CN113798890B - Workpiece fixing device, machine tool loading and unloading device and loading and unloading method - Google Patents
Workpiece fixing device, machine tool loading and unloading device and loading and unloading method Download PDFInfo
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- CN113798890B CN113798890B CN202111259012.2A CN202111259012A CN113798890B CN 113798890 B CN113798890 B CN 113798890B CN 202111259012 A CN202111259012 A CN 202111259012A CN 113798890 B CN113798890 B CN 113798890B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 109
- 238000007599 discharging Methods 0.000 claims abstract description 16
- 238000009423 ventilation Methods 0.000 claims abstract description 7
- 238000003860 storage Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 7
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- 238000009826 distribution Methods 0.000 description 9
- 238000000429 assembly Methods 0.000 description 6
- 230000000712 assembly Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000003754 machining Methods 0.000 description 3
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- 238000005553 drilling Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003801 milling Methods 0.000 description 2
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- 238000013459 approach Methods 0.000 description 1
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- 238000010924 continuous production Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/08—Work-clamping means other than mechanically-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B25/00—Accessories or auxiliary equipment for turning-machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/008—Catching devices
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- Engineering & Computer Science (AREA)
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- Jigs For Machine Tools (AREA)
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Abstract
The application relates to a workpiece fixing device, a machine tool loading and unloading device and a loading and unloading method, and relates to the technical field of tools; the machine tool loading and unloading device is applied to the workpiece fixing device, and the locking mechanism is used for being fixed with a workbench of the machine tool and also comprises a mechanical arm and a clamping mechanism arranged on the mechanical arm; the feeding and discharging method of the machine tool comprises the following steps: fixing the workpiece and the collet mechanism to form a clamping object; clamping the clamping object above the workbench; the lock cylinder is inserted into a lock tube of the locking mechanism for fixation; after the workpiece is processed, introducing gas through the first air inlet to separate the lock column from the lock pipe, and stopping ventilation; the mechanical arm moves the clamping mechanism to clamp the clamping object away from the workbench. This application has the advantage that the unloading is in order to improve production efficiency on the lathe conveniently.
Description
Technical Field
The application relates to the technical field of machine tools, in particular to a workpiece fixing device, a machine tool feeding and discharging device and a feeding and discharging method.
Background
The machine tool is a necessary device for part machining, and along with the improvement of the degree of automation, a numerical control milling machine and a more advanced machining center are gradually formed, and the machining capacity and the machining precision are improved. The workpiece to be processed needs to be fixed firmly before being processed, so that the influence of shaking in the processing process on the processing effect is avoided.
The related art is disclosed in the patent application of application number 200710138673.3, which discloses a milling and drilling machine, comprising an upper cross beam, a processing unit and a table, the table comprising a table top for clamping at least one workpiece.
With respect to the above-described related art, the inventors consider that there are the following drawbacks: during on-site actual operation, operating personnel place the work piece of waiting to process on the mesa, then carry out fastening operation, after the work piece processing is accomplished, operating personnel carries out the elasticity operation again so as to take off the work piece from the mesa, because the operation is consuming time leads to the last unloading inefficiency of work piece.
Disclosure of Invention
In order to solve the problem that the efficiency is low due to time consumption of the existing workpiece fixing and taking-out and placing operation on a machine tool, the application provides a workpiece fixing mechanism, a machine tool feeding and discharging device and a feeding and discharging method.
In a first aspect, the present application provides a workpiece fixing device adopting the following technical scheme:
the workpiece fixing device comprises a detachably connected collet mechanism and a locking mechanism, wherein the collet mechanism comprises a clamping seat for clamping a workpiece, the collet mechanism further comprises a lock column fixedly connected with the clamping seat, and one end of the lock column far away from the clamping seat is provided with a lock groove;
the locking mechanism comprises a base plate, a supporting seat and a locking pipe, wherein the locking pipe is fixed between the base plate and the supporting seat, a cavity is formed among the base plate, the supporting seat and the locking pipe, a through hole for communicating the inside of the locking pipe with the outside cavity is formed in the middle of the locking pipe, and a first air inlet for communicating the cavity is formed in the base plate or the supporting seat;
the locking mechanism further comprises a limiting component arranged in the cavity, the limiting component comprises a lock tongue which can penetrate through the through hole and extend into the locking groove, and the lock tongue can slide along the through hole relative to the locking pipe;
the lock cylinder can move away from the base plate along the lock cylinder axis under the action of air pressure.
Through adopting above-mentioned technical scheme, locking mechanism's base plate can be fixed on the workstation of lathe, fixes the work piece in advance and forms holistic centre gripping thing on the grip slipper, then can remove the workstation position with the centre gripping thing by outside robotic arm, then inserts the lock post in the lock pipe, and the lock post is spacing by the spring bolt to prevent to loosen and rock. When the workpiece is required to be taken down, high-pressure gas is introduced into the cavity through the first air inlet, and the air pressure generates upward moving force to the lock column to overcome the resistance of the lock tongue, so that the lock column is separated from the lock tube, the workpiece can be conveniently and rapidly taken down from the workbench, and the operation efficiency is improved.
Optionally, one side that the supporting seat is close to the grip slipper is equipped with at least one air pocket, be equipped with the second air inlet on the base plate, be equipped with the passageway of intercommunication air pocket and second air inlet in the supporting seat.
