CN209110349U - An automatic loading and unloading device - Google Patents

Abstract

The present application relates to the technical field of mechanical equipment, in particular to an automatic loading and unloading device. The device includes a controller, a loading and unloading mechanism and a feeding mechanism. The loading and unloading mechanism includes a moving base, a first rotating cylinder, a first manipulator and a second manipulator; the first rotating cylinder is set on the moving base, the first manipulator and the second manipulator are vertical, and both are set on the rotating plate of the first rotating cylinder The feeding mechanism includes a feeding shaft, a second rotating cylinder and a processing manipulator. The side of the feeding shaft close to the first rotating cylinder is provided with a second rotating cylinder, and the rotating disc of the second rotating cylinder is provided with a processing manipulator. The device provided by the embodiment of the present application can realize the automatic installation and removal of the blade blank through the cooperation of the automatic loading and unloading mechanism and the feeding mechanism, which can not only improve the work efficiency, but also improve the processing accuracy.

Description

An automatic loading and unloading device

technical field

The present application relates to the technical field of mechanical equipment, in particular to an automatic loading and unloading device.

Background technique

Usually, in the process of using the wire cutting equipment to process the blade, it is necessary to use a special fixture to fix the blade blank to be processed on the wire cutting equipment, so as to make the wire (such as molybdenum wire) of the wire cutting equipment in the pulse current. Under the action, the blade blank is cut into the target shape.

As shown in Figure 1, commonly used fixtures for fixing blade blanks include a base, a positioning plate, a pressing plate and a pressing screw. The base is fixed on the wire cutting equipment, the pressing plate is arranged on the base by pressing screws, and the positioning plate is located between the pressing plate and the base. The clamp can fix the blade blank in the clamping groove of the positioning plate by the clamping force between the pressing plate and the base, so as to realize the fixing of the blade blank on the wire cutting equipment. It is obvious that manual loading and unloading is required in each process of using the clamp to fix the blade blank, that is, manually unscrew the compression screw, remove the processed blade blank from the clamping groove, or remove the blank to be processed. Put the blank of the blade into the slot of the positioning plate, and then tighten the compression screw.

In the process of using the above-mentioned fixtures for a long time, manually and repeatedly dismantling the pressing screws to load and unload the blade blanks will not only have low work efficiency, but also lead to wear and tear of the fixtures, reduce the service life of the fixtures, and make the fitting gap between the various parts of the fixtures. Zoom in, the machining error increases. Therefore, there is an urgent need to provide a device capable of automatic loading and unloading.

Utility model content

The present application provides an automatic loading and unloading device to solve the problems of low work efficiency and low processing precision in the prior art.

An embodiment of the present application provides an automatic loading and unloading device, comprising: a controller, a loading and unloading mechanism and a feeding mechanism connected to the controller, wherein the loading and unloading mechanism includes a moving base, a first rotating cylinder, a first a manipulator and a second manipulator; the first rotating cylinder is disposed on the moving base, the first manipulator and the second manipulator are vertical, and both are disposed on the rotating disk of the first rotating cylinder; the The feeding mechanism includes a feeding shaft, a second rotating cylinder and a processing manipulator. The side of the feeding shaft close to the first rotating cylinder is provided with the second rotating cylinder, and the rotating plate of the second rotating cylinder is provided with a The processing manipulator.

Optionally, the processing manipulator includes a bottom plate, a V-shaped material trough, a clamping claw and a connecting rod, wherein the bottom plate is arranged on the rotating disk of the second rotating cylinder, and at least one V-shaped trough; the jaws include a connecting plate and a pressing plate, one end of the connecting plate is connected to the jaw cylinder, and is arranged on the side of the bottom plate away from the second rotating cylinder, and the other side of the connecting plate is One end is connected with one end of the pressing plate, and the other end of the pressing plate is facing the V-shaped trough; the connecting rod is fixed on the side, located between the bottom plate and the clamping claw, and is connected with the The pressure plate is connected.

Optionally, the pressing plate of the clamping claw includes at least one sub-pressing plate, and each of the sub-pressing plates is on the same plane and parallel to each other.

