CN111922774A

CN111922774A - Secondary mechanical arm and mechanical arm for multi-station machining

Info

Publication number: CN111922774A
Application number: CN202010779183.7A
Authority: CN
Inventors: 魏海龙; 许邦强
Original assignee: Mingguang Jin Century Machinery Technology Co ltd
Current assignee: Mingguang Jin Century Machinery Technology Co ltd
Priority date: 2020-08-05
Filing date: 2020-08-05
Publication date: 2020-11-13

Abstract

The invention belongs to the technical field of machining, and particularly relates to a two-dimensional manipulator and a manipulator arm for multi-station machining; comprises a fixed support plate and a support plate; the lower end surface of the fixed support plate is symmetrically provided with support plates, and the symmetrically arranged support plates are provided with clamping assemblies; the hydraulic rod is fixedly arranged on the supporting plate, and the telescopic end of the hydraulic cylinder is fixedly provided with a double-sided rack; the rotating gears are symmetrically and rotatably arranged on the outer surface of the supporting plate through rotating shafts, and the symmetrically arranged rotating gears are respectively meshed with two sides of the double-sided rack; the rotating shaft is rotatably connected with the supporting plate; the outer end parts of the rotating shafts which are symmetrically arranged are all sleeved with swing rods, and the other ends of the swing rods are provided with swing grooves; the swing groove is internally connected with a clamping claw through a rotating column; a fixed cylinder is fixed on one side wall of the swinging rod, and a rotating column is rotatably arranged in the fixed cylinder through a rotating limiting mechanism; high quadratic element manipulator availability factor, and can be applicable to the tight transfer work of metal work piece clamp of multistation.

Description

Secondary mechanical arm and mechanical arm for multi-station machining

Technical Field

The invention belongs to the technical field of machining, and particularly relates to a two-dimensional manipulator and a manipulator arm for multi-station machining.

Background

In multi-step processing, the assistance of a robot is usually used to transport the workpiece to the next station for processing.

The Chinese patent discloses a two-dimensional manipulator and a mechanical arm for multi-station processing, which comprise a first clamp assembly and a second clamp assembly; the first clamp assembly comprises a first fixing block and a first manipulator clamp hinged to the first fixing block; the second clamp assembly comprises a second fixed block and a second manipulator clamp hinged to the second fixed block; the first manipulator clamp and the second manipulator clamp are arranged oppositely, and the free ends of the first manipulator clamp and the second manipulator clamp are respectively provided with a carrying step for lifting the workpiece; the first fixing block can enable the first manipulator clamp to be extruded towards the workpiece under the pushing of the first manipulator; the second fixing block can enable the second mechanical arm clamp to extrude towards the direction of the workpiece under the pushing of the second mechanical arm.

Although the cost and the structural complexity of the mechanical arm are reduced; however, the existing two-dimensional manipulator can only carry out multi-station transportation work on the same type of metal workpieces; when different types of metal workpieces are encountered, for example, metal workpieces in a block shape, a column shape or a plate-shaped material, multiple sets of two-dimensional manipulators and mechanical arms are required to synchronously work to transport various metal workpieces, and the efficiency and stability of machining are affected.

Disclosure of Invention

In order to make up the defects of the prior art, the invention provides a two-dimensional manipulator and a mechanical arm for multi-station processing, which are mainly used for solving the problem that the existing two-dimensional manipulator can only carry out multi-station transportation work on the same type of metal workpieces; when different types of metal workpieces are encountered, for example, metal workpieces in a block shape, a column shape or a plate-shaped material, multiple sets of two-dimensional manipulators and mechanical arms are required to synchronously work to transport various metal workpieces, and the efficiency and stability of machining are affected.

The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a two-dimensional manipulator for multi-station processing, which comprises a fixed support plate, a support plate and a clamping assembly, wherein the fixed support plate is fixedly arranged on the support plate; the lower end surface of the fixed support plate is symmetrically provided with support plates, and the symmetrically arranged support plates are provided with clamping assemblies; the clamping assembly comprises a hydraulic cylinder, a double-sided rack, a rotating gear, a rotating shaft, a swinging rod, a rotating column, a clamping claw, an electromagnetic suction plate and a fixed cylinder; the hydraulic rod is fixedly arranged on the supporting plate, and a double-sided rack is fixed at the telescopic end of the hydraulic cylinder; the double-sided rack slides up and down along the end surface of the supporting plate; the rotating gears are symmetrically and rotatably arranged on the outer surface of the supporting plate through rotating shafts, and the symmetrically arranged rotating gears are respectively meshed with two sides of the double-sided rack; the rotating shaft is rotatably connected with the supporting plate; the outer end parts of the rotating shafts which are symmetrically arranged are all sleeved with swing rods, and the other ends of the swing rods are provided with swing grooves; the swing groove is internally connected with a clamping jaw through a rotating column, and an electromagnetic suction plate is arranged on the inner end surface of the clamping jaw; a fixed cylinder is fixed on one side wall of the swinging rod, and a rotating column is rotatably arranged in the fixed cylinder through a rotating limiting mechanism; the rotating column is rotatably connected with the swinging groove;

