CN111331204B

CN111331204B - Automatic feeding and discharging manipulator for gear hobbing machine

Info

Publication number: CN111331204B
Application number: CN202010128094.6A
Authority: CN
Inventors: 钱正良; 许振红; 崔桂雷; 周佳良
Original assignee: Zhejiang Yili Robot Technology Co ltd
Current assignee: Zhejiang Yili Robot Technology Co ltd
Priority date: 2020-02-28
Filing date: 2020-02-28
Publication date: 2022-08-02
Anticipated expiration: 2040-02-28
Also published as: CN111331204A

Abstract

The invention discloses an automatic feeding and discharging manipulator for a gear hobbing machine, which comprises a grabbing module connecting plate, wherein a linear cylinder is arranged below the grabbing module, the linear cylinder is connected with a rotating mechanism, the rotating mechanism is connected with an installation plate, the center of the installation plate is connected with the rotating mechanism, at least two clamping jaws are arranged on the installation plate, and all the clamping jaws are uniformly distributed along the circumference by taking the center of the installation plate as the circle center.

Description

Automatic feeding and discharging manipulator for gear hobbing machine

Technical Field

The invention belongs to the field of manipulators of precision gear hobbing machines, and particularly relates to an automatic feeding and discharging manipulator for a gear hobbing machine.

Background

The hobbing machine is the most widely applied machine tool in gear processing machines, straight teeth and helical cylindrical gears can be cut on the hobbing machine, worm gears, chain wheels and the like can also be processed, the hobbing machine is used for processing the straight teeth, the helical teeth, the herringbone cylindrical gears and the worm gears according to a generating method, and a mechanical hand is matched and used on the hobbing machine, so that the work which needs manual inconvenient operation or even cannot be completed by manual work can be completed, the working efficiency is improved, the hobbing machine is developed to a wider field, however, due to the technical problem, the gear clamping jaw of the mechanical hand of the commonly used hobbing machine can only be clamped in a certain direction, if the space of a workpiece releasing area of the hobbing machine is narrow, the mechanical hand is inconvenient or even difficult to clamp workpieces, the working efficiency is reduced, and the development of the field of the mechanical hand of the hobbing machine is also suppressed.

The Chinese patent with the application number of 2018106000376 is a prior application of the applicant, and discloses a manipulator capable of being inserted up and down and obliquely, which comprises a beam assembly, a double-row manipulator module, a gas claw fixing plate and a movement mechanism, wherein the movement mechanism is arranged on the beam assembly, the double-row manipulator module is connected with the movement mechanism, a rack is arranged on the beam assembly, and the movement mechanism is connected with the rack; the movement mechanism comprises an X axial movement device and a Z axial movement device, the Z axial movement device is positioned between the X axial movement device and the cross beam assembly, the X axial movement device is positioned on the outer side of the Z axial movement device, and the X axial movement device contains the Z axial movement device on the inner side; this manipulator structure designs according to lathe inner space and work piece structural feature, and factor such as comprehensive consideration efficiency, and two parallel gas claws are accomplished in turn and are got material, pay-off, and compact structure is reasonable, occupies minimum space to the gear clamping jaw can rotate along with the rotation of cylinder, therefore can set for different angles as required, can satisfy snatching and the back-feeding of manipulator to the work piece in the narrow and small space of difference.

Referring to fig. 1, although the angle of the air cylinders in the prior application can be adjusted to enable the gear clamping jaws and the air jaws to move obliquely, the two air cylinders are always at the same angle, one air jaw grabs a product, the other air jaw is a hollow jaw and extends into the gear hobbing machine, the hollow jaw grabs and moves away a product processed in the gear hobbing machine, the other air jaw puts a new product into the gear hobbing machine, then the whole manipulator moves away, the processed product is moved away, and a new product is taken back; that is to say, the moment that two pneumatic claws simultaneously have products exists, the products with shorter length can be clamped, if the product length is longer, the two products can interfere with each other, and the functions of feeding and discharging at one time cannot be realized; and two gas claws need x to remove a certain distance when getting and putting the product in x direction non-same position, just can make the product get and put in same position.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a method for loading and unloading longer products, which is characterized in that a plurality of clamping jaws are arranged on the same mounting plate, all the clamping jaws are arranged at the same position in the x direction, the x direction does not need to be moved during loading and unloading, the mounting plate only needs to be rotated, and the loading and unloading can be realized for longer products.

In order to realize the purpose, the invention provides the following technical scheme: the utility model provides a feeding mechanical arm in automatic for gear hobbing machine, is including snatching the module connecting plate, it is provided with a sharp cylinder to snatch module connecting plate below, sharp cylinder is connected with rotary mechanism, rotary mechanism is connected with the mounting panel, the center and the rotary mechanism of mounting panel are connected, be provided with two at least clamping jaws on the mounting panel, all clamping jaws use the center of mounting panel as the centre of a circle along circumference evenly distributed.

