CN117140568A - Tail end gripping apparatus of tubular shaft part gripping feeding and discharging robot - Google Patents

Abstract

The application discloses a tubular shaft part grabbing feeding and discharging robot tail end gripping apparatus which comprises a robot connecting seat, a first mounting plate and a second air cylinder, wherein a wire rail is symmetrically arranged at the bottom of the robot connecting seat, the first mounting plate is arranged at the bottom of the wire rail, the second air cylinder is symmetrically arranged at the top of the first mounting plate, a second mounting plate is arranged at the output end of the second air cylinder, an electro-permanent magnet is arranged at the bottom of the second mounting plate, mounting frames are symmetrically arranged at two sides of the first mounting plate, and clamping jaws are symmetrically and movably arranged at the inner sides of the mounting frames in a penetrating mode. According to the application, the electric permanent magnet can attract the pipe shaft workpiece to move upwards, the pipe shaft workpiece is taken out from the material frame, the problem that the pipe shaft workpiece is not well grabbed by the material frame structure in the material frame by the traditional clamping jaw is avoided, the clamping jaw can clamp the pipe shaft workpiece, and further the robot can drive the robot connecting seat to incline, so that the pipe shaft workpiece clamped at the inner side of the clamping jaw can incline, and scraps in the pipe shaft workpiece can be dumped and discharged.

Description

Tail end gripping apparatus of tubular shaft part gripping feeding and discharging robot

Technical Field

The application relates to the technical field of claws, in particular to a tail end gripper of a tubular shaft part grabbing feeding and discharging robot.

Background

The automatic feeding and discharging modes of the machine tool machining pipe shaft part robot generally comprise modes such as electro-permanent magnet adsorption, clamping jaw adsorption and the like, the robot mostly adopts clamping jaws to clamp the pipe shaft part, but when the clamping jaws clamp the pipe shaft part, because the clamping jaws themselves need to have certain space requirements, the pipe shaft part needs to be tidied in advance, manpower is consumed, when the pipe shaft part is adsorbed by the magnetic attraction type robot, the pipe shaft part does not need to be tidied in advance, but when the robot pours chip liquid on the pipe shaft part, the robot needs to tilt the part at a large angle, and the pipe shaft part is thrown off by the magnetic attraction type gripper.

The existing claw has the following defects:

1. patent document US20160082601A1 discloses a jaw, "a clamp having a body with a jaw support portion and a power portion. The power supply assembly is positioned in the power supply portion. The fixed jaw is fixed to the jaw support portion. The movable jaw is pivotally secured to the jaw support portion about a pivot pin. The rod from the power assembly is connected in a groove on the movable jaw. The pivot pins are positioned on opposite sides of the axis of the lever on the clevis portion remote from the stationary jaw. The non-clamping end of the movable clamping jaw cannot extend below the end face of the main body on the side of the fixed clamping jaw of the clamp holder, and the clamping jaw can clamp a workpiece, but when the clamping jaw is used for clamping a tubular shaft workpiece, the tubular shaft workpiece is generally placed in a material frame, and the clamping jaw occupies a certain space, so that the tubular shaft workpiece needs to be tidied in advance when the clamping jaw clamps the tubular shaft workpiece, the clamping jaw is convenient for clamping the workpiece, labor is wasted, and therefore the problem is solved by the tubular shaft part clamping feeding and discharging robot tail end gripper which can improve the efficiency of clamping the tubular shaft workpiece and does not need to tidy the tubular shaft workpiece in advance.

2. Patent document CN111136681B discloses a clamping jaw, "a rack is provided with a driving mechanism and a plurality of driving rods, the driving rods are rotatably connected with the rack, and the driving mechanism drives the driving rods to swing; the clamping claw is provided with a plurality of, the clamping claw is installed on the actuating lever, including mounting panel and a plurality of gyro wheel, the gyro wheel offsets with the product surface, the gyro wheel with be connected with first connecting rod between the mounting panel, the both ends of first connecting rod respectively with the gyro wheel reaches the gyro wheel rotates to be connected, the gyro wheel with the mounting panel offsets. The appearance that a plurality of gyro wheel comes according to different products is adjusted through the swing to effectively make the gripper hugs closely the surface of product, guarantee to press from both sides tightly different products, adapt to different operational scenario, "the clamping jaw in this patent can effectively press from both sides the product of different appearances and get, but this anchor clamps do not have buffer structure, anchor clamps and work piece collision cause the damage to work piece and clamping jaw easily when the work piece is close to this anchor clamps, consequently need a tubular shaft part that can cushion the impact that the clamping jaw received snatch last unloading robot terminal gripping apparatus and solve this problem.