when the device works, when a two-dimensional manipulator is needed to move a cylindrical or blocky metal workpiece to be machined to the next station for machining, the controller controls the supporting seat to move to the metal workpiece moving area, then the controller controls the hydraulic oil pipe arranged outside to synchronously supply oil to the two communicated hydraulic cylinders, so that the telescopic ends of the hydraulic cylinders drive the double-sided racks to move downwards along the supporting plate, the rotating gears symmetrically meshed with the double-sided racks drive the symmetrically-arranged swinging rods to expand outwards through the rotating shafts, the rotating limiting mechanism fixes the rotating columns into the fixed cylinder at the moment, so that the clamping claws connected with the swinging rods through the rotating columns are in a fixed state, then the swinging rods drive the clamping claws to open when opening, the opening distance of the symmetrically-arranged clamping claws is larger than the width of the metal workpiece to be machined, and then the mechanical arm drives the opened clamping claws to move to the position where the metal workpiece is to be clamped, if the length of the metal workpiece is greater than that of the fixed support plate, two groups of symmetrically-opened clamping claws on the fixed support plate can be controlled to synchronously contact with the outer wall of the metal workpiece, then the controller controls the hydraulic cylinder to contract, the telescopic end of the hydraulic cylinder can drive the double-sided rack to slide upwards along the support plate, so that the symmetrical rotating gears rotate in opposite directions, the rotating gears can drive the oscillating rod and the clamping claws to contract in opposite directions, the clamping claws can clamp the metal workpiece, the electromagnetic suction plate can perform magnetic adsorption on the metal workpiece after being electrified, and the clamping force of the clamping claws on the metal workpiece is improved; if the length of the metal workpiece is less than half of the length of the fixed support plate, the two groups of clamping claws can be controlled to synchronously clamp and transfer the two metal workpieces; when a workpiece of the plate profile needs to be transferred to a station to be processed, an operator can control the rotation limiting mechanisms on the side walls of the two swing rods to work through the controller, the rotation limiting mechanisms can drive the rotation columns to rotate, the rotation of the rotation columns can drive the clamping jaws to rotate to the outer walls of the swing rods, the rotation limiting mechanisms can fix the rotation columns to the fixed barrel, the clamping jaws can rotate to be parallel to the fixed supporting plate, then the electromagnetic suction plate is electrified, the electromagnetic suction plate can be adsorbed to the surface of the workpiece of the plate profile, and the mechanical arm can move the workpiece of the plate profile to the position of the station to be processed; meanwhile, the telescopic end of the hydraulic cylinder extends out to drive the double-sided rack to slide, and the rotating gear drives the swinging rod to expand outwards, so that the distance between the clamping claws which are symmetrically arranged and in a horizontal state is increased, and the clamping claws in the horizontal state can move plate profiles with larger width; through the matching of the symmetrically arranged clamping components and the rotating limiting mechanisms, the clamping claws arranged on the symmetrically arranged clamping components can clamp and transfer columnar or blocky metal workpieces with different lengths to a station to be processed; meanwhile, the rotation limiting mechanism can drive the clamping jaw to rotate to be in a horizontal state, so that the electromagnetic suction plate arranged on the clamping jaw can clamp and move metal workpieces of plate profiles to stations for processing the plate profiles, the secondary manipulator clamps and moves the metal workpieces of different shapes to different stations, the use efficiency of the secondary manipulator is improved, and the clamping limiting mechanism can be suitable for multi-station metal workpiece clamping and transferring work.

Preferably, the rotation limiting mechanism comprises a rotating blade, a rotating sleeve, an air guide hose, a cross-shaped inserting strip, a limiting disc and a limiting clamping block; the plurality of rotating blades are fixedly sleeved on the rotating column through a rotating sleeve; a torsional spring is sleeved between the outer wall of the rotating column and the fixed cylinder; an air guide hose is fixed on the outer wall of the fixed cylinder, one port of the air guide hose is aligned with the rotating blade, and the air guide hose is connected to the air guide pipe through a connecting piece; the air guide pipe is communicated with an air pump arranged outside; a cross-shaped inserting strip is fixed on the inner end wall of the fixed cylinder, and a limiting disc is slidably sleeved on the cross-shaped inserting strip; a plurality of limiting clamping blocks are fixed on one end face of the limiting disc and are inserted between two adjacent rotating blades in a sliding manner; a rubber spring is arranged between the other end face of the limiting disc and the fixed cylinder, and the limiting disc is made of metal materials; an electromagnetic block is arranged on the inner end wall of the fixed cylinder; when the clamping jaw is required to rotate to a horizontal state during working, the controller can control the electromagnetic block to be electrified, the electromagnetic adsorption force of the electromagnetic block can enable the limiting disc to be adsorbed and slide to the bottom end of the fixed cylinder along the outer wall of the cross insertion strip, the cross insertion strip can play a role in limiting and sliding on the limiting disc, so that the plurality of limiting clamping blocks can be separated from the rotating blade, the rubber spring is in a compressed state, then the controller controls the air pump to fill high-pressure air into the air guide pipes, the high-pressure air in the air guide pipes can be shunted into the plurality of air guide hoses through the connecting pieces, the air guide hoses can blow the high-pressure air into the fixed cylinder, because the pipe orifice of the air guide hose is aligned with the rotating blade, the high-pressure air blown out from the air guide hose can push the rotating blade to rotate, the rotating blade can drive the rotating column to rotate, at the moment, the torsional spring can generate a tightening force, and the rotating column can drive the clamping claw to rotate to a horizontal state; after the gripper jaw rotates the horizontality, the air pump stops the air feed, the electromagnetism piece loses the electricity and can lose the effect of forming the electromagnetism absorption to spacing dish, spacing dish can slide along the cross grafting strip under rubber spring's thrust, make between a plurality of spacing fixture blocks insert the rotating vane, and then spacing fixture block that sets up on the spacing dish can rotate the rotating vane spacing, can be fixed on the solid fixed cylinder with rotating the post simultaneously, prevent to rotate the post and produce from passing, and then the phenomenon that the steady absorption of metal work piece of gripper jaw to the plate section bar that influences into the horizontality removed.

