CN204748610U - Unloading air -balance helping hand manipulator on hub blank - Google Patents

Abstract

The utility model discloses a pneumatic balance power-assisted manipulator for loading and unloading wheel hub blanks. The slewing support is located at the top of a column, a support frame is arranged on the slewing support, a bearing seat is arranged on the support frame, and an upper arm and a lower arm are arranged on the bearing seat. , the upper arm is located above the lower arm, the two are parallel to each other, the other end of the upper arm and the lower arm is provided with a second bearing seat, the second bearing seat is provided with a bearing seat mounting plate, and the bearing seat mounting plate The supporting body is fixedly connected; the end of the upper arm near the second bearing seat is provided with a rib plate protruding downward, the rib plate passes through the middle of the lower arm, and the rib plate is connected to the piston rod of the linear cylinder, and the cylinder body of the linear cylinder Mounted on the support frame with cylinder mounting accessories. The utility model solves a series of problems such as difficulty in manual handling, low efficiency, and hidden safety hazards when the wheel hub blanks are loaded and unloaded in the CNC processing workshop. It can offset the self-weight of the materials during the handling process, making the handling process very easy Reliable and safe.

Description

Pneumatic balance power-assisted manipulator for wheel blank loading and unloading

technical field

The utility model relates to a lifting and grasping device, in particular to an aerodynamic balance assist manipulator for loading and unloading wheel hub blanks.

Background technique

In the wheel hub CNC machining workshop, the loading and unloading of wheel hub blanks is basically carried by workers manually. This kind of handling method is not only labor-intensive and inefficient, but also has certain safety hazards, especially when encountering some large wheel hub blanks. Generally, several workers are required to cooperate to transport it to the CNC machine tool for processing, which wastes a lot of time and reduces production efficiency.

Patent No. 201410745341.1 discloses a hub five-axis handling robot and clamping manipulator, specifically: the X-axis drive system is installed on the truss, and the Y-axis drive system is installed across the X-axis drive system through the XY-axis connecting plate , the Z-axis drive system is vertically installed on the Y-axis drive system through the YZ-axis connecting plate; the X-axis drive system, the Y-axis drive system and the Z-axis drive system are orthogonal to each other to form an XYZ Cartesian robot; at the bottom of the Z-axis drive system The C-axis drive system and the A-axis drive system are arranged in sequence, the C-axis drive system and the A-axis drive system are connected through the CA-axis connection flange, and the output shaft of the A-axis drive system is connected to the clamping manipulator. This patent realizes the automatic handling, loading, unloading, flipping, and exchange of aluminum alloy wheels between different production lines, which greatly reduces labor intensity, but the structure is complicated, installation is inconvenient, and flexibility is poor.

Utility model content

The technical problem solved by the utility model is to provide an aerodynamic balance assist manipulator for loading and unloading wheel hub blanks.

The technical solution to realize the purpose of this utility model is: a pneumatic balance power-assisted manipulator for loading and unloading wheel blanks, including a column, a slewing bearing, and a support frame. A bearing seat is provided, and an upper arm and a lower arm are arranged on the bearing seat. The upper arm is located above the lower arm, and the two are parallel to each other. The other end of the upper arm and the lower arm is provided with a second bearing seat. The second bearing seat is provided with a bearing seat mounting plate, the bearing seat mounting plate is fixedly connected to the support body, the support body is provided with a flange, the second slewing support is fixedly connected to the flange, and the extension arm is fixedly connected to the second slewing support, and the extension arm passes through the The second slewing bearing rotates around the support body; the end of the upper arm close to the second bearing seat is provided with a rib plate protruding downward, the rib plate passes through the middle of the lower arm, and the rib plate is connected to the piston rod of the linear cylinder. The cylinder body of the cylinder is installed on the support frame through the cylinder installation accessories;

The small arm is arranged on the extension arm through the third slewing bearing, and the other end of the small arm is provided with a clamp device.

The fixture device includes a rotary cylinder, a transmission shaft, a guide rail and a clamp body. The other end of the small arm is fixedly connected to the bearing seat fixing plate, and the lower end of the bearing seat fixing plate is provided with two bearing seats, and the transmission shaft runs through the two bearing seats. One end of the transmission shaft is connected with the rotary cylinder through the flange, and the other end of the transmission shaft is connected with the clamp body through the flange, and the clamp body rotates driven by the rotary cylinder.

