CN109366467B - Double-arm starting sheet slicing manipulator - Google Patents

Abstract

The invention relates to a double-arm starting sheet slicing manipulator, and belongs to the technical field of mechanical equipment. The automatic feeding device comprises a base, wherein an arm support is arranged at the top of the base, a rotatable double mechanical arm is arranged on the arm support, a telescopic rotary cylinder is arranged on one side of the double mechanical arm, double mechanical arms are arranged at the end parts of the double mechanical arms, connecting rods are arranged on one sides of the double mechanical arms respectively and are connected with the bottoms of the double mechanical arms to conduct rotary motion, the cylinders are arranged on the double mechanical arms to conduct telescopic motion, a push plate is arranged at the bottom of the cylinder, a sucker is arranged on the push plate, and materials on a feeding bench are arranged on the sucker. The invention can completely meet the design concept requirement of the initial requirement, has reasonable design, is convenient to use and replace, and has strong popularization value, and the manipulator simulates the action of manually lifting and placing materials to replace manual operation, reduces labor intensity and improves production efficiency.

Description

A two-arm initial pole piece slicing manipulator

Technical field

The invention relates to a two-arm initial pole segmenting manipulator, belonging to the technical field of mechanical equipment.

Background technique

The two-arm manipulator is an automated production equipment developed in recent decades. The manipulator is an important branch of industrial robots. It has the advantages of both humans and machines in terms of structure and performance. The accuracy of the manipulator operation and the efficiency of completing operations in various environments. Ability has broad development prospects in various fields of the national economy. Although the manipulator is not as flexible and convenient as the human hand at present, it has the characteristics of being able to repeat work and labor, tirelessly, not afraid of danger, and can grasp heavy objects more powerfully than the human hand. The development of manipulators has also attracted much attention and is becoming more and more popular. Has been widely used. In this implementation case, it is mainly used in the slicing of the copper block initial pole piece. The copper plate with a length and width of nearly one meter is grabbed and processed in the next process. The use of both arms speeds up the production efficiency and saves costs. Due to the copper plate It is heavy and involves the danger of manual work. Manual work is very labor intensive and very inefficient, which greatly hinders production. The manipulator designed based on these defects has achieved good economic results in application.

Contents of the invention

The technical problem to be solved by the present invention is to reduce the intensity of manual work and improve production efficiency by providing a two-arm initial pole segmenting manipulator so that it is suitable for metallurgical production lines and can replace manual work and effectively shorten labor time. Reduce labor intensity and improve labor efficiency, safety and reliability.

The technical solution of the present invention is: a double-arm initial pole piece slicing manipulator, including a transmission mechanism on which electrical copper sheet materials are placed. A base device is provided on one side of the transmission mechanism. On the base device A mechanical arm support is provided. A cylinder and a mechanical arm are arranged on the mechanical arm support. The cylinder drives the mechanical arm to rotate. A mechanical hand is provided on the mechanical arm. There is a connecting rod between the mechanical arm and the mechanical arm. The mechanical arm is connected by a connecting rod. A pushing cylinder is arranged on the cylinder, and the cylinder performs up and down reciprocating motion. The cylinder is connected with a push plate, and a suction cup is provided on the push plate.

By adopting the above technical solution, robotic arms replace labor, which greatly reduces labor costs, is safe and reliable, and can also ensure production efficiency.

The present invention is further configured as follows: the transmission mechanism is a roller transmission device, which mainly transports piles of copper blocks to prepare for subsequent processes. The material stand serves as a support structure, and the roller is installed on the material stand. The roller is equipped with bearings and is fixed on the material rack with a gland. A motor-driven roller conveyor belt is used to transport the electrical copper sheets placed in the pallet.

The present invention is further configured as follows: the base device is to raise the manipulator to a certain height to facilitate its operation. The base device mainly includes a column, a bottom plate, a side plate, etc., wherein the column is a hollow square tube, and the bottom plate and the top plate are welded to the column. At both ends, the side plates are welded to the side floors of the columns, and the ribs are evenly welded to the side plates, which strengthens and stabilizes the support of the columns.

