, an X-axis beam line crawler 5c, a Z-axis adjusting base 5d, an X-axis sliding block 5e, a belt pressing plate 5f, an X-axis belt 5g, an X-axis sliding rail base 5h, an X-axis sliding rail 5i and an X-axis driven wheel set 5j, wherein the X-axis sliding rail base 5h is fixed on the bottom plate 1 through bolts, the X-axis sliding rail 5i is fixed on the X-axis sliding rail base 5h, the X-axis sliding block 5e is slidably arranged on the X-axis sliding rail 5i, the X-axis driving wheel set 5b and the X-axis driven wheel set 5j are respectively arranged at two ends of the X-axis sliding rail base 5h, the X-axis driving wheel set 5b and the X-axis driven wheel set 5j are connected through an X-axis belt 5g, the two ends of the X-axis belt 5g are arranged in an opening manner, the Z-axis adjusting base 5d is fixed on the X-axis sliding block 5e through the belt pressing plate 5f, the X-axis rail side plate 5i can be connected to one side of the X-axis track base 5h, and the X-axis beam line crawler 5c is arranged at one side of the X-axis beam line crawler 5 c.
The X-axis adjusting mechanism 5 is used for realizing an X-axis adjusting function of the device, the X-axis driving wheel set 5b and the X-axis driven wheel set 5j are connected through an X-axis belt 5g, the driving wheel set 5b rotates, the X-axis belt 5g drives an X-axis sliding block 5e to slide on an X-axis sliding rail 5i, the X-axis sliding block 5e drives a Z-axis adjusting base 5d to move, and the Z-axis adjusting mechanism is arranged on the Z-axis adjusting base 5d, namely, the X-axis adjusting mechanism 5 drives the Z-axis adjusting mechanism to move in the X-axis direction.
The Z-axis adjusting mechanism 6 comprises a Z-axis sliding rail base 6a, a Z-axis driven wheel group 6b, a Z-axis track side plate 6c, a Z-axis track fixing plate 6e, a manipulator connecting plate 6f, a Z-axis driving wheel group 6g, a Z-axis sliding rail 6h, an X-axis track pressing plate 6i, a Z-axis sliding block 6j, a Z-axis belt 6k and a Z-axis sliding rail support 6l, one end of the Z-axis sliding rail base 6a is fixed on the Z-axis adjusting base 5d through bolts, the other end of the Z-axis sliding rail base 6a is fixed on the Z-axis sliding rail support 6l through bolts, the lower part of the Z-axis sliding rail support 6l is connected with a supporting sliding block 1b, the supporting sliding block 1b is arranged on the supporting sliding rail 1a, the Z-axis driving wheel group 6g and the Z-axis driven wheel group 6b are respectively arranged at two ends of the Z-axis sliding rail base 6a, the Z-axis driving wheel group 6g and the Z-axis driven wheel group 6b are connected through the Z-axis belt 6k, Z-axis belt 6k is arranged in an opening way, Z-axis sliding rails 6h are fixed on Z-axis sliding rail bases 6a, Z-axis sliding blocks 6j are slidably arranged on Z-axis sliding rails 6h, two ends of each Z-axis belt 6k are fixed on each Z-axis sliding block 6j, a manipulator connecting plate 6f is fixed on each Z-axis sliding block 6j through bolts, a manipulator 7 is arranged on each manipulator connecting plate 6f, a Z-axis track side plate 6c is detachably connected to one side of each Z-axis sliding rail base 6a, Z-axis track side plates 6c are provided with Z-axis harness tracks 6d, the lower ends of the Z-axis harness tracks 6d are fixed on Z-axis track side plates 6c, the upper ends of the Z-axis harness tracks 6d are fixed on Z-axis track fixing plates 6e, the track fixing plates 6e are fixed on the manipulator connecting plates 6f through bolts, the upper parts of X-axis harness tracks 5c are provided with X-axis track pressure plates 6i, the X-axis track pressure plates 6i are fixed on Z-axis driving wheel sets 6g, the upper end of the X-axis harness track 5c is fixed to the Z-axis track side plate 6 c.
The Z-axis adjusting mechanism 6 is used for realizing a Z-axis adjusting function of the device, the Z-axis driving wheel set 6g and the Z-axis driven wheel set 6b are connected through a Z-axis belt 6k, the Z-axis driving wheel set 6g rotates, the Z-axis belt 6k drives a Z-axis sliding block 6j to slide on a Z-axis sliding rail 6h, the Z-axis sliding block 6j drives a manipulator connecting plate 6f to move, the manipulator 7 is arranged on the manipulator connecting plate 6f, namely, the Z-axis adjusting mechanism 6 drives the manipulator 7 to move in the Z-axis direction, and the X-axis adjusting mechanism 5 and the Z-axis adjusting mechanism 6 cooperate to complete movement of the manipulator 7 in the X-axis direction and the Z-axis direction.