Optionally, the moving base includes a machining axis X, a machining axis Y, and a machining axis Z that are perpendicular to each other, the machining axis Y is arranged on the machining axis X, and the machining axis Z is arranged on the machining axis Y Close to one end of the feeding mechanism; the processing axis Z is provided with the first rotating cylinder.

Optionally, the machining axis X, the machining axis Y, and the machining axis Z are all fully sealed structures.

Optionally, rubber pads are provided on the clamping surfaces of the holding ends of the first manipulator and the second manipulator.

Optionally, the distance between the clamping end of the first manipulator and the center of the rotating disk of the first rotating cylinder is equal to the distance between the clamping end of the second manipulator and the center of the rotating disk of the first rotating cylinder .

In the automatic loading and unloading device provided by the embodiment of the present application, the controller can control the first manipulator and the second manipulator in the automatic loading and unloading mechanism to automatically transport and load and unload the material, and the material is fixed by the processing manipulator of the feeding mechanism. Rotating it to the processing position and cooperating with the processing can not only improve the low work efficiency, but also improve the processing accuracy.

Description of drawings

In order to illustrate the technical solutions of the present application more clearly, the accompanying drawings that need to be used in the embodiments will be briefly introduced below. Other drawings can also be obtained from these drawings.

FIG. 1 is a schematic structural diagram of a commonly used blade blank fixing fixture.

FIG. 2 is a schematic diagram of the cooperation between the automatic loading and unloading device and the wire cutting equipment provided by the embodiment of the present application.

FIG. 3 is a schematic structural diagram of an automatic loading and unloading device provided in an embodiment of the present application.

FIG. 4 is a connection block diagram of the automatic loading and unloading device provided by the embodiment of the present application.

FIG. 5 is a schematic structural diagram of a processing robot provided by an embodiment of the present application.

FIG. 6 is a top view of the matching structure of the automatic loading and unloading device and the wire cutting equipment provided by the embodiment of the present application.

Description of reference numbers:

01, the base; 02, the positioning plate; 03, the compression plate; 04, the compression screw.

1. Controller; 2. Loading and unloading mechanism; 21. Mobile base; 211, Machining axis X; 212, Machining axis Y; 213, Machining axis Z; 22, First rotary cylinder; 23, First manipulator; 24, Section Second manipulator; 25, rubber pad; 3, feeding mechanism; 31, feeding shaft; 32, second rotary cylinder; 33, processing manipulator; 331, bottom plate; 332, V-shaped trough; 333, jaws; 334, connecting rod ; 335, sub-pressing plate; 336, connecting plate; 337, pressing plate; 4, reclaiming box; 5, collecting box; 6, wire cutting equipment.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

Referring to FIG. 2 , an automatic loading and unloading device provided in an embodiment of the present application is usually used in conjunction with wire cutting equipment to automatically load and unload wire-cut materials (such as blade blanks).

Please refer to FIG. 3 and FIG. 4 , the automatic loading and unloading device includes a controller, a loading and unloading mechanism and a feeding mechanism connected with the controller. The controller is used to control the loading and unloading mechanism to perform loading and unloading operations, as well as control the feeding mechanism to perform the operation of gripping materials and work with the wire cutting equipment.

The loading and unloading mechanism includes a moving base, a first rotating cylinder, a first manipulator and a second manipulator. The first rotating cylinder is disposed on the moving base, the first manipulator and the second manipulator are vertical, and both are disposed on the rotating plate of the first rotating cylinder.

The moving base can drive the first manipulator and the second manipulator to move in three-dimensional space. In the embodiment of the present application, the moving base includes a machining axis X, a machining axis Y, and a machining axis Z. The machining axis X, machining axis Y and machining axis Z are perpendicular to each other, and the machining axis Y is arranged on the machining axis X, and the machining axis Z is arranged at one end of the machining axis Y close to the feeding mechanism. That is to say, the three machining axes form a machining coordinate system, and each machining axis can move within its own travel range. Normally, during the normal installation and use of the device, the plane formed by the machining axis X and the machining axis Y is parallel to the horizontal plane, and the machining axis Z is in a vertically downward state.