Through adopting above-mentioned technical scheme, when needing to take off the work piece, ventilate to the second air inlet simultaneously, gas can overcome atmospheric pressure with filling gas between grip slipper and the supporting seat, and it is more laborsaving to take off the work piece.
Optionally, the collet mechanism further includes a connecting plate detachably and fixedly connected with the clamping seat, and the lock cylinder is fixed on one surface of the connecting plate away from the clamping seat.
Through adopting above-mentioned technical scheme, the grip slipper can be dismantled with the connecting plate and be connected, can change different grip slipper according to the specific structure of work piece, and connecting plate and lock post can use jointly.
In a second aspect, the application provides a machine tool loading and unloading device, which adopts the following technical scheme:
the feeding and discharging device of the machine tool is applied to the workpiece fixing device, and the locking mechanism is used for being fixed with a workbench of the machine tool;
the mechanical arm and the clamping mechanism arranged on the mechanical arm are also included.
By adopting the technical scheme, the mechanical arm can drive the clamping mechanism to replace manual feeding and discharging, and is beneficial to automatic production operation.
Optionally, a storage positioning mechanism for placing the workpieces in an array is also included.
Through adopting above-mentioned technical scheme, operating personnel neatly stacks up the holder that assembles on depositing positioning mechanism, and robotic arm can snatch in order, improves and snatchs the degree of accuracy, goes up unloading efficiency and promotes.
Optionally, the movable vehicle is further included, the mechanical arm is fixedly installed on the movable vehicle, and the storage positioning mechanism is arranged on the roof of the movable vehicle.
Through adopting above-mentioned technical scheme, the locomotive can drive robotic arm and go up unloading operation to different lathe, reduces equipment input.
Optionally, the clamping mechanism has two or more.
Through adopting above-mentioned technical scheme, when robotic arm moved to deposit positioning mechanism position, can snatch a plurality of holders, then remove different lathe and go up the unloading, reduce robotic arm reciprocal number of times, improve and go up unloading efficiency.
Optionally, a camera is mounted on the mechanical arm.
By adopting the technical scheme, the camera is beneficial to remote or automatic position identification and control operation.
In a third aspect, the present application provides a machine tool feeding and discharging method, which adopts the following technical scheme:
a machine tool loading and unloading method, which uses the machine tool loading and unloading device, comprises the following steps:
s1: a plurality of workpieces are respectively fixed on each collet mechanism to form an integral clamping object, and the surfaces to be processed of the workpieces are exposed;
s2: controlling a mechanical arm to drive a clamping mechanism to move to be close to a clamping object, clamping the clamping object by the clamping mechanism, and driving the clamping mechanism to move to a position right above a workbench of a machine tool by the mechanical arm;
s3: the mechanical arm acts to enable a lock column on the collet mechanism to be inserted into a lock tube of the locking mechanism for fixation, and the mechanical arm moves the clamping mechanism to leave the workbench;
s4: after the workpiece is processed, introducing gas through the first air inlet to separate the lock column from the lock pipe, and stopping ventilation;
s5: the mechanical arm moves the clamping mechanism to clamp the clamping object away from the workbench.
Through adopting above-mentioned technical scheme, go up unloading operation and utilize robotic arm and work piece fixing device's cooperation to realize, go up unloading operating efficiency height.
Optionally, when there are a plurality of machine tools and the machine tools are linearly arranged, moving the position of the mechanical arm to the rest of the machine tools in the waiting process after the step S3, and transferring the other clamping objects to the rest of the machine tools by the mechanical arm for processing.
By adopting the technical scheme, the time for processing the workpiece can be fully utilized to carry out feeding or discharging operation on other machine tools, the processing continuity is maintained, and the production efficiency is improved.
In summary, the present application includes at least one of the following beneficial technical effects: the special workpiece fixing device can be used for rapidly fixing or removing the workpiece to or from the workbench, so that the loading and unloading time of the workpiece is shortened, and the production efficiency is improved; the feeding and discharging method can reduce manual operation and realize automatic feeding and discharging.
Drawings
FIG. 1 is a schematic overall structure of an embodiment of the present application;
FIG. 2 is a schematic view showing a state in which a clamping mechanism holds a workpiece on a table of a machine tool;
FIG. 3 is a schematic view of a clamping mechanism and a robot mounting structure;
FIG. 4 is a schematic view of a clamping mechanism;
FIG. 5 is a cross-sectional view of the jaw end configuration;
FIG. 6 is a schematic view of a storage location mechanism;
FIG. 7 is a schematic view of the structure of the support;
FIG. 8 is a partial cross-sectional view of the shoe mechanism;
FIG. 9 is an exploded view of the construction of the components of the shoe mechanism;
FIG. 10 is a schematic view of a locking mechanism;
FIG. 11 is an exploded view of the components of the locking mechanism;
FIG. 12 is a schematic diagram showing the distribution of air passages on a support base;
FIG. 13 is a cross-sectional view of the mounting mechanism and locking mechanism after assembly;
fig. 14 is an enlarged view of a portion a in fig. 13;
FIG. 15 is a schematic view showing the internal structure of the locking mechanism with the support base partially cut away;
FIG. 16 is a cross-sectional view taken along the B-B plane in FIG. 15;
FIG. 17 is a cross-sectional view taken along the plane C-C of FIG. 16;
FIG. 18 is a cross-sectional view taken along the plane D-D in FIG. 17;
fig. 19 is a schematic diagram of a loading vehicle feeding and discharging a plurality of machines.
