阅读说明：本技术 一种轴端面磨削上料机械手机构 (Shaft end face grinding and feeding manipulator mechanism ) 是由 郝敬楠 章佳发 廖家宝 于 2019-09-27 设计创作，主要内容包括：本发明涉及一种轴端面磨削上料机械手机构,包括夹爪组件、上下移动组件、用于驱动夹爪组件和上下移动组件做整体运动的左右驱动组件和装配组件,上下移动组件包括传动机构、连杆机构和上下驱动组件,连杆机构由传动机构传动带动上下运动,传动机构由上下驱动组件驱动传动,连杆机构底端固定有夹爪组件,装配组件包括装配面板、装配侧板以及固定在装配面板正面用于支撑固定连杆机构的固定件,装配侧板固定在装配面板侧面,左右驱动组件的伸缩端固定在装配面板背面的装配侧板上；本发明提供的轴端面磨削上料机械手机构结构紧凑,运行稳定,减少了人员成本和停机的浪费,可以满足进行规模化工业生产的需求。(The invention relates to a shaft end face grinding feeding manipulator mechanism, which comprises a clamping jaw assembly, an up-down moving assembly, a left-right driving assembly and an assembling assembly, wherein the left-right driving assembly and the assembling assembly are used for driving the clamping jaw assembly and the up-down moving assembly to do integral motion; the shaft end face grinding and feeding manipulator mechanism provided by the invention has the advantages of compact structure and stable operation, reduces the personnel cost and the waste of machine halt, and can meet the requirements of large-scale industrial production.)

1. The utility model provides a shaft end face grinding material loading manipulator mechanism which characterized in that: including clamping jaw subassembly (1), reciprocate subassembly (2), be used for the drive clamping jaw subassembly (1) and reciprocate subassembly (2) and be whole motion's left and right sides drive assembly (3) and assembly subassembly (4), it includes drive mechanism (21), link mechanism (22) and upper and lower drive assembly (23) to reciprocate subassembly (2), link mechanism (22) by drive mechanism (21) transmission drives up-and-down motion, drive mechanism (21) by upper and lower drive assembly (23) drive transmission, link mechanism (22) bottom mounting has clamping jaw subassembly (1), assembly subassembly (4) are including assembly panel (41), assembly curb plate (42) and fix assembly panel (41) openly are used for supporting fixedly mounting (43) of link mechanism (22), assembly curb plate (42) are fixed assembly panel (41) side, the telescopic end of the left and right driving assembly (3) is fixed on the assembly side plate (42) on the back surface of the assembly panel (41).

2. The shaft end face grinding feeding manipulator mechanism according to claim 1, characterized in that: the link mechanism (22) comprises a link rod (221), an upper limit block (222), a lower limit block (223) and a limit photoelectric sensor (224) fixed on the assembly panel (41), and the upper limit block (222) and the lower limit block (223) which can respond to the limit photoelectric sensor (224) are fixed on the back surface of the link rod (221) in the upper position and the lower position.

3. The shaft end face grinding feeding manipulator mechanism according to claim 2, characterized in that: one side of the connecting rod (221) is provided with a guide rail (225), the other side of the connecting rod (221) is fixedly provided with a rack (226) which can be meshed with the gear (211) on the transmission mechanism (21), and the fixing piece (43) is provided with a sliding block (431) for the guide rail (225) to slide.

4. The shaft end face grinding feeding manipulator mechanism according to claim 3, characterized in that: the up-and-down driving assembly (23) comprises a first servo motor assembly (231) fixed on the back face of the assembling panel (41), the transmission mechanism (21) comprises a gear (211) driven by the first servo motor assembly (231), and the gear (211) penetrates through the assembling panel (41) and is meshed with the rack (226).

5. The shaft end face grinding feeding manipulator mechanism of claim 4, wherein: the left and right driving assembly (3) comprises a second servo motor assembly (31), and the driving direction of the first servo motor assembly (231) is perpendicular to the driving direction of the second servo motor assembly (31).

6. The shaft end face grinding feeding manipulator mechanism according to claim 2, characterized in that: the limiting photoelectric sensor (224) is fixed on the assembling panel (41) through a bracket (225).

7. The shaft end face grinding feeding manipulator mechanism according to claim 2, characterized in that: the clamping jaw assembly (1) comprises a clamping jaw (11), a clamping finger cylinder (12) with an induction switch and a clamping finger cylinder mounting block (13), wherein the clamping finger cylinder (12) controls opening and closing of the clamping jaw (11) and is fixed at the bottom end of the connecting rod (221) through the clamping finger cylinder mounting block (13).

