CN111923015A - Multi-station parallel transfer manipulator and operation method - Google Patents

Abstract

The invention provides a multi-station parallel transfer manipulator and an operation method, the manipulator comprises a first frame plate and a second frame plate which are arranged in parallel, top plates are fixedly arranged at the tops of the first frame plate and the second frame plate, motors are fixedly arranged on the top plates, rotating arms are fixedly arranged on output shafts of the motors, rotating shafts are hinged to the other ends of the rotating arms, fixing sleeves are fixedly arranged at the other ends of the rotating shafts, outer side plates are fixed on the other end surfaces of the fixing sleeves, and clamping jaw mounting plates are fixedly arranged at the bottoms of the outer side plates; the lateral wall of first frame board and second frame board is gone up through horizontal slide rail mounting panel fixed mounting has horizontal slide rail, sliding fit installs horizontal sliding mechanism on the horizontal slide rail, horizontal sliding mechanism constitutes vertical sliding fit through vertical sliding mechanism and outer panel.

Description

Multi-station parallel transfer manipulator and operation method

Technical Field

The invention belongs to the field of manipulators, and particularly relates to a multi-station parallel transfer manipulator and an operation method.

Background

In the multi-station automatic production process, parts to be processed need to be transported at one time, so that one-time processing production is facilitated. An automatic transfer robot is required in the process.

Disclosure of Invention

In order to solve the technical problems, the invention provides the multi-station parallel transfer manipulator and the operation method, and the manipulator can be used for one-time transfer of a plurality of parts in the automatic production process, so that the production efficiency is greatly improved.

In order to achieve the technical features, the invention is realized as follows: the multi-station parallel transfer manipulator comprises a first frame plate and a second frame plate which are arranged in parallel, wherein the tops of the first frame plate and the second frame plate are fixedly provided with a top plate, a motor is fixedly arranged on the top plate, an output shaft of the motor is fixedly provided with a rotating arm, the other end of the rotating arm is hinged with a rotating shaft, the other end of the rotating shaft is fixedly provided with a fixed sleeve, the other end surface of the fixed sleeve is fixedly provided with an outer side plate, and the bottom of the outer side plate is fixedly provided with a clamping jaw mounting plate; the lateral wall of first frame board and second frame board is gone up through horizontal slide rail mounting panel fixed mounting has horizontal slide rail, sliding fit installs horizontal sliding mechanism on the horizontal slide rail, horizontal sliding mechanism constitutes vertical sliding fit through vertical sliding mechanism and outer panel.

The motor is fixedly installed on the motor supporting plate, and the motor supporting plate is fixedly installed on the top plate.

The rotating arm is connected with the output shaft through a key and transmits torque.

The clamping jaw is characterized in that a plurality of mechanical clamping jaws used for grabbing workpieces are fixedly mounted on the outer side wall of the clamping jaw mounting plate, each mechanical clamping jaw comprises a clamping jaw cylinder fixed on the outer side wall of the clamping jaw mounting plate, and a clamping finger used for clamping the workpieces is arranged on each clamping jaw cylinder.

The transverse sliding mechanism comprises a transverse sliding rail fixed on a transverse sliding rail mounting plate, a transverse sliding plate is arranged on the transverse sliding rail in a sliding fit mode through a plurality of transverse sliding blocks, and a vertical plate of the vertical sliding mechanism is fixedly mounted in the middle of the top of the transverse sliding plate.

The vertical sliding mechanism comprises a vertical plate fixed at the top of the transverse sliding plate, a vertical sliding rail is fixedly mounted on the outer side wall of the vertical plate, and the vertical sliding rail and a vertical sliding block fixed on the inner side wall of the outer side plate form sliding fit.

And limiting seats are symmetrically and fixedly arranged at the top of the top plate.

And limiting columns are symmetrically fixed on the inner side wall of the fixed sleeve.

The operation method of the multi-station parallel transfer manipulator comprises the following steps:

step 1: when a multi-station workpiece needs to be transferred, the first frame plate and the second frame plate of the manipulator are fixedly arranged on a frame of automatic equipment;

step 2: starting a motor, driving an output shaft through the motor, and driving a rotating arm through the output shaft;

step 3: the fixed sleeve is driven by the rotating arm, and the outer side plate is driven by the fixed sleeve to lift along the vertical slide rail;

step 4: meanwhile, the vertical plate of the vertical slide rail moves transversely along the transverse slide rail;

step 5: the mechanical clamping jaw at the bottom of the outer side plate is driven by the clamping jaw mounting plate at the bottom of the outer side plate to realize synchronous lifting and transverse actions;

step 6: finally, the workpiece is driven by the mechanical clamping jaw to be transported.

The invention has the following beneficial effects:

1. this manipulator can be used for the disposable transportation of a plurality of spare parts in the automated production process, and then great improvement production efficiency.

2. The motor can be effectively and fixedly supported by the motor supporting plate.

3. Through the cooperation of the keys, the torque can be transmitted to the output shaft, and the normal rotation of the output shaft is ensured.