3. Patent document CN216371242U discloses a ring-shaped electro permanent magnetic chuck, "comprising: a base; the sucking disc units are arranged on the base around the center of the base; the plurality of electric brushes are arranged on the base around the center of the base and are electrically connected with the plurality of sucking disc units in a one-to-one correspondence manner; and the slip ring body is arranged at the central position of the base and is provided with at least two arc-shaped conductive tracks and at least two arc-shaped insulating tracks, and the plurality of electric brushes are alternately contacted with the conductive tracks and the insulating tracks in the rotating process along with the base. When the workpiece rotates to a processing area, the electric brush connected with the sucker unit is magnetized to absorb the workpiece after contacting with one of the conductive tracks, when the workpiece rotates to a loading and unloading area after processing, the electric brush of the sucker unit is contacted with the other conductive track to demagnetize and release the workpiece, at the moment, the workpiece after processing can be taken down, the workpiece to be processed is placed again, the whole process machine tool does not need to be stopped, continuous production can be realized, and the production efficiency is improved.

4. Patent document CN207222982U discloses a general car magnetic chuck and a self-centering general car magnetic chuck, "comprising a chuck body, a clamping packing and a clamp disc; the chuck root and the clamp disc are respectively and detachably arranged at two ends of the chuck body; a main shaft connecting component used for being connected with a main shaft of a machine tool is arranged on one side of the clamping packing away from the chuck body; a magnetic adsorption assembly is arranged in the chuck body; the clamp disc is made of magnetic conductive materials, and a workpiece connecting part for clamping a part machined by a machine tool is arranged on one side, away from the chuck body, of the clamp disc. The general car magnetic chuck solves the technical problems that when parts are processed by using a three-jaw chuck on a general car machine, the clamping and aligning procedures of the general car magnetic chuck have high requirements on the technical level of workers and occupy a larger proportion of production time in the prior art, and the magnetic chuck in the patent can adsorb workpieces, but the surface of the magnetic chuck generally covers an oil film when the magnetic chuck does not work, so that rust on the surface of the magnetic chuck is avoided, dust is easy to adhere to the oil film for a long time, the magnetic chuck needs to be cleaned when the general car magnetic chuck is used, frequent cleaning of the magnetic chuck is relatively troublesome, and therefore, a tail gripper of a pipe shaft part grabbing feeding and discharging robot capable of conveniently cleaning the surface of the magnetic chuck and preventing dust from being covered when the magnetic chuck does not work is needed to solve the problems.

Disclosure of Invention

The application aims to provide a tail end gripping apparatus of a tubular shaft part gripping loading and unloading robot, which can solve the technical problems in the prior art.

In order to achieve the above purpose, the present application provides the following technical solutions: the utility model provides a tubular shaft part snatchs last unloading robot end gripping apparatus, includes robot connecting seat, first mounting panel and second cylinder, the line rail is installed to the bottom symmetry of robot connecting seat, first cylinder is installed to the bottom symmetry of robot connecting seat, first mounting panel is installed to the bottom of line rail, the second cylinder is installed to the top symmetry of first mounting panel, the second mounting panel is installed to the output of second cylinder, the electricity permanent magnet is installed to the bottom of second mounting panel;

the mounting frame is symmetrically arranged on two sides of the first mounting plate, clamping jaws are symmetrically arranged on the inner side of the mounting frame in a penetrating and movable mode, a fourth cylinder is symmetrically arranged on one side of the mounting frame, and a piston rod is arranged at the output end of the fourth cylinder.

Preferably, the output end of the first cylinder is provided with a buffer cylinder connecting plate, and the bottom of the buffer cylinder connecting plate is connected with the top of the first mounting plate.

Preferably, the top symmetry of first mounting panel is installed the guide bearing seat, and the top symmetry of first mounting panel is installed the block, and blocks the both sides that the block is located the robot connecting seat.