The manipulator 7 comprises a rotary cylinder fixing plate 7b, an air pressure connector adapter seat 7c, a rotary cylinder base 7d, a rotary cylinder 7e, a sliding table cylinder connecting plate 7f, a sliding table cylinder 7g, a mechanical claw assembly 7h and a buffer mechanism 7i; the mechanical claw assembly 7h is arranged on the buffer mechanism 7i, the buffer mechanism 7i is arranged on the sliding table cylinder 7g, the sliding table cylinder 7g is installed on the sliding table cylinder connecting plate 7f, the sliding table cylinder 7g is communicated with a bolt to be fixed on a rotating head of the rotating cylinder 7e, the rotating cylinder 7e is fixed on one side of the rotating cylinder fixing plate 7b through the bolt, the lower end of the rotating cylinder fixing plate 7b is fixed on the rotating cylinder base 7d through the bolt, a second integrated junction box 7a is arranged on the other side of the rotating cylinder fixing plate 7b, the air pressure connector adapter seat 7c is fixed on the rotating cylinder base 7d through the bolt, and the rotating angle of the rotating cylinder 7e is 0-90 degrees in a reciprocating mode.
During the drill bit processing, manipulator 7 is used for accomplishing to get the material from waiting to process charging tray 4b, will wait to be processed in loading into the drill bit anchor clamps, take off the drill bit of processing completion from anchor clamps, load into finished product charging tray 4a with the drill bit of processing well and put into the detection temporary storage charging tray 3a with the drill bit of processing of spot check, realize the steering function of manipulator 7 through revolving cylinder 7e, slip table cylinder 7g realizes the flexible removal of manipulator, gripper assembly 7h can centre gripping simultaneously the drill bit of processing well and unprocessed drill bit, the drill bit carries out accurate clamping, guarantee the continuity of drill bit processing.
The buffer mechanism 7i comprises a buffer stop block 7i1, a guide pillar 7i3, a buffer slide rail 7i4, a buffer slide block 7i5 and a buffer connection block 7i6, wherein the buffer stop block 7i1 and the buffer slide rail 7i4 are fixed on a slide table cylinder 7g through bolts, the buffer slide block 7i5 is arranged on the buffer slide rail 7i4 in a sliding manner, the buffer slide block 7i5 and the buffer slide rail 7i4 are in damping sliding manner, the buffer connection block 7i6 is fixed on the buffer slide block 7i5 through bolts, the buffer stop block 7i1 is connected with the buffer connection block 7i6 through the guide pillar 7i3, and a sleeve 7i2 is sleeved on the guide pillar 7i 3.
When the drill bit is machined, the drill bit is clamped in the clamp, the drill bit is removed and installed by pulling and inserting, the mechanical claw is required to bear force in the pulling and inserting process of the drill bit, and the buffer mechanism 7i can slide for a certain stroke to buffer when the mechanical claw assembly 7h pulls and inserts the drill bit, so that the drill bit is prevented from being damaged by force.
The mechanical claw assembly 7h comprises a mechanical claw connecting plate 7h1, a first mechanical claw 7h2 and a second mechanical claw 7h3, the mechanical claw connecting plate 7h1 is connected with the buffer connecting block 7i6 through bolts, the first mechanical claw 7h2 and the second mechanical claw 7h3 are fixed on the mechanical claw connecting plate 7h1, inductors are arranged on the first mechanical claw 7h2 and the second mechanical claw 7h3, and a positioning block 7h4 is arranged at the joint of the first mechanical claw 7h2 and the second mechanical claw 7h3 and the mechanical claw connecting plate 7h 1.
The structure of second gripper 7h3 is the same with that of first gripper 7h2, first gripper 7h2 includes the clamping jaw cylinder, install the gas pipe joint on the clamping jaw cylinder, the one end of clamping jaw cylinder is provided with two spliced poles, the detachable two clamping jaws that are connected with on two spliced poles, clamping jaw centre gripping side is provided with the draw-in groove, the drill bit centre gripping is in the draw-in groove between two clamping jaws, first gripper 7h2 presss from both sides and gets unprocessed drill bit, second gripper 7h3 presss from both sides and gets the drill bit after the processing, the drill bit centre gripping is stable, the location is accurate.
