CN114011984B

CN114011984B - Feeding and discharging manipulator device for straightening machine

Info

Publication number: CN114011984B
Application number: CN202111350586.0A
Authority: CN
Inventors: 何高清; 张向涛; 项振兴; 曹学祥
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2021-11-15
Filing date: 2021-11-15
Publication date: 2023-07-28
Anticipated expiration: 2041-11-15
Also published as: CN114011984A

Abstract

The invention discloses a loading and unloading manipulator device for a straightening machine, which comprises the following components: an upper support and a lower support; the first workpiece adsorbing component is positioned at the front middle position of the lower support, driven by the first lifting cylinder and used for laterally adsorbing the workpieces to be straightened accumulated and placed on the lower support and lifting the workpieces to the workpiece connecting position; and the manipulator arm comprises a base frame, a first bracket, a second adsorption workpiece part and a third adsorption workpiece part, wherein the second adsorption workpiece part is fixedly connected to the end part of the first bracket, the third adsorption workpiece part is fixedly connected to the end part of the second bracket and is positioned below and in front-back dislocation of the second adsorption workpiece part, the base frame is driven by a second lifting cylinder and has an initial position and a descending position, and actions of the first, second and third adsorption workpiece parts are matched with each other to realize feeding and discharging automation. The invention can realize the synchronous feeding and discharging of the straightening machine, thereby improving the production efficiency.

Description

Feeding and discharging manipulator device for straightening machine

Technical Field

The invention relates to a feeding and discharging manipulator synchronization technology, in particular to a feeding and discharging manipulator device for a straightening machine.

Background

With the rapid development of automation technology, automation devices have been widely used in industrial production, and many simple and repetitive tasks of workers in production activities have been replaced by automation devices.

In the current age of gradually increasing labor cost, full-automatic feeding and discharging manipulators are paid more attention to by virtue of various advantages. Compared with the traditional manual work, the full-automatic feeding and discharging manipulator has the characteristics of high automation degree, wide application range, high working efficiency and the like, and is particularly suitable for work with strong repeatability, high labor intensity and severe working environment.

In the production of shaft-like parts, it is necessary to straighten these parts using a straightening machine because after the heat treatment operation, many shaft-like parts have the possibility of bending deformation. Such straighteners are typically of a C-type or gate type construction. The shaft rod type parts are horizontally placed on a straightening die of the workbench, and are pressed and straightened from top to bottom by a pressing head.

At present, a straightening machine is usually used for manually feeding and discharging, so that the working efficiency is low, the labor intensity is high, the feeding and discharging operation can be realized by the existing mechanical arm, but the feeding operation and the discharging operation are required to be separately carried out, the feeding and discharging operation occupies long time, and the working efficiency is low.

Aiming at the working characteristics and requirements of the existing straightening machine, it is necessary to design a manipulator capable of realizing the synchronous functions of automatic feeding and discharging.

Disclosure of Invention

The invention aims to provide a loading and unloading manipulator device for a straightening machine, which can realize the synchronous functions of automatic feeding and unloading and further improve the production efficiency.

For this reason, the invention provides a feeding and discharging manipulator device for a straightening machine, which comprises: the straightening machine comprises an upper support and a lower support, wherein the lower support is used for placing a workpiece to be straightened in a stacking way to a position close to the straightening machine, and the upper support is used for discharging the straightened workpiece; the first workpiece adsorbing component is positioned at the front middle position of the lower support, driven by the first lifting mechanism and used for laterally adsorbing the workpieces to be straightened which are accumulated and placed on the lower support and lifting the workpieces to the workpiece connecting position; and the mechanical arm comprises a base frame, a first support, a second adsorption workpiece part and a third adsorption workpiece part, wherein the first support is movably arranged on the base frame and is horizontally driven by a first linear driver, the second support is movably arranged on the first support and is horizontally driven by a second linear driver, the second adsorption workpiece part is fixedly connected to the end part of the first support, the third adsorption workpiece part is fixedly connected to the end part of the second support and is positioned below the second adsorption workpiece part and misplaced back and forth, the base frame is driven by a second lifting mechanism and has an initial position and a descending position, the second adsorption workpiece part is flush with the first adsorption workpiece part in a connecting position when being in the initial position, can be close to the first adsorption workpiece part to laterally adsorb a workpiece to be straightened, is equal in height with the workpiece center of a straightening machine workbench when being in the descending position, can be close to the workbench, and further feeds the workpiece, and the third adsorption workpiece part is close to the workbench when being in the initial position, and is close to the descending workbench when being in the descending position.