Preferably, the top of second mounting panel symmetry is installed the guide bar, and the one end of guide bar runs through the top of guide bearing frame.

Preferably, the inner sides of the clamping jaws are symmetrically provided with rotating plates.

Preferably, a third cylinder is installed at the top of the installation frame, a lifting frame is installed at the output end of the third cylinder, and the lifting frame is located at the outer side of the rotating plate.

Preferably, a rubber block is arranged at one end of the piston rod.

Preferably, the front surface of the first mounting plate is provided with a third mounting plate, the top of the third mounting plate is provided with a fifth air cylinder, the output end of the fifth air cylinder is provided with a lifting plate, the front surface of the lifting plate is provided with a sixth air cylinder, the output end of the sixth air cylinder is provided with a movable plate, the front surface of the movable plate is provided with a cloth, and the front surface of the cloth is connected with the back surface of the lifting plate.

Preferably, the application method of the tail end gripping device of the tubular shaft part gripping loading and unloading robot is as follows:

s1, connecting a robot connecting seat with a robot, firstly, driving a moving plate to move backwards by a sixth air cylinder to scrape greasy dirt and adhered scraps on the bottom of an electro-permanent magnet, then driving the robot connecting seat to move above a pipe shaft workpiece by the robot, then driving a second mounting plate to move downwards by a first air cylinder, further enabling the electro-permanent magnet below the second mounting plate to move downwards to attract the pipe shaft workpiece through magnetic force, and then driving the pipe shaft workpiece to move upwards by the first air cylinder;

s2, when the pipe shaft workpiece moves up to the inner side of the clamping jaw, the lifting frame is driven by the third air cylinder to move upwards, the lifting frame drives the rotating plate to rotate upwards, and the clamping jaw can be driven to rotate inwards when the rotating plate rotates upwards, so that the clamping jaw clamps the pipe shaft workpiece at the inner side, and then the robot can drive the robot connecting seat to incline, so that the pipe shaft workpiece clamped at the inner side of the clamping jaw can incline, and chips in the pipe shaft workpiece are dumped and discharged.

Preferably, the step S1 further includes the following steps:

s11, after the electric permanent magnet moves downwards to attract the pipe shaft workpiece, the fourth cylinder drives the piston rod to move downwards to limit the front and back directions of the pipe shaft workpiece, so that the pipe shaft workpiece is prevented from rolling below the electric permanent magnet, and further the pipe shaft workpiece is prevented from being unable to rise to the inner side of the clamping jaw due to rolling and tilting;

the step S2 further comprises the following steps:

s21, after the workpiece is machined, the lifting plate is driven to move downwards through the fifth air cylinder after the equipment is not used, then the sixth air cylinder drives the moving plate to move backwards, the moving plate can scrape scraps at the bottom of the electric permanent magnet, and the bottom of the electric permanent magnet can be shielded by the shielding cloth, so that dust on the surface of the bottom of the electric permanent magnet due to impurities in air adsorbed by rust-proof greasy dirt is prevented when the equipment is not used, and the cleaning frequency of workers to the electric permanent magnet is reduced.

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

1. according to the application, the tubular shaft workpiece can be attracted to move upwards through the electro-permanent magnet, so that the tubular shaft workpiece can be conveniently taken out from the material frame, the problem that the tubular shaft workpiece is not well gripped by the material frame structure in the material frame by the traditional clamping jaw is avoided, the tubular shaft workpiece can be clamped by the clamping jaw, and the robot can drive the robot connecting seat to incline, so that the tubular shaft workpiece clamped at the inner side of the clamping jaw can incline, scraps in the tubular shaft workpiece can be dumped and discharged, the tubular shaft workpiece can be attracted to move upwards by the electro-permanent magnet by the tail end gripper of the tubular shaft part gripping feeding and discharging robot, the tubular shaft workpiece can be conveniently taken out from the material frame, the tubular shaft workpiece can be prevented from being gripped by the traditional clamping jaw due to the poor material frame structure in the material frame, the tubular shaft workpiece can be gripped by the clamping jaw, and the robot can drive the robot connecting seat to incline, so that the tubular shaft workpiece clamped at the inner side of the clamping jaw can incline, and scraps in the tubular shaft workpiece can be dumped and discharged.