Reference numerals: 1. a lathe; 11. a work table; 111. a mounting table; 2. a moving vehicle; 3. a mechanical arm; 31. a mounting frame; 4. a clamping mechanism; 41. a fixed table; 411. a chute; 412. a slide block; 42. a clamping jaw; 421. a clamping plate; 4211. a receiving groove; 422. a soft cushion; 43. a power section; 5. a storage positioning mechanism; 51. a bottom plate; 511. a relief hole; 52. a support; 521. a limit groove; 522. a fixing hole; 523. an inclined plane; 524. corner protection grooves; 6. a bottom support mechanism; 61. a clamping seat; 611. a support plate; 6111. a clamping groove; 6112. a positioning groove; 6113. a threaded hole; 612. a clamping plate; 613. a fastening spring; 62. a connecting plate; 621. a limit groove; 622. a fixing hole; 63. locking a column; 631. a limiting block; 632. a plug part; 6321. a guide slope; 633. a locking groove; 634. a first ring table; 6341. an inverted cambered surface; 6342. an air entraining inclined plane; 635. a second ring table; 636. an air tank; 7. a camera; 8. a locking mechanism; 81. a substrate; 811. a first air inlet; 812. a second air inlet; 813. a first air outlet hole; 814. a second air outlet hole; 815. an exhaust hole; 816. an exhaust groove; 82. a support base; 821. a first support column; 822. a second support column; 8221. an air hole; 823. a through hole; 824. a transverse air passage; 825. sealing grooves; 826. an annular airway; 827. a fitting hole; 828. a longitudinal airway; 829. a mounting groove; 83. locking the tube; 831. perforating; 84. a limit component; 841. a mounting column; 842. a bolt; 8421. a vent groove; 8422. a compression ring; 843. a return spring; 9. a workpiece.
Detailed Description
The present application is described in further detail below in conjunction with fig. 1-19.
The embodiment of the application discloses unloader on lathe. Referring to fig. 1 and 2, the feeding and discharging device of the machine tool comprises a mechanical arm 3, a clamping mechanism 4 arranged on the mechanical arm 3, a locking mechanism 8 arranged on the machine tool 1, a storage and positioning mechanism 5 used for accommodating workpieces 9 in an array, and a bottom support mechanism 6 used for being matched and fixed with the locking mechanism 8 is connected to the workpieces 9. The operator fixes the workpiece 9 on the bottom supporting mechanism 6 in advance to form an integral clamping object, then stacks the clamping object array on the storage positioning mechanism 5, the mechanical arm 3 acts to drive the clamping mechanism 4 to move and clamp the clamping object from the storage positioning mechanism 5, and then the clamping object is placed on the locking mechanism 8 on the machine tool 1 to be matched and locked. After the workpiece 9 is processed, the locking mechanism 8 is separated from the collet mechanism 6, and the mechanical arm 3 acts to drive the clamping mechanism 4 to take down the clamped object and put the clamped object on the storage positioning mechanism 5. The clamping structure 4 on the mechanical arm 3 is utilized for transferring through the locking and separating of the locking mechanism 8 and the collet mechanism 6, so that the production efficiency is improved.
Referring to fig. 1 and 2, in order to facilitate movement of the robot arm 3 to adapt to different machine tools 1, the machine tool loading and unloading device further comprises a moving vehicle 2, and the robot arm 3 is fixed on the top surface of the moving vehicle 2 through bolts. The storage positioning mechanism 5 is detachably arranged at the top of the mobile vehicle 2 and is positioned at one side of the mechanical arm 3. The robot arm 3 comprises a plurality of articulated arms capable of rotating around a vertical axis and capable of rotating around a horizontal axis, and any other robot arm capable of grabbing can be used according to the needs. The mobile vehicle 2 may be a remote control vehicle or an automatic vehicle, where an automatic vehicle is preferably selected to be able to move along a planned route or to automatically select a planned route.
Referring to fig. 3, in order to facilitate the clamping mechanism 4 on the mechanical arm 3 to clamp or place the workpiece 9 relatively accurately, the end of the mechanical arm 3 is provided with a camera 7, the camera 7 is connected with an external computer, the computer can be located in the mobile vehicle 2, and the connection mode can be wire connection or wireless connection.
Referring to fig. 4 and 5, the clamping mechanism 4 includes a fixed table 41, two clamping jaws 42 are mounted on one side of the fixed table 41, the two clamping jaws 42 can slide relative to the fixed table 41, and a power portion 43 for driving the two clamping jaws 42 to approach or separate from each other is mounted on the other side of the fixed table 41. The clamping jaw 42 comprises a clamping plate 421 and a soft pad 422 arranged at one end of the clamping plate 421 far away from the fixed table 41, and a containing groove 4211 for detachably installing the soft pad 422 is formed at the end part of the clamping plate 421. The power part 43 drives the two clamping jaws 42 to clamp the object when approaching, and the object is put down when the two clamping jaws 42 are away from each other. When the soft pad 422 is damaged and needs to be replaced, the soft pad 422 is detached from the accommodating groove 4211 to be reinstalled and replaced.