4. The synchronous clamping of the workpiece can be realized through the mechanical clamping jaw, and further the subsequent transfer of the workpiece is facilitated.

5. The transverse moving mechanism can realize the transverse movement of the outer side plate, thereby realizing the transverse conveying action. In a specific use process, the vertical plate of the vertical slide rail transversely moves along the transverse slide rail; finally, the lateral movement of the outer side plate is driven. Realize the transport of distance.

6. Vertical action can be realized through foretell vertical slide mechanism, through the in-process, drives fixed cover through the rocking arm, drives the outer panel through fixed cover and realizes the lift action along vertical slide rail.

Drawings

The invention is further illustrated by the following figures and examples.

FIG. 1 is a first perspective three-dimensional view of the present invention.

FIG. 2 is a second perspective three-dimensional view of the present invention.

FIG. 3 is a third perspective three-dimensional view of the present invention.

Fig. 4 is a first state diagram during operation of the present invention.

Fig. 5 is a second state diagram during operation of the present invention.

Fig. 6 is a third state diagram during operation of the present invention.

Detailed Description

Embodiments of the present invention will be further described with reference to the accompanying drawings.

Example 1:

referring to fig. 1-3, the multi-station parallel transfer manipulator comprises a first frame plate 1 and a second frame plate 5 which are arranged in parallel, wherein a top plate 6 is fixedly mounted at the tops of the first frame plate 1 and the second frame plate 5, a motor 12 is fixedly mounted on the top plate 6, an output shaft 23 of the motor 12 is fixedly mounted with a rotating arm 11, the other end of the rotating arm 11 is hinged with a rotating shaft 10, the other end of the rotating shaft 10 is fixedly mounted with a fixed sleeve 13, the other end surface of the fixed sleeve 13 is fixedly provided with an outer side plate 14, and the bottom of the outer side plate 14 is fixedly provided with a clamping jaw mounting plate 20; the lateral wall of first frame board 1 and second frame board 5 is gone up through horizontal slide rail mounting panel 3 fixed mounting has horizontal slide rail 2, sliding fit installs horizontal sliding mechanism on horizontal slide rail 2, horizontal sliding mechanism constitutes vertical sliding fit through vertical sliding mechanism and outer panel 14. This manipulator can be used for the disposable transportation of a plurality of spare parts in the automated production process, and then great improvement production efficiency. During the specific working process, through

Further, the motor 12 is fixedly installed on the motor support plate 8, and the motor support plate 8 is fixedly installed on the top plate 6. The motor 12 can be effectively and fixedly supported by the motor support plate 8.

Further, the swivel arm 11 is connected to the output shaft 23 by a key and transmits torque. Through the key cooperation, the torque can be transmitted to the output shaft 23, and the normal rotation of the output shaft is ensured.

Further, a plurality of mechanical clamping jaws for grabbing the workpiece are fixedly mounted on the outer side wall of the clamping jaw mounting plate 20, each mechanical clamping jaw comprises a clamping jaw cylinder 21 fixed on the outer side wall of the clamping jaw mounting plate 20, and a clamping finger 22 for clamping the workpiece is arranged on the clamping jaw cylinder 21. The synchronous clamping of the workpiece can be realized through the mechanical clamping jaw, and further the subsequent transfer of the workpiece is facilitated.

Further, the transverse sliding mechanism comprises a transverse sliding rail 2 fixed on the transverse sliding rail mounting plate 3, a transverse sliding plate 19 is arranged on the transverse sliding rail 2 in a sliding fit mode through a plurality of transverse sliding blocks 4, and a vertical plate 17 of the vertical sliding mechanism is fixedly arranged in the middle of the top of the transverse sliding plate 19. The lateral movement mechanism described above can achieve lateral movement of the outer panel 14, and thus lateral conveying operation. In a specific use process, the vertical plate 17 of the vertical slide rail 16 moves transversely along the transverse slide rail 2; ultimately resulting in lateral movement of the outer panel 14. Realize the transport of distance.

Further, the vertical sliding mechanism comprises a vertical plate 17 fixed at the top of the transverse sliding plate 19, a vertical sliding rail 16 is fixedly installed on the outer side wall of the vertical plate 17, and the vertical sliding rail 16 and a vertical sliding block 15 fixed on the inner side wall of the outer side plate 14 form a sliding fit. Vertical action can be realized through foretell vertical slide mechanism, through the in-process, drives fixed cover 13 through rocking arm 11, drives outer panel 14 through fixed cover 13 and realizes the lift action along vertical slide rail 16.

Furthermore, the top of the top plate 6 is symmetrically and fixedly provided with a limiting seat 7. The fixed sleeve 13 can be limited and supported by the limiting seat 7.

Furthermore, the inner side wall of the fixed sleeve 13 is symmetrically fixed with a limiting column 9. The fixing sleeve 13 can be limited by the limiting column 9, and then the fixing sleeve is matched with the limiting seat 7 for use.

Further, the motor 12 is a forward and reverse rotating motor.