8. The shaft end face grinding feeding manipulator mechanism of claim 7, wherein: an opening and closing sensor group (14) used for sensing the opening and closing of the clamping jaw (11) is arranged on the clamping finger cylinder (12).

Technical Field

The invention relates to manipulator equipment, in particular to a shaft end face grinding and feeding manipulator mechanism.

Background

The existing manual emptying mode has the following defects: 1. the working intensity of operators is high; 2. the grinding needs high-speed rotation, internal cutting cannot be discharged in time after the grinding is stopped, manual feeding can be sucked, and harm is caused to the body; 3. the machine is shut down and the material is replaced, so that the time is wasted. Due to the design of the main equipment and the production line and the expensive price of the robot, the problems of long halt waiting time and overhigh investment cost caused by manual feeding are limited.

Aiming at the problems, the invention mainly solves the technical problem of providing a high-efficiency device for assembling an insulating cap and a screw, which can solve the defects, better realize automation on site, has compact structure and stable operation, and can meet different processing beats and quality requirements.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide a shaft end face grinding and feeding manipulator which has a compact structure and stable operation, reduces the personnel cost and the shutdown waste, and can meet the requirements of large-scale industrial production.

The shaft end face grinding and feeding manipulator mechanism comprises a clamping jaw assembly, an up-down moving assembly, a left-right driving assembly and an assembling assembly, wherein the left-right driving assembly and the assembling assembly are used for driving the clamping jaw assembly and the up-down moving assembly to move integrally, the up-down moving assembly comprises a transmission mechanism, a connecting rod mechanism and an up-down driving assembly, the connecting rod mechanism is driven by the transmission mechanism to move up and down, the transmission mechanism is driven by the up-down driving assembly to transmit, the clamping jaw assembly is fixed at the bottom end of the connecting rod mechanism, the assembling assembly comprises an assembling panel, an assembling side plate and a fixing piece which is fixed on the front face of the assembling panel and used for supporting and fixing the connecting rod mechanism, the assembling side plate is fixed on the side face of the assembling panel.

Further, the link mechanism comprises a link, an upper limit block, a lower limit block and a limit photoelectric sensor fixed on the assembly panel, and the upper limit block and the lower limit block which can respond to the limit photoelectric sensor are fixed on the back of the link in an upper position and a lower position.

Furthermore, a guide rail is arranged on one side of the connecting rod, a rack which can be meshed with a gear on the transmission mechanism is fixed on the other side of the connecting rod, and a sliding block for the guide rail to slide is arranged on the fixing piece.

More specifically, the up-and-down driving assembly comprises a first servo motor assembly fixed on the back of the assembly panel, the transmission mechanism comprises a gear driven by the first servo motor assembly, and the gear penetrates through the assembly panel and is meshed with the rack.

Furthermore, the left and right driving components comprise a second servo motor component, and the driving direction of the first servo motor component is perpendicular to the driving direction of the second servo motor component.

Furthermore, the limiting photoelectric sensor is fixed on the assembling panel through a bracket.

Furthermore, the clamping jaw assembly comprises a clamping jaw, a clamping finger cylinder with an induction switch and a clamping finger cylinder mounting block, wherein the clamping finger cylinder controls opening and closing of the clamping jaw, and the clamping jaw is fixed at the bottom end of the connecting rod through the clamping finger cylinder mounting block.

More specifically, an opening and closing sensor group used for sensing the opening and closing of the clamping jaws is arranged on the clamping finger cylinder.

By the scheme, the invention at least has the following advantages:

the shaft end face grinding and feeding manipulator mechanism provided by the invention is assembled on a traveling frame erected by hollow square pipes, and is installed by utilizing the upper space of equipment, so that the waste of shutdown waiting time caused by manual material taking and feeding of personnel is reduced, and the automation degree is extremely high.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.

Drawings

FIG. 1 is a schematic structural view of a shaft end face grinding and feeding robot mechanism of the present invention;

fig. 2 is a schematic structural view of the shaft end surface grinding and feeding robot mechanism of the present invention.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

Fig. 1 and 2 show a shaft end face grinding feeding manipulator mechanism, including clamping jaw subassembly 1, move subassembly 2 up and down, be used for driving clamping jaw subassembly 1 and move subassembly 2 up and down and do left and right drive assembly 3 and assembly 4 of global motion, move subassembly 2 up and down and include drive mechanism 21, link mechanism 22 and upper and lower drive assembly 23, link mechanism 22 is driven by drive mechanism 21 transmission and is moved from top to bottom, drive mechanism 21 is driven transmission by upper and lower drive assembly 23, link mechanism 22 bottom mounting has clamping jaw subassembly 1, assembly 4 includes assembly panel 41, assembly curb plate 42 and fixes at assembly panel 41 front and be used for supporting the mounting 43 of fixed link mechanism 22, assembly curb plate 42 is fixed in assembly panel 41 side, the flexible end of controlling drive assembly 3 is fixed on the assembly curb plate 42 at the assembly panel 41 back.