Preferably, a cross limiting block is arranged at the central position of the limiting disc; a cross slot is formed in the center of the rotating column, and a cross limiting block is inserted in the cross slot in a sliding manner; the height of the cross limiting block is smaller than that of the limiting clamping block; when the limiting disc drives the limiting clamping block to be inserted between two adjacent rotating blades, the cross limiting block arranged at the center of the limiting disc can be inserted into the cross slot formed in the end part of the rotating column, so that the cross limiting block can play a role in rotating and limiting the rotating column under the fixation of the limiting disc, and the stability and firmness of the connection between the rotating column and the fixed cylinder are further improved; the phenomenon that when a metal workpiece of a plate profile adsorbed by the electromagnetic attraction plate on the clamping jaw in a horizontal state is heavy, the clamping jaw drives the rotating column to rotate is effectively prevented, and further stable clamping movement work of the clamping jaw on the metal workpiece is influenced; when the limiting disc slides under the magnetic adsorption force of the electromagnetic block, the cross limiting block can be separated from the cross slot, so that the rotating blades can rotate to drive the clamping claws to rotate.

Preferably, the connecting piece is arranged as a cavity elastic strip; the two ends of the cavity elastic strip are fixedly connected between the symmetrically arranged swing rods, and the middle part of the cavity elastic strip is corrugated; a magnet block is arranged on the bottom end surface of the cavity elastic strip; when the air guide column works, when high-pressure air in the air guide pipe enters the cavity elastic strip, the high-pressure air filled in the cavity elastic strip can firstly generate hardening expansion, then the high-pressure air in the cavity elastic strip can be separated into the plurality of air guide hoses, and the high-pressure air blown out from the air guide hoses can blow the rotating blades to rotate, so that the rotating column can rotate; the expansion of the cavity elastic strip can enable the magnet block arranged on the bottom end face to contact the surface of the metal workpiece of the plate section bar, so that the effect of magnetic adsorption on the metal workpiece of the plate section bar can be achieved, and the stability and firmness of the clamping assembly on the movement of the metal workpiece of the plate section bar are improved; when the clamping claws are required to clamp the blocky or columnar metal workpiece, the air pump can pump out air in the air guide pipe to enable the interior of the cavity elastic strip to be in a cavity state, and due to the fact that the middle of the cavity elastic strip is in a corrugated shape, when the swing rod expands outwards and swings, the cavity elastic strip can be in a stretching state, and the cavity elastic strip cannot influence the outward expansion phenomenon of the swing rod; meanwhile, the cavity elastic strip can play a role in elastically tensioning and limiting the outwards expanded swing rod.

Preferably, the inner wall of the electromagnetic suction plate is fixed to the inner wall of the clamping claw through a rubber elastic layer, and an expansion cavity is formed in the rubber elastic layer; one side wall of the expansion cavity is communicated with the inside of the other side of the fixed cylinder through an air guide hose; during operation, when the high-pressure gas that the air guide hose of solid fixed cylinder one side blew out drives rotor blade and rotates, the high-pressure gas that gets into in the solid fixed cylinder can enter into the inflation intracavity through the air guide hose that the opposite side set up for the rubber elastic layer produces the inflation, and the inflation on rubber elastic layer can increase the surface contact area of electromagnetism suction disc and the metal workpiece of plate section bar, and then has improved the steady transfer effect of horizontal state's gripper jaw to the metal workpiece of plate section bar.

Preferably, the clamping jaws are made of foamed aluminum materials; the inner side wall of each clamping claw is provided with a concave groove, and a rubber elastic layer is fixed in each concave groove; when the clamping claw works, the clamping claw is made of foamed aluminum materials, and because the foamed aluminum materials have the characteristics of small density and high bending specific rigidity, the whole weight of the clamping claw can be reduced, and meanwhile, the phenomenon that the clamping claw generates bending deformation when clamping heavy objects is reduced, and the service life of the clamping claw is further influenced; meanwhile, the concave grooves formed in the clamping claws improve the clamping firmness and stability of the columnar metal workpiece; simultaneously if need the massive metal work piece of centre gripping during, can adjust the distance between the swinging arms earlier for the gripper jaw can laminate the outer wall of massive metal work piece, rotate stop gear this moment and carry out spacing rotation to the column that rotates, the air pump passes through the air duct and fills high-pressure gas into the air hose, then the air hose of solid fixed cylinder opposite side can fill high-pressure gas into in the rubber elastic layer, make the rubber elastic layer produce the inflation, and then the electromagnetism suction disc that the rubber elastic layer outer wall set up can laminate and adsorb the outer wall of massive metal work piece, make the gripper jaw can press from both sides tight operation to massive metal work piece.

Preferably, the back of the double-sided rack is provided with a sliding groove; the outer surface of the supporting plate is provided with a guide strip, and the guide strip are arranged in the sliding groove in a sliding manner; during operation, when the pneumatic cylinder promoted two-sided rack and slided from top to bottom along the backup pad, the gib block that sets up in the backup pad can play the spacing gliding effect of direction to two-sided rack, prevents that the jacking force of pneumatic cylinder is too big, and then leads to the phenomenon that two-sided rack produced the slope at the tip of backup pad, and then influences the phenomenon of two-sided rack and rotating gear's steady transmission meshing.

Preferably, the guide strip and the double-sided rack are both made of a through-hole foamed aluminum material; when the double-sided rack and the guide strip work, the double-sided rack and the guide strip are both made of through-hole foamed aluminum materials, and the foamed aluminum materials have high temperature resistance, strong fire resistance, corrosion resistance, sound insulation and noise reduction and low thermal conductivity, so that the two-dimensional manipulator can be suitable for working in a complex environment; meanwhile, when friction is formed between the double-sided rack and the guide strip, the through-hole foamed aluminum can play a role in heat dissipation, and the phenomenon that the double-sided rack and the guide strip are damaged under long-time sliding friction force is prevented, so that the service lives of the double-sided rack and the guide strip are influenced.