2. According to the application, the buffer can be carried out when the tubular shaft workpiece is electrically and permanently attracted to contact the clamping jaw through the first air cylinder, so that the collision damage when the tubular shaft workpiece is contacted with the clamping jaw is reduced, the tail end gripping apparatus of the tubular shaft part gripping feeding and discharging robot can buffer when the tubular shaft workpiece is electrically and permanently attracted to contact the clamping jaw through the first air cylinder, and the collision damage when the tubular shaft workpiece is contacted with the clamping jaw is reduced.

3. According to the application, the piston rod is driven to move downwards to limit the front and rear directions of the tubular shaft workpiece through the fourth cylinder, so that the tubular shaft workpiece is prevented from rolling below the electro-permanent magnet, and further the tubular shaft workpiece is prevented from being unable to rise to enter the inner sides of the clamping jaws due to rolling inclination, so that the tubular shaft part grabbing feeding and discharging robot tail end gripping apparatus drives the piston rod to move downwards to limit the front and rear directions of the tubular shaft workpiece through the fourth cylinder, the tubular shaft workpiece is prevented from rolling below the electro-permanent magnet, and further the tubular shaft workpiece is prevented from being unable to rise to enter the inner sides of the clamping jaws due to rolling inclination.

4. According to the application, the sixth air cylinder drives the movable plate to move backwards to scrape greasy dirt and adhered chippings on the bottom of the electric permanent magnet, when the equipment is idle and not used, the fifth air cylinder drives the lifting plate to move downwards, then the sixth air cylinder drives the movable plate to move backwards, the movable plate can scrape the chippings on the bottom of the electric permanent magnet, and the blocking cloth can block the bottom of the electric permanent magnet, so that dust on the surface of the bottom of the electric permanent magnet due to the fact that rust-proof greasy dirt adsorbs impurities in air when the equipment is not used is prevented, the cleaning frequency of workers on the electric permanent magnet is further reduced, the tail end gripper of the pipe shaft part grabbing feeding and discharging robot drives the movable plate to move backwards to scrape the greasy dirt and adhered chippings on the bottom of the electric permanent magnet through the sixth air cylinder, when the equipment is idle and not used, the fifth air cylinder drives the lifting plate to move downwards, then the sixth air cylinder drives the movable plate to move backwards, and the blocking cloth can block the chippings on the bottom of the electric permanent magnet, and the blocking cloth can block the bottom of the electric permanent magnet, so that dust on the bottom of the electric permanent magnet can be prevented from adsorbing the dust in the air due to rust-proof greasy dirt when the equipment is not used, and the dust on the bottom surface of the electric permanent magnet is further reduced.

Drawings

FIG. 1 is a perspective view of the present application;

FIG. 2 is a schematic view of a robot connecting holder according to the present application;

FIG. 3 is a schematic view of a first mounting plate structure according to the present application;

FIG. 4 is a schematic view of a second mounting plate structure according to the present application;

FIG. 5 is a schematic view of a third mounting plate structure according to the present application;

FIG. 6 is a schematic view of a mounting frame structure of the present application;

FIG. 7 is a schematic view of a jaw structure according to the present application;

FIG. 8 is a schematic view of a third cylinder configuration of the present application;

fig. 9 is a schematic view of a lifter plate structure according to the present application.

In the figure: 1. a robot connecting seat; 101. a wire rail; 102. a first cylinder; 103. a buffer cylinder connecting plate; 2. a first mounting plate; 201. a guide bearing seat; 202. a blocking piece; 3. a second cylinder; 301. a second mounting plate; 302. a guide rod; 303. an electro permanent magnet; 4. a mounting frame; 401. a clamping jaw; 402. a rotating plate; 5. a third cylinder; 501. a lifting frame; 6. a fourth cylinder; 601. a piston rod; 602. a rubber block; 7. a third mounting plate; 701. a fifth cylinder; 702. a lifting plate; 703. a sixth cylinder; 704. a moving plate; 705. and (5) shielding cloth.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1, 2 and 3, an embodiment of the present application provides: tail end gripping device of tubular shaft part gripping loading and unloading robot;