Example 2:

referring to fig. 4 to 6, the method for operating the multi-station parallel transfer robot includes the following steps:

step 1: when a multi-station workpiece needs to be transferred, the first frame plate 1 and the second frame plate 5 of the manipulator are fixedly arranged on a frame of automatic equipment;

step 2: starting the motor 12, driving the output shaft 23 through the motor 12, and driving the rotating arm 11 through the output shaft 23;

step 3: the fixed sleeve 13 is driven by the rotating arm 11, and the outer side plate 14 is driven by the fixed sleeve 13 to lift along the vertical slide rail 16;

step 4: while moving laterally along the lateral slide 2 by means of the vertical plate 17 of the vertical slide 16;

step 5: the mechanical clamping jaw at the bottom of the outer side plate 14 is driven by the clamping jaw mounting plate 20 at the bottom of the outer side plate to realize synchronous lifting and transverse actions;

step 6: finally, the workpiece is driven by the mechanical clamping jaw to be transported.

Claims (9)

1. Manipulator is transported in parallel to multistation, its characterized in that: the clamping jaw type electric wrench comprises a first frame plate (1) and a second frame plate (5) which are arranged in parallel, wherein a top plate (6) is fixedly installed at the tops of the first frame plate (1) and the second frame plate (5), a motor (12) is fixedly installed on the top plate (6), a rotating arm (11) is fixedly installed on an output shaft (23) of the motor (12), the other end of the rotating arm (11) is hinged with a rotating shaft (10), a fixing sleeve (13) is fixedly installed at the other end of the rotating shaft (10), an outer side plate (14) is fixed on the other end face of the fixing sleeve (13), and a clamping jaw installing plate (20) is fixedly installed at the bottom of the outer side plate (14; the lateral wall of first frame board (1) and second frame board (5) is gone up through horizontal slide rail mounting panel (3) fixed mounting has horizontal slide rail (2), sliding fit installs horizontal sliding mechanism on horizontal slide rail (2), horizontal sliding mechanism constitutes vertical sliding fit through vertical sliding mechanism and outer panel (14).

2. The multi-station parallel transfer manipulator according to claim 1, wherein: the motor (12) is fixedly arranged on the motor supporting plate (8), and the motor supporting plate (8) is fixedly arranged on the top plate (6).

3. The multi-station parallel transfer manipulator according to claim 1, wherein: the rotating arm (11) is connected with an output shaft (23) through a key and transmits torque.

4. The multi-station parallel transfer manipulator according to claim 1, wherein: the clamping jaw is characterized in that a plurality of mechanical clamping jaws used for grabbing workpieces are fixedly mounted on the outer side wall of the clamping jaw mounting plate (20), each mechanical clamping jaw comprises a clamping jaw cylinder (21) fixed on the outer side wall of the clamping jaw mounting plate (20), and a clamping finger (22) used for clamping the workpieces is arranged on each clamping jaw cylinder (21).

5. The multi-station parallel transfer manipulator according to claim 1, wherein: the transverse sliding mechanism comprises a transverse sliding rail (2) fixed on a transverse sliding rail mounting plate (3), a transverse sliding plate (19) is arranged on the transverse sliding rail (2) in a sliding fit mode through a plurality of transverse sliding blocks (4), and a vertical plate (17) of the vertical sliding mechanism is fixedly mounted in the middle of the top of the transverse sliding plate (19).

6. The multi-station parallel transfer robot according to claim 1 or 5, wherein: the vertical sliding mechanism comprises a vertical plate (17) fixed at the top of a transverse sliding plate (19), a vertical sliding rail (16) is fixedly mounted on the outer side wall of the vertical plate (17), and the vertical sliding rail (16) and a vertical sliding block (15) fixed on the inner side wall of an outer side plate (14) form sliding fit.

7. The multi-station parallel transfer manipulator according to claim 1, wherein: and limiting seats (7) are symmetrically and fixedly arranged at the top of the top plate (6).

8. The multi-station parallel transfer manipulator according to claim 1, wherein: the inner side wall of the fixed sleeve (13) is symmetrically fixed with limiting columns (9).

9. The operating method of the multi-station parallel transfer robot of any one of claims 1 to 8, characterized by comprising the steps of:

step 1: when a multi-station workpiece needs to be transferred, a first frame plate (1) and a second frame plate (5) of the manipulator are fixedly arranged on a frame of automatic equipment;

step 2: starting a motor (12), driving an output shaft (23) through the motor (12), and driving a rotating arm (11) through the output shaft (23);

step 3: the fixed sleeve (13) is driven by the rotating arm (11), and the outer side plate (14) is driven by the fixed sleeve (13) to lift along the vertical slide rail (16);

step 4: meanwhile, the vertical plate (17) of the vertical slide rail (16) moves transversely along the transverse slide rail (2);

step 5: the mechanical clamping jaw at the bottom of the outer side plate (14) is driven by a clamping jaw mounting plate (20) at the bottom of the outer side plate to realize synchronous lifting and transverse actions;

step 6: finally, the workpiece is driven by the mechanical clamping jaw to be transported.

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