The working principle of the invention is as follows: the invention provides a feeding and discharging device for drill bit grinding equipment, which is characterized in that when a drill bit is processed, the drill bit is required to be clamped in a clamp on the drill bit grinding equipment for processing, and the feeding and discharging device comprises the following working procedures: the manipulator 7 gets the material from waiting to process the charging tray 4b, and the manipulator 7 loads the work piece into the drill bit anchor clamps, and the grinding equipment grinds the drill bit, and the manipulator 7 takes off the drill bit of processing completion from anchor clamps, loads the drill bit of processing on the finished product charging tray 4a to and extract the drill bit of processing and put into and detect temporary storage charging tray 3a and carry out the spot check, realize continuous automatic unloading and spot check.
The X-axis adjusting mechanism 5 is used for realizing the X-axis adjusting function of the device, the X-axis driving wheel set 5b and the X-axis driven wheel set 5j are connected through an X-axis belt 5g, the driving wheel set 5b rotates, the X-axis belt 5g drives the X-axis sliding block 5e to slide on the X-axis sliding rail 5i, the X-axis sliding block 5e drives the Z-axis adjusting base 5d to move, the Z-axis adjusting mechanism is arranged on the Z-axis adjusting base 5d, namely the X-axis adjusting mechanism 5 drives the Z-axis adjusting mechanism to move in the X-axis direction, the Z-axis adjusting mechanism 6 is used for realizing the Z-axis adjusting function of the device, the Z-axis driving wheel set 6g and the Z-axis driven wheel set 6b are connected through a Z-axis belt 6k, the Z-axis driving wheel set 6g rotates, the Z-axis belt 6k drives the Z-axis sliding block 6j to slide on the Z-axis sliding rail 6h, the Z-axis sliding block 6j drives the manipulator connecting plate 6f to move, the manipulator 7 is arranged on the manipulator connecting plate 6f, namely the Z-axis adjusting mechanism 6 drives the manipulator 7 to move in the Z-axis direction, and the X-axis adjusting mechanism 5 and the Z-axis adjusting mechanism 6 are matched to complete the movement of the manipulator 7 in the X-axis and the Z-axis direction; the manipulator 7 realizes the rotary motion through rotary cylinder 7e, and slip table cylinder 7g realizes flexible removal, and gripper assembly 7h can centre gripping simultaneously the drill bit that has processed and unprocessed bit, continuous automatic unloading.
When the drill bit grinding equipment is used for machining, the X-axis adjusting mechanism 5 and the Z-axis adjusting mechanism 6 are matched to realize the movement of the manipulator 7 in the X-axis direction and the Z-axis direction, the manipulator 7 rotates by 90 degrees, and the first mechanical claw 7h2 and the second mechanical claw 7h3 clamp unprocessed drill bits from the material disc 4b to be machined to finish the first material taking action; the manipulator rotates, the X-axis adjusting mechanism 5 and the Z-axis adjusting mechanism 6 adjust the movement of the manipulator 7, the unprocessed drill bit on the second mechanical claw 7h3 is aligned to the drill bit clamp, the sliding table cylinder 7g moves forward, the drill bit is inserted into the clamp, and the first feeding action is completed; after the fixture clamps the drill bit, the drill bit is machined, the X-axis adjusting mechanism 5 drives the second mechanical claw 7h3 to align with the drill bit and take off the drill bit, the X-axis adjusting mechanism 5 drives the unprocessed drill bit on the first mechanical claw 7h2 to align with the drill bit fixture, the sliding table cylinder 7g moves forwards, the drill bit is inserted into the fixture for grinding, and continuous blanking and feeding actions are completed; the X-axis adjusting mechanism 5 and the Z-axis adjusting mechanism 6 drive the manipulator 7 to move, and the drill bit processed on the second mechanical claw 7h3 is put into the finished product tray 4a to finish the material storage process; the X-axis adjusting mechanism 5 and the Z-axis adjusting mechanism 6 drive the manipulator 7 to move, the first mechanical claw 7h2 clamps unprocessed drills from the material disc 4b to be processed, after the drills are processed, the second mechanical claw 7h3 takes down the drills, the X-axis adjusting mechanism 5 drives the manipulator 7 to move, the unprocessed drills on the first mechanical claw 7h2 are inserted into the fixture, the processed drills are loaded into the material disc 4a, the above actions are repeated, automatic continuous feeding and discharging for the drill grinding equipment are completed, and the working efficiency is improved.
