CN209737153U - Automatic feeding and discharging device of broaching machine - Google Patents
Automatic feeding and discharging device of broaching machine Download PDFInfo
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- CN209737153U CN209737153U CN201920534339.8U CN201920534339U CN209737153U CN 209737153 U CN209737153 U CN 209737153U CN 201920534339 U CN201920534339 U CN 201920534339U CN 209737153 U CN209737153 U CN 209737153U
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- 238000007599 discharging Methods 0.000 title claims abstract description 95
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 239000000463 material Substances 0.000 claims abstract description 16
- 210000000078 claw Anatomy 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- 238000003754 machining Methods 0.000 description 7
- 238000012840 feeding operation Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000006872 improvement Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 3
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- 230000009194 climbing Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
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- 239000010720 hydraulic oil Substances 0.000 description 1
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Abstract
The utility model relates to an automatic loading and unloading device of a broaching machine, which comprises a workpiece conveying device, a workpiece lifting device and an loading and unloading execution device, wherein the workpiece conveying device comprises a loading conveying belt and an unloading conveying belt, the loading and unloading execution device comprises a first paw and a second paw which are used for transferring corresponding workpieces between the workpiece conveying device and a workpiece processing station of the broaching machine, the workpiece lifting device comprises a first lifting mechanism and a second lifting mechanism, a first workpiece tray of the first lifting mechanism can pass through a preformed hole on the loading conveying belt to lift the workpiece to be processed to a loading position which is convenient for the corresponding paw to grab, and can reset to the initial position from this material loading position, the second work piece tray of second lifting mechanism can pass the preformed hole on the unloading conveyer belt rises to the unloading position that is convenient for corresponding hand claw to place the work piece after the processing is accomplished to can reset to the initial position from this unloading position. The automatic feeding and discharging device can realize the drop-type transportation of workpieces and can facilitate the flexible transfer of corresponding workpieces.
Description
Technical Field
The utility model relates to an automatic unloader that goes up especially relates to an unloader in automation of broaching machine.
background
at present, specific parts with external teeth, external grooves and the like are machined through multiple machine tools usually, wherein the feeding and discharging operation steps of the machine tools are key processes affecting the overall production efficiency of the machine tools, for example, key grooves and tooth grooves on the outer circle or the inner hole of a gear are formed, broaching is mostly completed on a broaching machine, wherein the feeding and discharging processes of the traditional broaching machine are that firstly, a gear blank is manually fixed on a tool of the broaching machine by a worker, then the broaching tool is driven to work through hydraulic power, the key grooves or the tooth grooves are machined on the outer circle or the inner circular hole of the gear, a finished product is manually disassembled after the broaching of a workpiece is completed, and then the next process is started.
Because the processing batch is large, the worker needs continuous feeding, blanking and broaching machine action in the processing process, which not only makes the operation of the worker complicated, the processing efficiency is low, but also the labor intensity is large, the potential safety hazard is easy to generate, especially, for the vertical broaching machine with the feeding position or the blanking position at a higher position, for example, a Chinese utility model patent (application number: CN201920502146.4) previously applied by the applicant, the workpiece to be processed of the cylinder type broaching machine is fixed on the workpiece clamp of the working table component, the broaching component is fixed on the slide carriage and can slide up and down along with the slide carriage, the workpiece clamp for placing the workpiece to be processed can enter the tool cylinder in the downward sliding process of the broaching component along with the slide carriage, so that the broaching process of the workpiece is completed in the tool cylinder, when the tool cylinder slides down to a low position (blanking position), the workpiece after broaching is exposed from the upper port of the cutter barrel, the workpiece is taken away from the workpiece fixture through a mechanical arm or a manual work at the moment, the blanking operation of the workpiece is completed, after the blanking operation is completed, the hydraulic oil cylinder drives the slide carriage to slide upwards relative to the lathe bed, when the cutter barrel slides upwards to a high position (a feeding position), the workpiece to be processed is placed on the workpiece fixture through a feeding and discharging port of the protective cover through the mechanical arm or the manual work, and the feeding step is completed. The material loading position or the material unloading position of the vertical broaching machine is located at a higher position (generally 2-3m away from the ground), a conveying belt which is carried in the traditional horizontal direction cannot meet the conveying requirement, and a workpiece is additionally transferred by adding manpower to the material loading and unloading position at a high position by adopting a conventional lifting device, so that the workpiece can be conveniently clamped or placed by a manipulator, and on the other hand, due to the limitation of the material loading and unloading operation space at the higher position, the material loading and unloading execution device (manipulator assembly) needs to be specially designed, so that the production cost is undoubtedly increased.
Therefore, the automatic loading and unloading device of the prior broaching machine needs to be further improved.
SUMMERY OF THE UTILITY MODEL
the utility model aims to solve the technical problem that to prior art's current situation, provide a unloader in automation that can realize the transportation of work piece drop type and can make things convenient for corresponding work piece to carry out the broaching machine that shifts in a flexible way.