In the embodiment of the present application, the machining axis X, the machining axis Y and the machining axis Z are all driven by ball screws. The ball screw drive has the characteristics of high precision, high efficiency and low friction, which can reduce the moving step length of the three machining axes and improve the precision of the device. The machining axis X and machining axis Y are both carried and driven by double linear guides. The double linear guide rails can increase the straightness of the movement of the first manipulator and the second manipulator, and improve the control precision of the automatic loading and unloading device. The machining axis Z is carried and guided by a single-row flat-width guide rail. In addition, the machining axis X, machining axis Y and machining axis Z all adopt a fully sealed structure to prevent the oil mist and water mist generated during the wire cutting process from polluting the inside of the machining axis.

The first rotary cylinder is set on the machining axis Z, the first manipulator and the second manipulator are set on the rotary disk of the first rotary cylinder, perpendicular to each other, and their clamping ends (that is, used for clamping the blade blank) end) facing away from the center of the rotating disk. In addition, the clamping surfaces of the first and second robots (ie, the surfaces that clamp the blade blank) are perpendicular to the plane formed by the machining axis Y and the machining axis Z.

Normally, during the use of the device, one of the first manipulator and the second manipulator is in a horizontal state, and the other is in a vertically downward state. The vertically downward state means that the holding end of the first manipulator or the second manipulator is directly below its fixed end (ie, the end fixed to the first rotating cylinder). When the first rotating cylinder works, it can drive the first manipulator and the second manipulator to rotate, and adjust their position state from horizontal to vertical, or from vertical to horizontal. In addition, both the first manipulator and the second manipulator can work independently to clamp the blade blank.

In a possible implementation manner, the distance between the clamping end of the first manipulator and the center of the rotating disk of the first rotating cylinder is equal to the distance between the clamping end of the second manipulator and the center of the rotating disk of the first rotating cylinder distance. That is to say, when the first manipulator and the second manipulator are vertically downward, their holding ends are in the same position. It is avoided that the position of the first rotating cylinder needs to be re-adjusted every time the state of the first manipulator and the second manipulator is switched.

During the operation of the loading and unloading device, through the cooperation between the machining axis X, the machining axis Y and the machining axis Z, the position of the first manipulator and the second manipulator in the three-dimensional space can be controlled to match the feeding mechanism. Automatic loading and unloading. For example, the position of the first manipulator is adjusted to the reclaiming position, so that the first manipulator can hold the blade blank; or, the position of the first manipulator is adjusted to the loading position, so as to automatically install the blade blank.

It should be noted that the loading and unloading device provided in the embodiment of the present application is provided with two manipulators, namely, a first manipulator and a second manipulator. For example, when loading and unloading is required, the material to be processed can be directly fixed on the feeding mechanism held by the first manipulator after the unloaded second manipulator can be used at the loading and unloading position, which is beneficial to improve the Loading and unloading efficiency.

In addition, a rubber pad can be arranged on the clamping surfaces of the holding ends of the first manipulator and the second manipulator to reduce damage to the surface of the material during the process of clamping the material by the first manipulator and the second manipulator.

The feeding mechanism includes a feeding shaft, a second rotating cylinder and a processing manipulator. The feeding shaft is parallel to the processing axis X, and a second rotating cylinder is arranged on the side of the feeding shaft close to the loading and unloading mechanism, and the processing manipulator is arranged on the rotating disc of the second rotating cylinder.

In the feeding mechanism, the feeding shaft can drive the processing manipulator to move along the straight line where the feeding shaft is located, so as to adjust the relative position between the blade blank and the wire cutting wire to cut out the shape of the target. The second rotating cylinder can drive the processing manipulator to rotate for loading and unloading. For example, the processing manipulator is driven to rotate from a horizontal position to a vertical position, so that the processing manipulator grips the blade blank conveyed by the first manipulator; or, after the processing manipulator completes the clamping operation, the processing manipulator is driven to rotate from the vertical position to a horizontal position, so that the blade blank is in the processing position and is cut with the wire cutting equipment.