Referring to fig. 4, in order to facilitate maintenance when the clamping jaw 42 is damaged, two parallel sliding grooves 411 are formed in the fixed table 41, a sliding block 412 is installed in the sliding groove 411, the sliding block 412 can slide in the sliding groove 411 relative to the fixed table 41, and the clamping jaw 42 is detachably fixed on the sliding block 412.
In order to make the sliding block 412 stable and not separate from the sliding slot 411 when sliding in the sliding slot 411, the sliding slot 411 adopts a cross-shaped slot, the sliding block 412 is a block with a cross-section in a cross shape, and the sliding block 412 protrudes out of the sliding slot 411.
In order to keep the two sliding blocks 412 relatively close to each other or relatively far away from each other synchronously, a gear is rotatably connected to the middle part of the two sliding grooves 411 on the fixing table 41, teeth of the gear extend into the sliding grooves 411, and a rack meshed with the gear is arranged on one side of the sliding blocks 412. The power part 43 adopts a forward and reverse rotation motor, the motor and the fixed table 41 can be fixedly connected through bolts, and the fixed table 41 can be integrally fixed on the shell of the motor. The gear is connected with the output shaft of the motor in such a way that the gear is directly connected with the output shaft of the motor through a coupler or in a transmission way through a transmission component such as a gear set.
Referring to fig. 5, in order to facilitate replacement of the soft pad 422, the soft pad 422 is directly placed in the receiving groove 4211. The contour of the cushion 422 is adapted to the notch of the receiving groove 4211 such that the cushion 422 can be snapped into the receiving groove 4211. In order to prevent the soft pad 422 from possibly falling out of the accommodating groove 4211 during the clamping process, the accommodating groove 4211 is designed into a dovetail groove shape with a large cross section and a small cross section, and when the soft pad 422 is extruded and deformed by external force, part of the soft pad 422 is deformed and enters the groove bottom part of the dovetail groove. When the soft cushion 422 is damaged and needs to be replaced, the soft cushion 422 is directly taken out and a new soft cushion 422 is inserted. In other implementations of the present embodiments, the receiving slot 4211 may also be a truncated cone or other polygonal pyramid such as a square pyramid, a hexagonal pyramid, or the like. The design of the dovetail groove shape is favorable for processing and forming, and the corner of the dovetail groove is provided with a tool retracting groove for processing the tool retracting. In other implementations of the present embodiments, the number of runners 411 and jaws 42 may also be provided in other numbers, such as 3 each, and distributed in an annular array.
Referring to fig. 6 and 7, the storage positioning mechanism 5 includes a base plate 51 and a plurality of groups of support assemblies distributed on the base plate 51 in a rectangular array, each group of support assemblies includes at least two support members 52, and a relief hole 511 is formed in the base plate 51 corresponding to each group of support assemblies.
The bottom plate 51 can be a metal plate or a plastic plate, and rectangular aluminum alloy plates are adopted here, so that the weight is light, and the carrying is convenient. The plurality of relief holes 511 are distributed on the bottom plate 51 in an array manner, wherein the relief holes 511 are distributed in a 5×4 rectangular array manner, the number and the distribution manner of the relief holes 511 can be adjusted as required, the relief holes 511 can also be distributed in an annular array manner, and the distribution manner of the support assembly is adjusted adaptively. The diameter of the relief holes 511 is less than 1/2 the outer diameter of the profile of the individual support elements, specifically adapted to the size of the workpiece. To reduce over-tightening of the workpiece portion inserted into the relief hole 511, the diameter of the relief hole 511 may be 2-3mm larger than the outer diameter of the workpiece portion to be inserted, and the relief hole 511 may be chamfered around the face of the bottom plate 51.
In order to facilitate the manual auxiliary transfer of the jig, handles 52 are respectively fixed on two opposite sides of the bottom plate 1, and the fixing manner can be bolt fixing or welding fixing. The bolt fastening is selected here so that the handle 52 is easy to replace when damaged. In addition, when the handle 52 is transferred to the appropriate area, the handle 52 may be removed to reduce interference of the handle 52 with the grasping and holding mechanism 4.
Referring to fig. 7, the support 52 is a cylinder with an L-shaped cross section, and the cross section of the support 52 may be linear or arc-shaped, as needed. The support 52 may be made of aluminum alloy or stainless steel. One end of the supporting piece 52, which is close to the internal corner, is provided with a limiting groove 521, and the thickness of the part of the supporting piece 52 where the limiting groove 521 is located is about 2/3 of the whole wall thickness. The support member 52 is provided with a fixing hole 522 at the end of the side wall of the limiting groove 521, the fixing hole 522 is penetrated along the length direction of the column of the support member 52, and the fixing hole 522 may be a countersunk hole, so that the support member 52 is conveniently fixed on the bottom plate 51 through a bolt. Since the supporting member 52 is detachable, the position of the supporting member 52 can be installed according to the requirement so as to adapt to the supporting of workpieces 9 with different specifications. In order to facilitate the placement and support of the workpiece 9 into the limiting groove 521, the supporting member 52 is disposed on the top of the side wall of the limiting groove 521, which is close to the fixing hole 522, and is configured as an inclined surface 523, so that the opening on the top of the limiting groove 521 is increased, which is beneficial to the placement of the workpiece 9.