The utility model provides a technical scheme that above-mentioned technical problem adopted does: an automatic loading and unloading device of a broaching machine comprises a workpiece conveying device, a workpiece lifting device and an loading and unloading execution device, wherein the workpiece conveying device comprises a loading conveyor belt and an unloading conveyor belt, the loading conveyor belt and the unloading conveyor belt are used for placing workpieces and driving corresponding workpieces to be conveyed at two high and low positions, the loading conveyor belt drives the workpieces to be processed to be conveyed from a loading area at the low position to a workpiece transfer area at the high position, the unloading conveyor belt drives the workpieces to be processed to be conveyed from the workpiece transfer area at the high position to an unloading area at the low position, the loading conveyor belt and the unloading conveyor belt respectively comprise a plurality of workpiece conveying units which are sequentially arranged along the length direction of the corresponding conveyor belt and are used for placing the corresponding workpieces, and each workpiece conveying unit is provided with a reserved hole which corresponds to the corresponding workpiece in the vertical direction; each workpiece conveying unit is provided with a positioning mechanism used for limiting the corresponding workpiece on the corresponding feeding conveying belt and the corresponding discharging conveying belt, and when the corresponding workpiece is limited on the feeding conveying belt or the discharging conveying belt, the center of the workpiece is just positioned on the corresponding reserved hole; the feeding and discharging execution device comprises a first claw and a second claw, and the first claw and the second claw are used for transferring corresponding workpieces between the corresponding conveyor belts and the workpiece processing stations of the broaching machine; the workpiece lifting device comprises a first lifting mechanism and a second lifting mechanism which are both positioned in the workpiece transfer area, the first lifting mechanism comprises a first driving device arranged below the feeding conveyor belt and a first workpiece tray driven by the first driving device to lift up and down, the first workpiece tray can pass through a preformed hole on the feeding conveyor belt to lift a workpiece to be processed to a feeding position convenient for the corresponding paw to grab under the driving of the first driving device and can reset to an initial position from the feeding position, the second lifting mechanism comprises a second driving device arranged below the discharging conveyor belt and a second workpiece tray driven by the second driving device to lift up and down, under the driving of the second driving device, the second workpiece tray can pass through the preformed hole on the discharging conveyor belt and can rise to a discharging position convenient for the corresponding paw to place the processed workpiece, and can be reset from the blanking position to the initial position.
In order to better convey the workpieces, the feeding conveyor belt and the discharging conveyor belt respectively comprise a first horizontal section, a second horizontal section and an inclined section located between the first horizontal section and the second horizontal section, the first horizontal section of the feeding conveyor belt is located at a loading area, the first horizontal section of the discharging conveyor belt is located at a discharging area, and the second horizontal section of the feeding conveyor belt and the second horizontal section of the discharging conveyor belt are located at a workpiece transfer area. The first horizontal section is arranged at the low position of the feeding conveyor belt and the blanking conveyor belt, so that workers can conveniently transfer corresponding workpieces, and the workpiece conveying unit can be arranged at the first horizontal section under the condition of permission of a field space, so that the workers can conveniently carry out loading and unloading operations on a plurality of workpieces at one time; the second horizontal section is arranged at the high position of the feeding conveyor belt and the blanking conveyor belt, so that a workpiece lifting device can be conveniently arranged below the corresponding conveyor belts, and feeding and blanking operations can be flexibly and stably carried out between the corresponding conveyor belts and the workpiece machining position of the broaching machine.
In order to reasonably arrange the devices and reduce the occupied area, the feeding conveyor belt and the discharging conveyor belt are arranged side by side, and the second horizontal section of the feeding conveyor belt and the second horizontal section of the discharging conveyor belt are positioned at the same horizontal height.
And the inclination angles of the inclined sections of the feeding conveyor belt and the blanking conveyor belt are 60-80 degrees.
in order to drive the feeding conveyor belt and the discharging conveyor belt more flexibly and accurately, the feeding and discharging operation meeting the beat is realized by matching the workpiece lifting device and the feeding and discharging execution device, the feeding conveyor belt and the discharging conveyor belt are driven by a servo motor, and the distance traveled once by the feeding conveyor belt and the discharging conveyor belt is equal to the distance between corresponding reserved holes of any two adjacent workpiece conveying units under the drive of the servo motor.
As an improvement, the positioning mechanism is a V-shaped baffle arranged on the corresponding conveyor belt, and when the feeding conveyor belt and the discharging conveyor belt drive the corresponding workpiece to move to the inclined section, the peripheral wall of the workpiece abuts against two opposite-direction opened side walls of the V-shaped baffle. The positioning mechanism has simple structure and low processing cost, can ensure that the corresponding workpiece is more firmly limited on the conveying belt, and particularly, when the workpiece moves to an inclined section (a slope climbing section) along with the conveying belt, the workpiece is tightly close to the V-shaped baffle due to the action of gravity, so that the workpiece is tightly attached to the upper conveying belt and the lower conveying belt, and the drop type conveying is realized.
As an improvement, the feeding and discharging execution device comprises a support frame located in the workpiece transfer area, a third driving device arranged on the support frame, and a first sliding frame which is driven by the third driving device and can reciprocate in the horizontal direction relative to the support frame, the first sliding frame is provided with a fourth driving device and a second sliding frame which is driven by the fourth driving device and can reciprocate in the vertical direction relative to the first sliding frame, the second sliding frame is provided with a rotary cylinder, the output end of the rotary cylinder is provided with a rotating frame, and the first claw and the second claw are respectively symmetrically arranged on two sides of the rotating frame; when the first gripper grips the workpiece to be machined on the feeding conveyor belt, the clamping center of the first gripper and the center of the first workpiece tray are located on the same vertical straight line, and the clamping center of the second gripper and the center of the second workpiece tray are also located on the same vertical straight line. The feeding and discharging execution device is simple and compact in structure, and can realize synchronous material grabbing and synchronous material discharging operations.
in order to enable the first sliding frame to be more stable during horizontal movement and avoid rotation, the first sliding frame is connected with a guide post arranged along the horizontal direction, and the support frame is correspondingly provided with a guide hole/groove matched with the guide post.
as an improvement, when the first workpiece tray passes through the prepared hole and rises to the loading position, the upper surface of the first workpiece tray is at the same level with the processing position of the broaching machine for placing the workpiece.