Compared with the prior art, the invention has the following advantages:

1. the upper arm of the manipulator comprises two parts for adsorbing workpieces, and simultaneously adsorbs the workpiece to be straightened and the straightened workpiece, so that the feeding and discharging can be simultaneously carried out, and the defect that the feeding process and the discharging process of the manipulator must be carried out separately is avoided.

2. The upper arm of the manipulator adopts two independent driving parts and a transmission part. The two parts of the workpiece to be absorbed can move independently, so that the front and back misplacement of the parts of the workpiece to be absorbed can be realized, the straightened workpiece can be taken down on the working table of the straightening machine in the feeding process, the production efficiency is greatly improved, and the economic benefit is increased.

3. The invention adopts a stepping motor for driving, the screw nut pair is driven, the control precision is higher, and the accuracy of movement can be ensured. The lifting of the workpiece and the manipulator upper arm is controlled by an air cylinder, and compared with a traditional chain transmission mode, the output power of the air cylinder is larger and stable, and the noise pollution is smaller.

In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

fig. 1 is a schematic perspective view of a loading and unloading manipulator device for a straightening machine according to the present invention;

FIG. 2 is a front view of the device of FIG. 1;

FIG. 3 is a left side view of the device of FIG. 1;

FIG. 4 is a top view of the device of FIG. 1;

FIG. 5 shows a state of use of the loading and unloading robot apparatus of the present invention in which the second electromagnet of the upper arm is level with the center height of the workpiece of the straightener work table; and

fig. 6 shows a schematic diagram of the use of the loading and unloading robot device of the present invention, wherein the second electromagnet of the upper arm delivers the workpiece to be aligned to the alignment station.

Description of the reference numerals

The straightening machine comprises a lower support, a first lifting cylinder, a workpiece to be straightened, a first electromagnet, a 5-cylinder, a upper support, a second electromagnet, a third electromagnet, a straightened workpiece, a second lead screw nut pair, a first stepping motor, a second stepping motor, a lifting cylinder and an upright post, wherein the lower support is 1-, the first lifting cylinder, the workpiece to be straightened, the first electromagnet, the 5-cylinder, the upper support is 6-, the second electromagnet, the third electromagnet, the straightened workpiece, the first and the second lead screw nut pair are 9-and the upright post are 11-first.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

Referring to fig. 1 to 4 in combination, the loading and unloading robot device for a straightener according to the present invention includes an upper bracket 6, a lower bracket 1, a first electromagnet 4, a first lifting cylinder 2, and a robot arm.

The lower support 1 is used for placing the workpiece to be straightened close to the straightening machine, and the upper support 6 is used for discharging the straightened workpiece. Preferably, the lower bracket 1 and the upper bracket 6 are provided with stacking working surfaces 1a and 6a which are obliquely arranged and have opposite stacking directions.

The lower bracket 1 is provided with a pair of stacking hooks 19 extending out of the bracket body and used for supporting shaft-type workpieces.

The cylinder 5 is arranged at the shaft end side of the workpiece and is used for correcting the axial position of the shaft lever type workpiece.

The lower support 1 and the upper support 6 are supported by a plurality of upright posts 15 surrounding the periphery of the lower support 1 and the upper support 6, and a transverse frame 6b is arranged above the top of the upper support 6 and used for fixedly supporting the upper arm of the manipulator.

The first electromagnet 4 is located at the front center of the lower bracket 1, is driven by the first lifting cylinder 2, and is used for laterally adsorbing the workpiece 3 to be straightened accumulated by the lower bracket 1 and lifting to a workpiece delivery position.

The manipulator arm comprises a base frame 16, a first bracket 17, a second bracket 18, a first linear drive, a second electromagnet 7 and a third electromagnet 8.

The first bracket 17 is movably disposed on the base frame 16 and is horizontally driven by the first linear driver. Preferably, the first linear drive comprises a first stepper motor 12 and a first lead screw nut pair 11 driven by said first stepper motor 12.

The second bracket 18 is movably arranged on the first bracket 17 and is horizontally driven by a second linear driver. Preferably, the second linear driver includes a second stepper motor 13 and a second lead screw nut pair 10 driven by the second stepper motor 13.

The base frame is driven by a second lifting cylinder 14, the second lifting cylinder 14 being fixedly supported on the cross frame. The robot arm has an initial position and a lowered position.