Further the rotating mechanism is a rotating cylinder.

Further rotary mechanism includes motor and speed reducer, and the motor is fixed in on the straight line cylinder, and motor and mounting panel are connected to the speed reducer.

Further the tip of clamping jaw is provided with the arm lock, the arm lock passes through bolt and nut with the clamping jaw and can dismantle the connection.

Furthermore, the clamping jaw is a pneumatic finger, a plurality of insections are arranged on one side of the clamping arm opposite to the pneumatic finger, and the insections of the clamping arm and the pneumatic finger are meshed with each other.

The insection is further linear, and the extending direction of the insection is perpendicular to the clamping movement direction of the clamping arm.

The insection is further in a V shape.

Further a bar-shaped groove is formed in the clamping arm, a through hole is formed in the clamping jaw, and the bolt penetrates through the through hole and the bar-shaped groove to fix the clamping arm and the clamping jaw through a nut.

Further the clamping jaw is provided with two.

Further be provided with the profile modeling cushion on the arm lock, the profile modeling cushion passes through the bolt with the arm lock and can dismantle the connection.

Compared with the prior art, the invention has the beneficial effects that:

1. when loading and unloading, the whole manipulator does not need to move along the x-axis direction, and loading and unloading can be realized at the same position even in a narrow space;

2. the clamping jaws for feeding and the clamping jaws for blanking are arranged in a non-parallel mode and do not interfere with each other, and products with large lengths can be fed and discharged;

3. according to the processing duration of the product, only one pair of clamping jaws can be installed, and the manipulator leaves and enters the gear hobbing machine once after only one next product is loaded and unloaded each time; or a plurality of clamping jaws are selectively installed, after a plurality of products are arranged up and down, a plurality of unprocessed products are grabbed and simultaneously extend into the gear hobbing machine, and after the plurality of products are processed, the mechanical arm is separated.

Drawings

FIG. 1 is a three-dimensional structure diagram of an automatic loading and unloading manipulator for a gear hobbing machine according to the present invention;

FIG. 2 is an enlarged view of portion A of FIG. 1;

fig. 3 is a side view of the automatic loading and unloading robot for the gear hobbing machine of the present invention.

Reference numerals: 1. grabbing a module connecting plate; 2. a linear cylinder; 3. a rotating cylinder; 4. a connecting plate; 5. a clamping jaw; 51. a feeding clamping jaw; 52. blanking clamping jaws; 6. producing a product; 7. clamping arms; 71. profiling cushion blocks; 72. insection.

Detailed Description

Embodiments of an automatic loading and unloading robot for a gear hobbing machine according to the present invention will be further described with reference to fig. 1 to 3.

In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate that the orientation and positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific scope of the present invention.

Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the features, and in the description of the invention, "a number" or "a number" means two or more unless explicitly specified otherwise.

The utility model provides a feeding mechanical arm in automation for gear hobbing machine, is including snatching module connecting plate 41, it is provided with a sharp cylinder 2 to snatch module connecting plate 41 below, sharp cylinder 2 is connected with rotary mechanism, rotary mechanism is connected with the mounting panel, the center and the rotary mechanism of mounting panel are connected, be provided with two at least clamping jaws 5 on the mounting panel, all clamping jaws 5 use the center of mounting panel as the centre of a circle along circumference evenly distributed.

The linear cylinder 2 can enable the rotating mechanism to move along a straight line, and the rotating mechanism can enable the mounting plate to rotate along the center so that a certain clamping jaw 5 is opposite to a product 6 processing position in the gear hobbing machine.

The mounting plate in this embodiment may have two clamping jaws 5 as shown in fig. 1 and 3, where the two clamping jaws 5 are symmetrically arranged, at this time, one of the clamping jaws 5 is a feeding clamping jaw 51, and the other is a discharging clamping jaw 52, that is, the feeding clamping jaw 51 clamps an unprocessed product 6 outside the hobbing machine, the discharging clamping jaw 52 is empty at this time, the manipulator moves integrally into the hobbing machine, the discharging clamping jaw 52 clamps the processed product 6 inside the hobbing machine, the mounting plate is rotated by 180 degrees by the rotating mechanism without moving in the x direction, and the feeding clamping jaw 51 can smoothly place the unprocessed product 6 into the hobbing machine.

Certainly, the invention can also arrange more clamping jaws 5 on the mounting plate, for example, 5 clamping jaws 5 are arranged, 4 unprocessed products 6 are grabbed into the hobbing machine each time, one clamping jaw 5 which does not clamp the product 6 clamps one product 6 completed in the hobbing machine, the mounting plate rotates to enable the product 6 on one clamping jaw 5 to be positioned on a processing station in sequence, after the processing is completed, the product 6 is taken out, the mounting plate is rotated again to enable the product 6 on the next clamping jaw 5 to be positioned on the processing station for processing, for the product 6 with short processing time, the time of reciprocating motion of the manipulator can be greatly saved, and the processing production efficiency is improved.