Further, in order to make the corners of the rectangular workpiece 9 less likely to be worn, the supporting member 52 is provided with corner guard grooves 524 communicating with the limiting grooves 521 at the inside corners, and the corner guard grooves 524 may also be used as tool retracting grooves when the supporting member 52 is machined.
Referring to fig. 6, each set of support assemblies has four support members 52, the four support members 52 are circumferentially disposed about the central relief hole 511, where the four support members 52 are rectangular in distribution, and the four support members 52 may be annular in distribution, diamond in distribution, etc. depending on the shape of the workpiece 9. In other implementations of the embodiments of the present application, the number of supports 52 included in each set of support assemblies may be 2, 3, or more than 4, depending on the actual design requirements. The rectangular array distribution and the annular array distribution are beneficial to design typesetting of the bottom plate 51, and in addition, the grabbing of the automatic mechanical arm 3 is more efficient and convenient to design and control, so that the possibility of grabbing faults is reduced.
When a plurality of workpieces 9 are placed, adjacent two support assemblies are also spaced apart to form a gripping gap in order that the gripping jaw 42 is not interfered by adjacent workpieces 9.
Referring to fig. 8 and 9, the workpiece 9 is supported and placed on the support 52 after being previously fixed using the shoe mechanism 6, and the shoe mechanism 6 includes a holder 61, a connection plate 62, and a lock post 63 which are fixedly connected in this order. The clamping seat 61 comprises a supporting plate 611 and a clamping plate 612, the supporting plate 611 is provided with a clamping groove 6111, and the middle part of one side of the supporting plate 611, which is positioned on the clamping groove 6111, is provided with a mounting groove for mounting the clamping plate 612. The side wall of the supporting plate 611, which is positioned in the mounting groove, is provided with a threaded hole 6113, the clamping plate 612 is provided with a through hole, and the clamping plate 612 is fixed on the supporting plate 611 in a matched manner with the threaded hole 6113 after passing through the through hole through a bolt. In order to prevent the clamping plate 612 from shaking due to loosening of the bolts, a fastening spring 613 is arranged between the clamping plate 612 and the supporting plate 611, and the fastening spring 613 is sleeved on the bolts. Here, the screw holes 6113 may be provided in two.
In order to facilitate accurate and rapid alignment of the through holes on the clamping plate 612 and the threaded holes 6113, positioning grooves 6112 are concavely formed on the surface of the supporting plate 611 where the clamping grooves 6111 are located at two sides of the mounting groove, and protrusions matched with the positioning grooves 6112 are correspondingly arranged on the clamping plate 612. The width of the two sides of the bottom of the clamping groove 6111 is widened to be larger than the width of the notch, so that a dovetail groove is formed.
The workpiece 9 may be placed in the middle of the clamping groove 6111 on the support plate 611, and then the clamping plate 612 is fixed to the support plate 611 by tightening the bolt so that the width of the region where the clamping plate 612 is located is reduced to clamp the workpiece 9.
Referring to fig. 8 and 9, the connecting plate 62 is integrally a rectangular plate, a circular hole is formed in the center of the connecting plate 62, and a limiting groove 621 is formed in the periphery of the circular hole on the surface of the connecting plate 62 away from the clamping seat 61. The connection plate 62 is provided with a plurality of fixing holes 622 through which bolts pass, and the connection plate 62 is fixed to one surface of the holder 61 by bolts. The number and distribution of the fixing holes 622 may be set according to actual needs. Since the connecting plate 62 is connected with the clamping seat 61 by bolts, the clamping seat 61 can be replaced adaptively according to the structural shape of the workpiece 9.
The lock post 63 is a circular tube as a whole, and the lock post 63 is fixed to the connecting plate 62 by a bolt passing through the center axis. One end of the lock post 63 extends away from the central axis in the circumferential direction to form a stopper 631 integrally, and the stopper 631 is provided with four stopper grooves 621 and is matched with the contour of the stopper grooves 621, so that one end of the lock post 63 can be inserted into the stopper grooves 621 of the connecting plate 62 to be fixed. The other end of the lock post 63 is provided with a truncated cone-shaped plug portion 632, two annular platforms are arranged between the plug portion 632 and the limiting block 631, and the two annular platforms are arranged close to the plug portion 632 and are a first annular platform 634 and a second annular platform 635 in sequence. A locking groove 633 is formed between the first annular table 634 and the plug portion 632, an air groove 636 is formed between the first annular table 634 and the second annular table 635, and the outer contour of the part of the locking column 63 located in the air groove 636 is in a regular polygon shape, so that the air groove 636 is divided into a plurality of areas.
The side of the plug portion 632 adjacent the locking groove 633 is a lead-in ramp 6321, the lead-in ramp 6321 being angled at 15 ° -45 ° to the axis of the locking post 63, where 45 ° is selected. The side of the first land 634 adjacent the lock groove 633 is comprised of a reverse arcuate surface 6341 and a bleed ramp 6342, causing the ramp 6342 to be disposed adjacent the edge of the first land 634, the bleed ramp 6342 being at an angle of 15 ° -45 ° to the axis of the lock post 63, where 30 ° is selected.