including robot connecting seat 1, the line rail 101 is installed to robot connecting seat 1's bottom symmetry, first cylinder 102 is installed to robot connecting seat 1's bottom symmetry, buffer cylinder connecting plate 103 is installed to first cylinder 102's output, and buffer cylinder connecting plate 103's bottom is connected with first mounting panel 2's top, robot connecting seat 1 can provide the mounted position for other parts of this equipment, make other parts of this equipment have the position to install, simultaneously robot connecting seat 1 can be connected with the robot, make this equipment can be operated by the robot, line rail 101 plays the effect of swing joint robot connecting seat 1 and first mounting panel 2, simultaneously can make first mounting panel 2 relative robot connecting seat 1 slide, first cylinder 102 is buffer cylinder, play the effect of buffering, can cushion when clamping jaw 401 and electric permanent magnetism 303 receive the impact of pipe axle work piece, reduce the injury that clamping jaw 401 and pipe axle work piece received, buffer cylinder connecting plate 103 plays the effect of connecting first cylinder 102 and first mounting panel 2.

Referring to fig. 1, 2, 3, 4 and 5, an embodiment of the present application is provided: tail end gripping device of tubular shaft part gripping loading and unloading robot;

including first mounting panel 2 and second cylinder 3, first mounting panel 2 is installed to the bottom of linear rail 101, guide bearing frame 201 is installed to the top symmetry of first mounting panel 2, stop block 202 is installed to the top symmetry of first mounting panel 2, and stop block 202 is located the both sides of robot connecting seat 1, first mounting panel 2 can provide the mounted position for second cylinder 3, make second cylinder 3 have the position to install, guide bearing frame 201 can provide the direction for guide bar 302, make guide bar 302 can only reciprocate, stop block 202 plays spacing effect, can avoid first mounting panel 2 and robot connecting seat 1 to break away from, second cylinder 3 is installed to the top symmetry of first mounting panel 2, the output of second cylinder 3 installs second mounting panel 301, guide bar 302 is installed to the top symmetry of second mounting panel 301, and the one end of guide bar 302 runs through the top of guide bearing frame 201, the electric permanent magnetism 303 is installed to the bottom of second cylinder 301, second cylinder 3 can be the guide bar 302 can be the guide, can be for the guide bar 302 can carry out the upper and lower motion, thereby the permanent magnetism can be used for the second mounting panel 301 to move down, can be for the upper and lower side electric magnetism 301, the upper and lower side electric magnetism can be guaranteed to move, the magnetic force can be used for the second mounting panel 301, the upper and lower side can be moved, and the electric magnetism can be guaranteed to move, the mounting panel 303 is moved, and 303 can be moved down, the upper and lower side is stable, and 303 is guaranteed.

Referring to fig. 1, 6, 7 and 8, an embodiment of the present application is provided: tail end gripping device of tubular shaft part gripping loading and unloading robot;

including installing frame 4 and third cylinder 5, installing frame 4 is installed to the bilateral symmetry of first mounting panel 2, the inboard symmetry of installing frame 4 runs through movable mounting has clamping jaw 401, rotor plate 402 is installed to the inboard symmetry of clamping jaw 401, installing frame 4 can provide mounted position for clamping jaw 401, clamping jaw 401 plays the effect of pressing from both sides the tubular shaft part, rotor plate 402 can drive clamping jaw 401 to inside rotation through rotating from top to bottom, third cylinder 5 is installed at the top of installing frame 4, lifting frame 501 is installed to the output of third cylinder 5, and lifting frame 501 is located rotor plate 402's outside, third cylinder 5 can convert the atmospheric pressure energy into kinetic energy, thereby drive lifting frame 501 reciprocates, lifting frame 501 can drive rotor plate 402 through reciprocating, thereby drive clamping jaw 401 and rotate, make clamping jaw 401 can press from both sides tightly and put down the tubular shaft work piece.