When sampling inspection is carried out, the X-axis adjusting mechanism 5 and the Z-axis adjusting mechanism 6 drive the manipulator 7 to move, the manipulator 7 loads processed drill bits into the detection temporary storage tray 3a, the detection cylinder 3f pushes the temporary storage area slider 3i to move, the temporary storage area slider 3i drives the detection tray to be connected with the cover plate 3b to move, the detection temporary storage tray 3a moves along with the detection tray to be connected with the cover plate 3b, the sampling inspected drill bits are pushed out of the hood along with the detection temporary storage tray 3a, the drill bits are conveniently taken out by detection personnel, automatic sampling inspection is carried out, the operation is convenient, and the detection efficiency is improved.
While the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes may be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (5)
1. The utility model provides a drill bit is unloader on grinding equipment, includes bottom plate, detects temporary storage mechanism, charging tray, X axle adjustment mechanism, Z axle adjustment mechanism and manipulator, its characterized in that, detect temporary storage mechanism, charging tray and X axle adjustment mechanism all set up on the bottom plate, the charging tray is located between detection temporary storage mechanism and the X axle adjustment mechanism, set up Z axle adjustment mechanism on the X axle adjustment mechanism, the manipulator sets up on Z axle adjustment mechanism, be fixed with first integrated terminal box on the bottom plate, first integrated terminal box is connected with detection temporary storage mechanism, X axle adjustment mechanism, Z axle adjustment mechanism and manipulator are electric;
The detection temporary storage mechanism comprises a detection temporary storage tray, a detection tray connecting cover plate, a temporary storage area sliding rail base, a floating joint, a detection cylinder, a cylinder support, a sliding rail side plate, a temporary storage area sliding block, a temporary storage area sliding rail and a shock absorbing block, wherein the detection cylinder is provided with an air pressure speed regulation joint, one end of the detection cylinder is fixed on the cylinder support, the cylinder support is fixed on a bottom plate through a bolt, the other end of the detection cylinder is connected with one end of the floating joint, the other end of the floating joint is connected with the temporary storage area sliding block, the temporary storage area sliding block is arranged on the temporary storage area sliding rail in a sliding manner, the temporary storage area sliding rail is fixed on the temporary storage area sliding rail base through a bolt, the temporary storage area sliding rail base is fixed on the bottom plate through a bolt, one end of the detection material tray connecting cover plate is fixed on the temporary storage area sliding block through a bolt, the detection temporary storage material tray is fixed on one side of the detection material tray connecting cover plate, the sliding rail side plate is arranged on the other side of the detection material tray connecting cover plate, the sliding rail side plate is fixed on the temporary storage area sliding rail base, and the shock absorbing block is arranged at one end of the detection material tray connecting cover plate;
The manipulator comprises a rotary cylinder fixing plate, an air pressure connector adapter seat, a rotary cylinder base, a rotary cylinder, a sliding table cylinder connecting plate, a sliding table cylinder, a mechanical claw assembly and a buffer mechanism; the mechanical claw assembly is arranged on the buffer mechanism, the buffer mechanism is arranged on the sliding table cylinder, the sliding table cylinder is arranged on the sliding table cylinder connecting plate, the sliding table cylinder is communicated with the rotating head of the rotating cylinder through bolts, the rotating cylinder is fixed on one side of the rotating cylinder fixing plate through bolts, the lower end of the rotating cylinder fixing plate is fixed on the rotating cylinder base through bolts, the second integrated junction box is arranged on the other side of the rotating cylinder fixing plate, the air pressure connector adapter is fixed on the rotating cylinder base through bolts, and the rotating angle of the rotating cylinder is 0-90 degrees in a reciprocating mode;
The buffer mechanism comprises a buffer stop block, a guide post, a buffer sliding rail, a buffer sliding block and a buffer connecting block, wherein the buffer stop block and the buffer sliding rail are fixed on a sliding table cylinder through bolts, the buffer sliding block is arranged on the buffer sliding rail in a sliding manner, the buffer sliding block and the buffer sliding rail are in damping sliding manner, the buffer connecting block is fixed on the buffer sliding block through bolts, the buffer stop block is connected with the buffer connecting block through the guide post, and a sleeve is sleeved on the guide post;
be provided with two charging tray deflector on the bottom plate, the charging tray is located between the charging tray deflector, and the charging tray divide into finished product charging tray and wait to process the charging tray, and finished product charging tray is located and waits to process the charging tray outside, and the drill bit of waiting to process is placed on waiting to process the charging tray, and the drill bit of processing completion is placed on finished product charging tray.