The invention is further configured as follows: the mechanical arm support device is to connect the base and the mechanical arm, and includes a square beam tube and a column square tube at the end of the vertical beam. The square beam tube is used to install the mechanical arm, and the rotation axis of the mechanical arm is set It is fixed inside the square tube of the beam, and the square tube of the upright is equipped with a cylinder, and the cylinder provides power for the rotation of the mechanical arm.

The present invention is further configured as follows: the robotic arm device serves as a rotating arm and rotates to a designated position to provide the robot with an accurate position to grab the electrical copper sheet to be processed. It includes two cantilever beams and three rotation axes. The cantilever beams are welded at a certain angle. On the bearing seat, the bearing seat is equipped with a thrust ball bearing and a deep groove ball bearing. The thrust ball bearing is mainly used to bear axial load. The rotating shaft has a shoulder to position the thrust ball bearing and deep groove ball bearing. The bearing seat After the upper flange bearing end cover is installed, it is positioned against the outer rings of the two bearings.

The present invention is further configured as follows: the final purpose of the manipulator device is to grab the electric copper plate and place it at a designated processing position, including a manipulator frame, a cylinder, a push plate, a suction cup, etc., and a connecting plate is provided at the upper end of the manipulator frame, and the connecting plate is connected to the The connecting plates on the robot arm support are connected with connecting rods to reduce the rotational inertia. The manipulator frame is connected and fixed with the rotation axis of the manipulator arm. One end of the cylinder is installed on the manipulator frame, and the other end is connected to a push plate. A suction cup is provided on the push plate, and there is a spring connection between the push plate and the suction cup.

The beneficial effects of the present invention are: compared with the prior art, the structural arrangement of the present invention is more reasonable. By setting the rotating mechanical arm, it can rotate freely at a certain angle, which provides great convenience for its work; by setting the rotating cylinder, the manipulator can rotate when grabbing the material, so that the material can be grasped accurately; by setting the first clamp The clamping device and the second clamping device are more energy-saving and efficient. When the first clamping device takes the material, the second clamping device is placing the material. On the contrary, when the second clamping device takes the material, the first clamping device is taking the material. The tight device is placing materials.

Description of the drawings

Figure 1 is a schematic structural diagram of the present invention;

Figure 2 is a schematic structural diagram of the feeding device of the present invention;

Figure 3 is a schematic structural diagram of the base device of the present invention;

Figure 4 is a schematic structural diagram of the mechanical arm support of the present invention;

Figure 5 is a schematic structural diagram of the robotic arm of the present invention;

Figure 6 is a schematic diagram of the internal structure of the rotating shaft bearing seat of the present invention;

Figure 7 is a schematic structural diagram of the manipulator of the present invention;

Figure 8 is a front view of the manipulator of the present invention.

The numbers in the figure are: 100-feeding device, 300-base device, 400-robot arm support, 500-robot arm, 600-robot hand, 700-cylinder, 800-connecting rod;

1-feeding bench, 2-material, 3-gland, 4-roller, 5-material tray, 6-bottom plate, 7-rib plate, 8-side plate, 9-support column, 10-top plate, 11-machinery Arm support bottom plate, 12-robot arm support side ribs, 13-connecting rod shaft, 14-robot arm support top plate, 15-robot arm support connecting plate, 16-beam, 17-cylinder support, 18- Robot arm frame, 19-flange bearing end cover, 20-cylinder telescopic rod joint shaft, 21-robot rotation axis I, 22-bearing seat, 23-robot arm rotation axis II, 24-thrust ball bearing, 25-positioning shaft Shoulder, 26-deep groove ball bearing, 27-bearing, 28-manipulator frame, 29-rotating connecting plate, 30-fisheye joint, 31-rotating shaft, 32-push plate, 33-suction cup cover, 34-suction cup, 35 -Buffer block pressure plate, 36-buffer block, 37-cylinder body, 38-fisheye joint bracket, 39-clamping piece I, 40-small rod, 41-clamping piece I, 42-piston rod, 43-push cylinder , 45-spring, 46-piston rod II, 47-trunnion mounting piece, 48-trunnion support.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

Embodiment 1: As shown in Figures 1-8, a dual-arm initial pole piece slicing robot includes a transmission device 100. The transmission device 100 includes a feeding platform 1, and the feeding platform 1 is provided with a roller 4, The roller 4 is provided with a gland 3, the roller 4 is provided with a material tray 5, and the material tray 5 is provided with materials 2.