Preferably, a talc powder layer is coated on the inner wall of the swing groove and is in contact with two side surfaces of the top end of the clamping claw; the talc powder layer coated on the inner wall of the swing groove has lubricating property, and particularly when the clamping claw rotates for a long time for use, the clamping claw cannot generate rotation friction resistance with the swing groove during rotation, so that the stability of rotation clamping of the clamping claw is improved.

The invention relates to a secondary element mechanical arm for multi-station processing, which comprises a supporting seat, a first arm, a second arm and a secondary element mechanical arm; the two-dimensional manipulator consists of the two-dimensional manipulator; a first arm is rotatably arranged above the supporting seat through a driving motor, and the first arm and the second arm can be rotatably connected; and the end part of the second arm is provided with a two-dimensional manipulator.

The invention has the following beneficial effects:

1. according to the invention, through the matching of the symmetrically arranged clamping components and the rotating limiting mechanisms, the clamping claws arranged on the symmetrically arranged clamping components can clamp and transfer columnar or blocky metal workpieces with different lengths to a station to be processed; meanwhile, the rotation limiting mechanism can drive the clamping jaw to rotate to be in a horizontal state, so that the electromagnetic suction plate arranged on the clamping jaw can clamp and move metal workpieces of plate profiles to stations for processing the plate profiles, the secondary manipulator clamps and moves the metal workpieces of different shapes to different stations, the use efficiency of the secondary manipulator is improved, and the clamping limiting mechanism can be suitable for multi-station metal workpiece clamping and transferring work.

2. According to the invention, through the matching of the limiting disc and the limiting clamping blocks, the limiting disc can slide along the cross-shaped inserting strips under the thrust of the rubber spring, so that the plurality of limiting clamping blocks are inserted between the rotating blades, the limiting clamping blocks arranged on the limiting disc can rotate and limit the rotating blades, and meanwhile, the rotating column can be fixed on the fixed cylinder, so that the phenomenon that the rotating column is self-transmitted, and further the phenomenon that the clamping claw in a horizontal state is influenced to stably adsorb and move the metal workpiece of the plate profile is prevented.

Drawings

The invention will be further explained with reference to the drawings.

FIG. 1 is a front view of the present invention;

FIG. 2 is a cross-sectional view of the present invention;

FIG. 3 is a perspective view of the clamping assembly of the present invention;

FIG. 4 is an enlarged view of a portion of the invention at A in FIG. 2;

in the figure: the device comprises a fixed support plate 1, a support plate 2, a clamping component 3, a hydraulic cylinder 31, a double-sided rack 32, a sliding groove 321, a rotating gear 33, a rotating shaft 34, a swinging rod 35, a swinging groove 351, a rotating column 36, a cross slot 361, a clamping claw 37, a concave groove 371, an electromagnetic suction plate 38, a fixed cylinder 39, a rotating limiting mechanism 4, a rotating blade 41, a rotating sleeve 42, an air guide hose 43, a cross plug strip 44, a limiting disc 45, a limiting clamping block 46, an electromagnetic block 47, a cross limiting block 48, a cavity elastic strip 5, a rubber elastic layer 6, an expansion cavity 61, a guide strip 7, a support seat 8, a first arm 9 and a second arm 10.

Detailed Description

A two-dimensional robot and a robot arm for multi-station machining according to an embodiment of the present invention will be described below with reference to fig. 1 to 4.

As shown in fig. 1-4, the two-dimensional manipulator for multi-station machining according to the present invention includes a fixing support plate 1, a support plate 2 and a clamping assembly 3; the lower end surface of the fixed support plate 1 is symmetrically provided with support plates 2, and the symmetrically arranged support plates 2 are provided with clamping components 3; the clamping assembly 3 comprises a hydraulic cylinder 31, a double-sided rack 32, a rotating gear 33, a rotating shaft 34, a swinging rod 35, a rotating column 36, a clamping claw 37, an electromagnetic suction plate 38 and a fixed cylinder 39; the hydraulic rod is fixedly arranged on the support plate 2, and a double-sided rack 32 is fixed at the telescopic end of the hydraulic cylinder 31; the double-sided rack 32 slides up and down along the end face of the support plate 2; the rotating gears 33 are symmetrically and rotatably arranged on the outer surface of the support plate 2 through rotating shafts 34, and the symmetrically arranged rotating gears 33 are respectively meshed with two sides of the double-sided rack 32; the rotating shaft 34 is rotatably connected with the support plate 2; the outer end parts of the rotating shafts 34 which are symmetrically arranged are all sleeved with swing rods 35, and the other ends of the swing rods 35 are provided with swing grooves 351; a clamping claw 37 is connected in the swinging groove 351 through a rotating column 36, and an electromagnetic suction plate 38 is arranged on the inner end surface of the clamping claw 37; a fixed cylinder 39 is fixed on one side wall of the swing rod 35, and a rotary column 36 is rotatably arranged in the fixed cylinder 39 through a rotary limiting mechanism 4; the rotating column 36 is rotatably connected with the swinging groove 351;