2. The feeding and discharging device for the drill bit grinding equipment according to claim 1, wherein the X-axis adjusting mechanism comprises an X-axis track side plate, an X-axis driving wheel set, an X-axis wire harness track, a Z-axis adjusting base, an X-axis sliding block, a belt pressing plate, an X-axis belt, an X-axis sliding rail base, an X-axis sliding rail and an X-axis driven wheel set, wherein the X-axis sliding rail base is fixed on a bottom plate through bolts, the X-axis sliding rail is fixed on the X-axis sliding rail base, the X-axis sliding block is slidably arranged on the X-axis sliding rail, the X-axis driving wheel set and the X-axis driven wheel set are respectively arranged at two ends of the X-axis sliding rail base, the X-axis driving wheel set and the X-axis driven wheel set are connected through an X-axis belt, the two ends of the X-axis belt are respectively arranged in an opening, the Z-axis adjusting base is fixed on the X-axis sliding block through a belt pressing plate, the X-axis adjusting base is detachably connected to one side of the X-axis track side of the X-axis sliding rail base, the X-axis track side plate is provided with the X-axis wire harness track, and the lower end of the X-axis wire harness is fixed on the X-axis track side 5.
3. The feeding and discharging device for the drill bit grinding equipment according to claim 2, wherein the Z-axis adjusting mechanism comprises a Z-axis slide rail base, a Z-axis driven wheel group, a Z-axis track side plate, a Z-axis track fixing plate, a manipulator connecting plate, a Z-axis driving wheel group, a Z-axis slide rail, an X-axis track pressing plate, a Z-axis slide block, a Z-axis belt and a Z-axis slide rail support, one end of the Z-axis slide rail base is fixed on the Z-axis adjusting base through bolts, the other end of the Z-axis slide rail base is fixed on the Z-axis slide rail support through bolts, a support slider is connected to the lower portion of the Z-axis slide rail support, the support slider is slidably arranged on the support slide rail, the support slider is fixed on a bottom plate, the Z-axis driving wheel group and the Z-axis driven wheel group are respectively arranged at two ends of the Z-axis slide rail base, the Z-axis driving wheel group and the Z-axis driven wheel group are connected through a Z-axis belt, the Z-axis slide rail is fixed on the Z-axis slide rail base, the Z-axis slider is slidably arranged on the Z-axis slide rail belt, two ends of the Z-axis belt are respectively fixed on the Z-axis slide rail belt, the two ends of the Z-axis slide belt are fixed on the Z-axis slide rail, the manipulator connecting plate is fixed on the Z-axis track plate, the Z-axis track plate is fixed on the Z-axis track plate, the Z-axis side plate is fixed on the Z-axis track plate, and the Z-axis side plate is fixed on the side plate, and the Z-axis track plate, and the Z-axis plate is fixed on the track plate, and the Z-axis crawler plate, and the track plate, and the Z-axis belt is fixed on the track.
4. The feeding and discharging device for the drill bit grinding equipment according to claim 3, wherein the mechanical claw assembly comprises a mechanical claw connecting plate, a first mechanical claw and a second mechanical claw, the mechanical claw connecting plate is connected with the buffer connecting block through bolts, the first mechanical claw and the second mechanical claw are fixed on the mechanical claw connecting plate, inductors are arranged on the first mechanical claw and the second mechanical claw, and a positioning block is arranged at the joint of the first mechanical claw and the second mechanical claw and the mechanical claw connecting plate.
5. The feeding and discharging device for the drill bit grinding equipment according to claim 4, wherein the second mechanical claw and the first mechanical claw have the same structure, the first mechanical claw comprises a clamping claw cylinder, an air pipe joint is arranged on the clamping claw cylinder, two connecting columns are arranged at one end of the clamping claw cylinder, two clamping claws are detachably connected to the two connecting columns, clamping grooves are formed in clamping sides of the clamping claws, a drill bit is clamped in the clamping grooves between the two clamping claws, the first mechanical claw clamps a unprocessed drill bit, and the second mechanical claw clamps a processed drill bit.
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| CN101396692A (en) * | 2007-09-28 | 2009-04-01 | 鸿劲科技股份有限公司 | Device capable of automatically detecting appearance of electronic element |
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| CN105081897A (en) * | 2015-09-01 | 2015-11-25 | 昆山金箭机械设备有限公司 | Novel drill point grinder |
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