The first electromagnet 4, the second electromagnet 7 and the third electromagnet 8 are provided with V-shaped lateral openings for laterally attracting the workpiece, wherein the V-shaped lateral openings of the first electromagnet are required to face the V-shaped lateral openings of the second electromagnet.

The second electromagnet 7 is fixedly connected to the end part of the first bracket, the second electromagnet 7 is flush with the first electromagnet 4 in the handover position when being in the starting position, can approach the first electromagnet 4 to laterally adsorb the workpiece to be straightened, and is equal in height with the center of the workpiece of a straightening machine workbench (not shown in the drawing) when being in the descending position, and can approach the workbench and further feed.

The third electromagnet 8 is fixedly connected to the end part of the second bracket and is positioned below the second electromagnet in a front-back dislocation. The third electromagnet is at the same height as the center of the workpiece of the working table of the straightening machine when being at the initial position, can approach the working table to laterally adsorb the straightened workpiece and then discharge the workpiece, and is close to the upper bracket when being at the descending position and then discharges the workpiece.

In the present invention, the base frame, the first bracket and the second bracket are combined in a very compact and smart manner.

The base frame 16 includes a top plate 161, a first mounting riser 162 and a second mounting riser 163 horizontally spaced apart from the bottom surface of the top plate. Wherein the first stepping motor 12 is mounted on the second mounting riser 163.

The first bracket 17 includes a middle plate 171, a third mounting riser 172 disposed at a top surface of the middle plate, a fourth mounting riser 173 and a fifth mounting riser 174 disposed at a bottom surface of the middle plate at a horizontal interval. Wherein the fifth mounting riser 174 has the second stepper motor 13 mounted thereon.

The second bracket 18 includes a base plate 181, and a sixth mounting riser 182 disposed on a top surface of the base plate.

The third mounting riser 172 is located between the first mounting riser 162 and the second mounting riser 163 and is connected by the first lead screw nut pair 11, and the sixth mounting riser 182 is located between the fourth mounting riser 173 and the fifth mounting riser 174 and is connected by the second lead screw nut pair 10.

Referring to fig. 1, 5 and 6 in combination, the working process of the feeding and discharging manipulator for the straightening machine of the invention is as follows:

after the cylinder 5 pushes the workpiece 3 to be straightened on the lower bracket 1 to the right to the designated position, the cylinder 5 is restored to the original position.

The first electromagnet 4 is electrified to adsorb the workpiece to be straightened, and the first lifting cylinder 2 lifts the workpiece to be straightened to the same height as the second electromagnet 7 after two seconds.

The stepping motor 12 is electrified to rotate positively, the second electromagnet 7 is contacted with the workpiece to be straightened adsorbed by the first electromagnet 4 through the screw-nut pair 11, the second electromagnet 7 is electrified to adsorb the workpiece to be straightened, the first electromagnet 4 is powered off after two seconds, meanwhile, the stepping motor 12 is electrified to rotate reversely, so that the second electromagnet 7 moves backwards for a certain distance, and the first lifting cylinder 2 is restored to the original position.

The stepping motor 13 is electrified to rotate forward to drive the screw nut pair 10 to act so as to enable the third electromagnet 8 to move forward to a designated position, and the stepping motor 12 is electrified to rotate forward to drive the screw nut pair 11 so as to enable the third electromagnet 8 to move forward to be in contact with a workpiece on a working table of the straightening machine. The third electromagnet 8 is electrified to adsorb the straightened workpiece on the workbench, the stepping motor 13 is reversed after two seconds, and the third electromagnet 8 is enabled to move backwards to a designated position through the screw-nut pair 10.

The second lifting cylinder 14 acts to lower the second electromagnet 7 to the same height as the workbench. The stepping motor 12 rotates positively, the workpiece to be straightened adsorbed by the second electromagnet 7 is moved to the straightening operation position of the workbench through the screw nut pair 11, the second electromagnet 7 is powered off, and meanwhile, the stepping motor 12 rotates reversely, so that the whole manipulator arm moves backwards to a specified position. And the third electromagnet 8 is powered off, and the straightened workpiece absorbed by the third electromagnet 8 is placed on the upper bracket.

The second lifting cylinder 14 acts to lift the upper arm of the manipulator to the height for resetting the action, and one cycle is completed.

In the present invention, the electromagnet may be replaced by a suction cup or the like for sucking a workpiece member.

In the invention, the lifting cylinder can be replaced by a lifting mechanism such as an oil cylinder, an electric cylinder and the like.