Further, a base device 300 is installed on the ground on one side of the transmission device 100. The base device 300 includes a bottom plate 6. A support column 9 is welded to the bottom plate 6, and side support columns 9 are welded to both sides of the support column 9. plate 8, rib plates 7 are welded on the side plates 8, and a top plate 10 is welded on the top of the support column 9.

Further, a robot arm support 400 is installed on the top of the base device 300, and a robot arm support bottom plate 11 connected to the top plate 10 of the top of the base device 300 is provided on the bottom of the robot arm support. A cross beam 16 is welded to the base plate 11 of the support. A side rib 12 of the robot arm support is welded to one side of the beam 16. A top plate 14 of the robot arm support is welded to the top of the beam 16. The top plate 14 of the robot arm support is welded to the bottom plate 11 of the support. A mechanical arm support connecting plate 15 is welded to the upper end of the cross beam 16 . A connecting rod shaft 13 is provided on the mechanical arm support connecting plate 15 . A cylinder support 17 is welded to one side of the cross beam 16 .

Further, the robot arm support 400 is provided with a cylinder 700 that provides power for rotation.

Further, the robotic arm support 400 is provided with a robotic arm 500, and the robotic arm 500 is equipped with a robotic arm frame 18, in which the robotic arm frame is made of multiple parts welded, and the bottom of the robotic arm frame 18 is mounted There is a cylinder telescopic rod joint shaft 20. The cylinder telescopic rod joint shaft 20 is connected to the telescopic rod of the cylinder 700. The robot arm frame 18 is provided with three bearing seats 22. The bearing seats 22 are equipped with the robot arm rotation axis 21Ⅰ and the robot arm rotation axis. Axis II 23, the robot hand rotation axis 21 and the robot arm rotation axis II 23 are equipped with thrust ball bearings 24. The thrust ball bearings 24 are separated by the positioning shoulder 25 and are equipped with two deep groove ball bearings 26. The two deep groove ball bearings 26 are installed on the axis II 23. The deep groove ball bearings are separated by bearings 27. The bottom of the thrust ball bearing 24 is connected to the flange bearing end cover 19 and the flange bearing end cover 21 holds the outer ring. The top of the deep groove ball bearing 26 is connected to the flange bearing. The end cap 19 is connected and the flange bearing end cap 19 holds against the outer ring.

Further, a robot hand 600 is provided on the robot arm rotation axis 21I and the robot arm rotation axis II23 in the robot arm 500. The robot hand 600 is provided with a rotating connecting plate 29, and the rotating connecting plate 29 is provided with a rotating axis 31. , the rotating shaft 31 is equipped with a fisheye joint 30, the fisheye joint 30 is connected to one end of the connecting rod 800, the other end of the connecting rod 800 is connected to the connecting rod shaft 13 on the robot arm support 400, the rotating connecting plate 29 A manipulator frame 28 is provided on the manipulator frame 28. A push cylinder 43 is provided on the manipulator frame 28. A trunnion mounting part 47 is provided at the upper end of the push cylinder 43. The trunnion mounting part 47 is provided with trunnion supports 48 at both ends. The trunnion support 48 is installed on the robot frame 28. The lower end of the robot frame 28 is provided with a push plate 32. The push plate 32 is provided with a suction cup 34 and a suction cup cover 33. Between the suction cup 34 and the push plate 32 There are springs 45 in between, a buffer block 36 is provided on the lower end of the manipulator frame 28 and the push plate 32, a buffer block pressure plate 35 is provided on the buffer block 36, and a fisheye joint bracket 38 is provided in the middle of the push plate 32. The fisheye joint bracket 38 is connected to the pushing cylinder 43. Piston rods I42 and piston rods II46 are installed on both sides of the manipulator frame 28. The piston rods I42 and II46 are provided with cylinders 37. The cylinders 37 are equipped with On the manipulator frame 28, the lower ends of the piston rod I42 and the piston rod II46 are equipped with a clamping piece II41. The clamping piece 41 also clamps a small rod 40. There is also a clamping piece on the other end of the small rod 40. I39 is installed on the push plate 32.

The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above-described embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, other modifications can be made without departing from the spirit of the present invention. Various changes.