Referring to fig. 10 and 11, the locking mechanism 8 includes a base plate 81, a support base 82, a lock tube 83 and a stopper assembly 84 mounted therebetween.
The whole base plate 81 is a rectangular plate, the center of the base plate 81 is provided with a penetrating exhaust hole 815, the base plate 81 is provided with a plurality of screw holes around the exhaust hole 815, and the screw holes are used for fixing the base plate 81 with the supporting seat 82 through bolts. The base plate 81 is provided with a plurality of first air outlet holes 813 in the circumference of the screw hole, and a first air inlet 811 communicated with the first air outlet holes 813 is formed in the side wall of the base plate 81. The circumference of the base plate 81 located on the screw hole is provided with a plurality of second air outlet holes 814, and the side wall of the base plate 81 is provided with a second air inlet 812 communicated with the second air outlet holes 814. Here, the first air inlet 811 and the second air inlet 812 are disposed in parallel on the same side wall of the substrate 81, so that the air is conveniently connected to an external air source through an air pipe. Through holes for fixing the substrate 81 to the mounting base 111 using bolts are also provided on both sides of the substrate 81.
Referring to fig. 12 and 13, the support base 82 is integrally of a cylindrical structure with one open end, a plurality of assembly holes 827 penetrating through the side wall are formed in the edge of the support base 82 along the circumferential direction, the circumferential diameter of the assembly holes 827 is the same as that of the screw holes on the substrate 81, and the assembly holes 827 are in one-to-one correspondence with the screw holes on the substrate 81. Through holes 823 are coaxially formed in the center of one end, far away from the opening, of the supporting seat 82, a plurality of first supporting columns 821 and second supporting columns 822 are formed in a protruding mode on the surface, close to one end of the through holes 823, of the supporting seat 82, and the first supporting columns 821 and the second supporting columns 822 are arranged around the through holes 823 in an alternating mode.
The inner wall of the support column 82 near one end of the through hole 823 is provided with a plurality of mounting grooves 829 in the circumferential direction. The spacing assembly 84 includes a mounting post 841, a locking tongue 842 and a return spring 843, the mounting post 841 having a plurality of mounting slots 829 and being secured therein.
Referring to fig. 13 and 14, the lock tube 83 is a circular tube and is coaxially fixed at the position of the through hole 821 of the support seat 82, and the lock tube 83 and the support seat 82 are sealed by a sealing ring. The inner diameter of lock tube 83 is the same as the contoured outer diameter of lock cylinder 63 so that lock cylinder 63 can be inserted into lock tube 83. The middle part of the lock tube 83 is uniformly provided with a plurality of perforations 831 penetrating the side wall of the lock tube 83 in the circumferential direction.
The lock tongue 842 may be a round rod, the lock tongue 842 penetrates the mounting column 841 and slides along the axis of the through hole 831 relative to the mounting column 841, one end surface of the lock tongue 841, which is close to the lock tube 83, is provided with at least one ventilation slot 8421, and the ventilation slot 8421 is communicated with the inner cavity and the outer cavity of the lock tube 83. The end of the locking tongue 842 extending into the locking tube 83 is a spherical end. The spring bolt 842 is fixed with a compression ring 8422 near the outer wall of the spherical end, and the return spring 843 is sleeved on the spring bolt 842 and is positioned between the mounting column 841 and the compression ring 8422.
When the lock post 63 is inserted into the lock tube 83, the end of the lock post 63 presses against the end of the lock tongue 841, causing the lock tongue 841 to compress the return spring 843 to move toward the mounting post 841, as the lock post 63 continues to move downward, when the lock groove 633 moves into alignment with the aperture 831, the return spring 843 drives the lock tongue 841 to return and the end of the lock tongue 841 is inserted into the lock groove 633, the end of the lock tongue 841 pressing against the guide ramp 6321.
Referring to fig. 14 and 15, when the lock cylinder 63 is required to be pulled out of the lock tube 83, air is blown through the first air inlet 811, air enters the cavity surrounded by the support base 82, the base plate 81 and the lock tube 83 from the first air outlet 813, and then high-pressure air enters the lock groove 633 along the air groove 8421 on the lock tongue 842. Because of the difference in the structure of the upper and lower surfaces of the locking groove 633, the pressure of the gas against the upper wall of the locking groove 633 is greater than the pressure against the lower wall, so that the locking post 63 is lifted upward. The locking post 63, when moved upward, squeezes the locking tongue 842 to retract and disengage from the locking groove 633. The high pressure gas may also enter the air slot 636 along the bleed ramp 6342 during this process, causing the peripheral wall of the first land 634 to form a lift mold, reducing friction between the lock cylinder 63 and the lock tube 83.
When the lock cylinder 63 moves upward, gas is discharged from the gas discharge hole 815 in the lower portion of the lock pipe 83, and a gas discharge groove 816 communicating with the gas discharge hole 815 is formed in the bottom surface of the base plate 81 for smooth gas discharge.