The clamp body includes a linear cylinder, a first arm, a second arm and a fixed arm, the fixed arm is connected to the transmission shaft through a flange, the fixed arm is perpendicular to the transmission shaft, a linear cylinder is arranged on the fixed arm, and the linear cylinder The cylinder body is fixedly connected with the fixed arm, and the piston rod of the linear cylinder is connected with the second arm to drive the second arm to move. The second arm is perpendicular to the fixed arm. A guide rail is also set on the fixed arm, and the guide rail is connected to the fixed arm. The extension direction of the fixed arm is parallel, the second arm slides along the guide rail driven by the piston rod, and the end of the second arm is provided with a second finger device;

One end of the fixed arm is provided with the cylinder body and is also fixedly connected to the first arm perpendicular to it. The first arm is parallel to the second arm. The end of the first arm is provided with a rotary cylinder, which is fixedly connected with the first finger, the first The fingers rotate under the drive of the rotary cylinder, and the first finger is opposite to the working surface of the second finger of the second finger device.

The second finger device includes a second finger, a tapered roller bearing, a bearing mounting plate, a second transmission shaft, a spring, a flange plate and a friction plate, the bearing mounting plate is fixedly connected to the second arm, and one part of the bearing mounting plate Tapered roller bearings are arranged on one side, and springs are arranged on the other side of the bearing mounting plate. The other end of the spring is in close contact with the flange, and the flange is also fixedly connected to the second arm. The second fingers are fixedly connected, the second transmission shaft runs through the flange, the spring and the tapered roller bearing in turn, and the other end of the second transmission shaft is fixedly connected with the friction disc.

The upper arm has a tubular structure, the lower arm includes two identical connecting plates, and the rib plate of the upper arm passes through the gap between the two connecting plates of the lower arm.

The manipulator of the utility model also includes an operation panel, the upper end of which is connected with the forearm, and the lower end of the operation panel is fixedly connected with the rotary cylinder.

The operation panel is arc-shaped.

The material of the manipulator is Q235 carbon structural steel.

Compared with the prior art, the utility model has the following remarkable advantages: 1) The pneumatic circuit of the wheel hub blank loading and unloading power-assisted manipulator of the utility model can automatically balance the self-weight of the wheel hub blank, making the handling extremely light; 2) The utility model The parallelogram structure composed of the upper and lower arms of the hub blank loading and unloading power-assisted manipulator ensures that the transmission shaft in front of the clamp body is always in a horizontal state during the lifting process of the power-assisted manipulator; The rotary cylinder ensures that the clamped hub blank can be turned over in four postures in the space, and the two cylinders can operate at the same time, arbitrarily converting the clamped hub blank from one posture to another; 4) The wheel hub of the utility model The blank loading and unloading assisted manipulator clamp body can automatically adapt to the wheel hub within a certain range (diameter 500~800mm), and the wheel hub blank can be clamped by controlling the linear cylinder on the clamp body. 5) The power-assisted manipulator has a total of six joints and six degrees of freedom, three of which are driven by people, and the other three joints are driven by cylinders, which greatly improves the flexibility of the power-assisted manipulator during the handling process.

Below in conjunction with accompanying drawing, the utility model is described in further detail.

Description of drawings

Fig. 1 is a schematic front view of the overall assembly of the wheel hub loading and unloading and handling power-assisted manipulator of the present invention.

Fig. 2 is a schematic plan view of the large and small arms of the wheel hub loading and unloading and handling power-assisted manipulator of the present invention.

Fig. 3 is a schematic plan view of the clamp part of the wheel hub loading and unloading and handling power-assisted manipulator of the present invention.

Fig. 4 is a schematic front view of the clamp part of the wheel hub loading and unloading and handling power-assisted manipulator of the present invention.

Fig. 5 is a schematic side view of the gripper part of the wheel hub loading and unloading and handling power-assisted manipulator of the present invention.

Fig. 6 is a schematic diagram of the second finger device of the wheel hub loading and unloading and handling power-assisted manipulator of the present invention.