Referring to fig. 1 and 6, an embodiment of the present application is provided: tail end gripping device of tubular shaft part gripping loading and unloading robot;

including fourth cylinder 6, fourth cylinder 6 is installed to one side symmetry of installing frame 4, and piston rod 601 is installed to the output of fourth cylinder 6, and rubber piece 602 is installed to the one end of piston rod 601, and fourth cylinder 6 can be with atmospheric pressure energy conversion kinetic energy to can drive piston rod 601 and reciprocate, piston rod 601 can carry out spacingly to the hollow shaft part absorbed by electric permanent magnet 303 through the downshift, thereby avoid hollow shaft part roll produce the slope and cause unable entering clamping jaw 401 inboard, rubber piece 602 plays the effect of buffering, can reduce the impact injury that piston rod 601 collided hollow shaft work piece or hollow shaft hold the material frame received.

Referring to fig. 1, 5 and 9, an embodiment of the present application provides: tail end gripping device of tubular shaft part gripping loading and unloading robot;

the anti-rust device comprises a third mounting plate 7, the front surface of a first mounting plate 2 is provided with the third mounting plate 7, the top of the third mounting plate 7 is provided with a fifth cylinder 701, the output end of the fifth cylinder 701 is provided with a lifting plate 702, the front surface of the lifting plate 702 is provided with a sixth cylinder 703, the output end of the sixth cylinder 703 is provided with a moving plate 704, the front surface of the moving plate 704 is provided with a cloth 705, the front surface of the cloth 705 is connected with the back surface of the lifting plate 702, the third mounting plate 7 can provide a mounting position for the fifth cylinder 701, the fifth cylinder 701 is provided with a position for mounting, the fifth cylinder 701 can convert air pressure energy into kinetic energy, thereby driving the lifting plate 702 to move up and down, the lifting plate 702 can provide a mounting position for the sixth cylinder 703, meanwhile, the sixth cylinder 703 can be driven to move up and down through up and down, thereby driving the moving plate 704 to move forward and backward, the top of the moving plate 704 is covered with a layer of rubber pad, the moving plate 704 can scrape the bottom of an electric permanent magnet 705, meanwhile, the permanent magnet 705 can be driven to block the bottom of the electric permanent magnet 303, dust and dirt can be prevented from being adsorbed on the bottom of the electric dust and dirt device 303 due to dust and dust can not be adsorbed on the bottom surface of the electric dust.

The application method of the tail end gripping device of the tubular shaft part gripping loading and unloading robot is as follows:

s1, connecting a robot connecting seat 1 with a robot, firstly, driving a moving plate 704 to move backwards by a sixth air cylinder 703 to scrape greasy dirt and adhered scraps on the bottom of an electro-permanent magnet 303, then driving the robot connecting seat 1 to move above a pipe shaft workpiece by the robot, then driving a second mounting plate 301 to move downwards by a first air cylinder 102, further enabling the electro-permanent magnet 303 below the second mounting plate 301 to move downwards to attract the pipe shaft workpiece through magnetic force, and then driving the pipe shaft workpiece to move upwards by the first air cylinder 102;

s2, when the pipe shaft workpiece moves up to the inner side of the clamping jaw 401, the lifting frame 501 is driven by the third air cylinder 5 to move upwards, the rotary plate 402 is driven by the lifting frame 501 to rotate upwards, and the clamping jaw 401 can be driven to rotate inwards when the rotary plate 402 rotates upwards, so that the clamping jaw 401 clamps the pipe shaft workpiece at the inner side, and then the robot drives the robot connecting seat 1 to incline, so that the pipe shaft workpiece clamped at the inner side of the clamping jaw 401 can incline, and chips inside the pipe shaft workpiece are dumped and discharged.

The step S1 also comprises the following steps:

s11, after the electro-permanent magnet 303 moves downwards to attract the pipe shaft workpiece, the fourth air cylinder 6 drives the piston rod 601 to move downwards to limit the front and back directions of the pipe shaft workpiece, so that the pipe shaft workpiece is prevented from rolling below the electro-permanent magnet 303, and further the pipe shaft workpiece is prevented from being unable to rise to the inner side of the clamping jaw 401 due to rolling and tilting;

the step S2 further comprises the following steps:

s21, after the workpiece is machined, the lifting plate 702 is driven to move downwards through the fifth air cylinder 701 after the equipment is not used, then the sixth air cylinder 703 drives the moving plate 704 to move backwards, the moving plate 704 can scrape scraps at the bottom of the electric permanent magnet 303, the bottom of the electric permanent magnet 303 can be shielded by the shielding cloth 705, and further dust on the surface of the bottom of the electric permanent magnet 303 due to the fact that impurities in air are adsorbed by rust-proof greasy dirt when the equipment is not used is prevented, and the cleaning frequency of workers to the electric permanent magnet 303 is reduced.