As an optional embodiment, as shown in FIG. 5 , the processing manipulator includes a base plate, a V-shaped material trough, a clamping claw and a connecting rod. Wherein, the bottom plate is arranged on the rotating plate of the second rotary cylinder, and at least one V-shaped material trough is arranged on the end surface of the bottom plate. The claw includes a connecting plate and a pressing plate. One end of the connecting plate is connected with the claw cylinder (ie, a cylinder specially used for driving the claw), and is arranged on the side of the base plate away from the second rotating cylinder. The other side of the connecting plate is One end is connected with one end of the pressing plate, and the other end of the pressing plate is facing the V-shaped material trough. The connecting rod is fixed on the side, located between the bottom plate and the clamping claw, and is movably connected with the pressing plate.

The connecting plate of the jaw can move away from or close to the side (ie, the side of the bottom plate away from the second rotating cylinder) under the action of the jaw cylinder. Since the pressing plate is movably fixed on the connecting rod, when the connecting plate moves, the pressing plate will be driven to rotate around the connecting rod. Specifically, when the connecting plate is away from the side, the pressing plate will press the position of the V-shaped groove, and apply a pressing force to the blade blank between the jaws and the bottom plate, so as to realize the fixing of the blade blank. When the connecting plate is close to the side, the pressing plate will be away from the position of the V-shaped groove, and the pressing force on the bottom plate and the blade blank is cancelled to realize unloading.

Since the blade blank is usually diamond-shaped, during the process of processing the blade blank, one end of the blade blank is fixed in the V-shaped groove to prevent its position from wandering and affecting the cutting accuracy; the other end of the blade blank protrudes from the V-shaped groove. Bottom side of the chute for cutting with wire cutting equipment. In order to improve the work efficiency of each loading and unloading and wire cutting, several more V-shaped troughs, such as 3, can be set on the processing robot.

As an optional implementation manner, in the processing robot, at least one sub-pressing plate may be provided on the pressing plate of the jaw, and each sub-pressing plate is on the same plane and parallel to each other. When the number of the sub-pressing plate is one, and the pressing plate is relatively wide, one sub-pressing plate can be used to press a plurality of blanks. When the number of the sub-pressing plate is multiple, the sub-pressing plate is usually narrow, and one sub-pressing plate is used in conjunction with a V-shaped material trough. Exemplarily, as shown in FIG. 5 , three sub-pressing plates can be provided. Compared with the use of the same wider sub-pressing plate with multiple V-shaped troughs, multiple sub-pressing plates with narrower widths can reduce the weight of the processing robot.

The working process of the automatic loading and unloading device is realized through the control of the controller, and specifically includes the following steps:

In step S1, the first manipulator is controlled to move to the material taking position, and grips the material to be processed. As shown in FIG. 6 , the reclaiming position is where the reclaiming box is located, and a plurality of materials to be processed are neatly stacked in the reclaiming box.

In step S2, the first rotating cylinder is controlled to rotate by 90°, so that the second manipulator is vertically downward, and the second manipulator is controlled to move to the waiting position. The waiting position refers to a position waiting for loading and unloading materials on the processing robot, usually near the processing robot, and is specifically determined according to the pre-configuration.

In step S3, after the processing of the material held by the processing robot is completed, the processing robot is rotated to a vertical upward state. At this time, the opening of the V-shaped trough of the processing robot is just vertically upward, which is convenient for loading and unloading.

In step S4, the processing manipulator is controlled to open, and the second manipulator is controlled to clamp the processed material. After this step, the V-shaped trough of the processing robot is vacant.

In step S5, the first rotating cylinder is controlled to rotate by 90°, so that the first manipulator is in a vertically downward state. This state prepares for the next step to place unprocessed material into the V-shaped chute.

Step S6, controlling the first manipulator to move downward, and placing the material to be processed into the V-shaped trough of the processing manipulator.

Step S7, controlling the processing manipulator to clamp the material.

Step S8, controlling the first manipulator to open and move upward.

Step S9, controlling the processing manipulator to rotate 90° to a horizontal processing position.

Step S10, control the first rotating cylinder to rotate 90°, so that the second manipulator is in a vertical downward state, and after controlling the second manipulator to move to the discharge position, control the second manipulator to open, so that the processed The material falls into the collection box. Wherein, steps S9 and S10 may be performed simultaneously.