As an improvement, the first gripper is a feeding gripper for transferring a workpiece to be processed between the feeding conveyor belt and a workpiece processing station of the broaching machine, and the second gripper is a discharging gripper for transferring a processed workpiece between the discharging conveyor belt and a workpiece processing station of the broaching machine. Of course, by setting the driving program of the corresponding cylinders for sequential actions, the first gripper and the second gripper can also perform the feeding operation between the feeding conveyor belt and the workpiece machining position of the broaching machine, and perform the discharging operation between the discharging conveyor belt and the workpiece machining position of the broaching machine.
compared with the prior art, the utility model has the advantages that: the automatic feeding and discharging device of the broaching machine comprises a workpiece conveying device which can drive a corresponding workpiece to convey the workpiece between a high position and a low position, and a positioning mechanism can limit the corresponding workpiece on a corresponding feeding conveying belt and a corresponding discharging conveying belt in the conveying process, so that the workpiece is prevented from deviating, the drop type conveying is realized, and the workpiece can be accurately grabbed and placed by a feeding and discharging executing device; secondly, each workpiece conveying unit of the feeding conveying belt and the blanking conveying belt is also provided with a preformed hole matched with a workpiece tray of the workpiece lifting device, wherein the workpiece tray can upwards penetrate through the preformed hole and ascend to a feeding position or a blanking position where the workpiece is convenient to grab or place by the feeding and blanking executing device. The automatic feeding and discharging device can be conveniently applied to a vertical broaching machine or other machine tools with feeding positions or discharging positions at higher positions, the falling height type workpiece conveying is realized, meanwhile, the feeding and discharging execution device is convenient to grab or place workpieces, and then the automatic feeding and discharging operation of corresponding workpieces is realized, the complex steps that in the prior art, workers need to additionally add labor to the corresponding workpieces at the feeding and discharging positions at high positions are avoided, and the production efficiency is effectively improved.
Drawings
Fig. 1 is a schematic perspective view of an automatic loading and unloading device of a broaching machine according to an embodiment of the present invention;
Fig. 2 is a schematic perspective view of another angle of the automatic loading and unloading device of the broaching machine according to the embodiment of the present invention;
Fig. 3 is a side view of an automatic loading and unloading device of a broaching machine according to an embodiment of the present invention;
Fig. 4 is a schematic view of a partial structure of an automatic loading and unloading device of a broaching machine according to an embodiment of the present invention, wherein the loading and unloading actuator is in a loading state;
Fig. 5 is a schematic view of a partial structure of an automatic loading and unloading device of a broaching machine according to an embodiment of the present invention, wherein the loading and unloading actuator is in a unloading state;
Fig. 6 is a schematic view of a partial structure of an automatic loading and unloading device of a broaching machine according to an embodiment of the present invention;
Fig. 7 is a partial sectional view of an automatic loading and unloading device of a broaching machine according to an embodiment of the present invention;
Fig. 8 is a partial sectional view of an automatic loading and unloading device of a broaching machine according to an embodiment of the present invention;
fig. 9 is a schematic view of a partial structure of a workpiece conveying apparatus according to an embodiment of the present invention;
Fig. 10 is a schematic structural view of a workpiece transfer unit of the workpiece conveying apparatus according to an embodiment of the present invention;
Fig. 11 is a schematic structural view of a workpiece transfer unit of a workpiece conveying apparatus according to an embodiment of the present invention, in which a workpiece is shown.
Detailed Description
the present invention will be described in further detail with reference to the following embodiments.
Referring to fig. 1 to 11, an automatic loading and unloading device for a broaching machine includes a workpiece conveying device, a workpiece lifting device, and an loading and unloading actuator 20, where the workpiece conveying device includes a loading conveyor 11 and an unloading conveyor 12 for placing workpieces and driving the corresponding workpieces to be conveyed at two high and low positions, the loading conveyor 11 is used to drive the workpieces to be machined to be conveyed from a loading area at the low position to a workpiece transfer area at the high position, the unloading conveyor 12 is used to drive the workpiece transfer area at the high position to be conveyed from an unloading area at the low position, and more specifically, the loading conveyor 11 and the unloading conveyor 12 each include a plurality of workpiece conveying units 10 sequentially arranged along the length direction of the corresponding conveyor and used to place the corresponding workpieces, each workpiece conveying unit 10 is provided with a reserved hole 100 corresponding to the corresponding workpiece in the up and down direction, wherein the diameter of the prepared hole 100 is slightly smaller than the width of the workpiece, so that the workpiece can be placed above the prepared hole 100; the workpiece lifting device comprises a first lifting mechanism and a second lifting mechanism, wherein the first lifting mechanism and the second lifting mechanism are both located in the workpiece transfer area, the first lifting mechanism can penetrate through a preformed hole 100 of the feeding conveyor belt 11 and is used for jacking up a workpiece to be processed on the feeding conveyor belt 11, so that the feeding and discharging execution device 20 can grab the workpiece and then transfer the workpiece to a workpiece processing station 60 of the broaching machine, the second lifting mechanism can also penetrate through the preformed hole 100 of the discharging conveyor belt 12 to ascend to a preset position, so that the workpiece after processing is placed on the second lifting mechanism by the feeding and discharging execution device 20 and then transferred to the corresponding discharging conveyor belt 12 through descending of the second lifting mechanism. The loading and unloading performing device 20 comprises a first gripper 21 and a second gripper 22, and the first gripper 21 and the second gripper 22 are used for transferring the corresponding workpieces between the workpiece conveying device and the workpiece processing station 60 of the broaching machine.