when the device works, when a two-dimensional manipulator is needed to move a cylindrical or blocky metal workpiece to be processed to the next station for processing, the controller controls the supporting seat 8 to move to the moving area of the metal workpiece, then the controller controls a hydraulic oil pipe arranged outside to synchronously supply oil to the two communicated groups of hydraulic cylinders 31, so that the telescopic ends of the hydraulic cylinders 31 drive the double-sided rack 32 to move downwards along the supporting plate 2, the rotating gears 33 symmetrically meshed with the double-sided rack 32 drive the symmetrically-arranged swinging rods 35 to expand outwards through the rotating shafts 34, the rotating limiting mechanism 4 fixes the rotating rods 36 into the fixed cylinder 39, so that the clamping claws 37 connected with the swinging rods 35 through the rotating rods 36 are in a fixed state, then the swinging rods 35 drive the clamping claws 37 to open when opening, and the opening distance of the symmetrically-arranged clamping claws 37 is larger than the width of the metal workpiece to be processed, then the mechanical arm drives the opened clamping claws 37 to move to the position of a metal workpiece to be clamped, if the length of the metal workpiece is greater than that of the fixed support plate 1, two groups of the opened clamping claws 37 which are symmetrical on the fixed support plate 1 can be controlled to synchronously contact with the outer wall of the metal workpiece, then the controller controls the hydraulic cylinder 31 to contract, the telescopic end of the hydraulic cylinder 31 can drive the double-sided rack 32 to slide upwards along the support plate 2, so that the symmetrical rotating gears 33 rotate reversely, the rotating gears 33 can drive the swinging rods 35 and the clamping claws 37 to contract oppositely, the clamping claws 37 can clamp the metal workpiece, the electromagnetic suction plate 38 can carry out magnetic adsorption on the metal workpiece after being electrified, and the clamping force of the clamping claws 37 on the metal workpiece is improved; if the length of the metal workpiece is less than half of the length of the fixed support plate 1, the two groups of clamping claws 37 can be controlled to synchronously clamp and transfer the two metal workpieces; when a workpiece of the plate profile needs to be transferred to a station to be processed, an operator can control the rotation limiting mechanisms 4 on the side walls of the two swing rods 35 to work through the controller, the rotation limiting mechanisms 4 can drive the rotation columns 36 to rotate, the rotation columns 36 can drive the clamping claws 37 to rotate to the outer walls of the swing rods 35, the rotation limiting mechanisms 4 can fix the rotation columns 36 to the fixed cylinders 39, the clamping claws 37 can rotate to be parallel to the fixed support plate 1, then the electromagnetic suction plates 38 are electrified, the electromagnetic suction plates 38 can be adsorbed to the surface of the workpiece of the plate profile, and the mechanical arm can move the workpiece of the plate profile to the station to be processed; meanwhile, the telescopic end of the hydraulic cylinder 31 extends out to drive the double-sided rack 32 to slide, the rotating gear 33 drives the swinging rod 35 to expand outwards, and further the distance between the clamping claws 37 which are symmetrically arranged and in a horizontal state is increased, so that the clamping claws 37 in the horizontal state can move plate profiles with larger width; through the matching of the symmetrically arranged clamping components 3 and the rotating limiting mechanisms 4, the clamping claws 37 arranged on the symmetrically arranged clamping components 3 can clamp and transfer columnar or blocky metal workpieces with different lengths to a station to be processed; meanwhile, the rotation limiting mechanism 4 can drive the clamping jaw 37 to rotate to be in a horizontal state, so that the electromagnetic suction plate 38 arranged on the clamping jaw 37 can clamp and move metal workpieces of plate profiles to stations for processing the plate profiles, the secondary manipulator clamps and moves the metal workpieces in different shapes to different stations, the use efficiency of the secondary manipulator is improved, and the clamping limiting mechanism can be suitable for multi-station metal workpiece clamping and transferring work.

As an embodiment of the present invention, the rotation limiting mechanism 4 includes a rotating blade 41, a rotating sleeve 42, an air guide hose 43, a cross plug strip 44, a limiting disc 45 and a limiting fixture block 46; a plurality of rotating blades 41 are fixedly sleeved on the rotating column 36 through a rotating sleeve 42; a torsion spring is sleeved between the outer wall of the rotating column 36 and the fixed cylinder 39; an air guide hose 43 is fixed on the outer wall of the fixed cylinder 39, one port of the air guide hose 43 is aligned with the rotating blade 41, and the air guide hose 43 is connected to an air guide pipe through a connecting piece; the air guide pipe is communicated with an air pump arranged outside; a cross-shaped inserting strip 44 is fixed on the inner end wall of the fixed cylinder 39, and a limiting disc 45 is slidably sleeved on the cross-shaped inserting strip 44; a plurality of limiting fixture blocks 46 are fixed on one end surface of the limiting disc 45, and the limiting fixture blocks 46 are inserted between two adjacent rotating blades 41 in a sliding manner; a rubber spring is arranged between the other end face of the limiting disc 45 and the fixed cylinder 39, and the limiting disc 45 is made of metal material; an electromagnetic block 47 is arranged on the inner end wall of the fixed cylinder 39; in operation, when the clamping jaw 37 is required to rotate to a horizontal state, the controller can control the electromagnetic block 47 to be powered on, the electromagnetic adsorption force of the electromagnetic block 47 can enable the limiting disc 45 to be adsorbed and slide to the bottom end of the fixed cylinder 39 along the outer wall of the cross insertion strip 44, the cross insertion strip 44 can play a limiting sliding role on the limiting disc 45, so that the limiting fixture blocks 46 can be separated from the rotating blade 41, at the moment, the rubber spring is in a compressed state, then the controller controls the air pump to fill high-pressure gas into the air guide pipe, the high-pressure gas in the air guide pipe can be distributed into the air guide hoses 43 through the connecting pieces, the air guide hoses 43 can blow the high-pressure gas into the fixed cylinder 39, because the pipe orifices of the air guide hoses 43 are aligned with the rotating blades 41, the high-pressure gas blown out by the air guide hoses 43 can push the rotating blades 41 to rotate, and the rotating blades 41, at this time, the torsion spring will generate a tightening force, and the rotating column 36 will drive the clamping jaw 37 to rotate to the horizontal state; after gripper jaw 37 rotated the horizontality, the air pump stopped the air feed, electromagnetism piece 47 loses the electricity and can loses the effect that forms the electromagnetism absorption to spacing dish 45, spacing dish 45 can slide along cross grafting strip 44 under rubber spring's thrust for a plurality of spacing fixture blocks 46 insert between rotor blade 41, and then spacing fixture block 46 that sets up on spacing dish 45 can rotate rotor blade 41 spacing, can be fixed to fixed cylinder 39 with rotating post 36 simultaneously, prevent to rotate post 36 and produce the biography, and then the phenomenon that the steady adsorption of metal workpiece of gripper jaw 37 that influences into the horizontality removed to the board section bar.