The meanings represented by the numbers in the figure are: 1 column 2 slewing bearing 3 support frame 4 bearing seat 4-1 bearing seat mounting plate 4-2 second bearing seat 5 upper arm 5-1 rib plate 6 lower arm 7 cylinder installation Attachment 8 Linear Cylinder 9 Bearing Seat Mounting Plate 9-1 Flange 10 Support Body 11 Flange 12 Rotary Support 13 Extension Arm 14 Rotary Support 15 Small Arm 16 Operation Panel 17 Rotary Cylinder 18 Transmission Shaft 18-1 Flange 18-2 Bearing seat 18-3 Bearing seat fixing plate 19-3 Fixed arm 20 Guide rail 21 Clamp body 22 Rotary cylinder 23 First finger 25 Second finger 26 Tapered roller bearing 27 Bearing mounting plate 28 Second transmission shaft 29 Spring 30 Flange 31 friction disc.

Detailed ways

As shown in Figure 1, the wheel hub loading and unloading power-assisted manipulator of the present invention is mainly composed of a column 1, an upper arm 5, a lower arm 6, an extension arm 13, a small arm 15, and a clamping body 21. The column 1 is fixed on the ground of the processing workshop with anchor bolts, and the column 1 and the support frame 3 are connected by a slewing bearing 2. The support frame 3 can rotate relative to the column 1 through the slewing support 2, and only the worker needs to push the operation panel. The joint will then rotate automatically. The worker can control the expansion and contraction of the linear cylinder 8 by pressing the button set on the operation panel 16 and controlling the opening and closing of the valve of the pneumatic component. Lifting, the pneumatic control system with precision pressure reducing valve as the main valve can keep the cylinder 8 in balance with the load it pushes. After the cylinder is inflated, the operator only needs to use a small thrust to break this pneumatic balance, making The power-assisted manipulator goes up and down, and when the power-assisted manipulator rises to the target position, the cylinder 8 and the load form a new balance.

The extension arm 13 is connected with the support body 10 by a slewing support 12 , the worker pushes the operation panel 16 , and the extension arm 13 can rotate relative to the support body 10 through the slewing support 12 . Similarly, a slewing support 14 is installed below the extension arm 13, and the small arm 15 can rotate relative to the extension arm 13 under the promotion of the worker.

As shown in Figure 3, the rotary cylinder 17 is installed on the operation panel 16, and the two bearing seats 18-2 are installed on the bearing seat fixing plate 18-3 below the arm 15, and the transmission shaft 18 passes through the two bearing seats 18-3. 2. The left side of the transmission shaft 18 is connected to the flange 18-1, and the flange 18-1 is fixed on the rotary cylinder 17 with screws, and the right side of the transmission shaft 18 is connected to another flange 18-1, and the flange 18-1 is connected to the clamp body 21 are fixed together, and the rotary cylinder 17 rotates, then drives the transmission shaft 18 to rotate in turn, and drives the chuck body 21 to rotate. The rotation of the rotary cylinder 17 is controlled by the worker pressing the pneumatic valve button on the operation panel 16 .

As shown in Figures 3 and 4, a linear cylinder 19 is installed on the clamp body 21, and the linear cylinder 19 is connected to the second arm 19-2 on the clamp body 21. The worker can realize the clamping of the wheel hub by controlling the expansion and contraction of the linear cylinder 19. and let go. The rotary cylinder 22 is embedded on the first arm 19-1 on the clamp body 21, and the first finger 23 is installed on the rotary cylinder 22. The worker can control the rotation of the rotary cylinder 22 through the button on the operation panel, and then the clamped hub can be adjusted. Realize 180° flip.

As shown in Figures 4 and 5, the second arm 19-2 on the clamp body 21 is connected to the guide rail 24, which is a high-torque guide rail, which can ensure the stable operation of the second arm 19-2.

As shown in Figures 5 and 6, the second finger 25 on the chuck body 21 is fixed on the transmission shaft 28, and the direction of the transmission shaft 28 close to the second finger 25 is a tapered roller bearing 26 and a bearing mounting plate 27 in turn, wherein the bearing The mounting plate 27 is installed on the second arm 19-2 of the chuck body 21, the tapered roller bearing 26 is installed on the bearing mounting plate 27, a flange is processed on the transmission shaft 28, and the spring 29 is tightly pressed on the flange , the right end of the spring 29 is against the end face of the flange 30, the right side of the flange 30 is the friction disc 31, the friction disc 31 is installed on the transmission shaft 28, when the hub is not clamped, due to the effect of the spring 29, the friction disc 31 is tight Close to the right end face of the flange 30, at this time they cannot rotate relative to each other. When the hub is clamped, because the spring 29 is compressed, the friction disc 31 is separated from the right end face of the flange 30. At this time, the The second finger 25 can rotate along with the turning action of the hub, and realize synchronization with the first finger 23 . The manipulator of the utility model includes a series of cylinders and a transmission mechanical device. The material used for each part of the power-assisted manipulator is mainly Q235 carbon structural steel. The movement of the joints between the arms uses slewing ring bearings or deep groove ball bearings, and the drive of some joints uses linear cylinders and rotary cylinders.