Referring to fig. 1-3, the feeding conveyor belt 11 and the discharging conveyor belt 12 are arranged side by side, and in this embodiment, the running directions of the feeding conveyor belt 11 and the discharging conveyor belt 12 are just opposite, and are shown in detail in fig. 9; in order to better convey the workpieces, the feeding conveyor belt 11 and the discharging conveyor belt 12 each include a first horizontal section 13, a second horizontal section 14, and an inclined section 15 located between the first horizontal section 13 and the second horizontal section 14, wherein the first horizontal section 13 of the feeding conveyor belt 11 is located at a loading area, the first horizontal section 13 of the discharging conveyor belt 12 is located at a discharging area, and the second horizontal section 14 of the feeding conveyor belt 11 and the second horizontal section 14 of the discharging conveyor belt 12 are located at a workpiece transfer area, in this embodiment, the second horizontal section 14 of the feeding conveyor belt 11 and the second horizontal section 14 of the discharging conveyor belt 12 are located at the same horizontal height, so as to locate the workpiece lifting device below the second horizontal section 14 of the corresponding conveyor belt. In this embodiment, the first horizontal section 13 is disposed at a low position on the feeding conveyor belt 11 and the discharging conveyor belt 12, so that a worker can conveniently transfer corresponding workpieces, and the workpiece conveying unit 10 can be disposed at the first horizontal section 13 when the space of the site allows, so that the worker can conveniently perform loading and unloading operations on a plurality of workpieces at one time; the second horizontal section 14 is arranged at the high position of the feeding conveyor belt 11 and the blanking conveyor belt 12, so that a workpiece lifting device can be conveniently arranged below the corresponding conveyor belts, and the feeding and blanking operations can be more flexibly and stably carried out in the workpiece transfer area and the workpiece processing station 60 of the broaching machine; specifically, in order to arrange the devices reasonably and reduce the floor area, the inclination angles α of the inclined sections 15 of the feeding conveyor belt 11 and the discharging conveyor belt 12 may be 60-80 °, in this embodiment, the inclination angle α of the inclined section 15 of each conveyor belt is preferably 75 °, as shown in fig. 3 in detail. In order to drive the feeding conveyor belt 11 and the discharging conveyor belt 12 more flexibly and accurately and realize the feeding and discharging operation meeting the beat by matching with the workpiece lifting device and the feeding and discharging execution device 20, the feeding conveyor belt 11 and the discharging conveyor belt 12 are both driven by a servo motor, and the distance traveled once by the feeding conveyor belt 11 and the discharging conveyor belt 12 is equal to the distance between corresponding preformed holes 100 of any two adjacent workpiece conveying units 10 under the driving of the servo motor.
referring to fig. 9-11, in order to prevent the workpieces on the corresponding conveyor belts from shifting during the conveying process, and not enable the workpiece lifting device to lift the corresponding workpieces to a set position, each workpiece conveying unit 10 is provided with a positioning mechanism for limiting the corresponding workpiece on the corresponding feeding conveyor belt 11 and the corresponding blanking conveyor belt 12, when the corresponding workpiece is limited on the feeding conveyor belt 11 or the blanking conveyor belt 12, the center of the workpiece is just above the corresponding reserved hole 100, specifically, in this embodiment, the positioning mechanism is a V-shaped baffle 50 provided on the corresponding conveyor belt, wherein the V-shaped baffle 50 may be integrally formed with the corresponding conveyor belt, or the V-shaped baffle 50 is connected to the corresponding conveyor belt through a fastener, when the feeding conveyor belt 11 and the blanking conveyor belt 12 drive the corresponding workpiece to move to the inclined section 15, the outer peripheral wall of the workpiece abuts against two opposite opened side walls of the V-shaped baffle 50, wherein, in this embodiment, set up V type baffle 50 on corresponding conveyer belt, can make corresponding work piece inject more firmly on the conveyer belt, especially, when the work piece moves to slope section 15 (climbing section) along with the conveyer belt, the work piece is because the action of gravity, and the work piece is hugged closely on V type baffle 50, makes the work piece hug closely the unloading conveyer belt of going up, realizes the drop height type and carries.