As an embodiment of the present invention, a cross-shaped limiting block 48 is disposed at a central position of the limiting disc 45; a cross slot 361 is formed in the center of the rotating column 36, and a cross limiting block 48 is inserted in the cross slot 361 in a sliding manner; the height of the cross limiting block 48 is smaller than that of the limiting fixture block 46; when the device works, when the limiting disc 45 drives the limiting clamping block 46 to be inserted between two adjacent rotating blades 41, the cross limiting block 48 arranged at the central position of the limiting disc 45 can be inserted into the cross slot 361 formed in the end part of the rotating column 36, so that the cross limiting block 48 can play a role of rotating and limiting the rotating column 36 under the fixation of the limiting disc 45, and the stability and firmness of the connection between the rotating column 36 and the fixed cylinder 39 are further improved; the phenomenon that when a metal workpiece of a plate profile adsorbed by the electromagnetic attraction plate 38 on the clamping jaw 37 in a horizontal state is heavy, the clamping jaw 37 drives the rotating column 36 to rotate is effectively prevented, and further stable clamping movement work of the clamping jaw 37 on the metal workpiece is influenced; when the limiting disc 45 slides under the magnetic attraction of the electromagnetic block 47, the cross limiting block 48 can be separated from the cross slot 361, so that the rotating blade 41 can rotate to drive the clamping claw 37 to rotate.

As an embodiment of the present invention, the connecting member is provided as a hollow elastic strip 5; the two ends of the cavity elastic strip 5 are fixedly connected between the symmetrically arranged swing rods 35, and the middle part of the cavity elastic strip 5 is corrugated; a magnet block is arranged on the bottom end surface of the cavity elastic strip 5; when the air guide column works, when high-pressure air in the air guide pipe enters the cavity elastic strip 5, the high-pressure air filled in the cavity elastic strip 5 can firstly generate hardening expansion, then the high-pressure air in the cavity elastic strip 5 can be separated into the air guide hoses 43, and the high-pressure air blown out from the air guide hoses 43 can blow the rotating blades 41 to rotate, so that the rotating column 36 can rotate; the expansion of the cavity elastic strip 5 can enable the magnet block arranged on the bottom end surface to contact the surface of the metal workpiece of the plate profile, so that the effect of magnetic adsorption on the metal workpiece of the plate profile can be achieved, and the stability and firmness of the clamping assembly 3 in moving the metal workpiece of the plate profile are improved; when the clamping claws 37 are required to clamp a blocky or columnar metal workpiece, the air pump can pump out air in the air guide pipe, so that the interior of the cavity elastic strip 5 is in a cavity state, and because the middle part of the cavity elastic strip 5 is in a corrugated shape, when the swing rod 35 expands outwards and swings, the cavity elastic strip 5 is in a stretching state, so that the cavity elastic strip 5 cannot influence the outward expansion of the swing rod 35; meanwhile, the cavity elastic strip 5 can play a role in elastically tensioning and limiting the outwards expanded swing rod 35.

As an embodiment of the present invention, the inner wall of the electromagnetic suction plate 38 is fixed to the inner wall of the clamping claw 37 through the rubber elastic layer 6, and the rubber elastic layer 6 is internally provided with an expansion cavity 61; one side wall of the expansion cavity 61 is communicated with the inside of the other side of the fixed cylinder 39 through the air guide hose 43; during operation, when the high-pressure gas that the air guide hose 43 of the fixed cylinder 39 one side blew out drives the rotating blade 41 and rotates, the high-pressure gas that gets into in the fixed cylinder 39 can enter into the inflation chamber 61 through the air guide hose 43 that the opposite side set up for rubber elastic layer 6 produces the inflation, and the inflation of rubber elastic layer 6 can increase the surface contact area of electromagnetism suction plate 38 and the metal work piece of plate and section bar, and then has improved the steady transfer effect of gripper 37 of horizontality to the metal work piece of plate and section bar.

As an embodiment of the present invention, the clamping claws 37 are made of foamed aluminum material; a concave groove 371 is arranged on the inner side wall of the clamping claw 37, and a rubber elastic layer 6 is fixed in the concave groove 371; when the clamping claw 37 works, the clamping claw 37 is made of foamed aluminum materials, and because the foamed aluminum materials have the characteristics of small density and high bending specific rigidity, the whole weight of the clamping claw 37 can be reduced, and meanwhile, the phenomenon that the clamping claw 37 generates bending deformation when clamping heavy objects is reduced, so that the service life of the clamping claw 37 is influenced; meanwhile, the concave groove 371 arranged in the clamping claw 37 improves the clamping firmness and stability of the columnar metal workpiece; meanwhile, if massive metal workpieces need to be clamped, the distance between the swing rods 35 can be adjusted firstly, so that the clamping claws 37 can be attached to the outer wall of the massive metal workpieces, the rotation limiting mechanism 4 is rotated to limit and rotate the rotating column 36 at the moment, the air pump charges high-pressure gas into the air guide hose 43 through the air guide tube, then the air guide hose 43 on the other side of the fixed cylinder 39 can charge the high-pressure gas into the rubber elastic layer 6, the rubber elastic layer 6 expands, and then the electromagnetic suction plate 38 arranged on the outer wall of the rubber elastic layer 6 can be attached to and adsorbed to the outer wall of the massive metal workpieces, so that the clamping claws 37 can clamp the massive metal workpieces.