Claims (2)

1. A two-arm initial pole piece slicing robot, characterized in that it includes a transmission device (100), the transmission device (100) includes a feeding platform (1), and the feeding platform (1) is provided with a roller (4), the roller (4) is provided with a gland (3), the roller (4) is provided with a material tray (5), and the material tray (5) is provided with materials (2); A base device (300) is installed on the ground on one side of the conveyor device (100). The base device (300) includes a bottom plate (6), and a support column (9) is fixedly installed on the bottom plate (6). Side plates (8) are fixedly installed on both sides of the support column (9), ribs (7) are fixedly installed on the side plates (8), and a top plate (10) is fixedly installed on the top of the support column (9). ); A robotic arm support (400) is installed at the top of the base device (300), and a robotic arm support connected to the top plate (10) of the top of the base device (300) is provided at the bottom of the robotic arm support (400). Bottom plate (11), a cross beam (16) is fixedly installed on the bottom plate (11) of the robot arm support, and a side rib plate (12) of the robot arm support is fixedly installed on one side of the cross beam (16). The cross beam (16) A mechanical arm support top plate (14) is fixedly installed on the top. A mechanical arm support connecting plate (15) is fixedly installed on the mechanical arm support top plate (14). The mechanical arm support connecting plate (15) is fixedly installed on the top. ) is provided with a connecting rod shaft (13), and a cylinder support (17) is fixedly installed on one side of the cross beam (16); The mechanical arm support (400) is provided with a cylinder (700) that provides power for rotation; The mechanical arm support (400) is provided with a mechanical arm (500), the mechanical arm (500) is equipped with a mechanical arm frame (18), and the bottom of the mechanical arm frame (18) is equipped with a cylinder telescopic rod joint shaft. (20), the cylinder telescopic rod joint shaft (20) is connected to the telescopic rod of the cylinder (700), the robot arm frame (18) is provided with three bearing seats (22), and the bearing seats (22) are equipped with a manipulator to rotate The shaft (21) I and the robot arm rotation axis II (23) are equipped with a thrust ball bearing (24), and the thrust ball bearing (24) is composed of Two deep groove ball bearings (26) are installed after the positioning shoulder (25) is separated. The two deep groove ball bearings are separated by the bearing (27). The bottom of the thrust ball bearing (24) is in contact with the flange bearing. The end cap (19) is connected, and the top of the deep groove ball bearing (26) is connected with the flange bearing end cap (19). 2. The dual-arm initial pole piece segmenting robot according to claim 1, characterized in that: the robot arm rotation axis (21) I and the robot arm rotation axis II (23) in the robot arm (500) are provided with Manipulator (600), the manipulator (600) is provided with a rotating connecting plate (29), the rotating connecting plate (29) is provided with a rotating shaft (31), and the rotating shaft (31) is equipped with a fisheye joint (30), the fisheye joint (30) is connected to one end of the connecting rod (800), and the other end of the connecting rod (800) is connected to the connecting rod shaft (13) on the robot arm support (400), and the rotating connecting plate (29) is provided with a manipulator frame (28). The manipulator frame (28) is provided with a push cylinder (43). The upper end of the push cylinder (43) is provided with a trunnion mounting piece (47). The trunnion The mounting piece (47) is provided with trunnion supports (48) at both ends. The trunnion supports (48) are installed on the manipulator frame (28). The lower end of the manipulator frame (28) is provided with a push plate (32). , the push plate (32) is provided with a suction cup (34) and a suction cup cover (33), there is a spring (45) between the suction cup (34) and the push plate (32), and the manipulator frame (28) A buffer block (36) is provided on the lower end and the push plate (32). A buffer block pressure plate (35) is provided on the buffer block (36). A fisheye joint bracket (38) is provided in the middle of the push plate (32). , the fisheye joint bracket (38) is connected to the push cylinder (43), and the piston rod I (42) and the piston rod II (46) are installed on both sides of the manipulator frame (28). The piston rod I (42) and The piston rod II (46) is provided with a cylinder (37), and the cylinder (37) is mounted on the manipulator frame (28). The lower ends of the piston rod I (42) and the piston rod II (46) are equipped with clamps. The clamping piece II (41) also clamps the small rod (40). The other end of the small rod (40) also has a clamping piece I (39) installed on the push plate (40). 32) on.