Referring to fig. 7 to 8, the workpiece lifting device includes a first lifting mechanism and a second lifting mechanism, the first lifting mechanism includes a first driving device 31 disposed below the feeding conveyor belt 11 and a first workpiece tray 32 driven by the first driving device 31 to move up and down, the first workpiece tray 32 can pass through a preformed hole 100 on the feeding conveyor belt 11 to lift a workpiece 101 to be processed to a feeding position convenient for a corresponding gripper to grasp, and can be reset from the feeding position to an initial position, the second lifting mechanism includes a second driving device 41 disposed below the discharging conveyor belt 12 and a second workpiece tray 42 driven by the second driving device 41 to move up and down, the second workpiece tray 42 can pass through the preformed hole 100 on the discharging conveyor belt 12 to a discharging position convenient for the corresponding gripper to place a finished workpiece 102 after processing under the driving of the second driving device 41, and can reset to the initial position from this unloading position, wherein, first work piece tray 32 and second work piece tray 42 all are with the bottom looks adaptation of the work piece that corresponds to make corresponding work piece can carry out steady lift along with each work piece tray in the lift, in addition, the diameter (or the width) of first work piece tray 32 and second work piece tray 42 is slightly less than the diameter of preformed hole 100 on the corresponding conveyer belt, so that first work piece tray 32 and second work piece tray 42 can pass above-mentioned preformed hole 100 smoothly. In this embodiment, both the first driving device 31 and the second driving device 41 may be a servo motor or an air cylinder, in this embodiment, both the first driving device 31 and the second driving device 41 are air cylinders, when the corresponding air cylinders advance to the maximum stroke, the first workpiece tray 32 can pass through the preformed hole 100 and rise to the upper material level, at this time, the upper surface of the first workpiece tray 32 and the workpiece processing position of the broaching machine for placing the workpiece are at the same horizontal height, of course, in this embodiment, the first driving device 31 and the second driving device 41 may be the same driving device, and further, the first workpiece tray 32 and the second workpiece tray 42 can be lifted and lowered synchronously.
Referring to fig. 4 to 6, the loading and unloading performing apparatus 20 includes a support frame 23 located in the workpiece transfer area, a third driving device 24 disposed on the support frame 23, and a first carriage 25 driven by the third driving device 24 and capable of reciprocating in a horizontal direction with respect to the support frame 23, a fourth driving device 26 disposed on the first carriage 25, and a second carriage 27 driven by the fourth driving device 26 and capable of reciprocating in a vertical direction with respect to the first carriage 25, a rotary cylinder 28 disposed on the second carriage 27, the output end of the rotary cylinder 28 is provided with a rotating frame 29, the first paw 21 and the second paw 22 are respectively and symmetrically arranged at two sides of the rotating frame 29, it is contemplated that the first and second jaws 21, 22 may be robotic jaws that are actuated by respective clamp cylinders to clamp and unclamp respective workpieces. In this embodiment, the third driving device 24 and the fourth driving device 26 may be both servo motors or cylinders, and when the cylinder (the third driving device 24) advances to the maximum stroke, the center of the corresponding gripper just aligns with the center of the workpiece processing station of the broaching machine, and when the cylinder (the fourth driving device 26) advances to the maximum stroke, the workpiece is lifted by the workpiece lifting device, and the two clamping portions of the corresponding gripper are located on two sides of the workpiece, so as to meet the gripper grasping condition. When the first gripper 21 grips a workpiece to be processed on the feeding conveyor belt 11, the clamping center of the first gripper 21 and the center of the first workpiece tray 32 are on the same vertical straight line, and the clamping center of the second gripper 22 and the center of the second workpiece tray 42 are also on the same vertical straight line. In order to make the first sliding frame 25 more stable during horizontal movement and avoid rotation, the first sliding frame 25 is connected with a guide column 251 arranged along the horizontal direction, and the support frame 23 is correspondingly provided with a guide hole/groove matched with the guide column 251. In the present embodiment, when the first workpiece tray 32 is raised to the upper level through the prepared hole 100 by selecting the cylinder of the corresponding advancing stroke, the upper surface of the first workpiece tray 32 is at the same level as the processing position 60 of the broaching machine for placing the workpiece.
An automatic loading and unloading method of an automatic loading and unloading device applying the broaching machine comprises the following steps:
A workpiece conveying step: under the drive of a servo motor, a loading conveyor belt 11 drives a workpiece 101 to be processed to be conveyed from a loading area at a low position to a workpiece transfer area at a high position, a blanking conveyor belt 12 simultaneously drives a workpiece 102 after processing to be conveyed from the workpiece transfer area at the high position to a discharging area at the low position, wherein each of the loading conveyor belt 11 and the blanking conveyor belt 12 is provided with a plurality of workpiece conveying units 10, each workpiece conveying unit 10 is provided with a corresponding workpiece, a positioning mechanism on each workpiece conveying unit 10 can limit the corresponding workpiece on the corresponding loading conveyor belt 11 and the blanking conveyor belt 12, when the corresponding workpiece is limited on the loading conveyor belt 11 or the blanking conveyor belt 12, the center of the workpiece is just positioned on the corresponding reserved hole 100, and the distance traveled by the loading conveyor belt 11 and the blanking conveyor belt 12 once is equal to the distance between the corresponding reserved holes 100 of any two adjacent workpiece conveying units 10, that is, each time the feeding conveyor belt 11 and the discharging conveyor belt 12 travel once, the prepared holes 100 on the corresponding workpiece conveying units 10 may be located right above the corresponding lifting mechanisms (workpiece trays).
A workpiece lifting step: when the workpieces to be processed move to the workpiece transfer area along with the feeding conveyor belt 11, the workpieces on the corresponding workpiece conveying units 10 are just located right above the first workpiece tray 32, and then under the driving of the first driving device 31, the first workpiece tray 32 rises, passes through the reserved hole 100 on the feeding conveyor belt 11 located above, and lifts the corresponding workpieces to be processed to the upper material level position, so that the workpieces to be processed can be conveniently grabbed by the feeding and discharging execution device; when the loading and unloading execution device transfers the processed workpiece to the workpiece transfer area, the workpiece is located right above the second workpiece tray 42, then the second workpiece tray 42 is driven by the second driving device 41 to ascend, passes through the preformed hole 100 of the corresponding workpiece transmission unit 10 on the unloading conveyor belt 12 and stays at the unloading position where the loading and unloading execution device can conveniently grab, the loading and unloading execution device places the processed workpiece on the second workpiece tray 42, then the second workpiece tray 42 descends to the initial position, and the workpiece is placed on the corresponding transmission unit of the unloading conveyor belt 12 in the descending process along with the second workpiece tray 42.