The pneumatic circuit of the wheel hub blank loading and unloading assisting manipulator of the utility model can automatically balance the self-weight of the wheel hub blank, making the handling extremely light. The power-assisted manipulator has six joints and six degrees of freedom, three of which are driven by people, and the other three joints are driven by cylinders, which greatly improves the flexibility of the power-assisted manipulator during the handling process.

Below in conjunction with embodiment the utility model is described in further detail:

Example 1

A pneumatic balance power-assisted manipulator for loading and unloading wheel blanks, including a column 1, a slewing support 2, and a support frame 3, the slewing support 2 is located at the top of the column 1, a support frame 3 is arranged on the slewing support 2, and a bearing seat is arranged on the support frame 3 4. The upper arm 5 and the lower arm 6 are set on the bearing seat 4, the upper arm 5 is located above the lower arm 6, and the two are parallel to each other, and the other end of the upper arm 5 and the lower arm 6 is provided with a second arm. The second bearing seat 4-2, the second bearing seat 4-2 is provided with a bearing seat mounting plate 9, the bearing seat mounting plate 9 is fixedly connected to the supporting body 10, the supporting body 10 is provided with a flange 11, and the flange 11 is fixedly connected to the second bearing body. Two slewing bearings 12, the second slewing bearing 12 is fixedly connected with the extension arm 13, and the extension arm 13 rotates around the supporting body 10 through the second slewing bearing 12; Raised rib plate 5-1, rib plate 5-1 passes through the middle part of lower big arm 6, and the piston rod of linear cylinder 8 is connected on rib plate 5-1, and the cylinder body of linear cylinder 8 is installed on the On the support frame 3;

The small arm 15 is arranged on the extension arm 13 through the third slewing support 14, and the other end of the small arm 15 is provided with a clamp device.

The clamp device includes a rotary cylinder 17, a transmission shaft 18, a guide rail 20 and a clamp body 21. The other end of the small arm 15 is fixedly connected to the bearing seat fixing plate 18-3, and the lower end of the bearing seat fixing plate 18-3 is provided with two bearing seats. 18-2, the transmission shaft 18 runs through the two bearing seats 18-2, one end of the transmission shaft 18 is connected to the rotary cylinder 17 through the flange 18-1, and the other end of the transmission shaft 18 is connected to the clamp body 21 through the flange, The clamp body 21 is driven by the rotary cylinder 17 to rotate.

The clamp body 21 includes a linear cylinder 19, a first arm 19-1, a second arm 19-2 and a fixed arm 19-3, and the fixed arm 19-3 is connected to the transmission shaft 18 through a flange, and the fixed arm 19 -3 is perpendicular to transmission shaft 18, and linear cylinder 19 is set on the fixed arm 19-3, and the cylinder block of linear cylinder 19 is fixedly connected with fixed arm 19-3, and the piston rod of linear cylinder 19 is connected with the second arm 19-2. connected to drive the second arm 19-2 to move, the second arm 19-2 is perpendicular to the fixed arm 19-3, and a guide rail 20 is also set on the fixed arm 19-3, and the guide rail 20 and the fixed arm 19-3 The extension direction of the second arm 19-2 slides along the guide rail 20 under the drive of the piston rod, and the end of the second arm 19-2 is provided with a second finger device 25;

One end of the fixed arm 19-3 that is provided with the cylinder body is also fixedly connected to the first arm 19-1 perpendicular to it, the first arm 19-1 is parallel to the second arm 19-2, and the end of the first arm 19-1 The rotary cylinder (22) is set, the first finger 23 is fixedly connected on the rotary cylinder (22), and the first finger 23 rotates under the drive of the rotary cylinder (22). The working surfaces of the fingers are facing each other.