S11 repeatedly executes steps S1-S10.

It should be noted that in the process of the automatic loading and unloading device working for the first time, it is not necessary to perform unloading operation on the processed materials. Therefore, the control process of the automatic loading and unloading device by the controller does not include steps S2-S5 .

In addition, the processing manipulator of the automatic loading and unloading device may generate accumulated errors after long-term work, resulting in inaccurate positions. Therefore, the initial position of the processing robot needs to be corrected during the processing. Specifically, according to the initial position of the processing manipulator set during the initial processing, during the later operation, the manipulator "reset" is performed once at intervals or after processing a certain number of blade blanks, that is, returning to the initial processing time set initial position.

To sum up, the automatic loading and unloading device provided in the embodiment of the present application can realize the automatic installation and removal of the blade blank through the cooperation of the automatic loading and unloading mechanism and the feeding mechanism, which can not only improve the work efficiency, but also improve the processing efficiency. precision.

It should be noted that relational terms such as "first" and "second" etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are related. any such actual relationship or sequence exists. Furthermore, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that an article or device comprising a list of elements includes not only those elements, but also other elements not expressly listed, Or also include elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The above descriptions are only specific embodiments of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, this application is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

It should be understood that the present application is not limited to what has been described above and that various modifications and changes may be made without departing from its scope. The scope of the application is limited only by the appended claims.

Claims (7)

1. a kind of automatic loading and unloading device characterized by comprising controller (1), and connect with the controller (1) upper Cutting agency (2) and feeding mechanism (3), wherein

The charging and discharging mechanism (2) includes mobile base (21), the first rotary cylinder (22), the first manipulator (23) and the second machine Tool hand (24)；First rotary cylinder (22) is set on the mobile base (21), first manipulator (23) and institute It states the second manipulator (24) vertically, and is all set in the rotating disk of first rotary cylinder (22)；

The feeding mechanism (3) includes feed spool (31), the second rotary cylinder (32) and processing equipment hand (33), the feed spool (31) side of first rotary cylinder (22) is provided with second rotary cylinder (32), second rotary cylinder (32) the processing equipment hand (33) is provided in rotating disk.

2. the apparatus according to claim 1, which is characterized in that the processing equipment hand (33) includes bottom plate (331), V-type Hopper (332), claw (333) and connecting rod (334), wherein

The bottom plate (331) is set in the rotating disk of second rotary cylinder (32), sets on the end face of the bottom plate (331) It is equipped at least one V-type hopper (332)；

The claw (333) includes connecting plate (336) and pressing plate (337), and one end of the connecting plate (336) and claw cylinder connect Connect, and be arranged the bottom plate (331) far from second rotary cylinder (32) side on, the connecting plate (336) it is another One end is connect with the one end of the pressing plate (337), V-type hopper (332) described in the other end face of the pressing plate (337)；

The connecting rod (334) is fixed on the side, between the bottom plate (331) and the claw (333), and with The pressing plate (337) is flexibly connected.

3. the apparatus of claim 2, which is characterized in that the pressing plate (337) includes at least a sub- pressing plate (335), each sub- pressing plate (335) is in same plane, and is parallel to each other.

4. the apparatus according to claim 1, which is characterized in that the mobile base (21) includes mutually perpendicular processing axis X (211), processing axis Y (212), processing axis Z (213), the processing axis Y (212) are set on the processing axis X (211), institute It states processing axis Z (213) and is set to processing axis Y (212) close to the one end of the feeding mechanism (3)；The processing axis Z (213) first rotary cylinder (22) is provided on.

5. device according to claim 4, which is characterized in that the processing axis X (211), the processing axis Y (212) and The processing axis Z (213) is all-sealed structure.

6. device according to claim 1-5, which is characterized in that first manipulator (23) and described second Rubber pad (25) are provided on the clamping face at the aid end of manipulator (24).

7. device according to claim 1-5, which is characterized in that the clamping end of first manipulator (23) with The distance of the rotation disk center of first rotary cylinder (22) is equal to the clamping end and described the of second manipulator (24) The distance of the rotation disk center of one rotary cylinder (22).