A feeding step: after the first gripper 21 or the second gripper 22 of the feeding and discharging execution device grips the workpiece to be machined from the first workpiece tray 32, the workpiece is driven by the fourth driving device 26 to return upwards to the first initial position, then the workpiece is driven by the third driving device 24 to horizontally move from the first initial position to the second initial position which is positioned right above the workpiece machining position of the broaching machine, then the workpiece is driven by the fourth driving device 26 to move downwards to the second end position, the workpiece is placed on the workpiece machining position of the broaching machine, then the workpiece is driven by the fourth driving device 26 to return upwards to the second initial position, and the workpiece is driven by the third driving device 24 to horizontally move from the second initial position to the first initial position, and the feeding operation is completed.
Blanking: after the broaching machine finishes broaching the workpiece, the first gripper 21 or the second gripper 22 moves horizontally from a first initial position above the feeding conveyor 11 to a second initial position directly above a workpiece processing position of the broaching machine under the driving of the third driving device 24, then moves downwards to a second final position to grab the processed workpiece from the workpiece processing position of the broaching machine, then moves upwards to return to the second initial position, moves horizontally from the second initial position to the first initial position under the driving of the third driving device 24, then the rotary air cylinder 28 rotates 180 degrees to interchange the position of the second gripper 22 with the first gripper 21, and moves downwards to the first final position under the driving of the fourth driving device 26, and places the processed workpiece on a second workpiece tray 42 at a lower position, and finishing the blanking step.
In order to further improve the loading and unloading efficiency, in the workpiece lifting step, the first driving device 31 and the second driving device 41 act simultaneously, and when the first workpiece tray 32 is lifted to the loading position, the second workpiece tray 42 is lifted to the unloading position simultaneously; when the second gripper 22 places the processed workpiece on the second workpiece tray 42 at the lower position, the first gripper 21 simultaneously picks up the workpiece to be processed from the first workpiece tray 32 at the upper position.
of course, in the above-mentioned loading step and the unloading step, the first gripper 21 and the second gripper 22 may respectively perform the loading operation and the unloading operation, for example, the first gripper 21 may be a loading gripper, and the second gripper 22 may be an unloading gripper, in the above-mentioned loading step, after the first gripper 21 of the loading and unloading performing device grabs the workpiece 101 to be processed from the first workpiece tray 32, the workpiece is driven by the fourth driving device 26 to return to the first initial position, then the workpiece is driven by the third driving device 24 to horizontally move from the first initial position to the second initial position directly above the workpiece processing station 60 of the broaching machine, then the workpiece is driven by the fourth driving device 26 to move downwards to the second end position, the workpiece is placed on the workpiece processing station 60 of the broaching machine, and then the workpiece is driven by the fourth driving device 26 to return upwards to the second initial position, and is horizontally moved from the second initial position to the first initial position by the third driving device 24, completing the feeding operation. Then, in the discharging step, after the broaching machine finishes broaching the workpiece, the rotary cylinder 28 rotates 180 degrees to interchange the symmetrically arranged second gripper 22 and the first gripper 21 of the feeding and discharging execution device, then under the driving of the third driving device 24, the second gripper 22 moves horizontally from the first initial position above the feeding conveyor belt 11 to the second initial position directly above the workpiece processing station of the broaching machine, then under the driving of the fourth driving device 26, moves downwards to the second end position to grab the processed workpiece from the workpiece processing station of the broaching machine, then moves upwards to return to the second initial position, and under the driving of the third driving device 24, moves horizontally from the second initial position to the first initial position, then the rotary cylinder 28 rotates 180 degrees again to interchange the second gripper 22 and the first gripper 21, the second gripper 22 moves downward to the first end position by the fourth driving device 26, and the processed workpiece is placed on the second workpiece tray 42 at the blanking position, thereby completing the blanking step.
The first gripper 21 and the second gripper 22 may both perform the feeding operation and the discharging operation by setting a driving program for sequential operations of the respective cylinders, that is, the first gripper 21 may be either a feeding gripper or a discharging gripper, and similarly, the second gripper 22 may be either a feeding gripper or a discharging gripper. Accordingly, in the above-described feeding step, after the first gripper 21 grips the workpiece to be machined from the first workpiece tray 32, it returns upward to the first initial position by the fourth driving device 26, then it moves horizontally from the first initial position to the second initial position directly above the workpiece machining position of the broaching machine by the third driving device 24, then it moves downward to the second end position by the fourth driving device 26, places the workpiece on the workpiece machining position of the broaching machine, and then it returns upward to the second initial position by the fourth driving device 26, and it moves horizontally from the second initial position to the first initial position by the third driving device 24, thereby completing the feeding operation. Then, in the discharging step, after the broaching machine finishes broaching the workpiece, at this time, the rotary cylinder 28 does not need to rotate to interchange the symmetrically arranged second gripper 22 with the first gripper 21 of the feeding and discharging execution device, under the driving of the third driving device 24, the first gripper 21 moves horizontally from the first initial position above the feeding conveyor belt 11 to the second initial position directly above the workpiece processing station of the broaching machine, then moves downwards to the second end position under the driving of the fourth driving device 26 to grab the processed workpiece from the workpiece processing station of the broaching machine, then moves upwards to return to the second initial position, and moves horizontally from the second initial position to the first initial position under the driving of the third driving device 24, at this time, the rotary cylinder 28 starts to rotate 180 degrees, so as to interchange the second gripper 22 with the first gripper 21, under the driving of the fourth driving device 26, the first gripper 21 moves downward to the first end position, and the processed workpiece is placed on the second workpiece tray 42 at the blanking position, thereby completing the blanking step, and at the same time, the second gripper 22 starts the above-described feeding step and blanking step, and the cycle is repeated in order.