Working principle: before the tubular shaft part is used for grabbing the tail end gripping device of the feeding and discharging robot, whether the problem that the use is influenced exists or not is checked firstly, the robot connecting seat 1 is connected with the robot, firstly, the sixth air cylinder 703 drives the moving plate 704 to move backwards to scrape greasy dirt and adhered scraps at the bottom of the electro-permanent magnet 303, then the robot drives the robot connecting seat 1 to move onto the tubular shaft workpiece, then the first air cylinder 102 drives the second mounting plate 301 to move downwards, the electro-permanent magnet 303 below the second mounting plate 301 is further moved downwards to attract the tubular shaft workpiece through magnetic force, then the fourth air cylinder 6 drives the piston rod 601 to move downwards to limit the front and back directions of the tubular shaft workpiece, the tubular shaft workpiece is prevented from rolling below the electro-permanent magnet 303, further the tubular shaft workpiece is prevented from being unable to rise into the inner side of the clamping jaw 401 due to rolling inclination, then the first cylinder 102 drives the pipe shaft workpiece to move upwards, when the pipe shaft workpiece moves upwards to the inner side of the clamping jaw 401, the third cylinder 5 drives the lifting frame 501 to move upwards, the lifting frame 501 drives the rotating plate 402 to rotate upwards, the clamping jaw 401 can be driven to rotate inwards when the rotating plate 402 rotates upwards, the clamping jaw 401 clamps the pipe shaft workpiece at the inner side, the robot can further drive the robot connecting seat 1 to incline, the pipe shaft workpiece clamped at the inner side of the clamping jaw 401 can incline, the scraps in the pipe shaft workpiece can be dumped and discharged, after the workpiece is processed, after the equipment is not used, the lifting plate 702 is driven to move downwards through the fifth cylinder 701, then the sixth cylinder 703 drives the moving plate 704 to move backwards, the moving plate 704 can scrape scraps at the bottom of the electric permanent magnet 303, the bottom of the electric permanent magnet 303 can be shielded by the shielding cloth 705, and further, dust on the bottom surface of the electro-permanent magnet 303 due to the fact that rust prevention greasy dirt adsorbs impurities in the air when the equipment is not used is prevented, and further the cleaning frequency of workers to the electro-permanent magnet 303 is reduced.

It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims (10)

1. The utility model provides a unloading robot end gripping apparatus on tubular shaft part snatchs, includes robot connecting seat (1), first mounting panel (2) and second cylinder (3), its characterized in that: the robot is characterized in that a wire rail (101) is symmetrically arranged at the bottom of the robot connecting seat (1), a first air cylinder (102) is symmetrically arranged at the bottom of the robot connecting seat (1), a first mounting plate (2) is arranged at the bottom of the wire rail (101), a second air cylinder (3) is symmetrically arranged at the top of the first mounting plate (2), a second mounting plate (301) is arranged at the output end of the second air cylinder (3), and an electro-permanent magnet (303) is arranged at the bottom of the second mounting plate (301);

the clamping jaw (401) is symmetrically arranged on two sides of the first mounting plate (2), the clamping jaw (401) is symmetrically arranged on the inner side of the mounting plate (4) in a penetrating mode, the fourth air cylinder (6) is symmetrically arranged on one side of the mounting plate (4), and a piston rod (601) is arranged at the output end of the fourth air cylinder (6).

2. The tubular shaft part grabbing and loading and unloading robot tail end gripper according to claim 1, wherein: the output end of the first air cylinder (102) is provided with a buffer air cylinder connecting plate (103), and the bottom of the buffer air cylinder connecting plate (103) is connected with the top of the first mounting plate (2).

3. The tubular shaft part grabbing and loading and unloading robot tail end gripper according to claim 1, wherein: guide bearing blocks (201) are symmetrically arranged at the top of the first mounting plate (2), blocking blocks (202) are symmetrically arranged at the top of the first mounting plate (2), and the blocking blocks (202) are located on two sides of the robot connecting base (1).