Referring to fig. 16 and 17, the annular end surface of the support seat 82 near the open end is provided with two concentric annular grooves, the annular groove with a larger contour diameter is a seal groove 825, and the annular groove with a smaller contour diameter is an annular air passage 826. The circumferential diameter of the annular air passage 826 is the same as the circumferential diameter of the second air outlet 814 in the base plate 81. A longitudinal air passage 828 communicated with the annular air passage 826 is formed in the side wall of the supporting seat 82, and the axis of the longitudinal air passage 828 is parallel to the axis of the supporting seat 82. The mounting holes 827 pass through the annular gas channel 826 but do not communicate with the seal groove 825, and the aperture of the mounting holes 827 is larger than the width of the annular gas channel 828 so that gas can flow between the threads of the bolts in the mounting holes 827 when flowing circumferentially along the annular gas channel 828 without impeding the communicating flow of gas in the annular gas channel 828.
The supporting seat 82 is located on the second supporting pillar 822 and is provided with an air hole 8221, the circumferential side wall of the supporting seat 82 is provided with a transverse air passage 824 communicated with the air hole 8221 and the longitudinal air passage 828, and for processing convenience, the transverse air passage 824 is formed by drilling, and one end of the transverse air passage 824 exposed on the surface is blocked by sealant in use.
Referring to fig. 18, high pressure gas enters from the second gas inlet 812, then enters the annular gas channel 826 along the second gas outlet 814, is delivered to the plurality of longitudinal gas channels 828 via the annular gas channel 826, then enters the gas eye 8221 via the transverse gas channel 824, and finally is ejected from the gas eye 8221. On the one hand, the contact surface between the connecting plate 62 and the second support column 822 is less likely to separate due to the influence of the atmospheric pressure, and on the other hand, an upward pushing force can be generated on the connecting plate 62 so as to separate the collet mechanism 6 from the locking mechanism 8 together with the gas of the first gas inlet 811.
The working principle of the feeding and discharging device of the machine tool is as follows:
the operator places the workpiece 9 on the clamping groove 6111 of the collet mechanism 6 and fixes the clamp object with the clamping plate 612 to form an integral clamp object. The plurality of clamping objects are placed on the storage and positioning mechanism 5 to be supported and limited by the supporting piece 52. Then the storage positioning mechanism 5 is placed on the moving vehicle 2, the moving vehicle 2 moves to a proper position of the machine tool 1, the mechanical arm 3 acts to control the clamping mechanism 4 to clamp the clamped object, then the clamping mechanism moves to the upper part of the workbench 11, the mechanical arm 3 drives the lock post 63 on the collet mechanism 6 to be inserted into the lock tube 83 in the locking mechanism 8, and then the collet mechanism 6 is firmly fixed on the locking mechanism 8.
Then the tool on the machine tool 1 processes the workpiece 9, after the workpiece 9 is processed, high-pressure gas is filled into the first air inlet 811 and the second air inlet 812, the collet mechanism 6 is separated from the locking mechanism 8, and at the moment, the mechanical arm 3 acts to enable the clamping mechanism 4 to clamp the clamped object and then place the clamped object on the storage positioning mechanism 5. The workpiece 9 is mounted and fixed on the machine tool 1 and removed from the machine tool 1 without manual operation, and is processed by the mechanical arm 3, so that the production efficiency is improved.
Referring to fig. 19, in other embodiments of the present application, the principle of the feeding and discharging device on the machine tool may further be: the machine tools 1 are plural and distributed along a linear array, here 4 machine tools 1 are exemplified. When the mechanical arm 3 drives the clamping mechanism 4 to place the workpiece 9 into the first machine tool 1 for processing, the moving vehicle 2 can drive the mechanical arm 3 to move to the position of the second machine tool 1, the mechanical arm 3 drives the clamping mechanism 4 to place another workpiece 9 into the second machine tool 1 for processing, and so on. Because the processing time of the workpiece 9 is required, the processing time of the workpiece 9 with different structures is different, when the processing of the workpiece 9 on a certain machine tool 1 is finished, the moving vehicle 2 moves to the position of the machine tool 1, and the mechanical arm 3 drives the clamping mechanism 4 to take down the workpiece 9 and place the workpiece 9 on the storage positioning mechanism 5, so that the time is saved.
When the workpiece 9 on one storage positioning mechanism 5 is picked up, the other storage positioning mechanism 5 with the workpiece 9 pre-assembled can be replaced on the moving vehicle 2, so that continuous production loading and unloading operation is maintained, and the production efficiency is improved.