The automatic loading and unloading device of the broaching machine in the embodiment has a plurality of advantages: firstly, the workpiece conveying device of the automatic loading and unloading device can drive the corresponding workpieces to convey the workpieces between a high position and a low position, and in the conveying process, the positioning mechanism can limit the corresponding workpieces on the corresponding loading conveyor belt 11 and the corresponding unloading conveyor belt 12, so that the workpieces are prevented from being deviated, the drop height type conveying is realized, and the workpieces can be accurately grabbed and placed by the loading and unloading executing device 20; secondly, each workpiece conveying unit 10 of the feeding conveyor belt 11 and the discharging conveyor belt 12 is further provided with a preformed hole 100 matched with the workpiece lifting device, wherein the workpiece lifting device can upwards penetrate through the preformed hole 100 and ascend to a feeding position or a discharging position where the workpiece can be conveniently grabbed or placed by the feeding and discharging executing device 20. The automatic feeding and discharging device can be conveniently applied to a vertical broaching machine or other machine tools with feeding positions or discharging positions at higher positions, the falling height type workpiece conveying is realized, meanwhile, the feeding and discharging execution device 20 is convenient to grab or place workpieces, and then the automatic feeding and discharging operation of corresponding workpieces is realized, the complex steps that in the prior art, manpower is additionally added to the feeding and discharging positions at high positions to transfer the corresponding workpieces are avoided, and the production efficiency is effectively improved. In addition, the first gripper 21 and the second gripper 22 of the feeding and discharging execution device of the automatic feeding and discharging device are respectively symmetrically arranged on two sides of the rotating frame 29 and can rotate along with the rotating frame 29 to perform position interchange, and correspondingly, the first driving device 31 and the second driving device 41 of the workpiece lifting device can simultaneously act, that is, when the first workpiece tray 32 is lifted to the upper material level, the second workpiece tray 42 is lifted to the lower material level at the same time, so that when one of the first gripper 21 and the second gripper 22 places the processed workpiece on the second workpiece tray 42 at the lower material level, the other gripper can clamp the workpiece to be processed from the first workpiece tray 32 at the upper material level, thereby realizing synchronous material gripping and discharging operations and further improving the feeding and discharging efficiency.
Claims (10)
1. The utility model provides a unloader in automation of broaching machine which characterized in that: comprises a workpiece conveying device, a workpiece lifting device and a feeding and discharging execution device, wherein the workpiece conveying device comprises a feeding conveyor belt (11) and a discharging conveyor belt (12) which are used for placing workpieces and driving the corresponding workpieces to be conveyed at two positions of high and low, the feeding conveyor belt (11) drives the workpiece to be processed to be conveyed from the loading area at the low position to the workpiece transfer area at the high position, the blanking conveyor belt (12) drives the processed workpiece to be conveyed from the workpiece transfer area at the high position to the discharging area at the low position, the feeding conveyor belt (11) and the discharging conveyor belt (12) respectively comprise a plurality of workpiece conveying units (10) which are sequentially arranged along the length direction of the corresponding conveyor belt and used for placing corresponding workpieces, and each workpiece conveying unit (10) is also provided with a preformed hole (100) which is correspondingly consistent with the corresponding workpiece in the vertical direction;
Each workpiece conveying unit (10) is provided with a positioning mechanism for limiting a corresponding workpiece on the corresponding feeding conveyor belt (11) and the corresponding blanking conveyor belt (12), and when the corresponding workpiece is limited on the feeding conveyor belt (11) or the blanking conveyor belt (12), the center of the workpiece is just above the corresponding reserved hole (100);
the feeding and discharging execution device comprises a first gripper (21) and a second gripper (22), wherein the first gripper (21) and the second gripper (22) are used for transferring corresponding workpieces between the workpiece conveying device and a workpiece processing station (60) of the broaching machine;
The workpiece lifting device comprises a first lifting mechanism and a second lifting mechanism which are both located in a workpiece transfer area, the first lifting mechanism comprises a first driving device (31) arranged below the feeding conveyor belt (11) and a first workpiece tray (32) driven by the first driving device (31) to ascend and descend vertically, the first workpiece tray (32) can pass through a preformed hole (100) in the feeding conveyor belt (11) to lift a workpiece to be processed to a feeding position where the workpiece can be conveniently grabbed by a corresponding paw under the driving of the first driving device (31), and can be reset to an initial position from the feeding position, the second lifting mechanism comprises a second driving device (41) arranged below the discharging conveyor belt (12) and a second workpiece tray (42) driven by the second driving device (41) to ascend and descend vertically, and under the driving of the second driving device (41), the second workpiece tray (42) can pass through a preformed hole (100) on the blanking conveyor belt (12) to rise to a blanking position which is convenient for a corresponding paw to place the machined workpiece, and can be reset to an initial position from the blanking position.