As an embodiment of the present invention, a sliding groove 321 is formed on the back surface of the double-sided rack 32; the outer surface of the supporting plate 2 is provided with a guide bar 7, and the guide bar 7 is arranged in the sliding groove 321 in a sliding manner; during operation, when the pneumatic cylinder 31 promoted two-sided rack 32 and slided from top to bottom along backup pad 2, the gib block 7 that sets up on the backup pad 2 can play the spacing gliding effect of direction to two-sided rack 32, prevents that the jacking force of pneumatic cylinder 31 is too big, and then leads to two-sided rack 32 to produce the phenomenon of slope at the tip of backup pad 2, and then influences the phenomenon of the stable transmission meshing of two-sided rack 32 and rotating gear 33.

As an embodiment of the present invention, the guide bar 7 and the double-sided rack 32 are both made of a through-hole foamed aluminum material; when the double-sided rack 32 and the guide strip 7 work, both are made of through-hole foamed aluminum materials, and the foamed aluminum materials have high temperature resistance, strong fire resistance, corrosion resistance, sound insulation and noise reduction and low thermal conductivity, so that the two-dimensional manipulator can be suitable for working in a complex environment; meanwhile, when friction is formed between the double-sided rack 32 and the guide strip 7, the through-hole foamed aluminum can play a role in heat dissipation, and the phenomenon that the double-sided rack 32 and the guide strip 7 are damaged under long-time sliding friction force is prevented, so that the service lives of the double-sided rack 32 and the guide strip 7 are influenced.

In one embodiment of the present invention, a talc powder layer is coated on the inner wall of the swing groove 351, and the talc powder layer contacts with both side surfaces of the top end of the clamping claw 37; the talc powder layer coated on the inner wall of the swinging groove 351 has lubricating property, and particularly when the clamping claw 37 is rotated for a long time, the clamping claw 37 cannot generate rotation friction resistance with the swinging groove 351 during rotation, and therefore the stability of rotation clamping of the clamping claw 37 is improved.

The invention relates to a secondary element mechanical arm for multi-station processing, which comprises a supporting seat 8, a first arm 9, a second arm 10 and a secondary element mechanical arm; the two-dimensional manipulator consists of the two-dimensional manipulator; a first arm 9 is rotatably arranged above the supporting seat 8 through a driving motor, and the first arm 9 and a second arm 10 can be rotatably connected; the end of the second arm 10 is provided with a two-dimensional manipulator.

The specific working process is as follows:

when the device works, when a two-dimensional manipulator is needed to move a cylindrical or blocky metal workpiece to be processed to the next station for processing, the controller controls the supporting seat 8 to move to the moving area of the metal workpiece, then the controller controls a hydraulic oil pipe arranged outside to synchronously supply oil to the two communicated groups of hydraulic cylinders 31, so that the telescopic ends of the hydraulic cylinders 31 drive the double-sided rack 32 to move downwards along the supporting plate 2, the rotating gears 33 symmetrically meshed with the double-sided rack 32 drive the symmetrically-arranged swinging rods 35 to expand outwards through the rotating shafts 34, the rotating limiting mechanism 4 fixes the rotating rods 36 into the fixed cylinder 39, so that the clamping claws 37 connected with the swinging rods 35 through the rotating rods 36 are in a fixed state, then the swinging rods 35 drive the clamping claws 37 to open when opening, and the opening distance of the symmetrically-arranged clamping claws 37 is larger than the width of the metal workpiece to be processed, then the mechanical arm drives the opened clamping claws 37 to move to the position of a metal workpiece to be clamped, if the length of the metal workpiece is greater than that of the fixed support plate 1, two groups of the opened clamping claws 37 which are symmetrical on the fixed support plate 1 can be controlled to synchronously contact with the outer wall of the metal workpiece, then the controller controls the hydraulic cylinder 31 to contract, the telescopic end of the hydraulic cylinder 31 can drive the double-sided rack 32 to slide upwards along the support plate 2, so that the symmetrical rotating gears 33 rotate reversely, the rotating gears 33 can drive the swinging rods 35 and the clamping claws 37 to contract oppositely, the clamping claws 37 can clamp the metal workpiece, the electromagnetic suction plate 38 can carry out magnetic adsorption on the metal workpiece after being electrified, and the clamping force of the clamping claws 37 on the metal workpiece is improved; if the length of the metal workpiece is less than half of the length of the fixed support plate 1, the two groups of clamping claws 37 can be controlled to synchronously clamp and transfer the two metal workpieces; when a workpiece of a plate profile needs to be transferred to a station to be processed, an operator can control the rotation limiting mechanisms 4 on the side walls of the two swing rods 35 to work through the controller, the rotation limiting mechanisms 4 can drive the rotation columns 36 to rotate, the rotation of the rotation columns 36 can drive the clamping claws 37 to rotate to the outer walls of the swing rods 35, at the moment, the rotation limiting mechanisms 4 can fix the rotation columns 36 to the fixed cylinders 39, the clamping claws 37 can rotate to be parallel to the fixed support plate 1, then the electromagnetic suction plates 38 are electrified, the electromagnetic suction plates 38 can be adsorbed to the surface of the workpiece of the plate profile, and the mechanical arm can move the workpiece of the plate profile to the station to be processed; meanwhile, the telescopic end of the hydraulic cylinder 31 extends out to drive the double-sided rack 32 to slide, the rotating gear 33 drives the swinging rod 35 to expand outwards, and then the distance between the clamping claws 37 which are symmetrically arranged and in a horizontal state is increased, so that the clamping claws 37 in the horizontal state can move plate profiles with large width.