The shaft end surface grinding feeding manipulator mechanism provided by the invention has the following use process:

the transmission mechanism 21 is driven by the up-and-down driving component 23 in the up-and-down moving component 2 to drive the connecting rod mechanism 22 to move up and down, so that the clamping jaw component 1 is driven to move up and down, and meanwhile, the telescopic end of the left-and-right driving component 3 fixed on the assembling side plate 42 can drive the up-and-down moving component 2 to move left and right integrally, so that the assembly can be realized on a truss erected by using a hollow square pipe at the same time, and the operation of quickly assembling and disassembling workpieces from a main shaft chuck by using an external conveyer belt is completed by utilizing the installation.

In this embodiment, in order to prevent the overstroke of the connecting rod 22 during the up-and-down movement, the connecting rod mechanism 22 includes the connecting rod 22, an upper limit block 222, a lower limit block 223, and a limit photoelectric sensor 224 fixed on the mounting panel 4, and the upper limit block 222 and the lower limit block 223 capable of responding to the limit photoelectric sensor 224 are fixed on the back surface of the connecting rod 22 in the up-and-down direction, wherein the limit photoelectric sensor 224 is fixed on the mounting panel 41 through a bracket 225.

In this embodiment, in order to enable the connecting rod 221 to drive the clamping jaw 11 to move up and down, a guide rail 225 is disposed on one side of the connecting rod 221, a rack 226 capable of meshing with the gear 211 on the transmission mechanism 21 is fixed on the other side of the connecting rod 221, and a slider 431 for sliding the guide rail 225 is disposed on the fixing member 43.

In this embodiment, the up-down driving assembly 23 includes a first servo motor assembly 231 fixed on the back surface of the mounting panel 41, the transmission mechanism 21 includes a gear 211 driven by the first servo motor assembly 231, the gear 211 passes through the mounting panel 41 to engage with the rack 226, the left-right driving assembly 3 includes a second servo motor assembly 31, and the driving direction of the first servo motor assembly 231 and the driving direction of the second servo motor assembly 31 are perpendicular to each other. The two sets of first servo motor assemblies 231 comprise a brake servo motor 2311, a speed reducer 2312 and a limit sensor 2313, fixed ends are mounted on the back face of the assembly panel 41 after the components are assembled, the fixed ends are meshed with the rack 226 through a driving gear 211, the second servo motor assembly comprises a speed reducer 31 and a brake servo motor 32, and after the components are assembled, telescopic ends are fixed on the assembly side plate 42 and used for driving the up-and-down moving assembly 2 to achieve the effect of driving the whole left and right.

In this embodiment, the clamping jaw assembly 1 includes a clamping jaw 11, a finger clamping cylinder 12 with an inductive switch, and a finger clamping cylinder mounting block 13, the finger clamping cylinder 12 controls the opening and closing of the clamping jaw 11 to be fixed at the bottom end of the connecting rod 221 through the finger clamping cylinder mounting block 13, and the finger clamping cylinder 12 is provided with an opening and closing sensor group 14 for sensing the opening and closing of the clamping jaw 11. The wear-resistant nylon clamping jaw 11 which can be replaced according to different part diameters is used for clamping blank pieces which are not machined in the previous working procedure and finished products which are machined in the previous working procedure.

The shaft end surface grinding feeding manipulator mechanism provided by the invention has the following use process:

in practical use, two sets of clamping jaw assemblies, two sets of up-down moving assemblies 2, one set of left-right driving assembly 3, one set of pneumatic triple piece (not shown in the figure) and one set of electromagnetic valve assembly (not shown in the figure) can be used, signals are exchanged through an inductor and an industrial control system in each assembly, unprocessed parts and processed parts are alternately placed in a main shaft of main equipment, and the purpose of automatic loading is achieved, wherein the pneumatic triple piece and the electromagnetic valve assembly enable each cylinder to execute actions through signals output by a PLC.

The invention relates to a shaft end face grinding feeding manipulator mechanism, which exchanges signals with a main device (grinding machine) through an inductor and an industrial control system, realizes the online operation of two single devices, utilizes the alternative operation design of two clamping jaws to finish the operation of quickly loading and unloading workpieces from an external conveyer belt to a main shaft chuck, realizes the function of assembly line type online processing, and reduces the personnel cost and the waste of machine halt.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and such modifications and variations should also be regarded as the protection scope of the present invention.