4. The tubular shaft part grabbing and loading and unloading robot tail end gripper according to claim 1, wherein: guide rods (302) are symmetrically arranged at the top of the second mounting plate (301), and one ends of the guide rods (302) penetrate through the top of the guide bearing seat (201).

5. The tubular shaft part grabbing and loading and unloading robot tail end grabbing device according to any one of claims 1-4, wherein: a rotating plate (402) is symmetrically arranged on the inner side of the clamping jaw (401).

6. The tubular shaft part grabbing and loading and unloading robot tail end gripper according to claim 1, wherein: a third air cylinder (5) is arranged at the top of the mounting frame (4), a lifting frame (501) is arranged at the output end of the third air cylinder (5), and the lifting frame (501) is positioned at the outer side of the rotating plate (402).

7. The tubular shaft part grabbing and loading and unloading robot tail end gripper according to claim 1, wherein: a rubber block (602) is arranged at one end of the piston rod (601).

8. The tubular shaft part grabbing and loading and unloading robot tail end gripper according to claim 1, wherein: the front of first mounting panel (2) is installed third mounting panel (7), fifth cylinder (701) is installed at the top of third mounting panel (7), lifter plate (702) is installed to the output of fifth cylinder (701), sixth cylinder (703) is installed in the front of lifter plate (702), movable plate (704) is installed to the output of sixth cylinder (703), and fender cloth (705) is installed in the front of movable plate (704), and the front of fender cloth (705) is connected with the back of lifter plate (702).

9. The method for using the tail end gripper of the tubular shaft part grabbing loading and unloading robot according to any one of claims 1 to 8, wherein the method comprises the following steps: the application method of the tail end gripping device of the tubular shaft part gripping loading and unloading robot comprises the following steps:

s1, connecting a robot connecting seat (1) with a robot, firstly, driving a moving plate (704) to move backwards to scrape greasy dirt and adhered scraps at the bottom of an electro-permanent magnet (303), then driving the robot connecting seat (1) to move to the upper surface of a pipe shaft workpiece by the robot, then driving a second mounting plate (301) to move downwards by a first cylinder (102), further enabling the electro-permanent magnet (303) below the second mounting plate (301) to move downwards to attract the pipe shaft workpiece through magnetic force, and then driving the pipe shaft workpiece to move upwards by a first cylinder (102);

s2, when the pipe shaft workpiece moves up to the inner side of the clamping jaw (401), the third air cylinder (5) drives the lifting frame (501) to move upwards, the lifting frame (501) drives the rotating plate (402) to rotate upwards, and the rotating plate (402) can drive the clamping jaw (401) to rotate inwards when rotating upwards, so that the clamping jaw (401) clamps the pipe shaft workpiece at the inner side, and then the robot drives the robot connecting seat (1) to incline, so that the pipe shaft workpiece clamped at the inner side of the clamping jaw (401) can incline, and chips in the pipe shaft workpiece are dumped and discharged.

10. The method for using the tail end gripper of the tubular shaft part grabbing and loading and unloading robot, as claimed in claim 9, is characterized in that: the step S1 also comprises the following steps:

s11, after the electro-permanent magnet (303) moves downwards to attract the pipe shaft workpiece, the fourth air cylinder (6) drives the piston rod (601) to move downwards to limit the front and back directions of the pipe shaft workpiece, so that the pipe shaft workpiece is prevented from rolling below the electro-permanent magnet (303), and further the pipe shaft workpiece is prevented from being unable to rise to the inner side of the clamping jaw (401) due to rolling and tilting;

the step S2 further comprises the following steps:

s21, after the workpiece is machined, the movable plate (704) can be driven to move backwards through the sixth air cylinder (703) after the equipment is not used, scraps at the bottom of the electro-permanent magnet (303) can be scraped by the movable plate (704), and the bottom of the electro-permanent magnet (303) can be shielded by the shielding cloth (705), so that dust on the bottom surface of the electro-permanent magnet (303) due to impurities in air adsorbed by rust-proof greasy dirt when the equipment is not used is prevented, and the cleaning frequency of workers to the electro-permanent magnet (303) is reduced.