The feeding and discharging actions of the manipulator device are simple and consistent, the manipulator device is convenient to transport, install and debug, faults are easy to find, the manipulator device is convenient to maintain, and the manipulator device is compact in structure and saves production space.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A go up unloading manipulator device for straightener, its characterized in that includes:

the straightening machine comprises an upper support and a lower support, wherein the lower support is used for placing a workpiece to be straightened in a stacking way to a position close to the straightening machine, and the upper support is used for discharging the straightened workpiece;

the first workpiece adsorbing component is positioned at the front middle position of the lower support, driven by the first lifting mechanism and used for laterally adsorbing the workpieces to be straightened which are accumulated and placed on the lower support and lifting the workpieces to the workpiece connecting position; and

the mechanical arm comprises a base frame, a first bracket, a second adsorption workpiece part and a third adsorption workpiece part, wherein the first bracket is movably arranged on the base frame and is horizontally driven by a first linear driver, the second bracket is movably arranged on the first bracket and is horizontally driven by a second linear driver, the second adsorption workpiece part is fixedly connected to the end part of the first bracket, the third adsorption workpiece part is fixedly connected to the end part of the second bracket and is positioned below the second adsorption workpiece part and is staggered from front to back, the base frame is driven by a second lifting mechanism and has an initial position and a descending position,

wherein the second adsorption workpiece part is flush with the first adsorption workpiece part in the delivery position when in the initial position, can approach the first adsorption workpiece part to adsorb the workpiece to be straightened laterally, has the same height as the workpiece center of the straightening machine workbench when in the descending position, can approach the workbench and further feed,

the third adsorption workpiece component is equal in height with the workpiece center of the straightening machine workbench when being in the initial position, can approach the workbench to laterally adsorb the straightened workpiece and then discharge, and is close to the upper support when being in the descending position and then discharges.

2. The loading and unloading manipulator device for a straightening machine according to claim 1, wherein the first workpiece adsorbing component is a first electromagnet, the second workpiece adsorbing component is a second electromagnet, and the third workpiece adsorbing component is a third electromagnet, and the workpiece adsorbing components are adsorbed when the electromagnets are electrified and the adsorption is disconnected when the electromagnets are powered off.

3. The loading and unloading manipulator device for a straightener of claim 2, wherein the first electromagnet, the second electromagnet and the third electromagnet each have a V-shaped lateral opening, and the V-shaped lateral opening of the first electromagnet is opposite to the V-shaped lateral opening of the second electromagnet.

4. The loading and unloading manipulator device for a straightening machine according to claim 1, wherein the lower support is provided with a pair of stacking hooks extending out of the support body, and the workpiece to be straightened is a shaft-type workpiece supported on the pair of stacking hooks.

5. The loading and unloading manipulator device for a straightener of claim 4, further comprising a cylinder for axial position correction of shaft type workpieces supported on a pair of stacking hooks.

6. The loading and unloading manipulator device for a straightening machine according to claim 1, wherein the upper support and the lower support are supported by a plurality of upright posts surrounding the periphery of the upper support and the lower support, and a transverse frame for supporting an upper arm of the manipulator is arranged above the top of the upper support.

7. The loading and unloading manipulator device for a straightening machine according to claim 1, wherein the upper support and the lower support are provided with stacking working surfaces which are obliquely arranged and have opposite stacking directions.

8. The loading and unloading manipulator device for a straightener of claim 1, wherein the first linear driver comprises a first stepper motor and a first lead screw nut pair driven by the first stepper motor, and the second linear driver comprises a second stepper motor and a second lead screw nut pair driven by the second stepper motor.

9. The loading and unloading manipulator assembly for a straightener of claim 8, wherein the base frame includes a top plate, a first mounting riser and a second mounting riser horizontally spaced apart from the bottom surface of the top plate, the first bracket includes a middle plate, a third mounting riser horizontally spaced apart from the top surface of the middle plate, a fourth mounting riser and a fifth mounting riser horizontally spaced apart from the bottom surface of the middle plate, the second bracket includes a bottom plate, a sixth mounting riser horizontally spaced apart from the top surface of the bottom plate, wherein the third mounting riser is positioned between the first mounting riser and the second mounting riser and connected by a pair of lead screw nuts, and the sixth mounting riser is positioned between the fourth mounting riser and the fifth mounting riser and connected by a pair of second lead screw nuts.

10. The loading and unloading manipulator device for a straightener of claim 1, wherein the first lifting mechanism and the second lifting mechanism are lifting cylinders.