In the description of the present invention, it is to be understood that the terms "center", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.

While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from its scope. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. The utility model provides a quadratic element manipulator for multistation processing which characterized in that: comprises a fixed support plate (1), a support plate (2) and a clamping component (3); the lower end face of the fixed support plate (1) is symmetrically provided with support plates (2), and the symmetrically arranged support plates (2) are provided with clamping components (3); the clamping assembly (3) comprises a hydraulic cylinder (31), a double-sided rack (32), a rotating gear (33), a rotating shaft (34), a swinging rod (35), a rotating column (36), a clamping claw (37), an electromagnetic suction plate (38) and a fixed cylinder (39); the hydraulic rod is fixedly arranged on the support plate (2), and a double-sided rack (32) is fixed at the telescopic end of the hydraulic cylinder (31); the double-sided rack (32) slides up and down along the end surface of the support plate (2); the rotating gears (33) are symmetrically and rotatably arranged on the outer surface of the supporting plate (2) through rotating shafts (34), and the symmetrically arranged rotating gears (33) are respectively meshed with two sides of the double-sided rack (32); the rotating shaft (34) is rotatably connected with the supporting plate (2); the outer end parts of the rotating shafts (34) which are symmetrically arranged are all sleeved with swing rods (35), and the other ends of the swing rods (35) are provided with swing grooves (351); a clamping claw (37) is connected in the swinging groove (351) through a rotating column (36), and an electromagnetic suction plate (38) is arranged on the inner end surface of the clamping claw (37); a fixed cylinder (39) is fixed on one side wall of the swing rod (35), and a rotating column (36) is rotatably arranged in the fixed cylinder (39) through a rotating limiting mechanism (4); the rotating column (36) is rotatably connected with the swinging groove (351).

2. A two-dimensional robot for multi-station machining according to claim 1, wherein: the rotary limiting mechanism (4) comprises a rotary blade (41), a rotary sleeve (42), an air guide hose (43), a cross plug-in strip (44), a limiting disc (45) and a limiting clamping block (46); the plurality of rotating blades (41) are fixedly sleeved on the rotating column (36) through a rotating sleeve (42); a torsion spring is sleeved between the outer wall of the rotating column (36) and the fixed cylinder (39); an air guide hose (43) is fixed on the outer wall of the fixed cylinder (39), one port of the air guide hose (43) is aligned with the rotating blade (41), and the air guide hose (43) is connected to the air guide pipe through a connecting piece; the air guide pipe is communicated with an air pump arranged outside; a cross-shaped inserting strip (44) is fixed on the inner end wall of the fixed barrel (39), and a limiting disc (45) is slidably sleeved on the cross-shaped inserting strip (44); a plurality of limiting clamping blocks (46) are fixed on one end face of the limiting disc (45), and the limiting clamping blocks (46) are inserted between two adjacent rotating blades (41) in a sliding manner; a rubber spring is arranged between the other end face of the limiting disc (45) and the fixed cylinder (39), and the limiting disc (45) is made of metal materials; an electromagnetic block (47) is arranged on the inner end wall of the fixed cylinder (39).

3. A two-dimensional robot for multi-station machining according to claim 2, wherein: a cross limiting block (48) is arranged at the central position of the limiting disc (45); a cross slot (361) is formed in the center of the rotating column (36), and a cross limiting block (48) is inserted in the cross slot (361) in a sliding manner; the height of the cross limiting block (48) is smaller than that of the limiting clamping block (46).

4. A two-dimensional robot for multi-station machining according to claim 3, wherein: the connecting piece is arranged as a cavity elastic strip (5); the two ends of the cavity elastic strip (5) are fixedly connected between the symmetrically arranged swing rods (35), and the middle part of the cavity elastic strip (5) is corrugated; and a magnet block is arranged on the bottom end surface of the cavity elastic strip (5).

5. A two-dimensional manipulator for multi-station machining according to claim 4, wherein: the inner wall of the electromagnetic suction plate (38) is fixed to the inner wall of the clamping claw (37) through a rubber elastic layer (6), and an expansion cavity (61) is formed in the rubber elastic layer (6); one side wall of the expansion cavity (61) is communicated with the inside of the other side of the fixed cylinder (39) through an air guide hose (43).

6. A two-dimensional manipulator for multi-station machining according to claim 5, wherein: the clamping claw (37) is made of foamed aluminum material; the clamping jaw (37) is provided with a concave groove (371) on the inner side wall, and an elastic rubber layer is fixed in the concave groove (371).

7. A two-dimensional robot for multi-station machining according to claim 1, wherein: the back of the double-sided rack (32) is provided with a sliding groove (321); the outer surface of the supporting plate (2) is provided with a guide strip (7), and the guide strip (7) is arranged in the sliding groove (321) in a sliding manner.

8. A two-dimensional robot for multi-station machining according to claim 8, wherein: the guide strip (7) and the double-sided rack (32) are both made of through-hole foamed aluminum materials.

9. A two-dimensional robot for multi-station machining according to claim 1, wherein: and talc powder layers are coated on the inner walls of the swinging grooves (351), and are in contact with two side faces of the top end of the clamping claw (37).

10. The utility model provides a quadratic element robotic arm for multistation processing which characterized in that: comprises a supporting seat (8), a first arm (9), a second arm (10) and a two-dimensional manipulator; the two-dimensional manipulator is the two-dimensional manipulator of any one of the preceding claims 1 to 10; a first arm (9) is rotatably arranged above the supporting seat (8) through a driving motor, and the first arm (9) and the second arm (10) can be rotatably connected; and a two-dimensional manipulator is arranged at the end part of the second arm (10).