In order to facilitate the control of the machine tool 1, the mobile vehicle 2 and the mechanical arm 3, all power is connected with an external central processing unit for control.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (8)
1. The utility model provides a work piece fixing device, includes collet mechanism (6) and locking mechanism (8) that can dismantle the connection, collet mechanism (6) are including being used for clamping grip slipper (61) of work piece (9), its characterized in that: the bottom support mechanism (6) further comprises a connecting plate (62) which is detachably and fixedly connected with the clamping seat (61) and a lock column (63) which is fixedly connected with the clamping seat (61), one end, far away from the clamping seat (61), of the lock column (63) is provided with a lock groove (633), and the lock column (63) is fixed on one surface, far away from the clamping seat (61), of the connecting plate (62);
the locking mechanism (8) comprises a base plate (81), a supporting seat (82) and a locking pipe (83), wherein the locking pipe (83) is fixed between the base plate (81) and the supporting seat (82), a cavity is formed among the base plate (81), the supporting seat (82) and the locking pipe (83), a through hole (831) for communicating the inside of the locking pipe (83) with the outside cavity is formed in the middle of the locking pipe (83), and a first air inlet (811) for communicating the cavity is formed in the base plate (81) or the supporting seat (82);
the locking mechanism (8) further comprises a limiting component (84) arranged in the cavity, the limiting component (84) comprises a mounting column (841), a lock tongue (842) and a return spring (843), the lock tongue (842) can penetrate through the through hole (831) and extend into the locking groove (633), and the lock tongue (842) can slide along the through hole (831) relative to the lock tube (83); the lock tongue (842) penetrates through the mounting column (841) and slides relative to the mounting column (841) along the axis of the through hole (831), one end surface of the lock tongue (842) close to the lock tube (83) is provided with at least one ventilation groove (8421), and the ventilation groove (8421) is communicated with the inner cavity and the outer cavity of the lock tube (83); one end of the lock tongue (842) extending into the lock tube (83) is a spherical end; the spring bolt (842) is fixed with a compression ring (8422) close to the outer wall of the spherical end, and the return spring (843) is sleeved on the spring bolt (842) and is positioned between the mounting column (841) and the compression ring (8422); when the lock cylinder (63) is inserted into the lock tube (83), the end of the lock cylinder (63) presses the end of the lock tongue (842), so that the lock tongue (842) compresses the return spring (843) to move towards the mounting column (841), and as the lock cylinder (63) continues to move downwards, when the lock groove (633) moves to be aligned with the through hole (831), the return spring (843) drives the lock tongue (842) to reset and the end of the lock tongue (842) is inserted into the lock groove (633);
the lock groove (633) is positioned, and the lock cylinder (63) can move away from the base plate (81) along the axis of the lock tube (83) under the action of air pressure; the structure of the upper surface and the lower surface of the lock groove (633) is different, the pressure of gas on the upper wall of the lock groove (633) is larger than that on the lower wall, so that the lock column (63) is lifted upwards to move, and the lock column (63) presses the lock tongue (842) to retract and separate from the lock groove (633) when moving upwards;
one side of the supporting seat (82) close to the clamping seat (61) is provided with at least one air hole (8221), the substrate (81) is provided with a second air inlet (812), and a channel for communicating the air hole (8221) with the second air inlet (812) is arranged in the supporting seat (82).
2. The utility model provides a unloader on lathe which characterized in that: use of a workpiece fixing device according to claim 1, the locking mechanism (8) being for fixing with a table (11) of a machine tool;
the mechanical arm (3) and the clamping mechanism (4) arranged on the mechanical arm (3) are also included.
3. The machine tool loading and unloading device according to claim 2, wherein: the device also comprises a storage and positioning mechanism (5) for placing the workpieces (9) in an array.
4. A machine tool loading and unloading device as defined in claim 3, wherein: the movable vehicle is characterized by further comprising a movable vehicle (2), the mechanical arm (3) is fixedly arranged on the movable vehicle (2), and the storage positioning mechanism (5) is arranged on the roof of the movable vehicle (2).
5. The machine tool loading and unloading device according to claim 2, wherein: the number of the clamping mechanisms (4) is two or more.
6. The machine tool loading and unloading device according to any one of claims 2-5, wherein: and a camera (7) is arranged on the mechanical arm (3).
7. A feeding and discharging method of a machine tool is characterized by comprising the following steps of: use of a machine tool loading and unloading device according to any one of claims 2-6, comprising the steps of:
s1: a plurality of workpieces (9) are respectively fixed on each collet mechanism (6) to form an integral clamping object, and the surface to be processed of the workpieces (9) is exposed;
s2: the mechanical arm (3) is controlled to drive the clamping mechanism (4) to move to be close to the clamping object, the clamping mechanism (4) clamps the clamping object, and the mechanical arm (3) drives the clamping mechanism (4) to move to a position right above the workbench (11) of the machine tool;
s3: the mechanical arm (3) acts to enable a lock column (63) on the bottom bracket mechanism (6) to be inserted into a lock tube (83) of the locking mechanism (8) for fixation, and the mechanical arm (3) moves the clamping mechanism (4) to leave the workbench (11);
s4: after the workpiece (9) is processed, introducing gas through the first gas inlet (811) to separate the lock column (63) from the lock pipe (83) and stopping ventilation;
s5: the mechanical arm (3) moves the clamping mechanism (4) to clamp the clamping object away from the workbench (11).
8. The machine tool loading and unloading method according to claim 7, wherein: when the machine tools are in a plurality of linear arrangement, the position of the mechanical arm (3) is moved to the rest of the machine tools in the waiting process after the step S3, and the mechanical arm (3) transfers the other clamping objects to the rest of the machine tools for processing.
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| CN202111259012.2A CN113798890B (en) | 2021-10-28 | 2021-10-28 | Workpiece fixing device, machine tool loading and unloading device and loading and unloading method |
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| CN202111259012.2A CN113798890B (en) | 2021-10-28 | 2021-10-28 | Workpiece fixing device, machine tool loading and unloading device and loading and unloading method |
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| CN113798890A CN113798890A (en) | 2021-12-17 |
| CN113798890B true CN113798890B (en) | 2024-03-19 |
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