The rotating mechanism preferred in this embodiment is a rotating cylinder 3.

Or the rotating mechanism comprises a motor and a speed reducer, the motor is fixed on the linear cylinder 2, and the speed reducer is connected with the motor and the mounting plate.

The tip of this embodiment is preferred clamping jaw 5 is provided with arm lock 7, arm lock 7 and clamping jaw 5 pass through the bolt and can dismantle with the nut and be connected.

The clamping arm 7 is used for clamping a product 6, wherein a profiling cushion block 71 is arranged on the clamping arm 7, the profiling cushion block 71 is detachably connected with the clamping arm 7 through a bolt, the profiling cushion block 71 can be designed according to the shape of the product 6, the clamping stability is improved, and the profiling cushion block 71 can be replaced when worn.

This embodiment is preferred clamping jaw 5 is pneumatic finger, one side that pneumatic finger is relative is all provided with a plurality of insections 72 to arm lock 7, arm lock 7 and pneumatic finger's insection 72 intermeshing, two arm locks 7 have on every pneumatic finger, two arm lock 7 are close to then centre gripping product 6 each other, the product 6 is then opened in the alternate segregation, insection 72 can increase arm lock 7 and pneumatic finger's frictional force, prevent that arm lock 7 from removing on pneumatic finger, guarantee to provide stable clamping-force to product 6, this dynamics carries out the centre gripping according to the dynamics of predetermineeing completely.

Seted up the bar groove on the arm lock 7, seted up the through-hole on the clamping jaw 5, the bolt passes through the through-hole and the bar groove passes through the nut with arm lock 7 fixed with clamping jaw 5, according to the difference of 6 model sizes of product, then the preset position between two arm lock 7 can change, and the accessible is unscrewed bolt and nut this moment, adjusts the position of arm lock 7 on clamping jaw 5, then locks again.

The insection 72 is preferably linear in this embodiment, the extending direction of the insection 72 is perpendicular to the clamping movement direction of the clamping arm 7, as shown in fig. 2, the insection 72 on the clamping arm 7 and the clamping jaw 5 is matched, after the positions of the clamping arm 7 and the clamping jaw 5 are adjusted, the clamping arm 7 and the clamping jaw 5 can be completely fixed relatively, and the preset position is ensured to be stable and unchanged.

The insection 72 in this embodiment may also be "V" shaped or otherwise.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims

1. The utility model provides a feeding mechanical arm in automation for gear hobbing machine, is including snatching the module connecting plate, its characterized in that: a linear cylinder is arranged below the grabbing module connecting plate, the linear cylinder and the grabbing module connecting plate are arranged in an inclined angle in the length direction, the linear cylinder is connected with a rotating mechanism, the rotating mechanism is connected with a mounting plate, the center of the mounting plate is connected with the rotating mechanism, at least two clamping jaws are arranged on the mounting plate, and all the clamping jaws are uniformly distributed along the circumference by taking the center of the mounting plate as the circle center;

the rotating mechanism comprises a motor and a speed reducer, the motor is fixed on the linear cylinder, and the speed reducer is connected with the motor and the mounting plate.

2. The automatic loading and unloading manipulator for the gear hobbing machine according to claim 1, characterized in that: the tip of clamping jaw is provided with the arm lock, the arm lock passes through bolt and nut with the clamping jaw and can dismantle the connection.

3. The automatic loading and unloading manipulator for the gear hobbing machine according to claim 2, characterized in that: the clamping jaw is a pneumatic finger, a plurality of insections are arranged on one side of the clamping arm opposite to the pneumatic finger, and the insections of the clamping arm and the pneumatic finger are meshed with each other.

4. The automatic loading and unloading manipulator for the gear hobbing machine according to claim 3, characterized in that: the insection is linear, and the extending direction of the insection is perpendicular to the clamping movement direction of the clamping arm.

5. The automatic loading and unloading manipulator for the gear hobbing machine of claim 4, wherein: the insection is V-shaped.

6. The automatic loading and unloading manipulator for the gear hobbing machine according to claim 5, characterized in that: the clamping arm is provided with a strip-shaped groove, the clamping jaw is provided with a through hole, and the bolt penetrates through the through hole and the strip-shaped groove to fix the clamping arm and the clamping jaw through a nut.

7. The automatic loading and unloading manipulator for the gear hobbing machine according to claim 6, characterized in that: the clamping jaw is provided with two.

8. The automatic loading and unloading manipulator for the gear hobbing machine according to claim 7, characterized in that: the clamping arms are provided with copying cushion blocks, and the copying cushion blocks are detachably connected with the clamping arms through bolts.