2. The automatic loading and unloading device of the broaching machine as recited in claim 1, wherein: the feeding conveyor belt (11) and the blanking conveyor belt (12) comprise a first horizontal segment (13), a second horizontal segment (14) and an inclined segment (15) located between the first horizontal segment (13) and the second horizontal segment (14), the first horizontal segment (13) of the feeding conveyor belt (11) is located at a charging area, the first horizontal segment (13) of the blanking conveyor belt (12) is located at a discharging area, and the second horizontal segment (14) of the feeding conveyor belt (11) and the second horizontal segment (14) of the blanking conveyor belt (12) are located at a workpiece transfer area.
3. The automatic loading and unloading device of the broaching machine as recited in claim 2, wherein: the feeding conveyor belt (11) and the blanking conveyor belt (12) are arranged side by side, and the second horizontal section (14) of the feeding conveyor belt (11) and the second horizontal section (14) of the blanking conveyor belt (12) are located at the same horizontal height.
4. The automatic loading and unloading device of the broaching machine as recited in claim 2, wherein: the inclination angle (alpha) of the inclined section (15) of the feeding conveyor belt (11) and the inclined section (15) of the blanking conveyor belt (12) is 60-80 degrees.
5. The automatic loading and unloading device of the broaching machine as recited in claim 1, wherein: the feeding conveyor belt (11) and the discharging conveyor belt (12) are driven by servo motors, and the distance traveled once by the feeding conveyor belt (11) and the discharging conveyor belt (12) is equal to the distance between corresponding preformed holes (100) of any two adjacent workpiece conveying units (10) under the driving of the servo motors.
6. The automatic loading and unloading device of the broaching machine as recited in claim 2, wherein: positioning mechanism is for locating V type baffle (50) on corresponding conveyer belt, works as material loading conveyer belt (11) and unloading conveyer belt (12) drive corresponding work piece and remove to slope section (15) when, the periphery wall of work piece supports and leans on two subtend open lateral wall of V type baffle (50).
7. The automatic loading and unloading device of the broaching machine as recited in any one of claims 3 to 6, wherein: the feeding and discharging execution device comprises a support frame (23) located in the workpiece transfer area, a third driving device (24) arranged on the support frame (23), and a first sliding frame (25) which is driven by the third driving device (24) and can reciprocate in the horizontal direction relative to the support frame (23), wherein a fourth driving device (26) and a second sliding frame (27) which is driven by the fourth driving device (26) and can reciprocate in the vertical direction relative to the first sliding frame (25) are arranged on the first sliding frame (25), a rotating cylinder (28) is arranged on the second sliding frame (27), a rotating frame (29) is arranged at the output end of the rotating cylinder (28), and the first gripper (21) and the second gripper (22) are respectively and symmetrically arranged on two sides of the rotating frame (29);
when the first gripper (21) grips a workpiece to be processed on the feeding conveyor belt (11), the clamping center of the first gripper (21) and the center of the first workpiece tray (32) are on the same vertical straight line, and the clamping center of the second gripper (22) and the center of the second workpiece tray (42) are also on the same vertical straight line.
8. the automatic loading and unloading device of the broaching machine as recited in claim 7, wherein: the first sliding frame (25) is connected with a guide post (251) arranged along the horizontal direction, and the support frame (23) is correspondingly provided with a guide hole/groove matched with the guide post (251).
9. The automatic loading and unloading device of the broaching machine as recited in any one of claims 1 to 6, wherein: when the first workpiece tray (32) passes through the preformed hole (100) and rises to the loading position, the upper surface of the first workpiece tray (32) and a workpiece processing position (60) of the broaching machine for placing workpieces are at the same horizontal height.
10. the automatic loading and unloading device of the broaching machine as recited in any one of claims 1 to 6, wherein: the first gripper (21) is a feeding gripper used for transferring a workpiece to be processed between the feeding conveyor belt (11) and a workpiece processing station (60) of the broaching machine, and the second gripper (22) is a discharging gripper used for transferring the processed workpiece between the discharging conveyor belt (12) and the workpiece processing station (60) of the broaching machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920534339.8U CN209737153U (en) | 2019-04-18 | 2019-04-18 | Automatic feeding and discharging device of broaching machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920534339.8U CN209737153U (en) | 2019-04-18 | 2019-04-18 | Automatic feeding and discharging device of broaching machine |
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| Publication Number | Publication Date |
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| CN209737153U true CN209737153U (en) | 2019-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920534339.8U Withdrawn - After Issue CN209737153U (en) | 2019-04-18 | 2019-04-18 | Automatic feeding and discharging device of broaching machine |
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| CN (1) | CN209737153U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877636A (en) * | 2019-04-18 | 2019-06-14 | 浙江畅尔智能装备股份有限公司 | A kind of automatic loading and unloading device and method of broaching machine |
-
2019
- 2019-04-18 CN CN201920534339.8U patent/CN209737153U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877636A (en) * | 2019-04-18 | 2019-06-14 | 浙江畅尔智能装备股份有限公司 | A kind of automatic loading and unloading device and method of broaching machine |
| CN109877636B (en) * | 2019-04-18 | 2024-05-14 | 浙江畅尔智能装备股份有限公司 | Automatic feeding and discharging device and method for broaching machine |
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