The second finger device 25 includes a second finger, a tapered roller bearing 26, a bearing mounting plate 27, a second transmission shaft 28, a spring 29, a flange 30 and a friction disc 31, and the bearing mounting plate 27 is fixedly connected to the second finger. On the arm 19-2, one side of the bearing mounting plate 27 is provided with a tapered roller bearing 26, and the other side of the bearing mounting plate 27 is provided with a spring 29, and the other end of the spring 29 is in close contact with the flange 30, and the flange 30 Also fixedly connected on the second arm 19-2, one end of the second transmission shaft 28 is fixedly connected with the second finger, and the second transmission shaft 28 runs through the flange 30, the spring 29 and the tapered roller bearing 26 in sequence , the other end of the second transmission shaft 28 is fixedly connected with the friction disc 31 .

The upper arm 5 has a tubular structure, the lower arm 6 includes two identical connecting plates, and the rib plate 5 - 1 of the upper arm 5 passes through the gap between the two connecting plates of the lower arm 6 . The manipulator of the present utility model also includes an operation panel 16 , the upper end of which is connected to the forearm 15 , and the lower end of the operation panel is fixedly connected to the rotary cylinder 17 . The operation panel 16 is arc-shaped. The material of the manipulator is Q235 carbon structural steel.

The pneumatic circuit of the wheel hub blank loading and unloading assisting manipulator of the utility model can automatically balance the self-weight of the hub blank, making the handling extremely light; The front drive shaft is always in a horizontal state during the lifting of the assisted manipulator. The power-assisted manipulator of the utility model has six joints and six degrees of freedom in total, three of which are driven by people, and the other three joints are driven by cylinders, which greatly improves the flexibility of the power-assisted manipulator in the handling process.

Claims (8)

1. a wheel hub blank loading and unloading Pneumatic balance assisted manipulator, it is characterized in that, comprise column (1), pivoting support (2), bracing frame (3), described pivoting support (2) is positioned at the top of column (1), pivoting support (2) is arranged bracing frame (3), bracing frame (3) is arranged bearing block (4), bearing block (4) is arranged upper-large-arm (5) and lower large arm (6), described upper-large-arm (5) is positioned at the top of lower large arm (6), the two is parallel to each other, the other end of upper-large-arm (5) and lower large arm (6) arranges the second bearing block (4-2), second bearing block (4-2) is arranged bearing mounting plate (9), bearing mounting plate (9) is connected supporting mass (10), supporting mass (10) is arranged flange (11), flange (11) is connected the second pivoting support (12), second pivoting support (12) is connected extension arm (13), extension arm (13) is rotated around supporting mass (10) by the second pivoting support (12), upper-large-arm (5) is provided with the gusset (5-1) to lower convexity near one end of the second bearing block (4-2), gusset (5-1) is through the middle part of lower large arm (6), gusset (5-1) connects the piston rod of straight line cylinder (8), the cylinder body of straight line cylinder (8) is arranged on bracing frame (3) by cylinder installation accessories (7),

Forearm (15) is arranged on extension arm (13) by the 3rd pivoting support (14), and the other end of forearm (15) arranges grip device.

2. wheel hub blank loading and unloading Pneumatic balance assisted manipulator according to claim 1, it is characterized in that, described grip device comprises rotary cylinder (17), power transmission shaft (18), guide rail (20) and clamp body (21), the other end of forearm (15) is connected bearing block fixed head (18-3), the lower end of bearing block fixed head (18-3) arranges two bearing blocks (18-2), power transmission shaft (18) is run through between two bearing blocks (18-2), one end of power transmission shaft (18) is connected with rotary cylinder (17) by flange (18-1), the other end of power transmission shaft (18) is connected with clamp body (21) by flange, described clamp body (21) rotates under the drive of rotary cylinder (17).

3. wheel hub blank loading and unloading Pneumatic balance assisted manipulator according to claim 2, it is characterized in that, described clamp body (21) comprises straight line cylinder (19), first arm (19-1), second arm (19-2) and fixed arm (19-3), described fixed arm (19-3) is connected with power transmission shaft (18) by flange, this fixed arm (19-3) is perpendicular with power transmission shaft (18), fixed arm (19-3) is arranged straight line cylinder (19), the cylinder body of straight line cylinder (19) is connected mutually with fixed arm (19-3), the piston rod of straight line cylinder (19) is connected with the second arm (19-2), the second arm (19-2) is driven to move, described second arm (19-2) is perpendicular with fixed arm (19-3), fixed arm (19-3) is also arranged guide rail (20), described guide rail (20) parallels with the bearing of trend of fixed arm (19-3), second arm (19-2) slides along guide rail (20) under the drive of piston rod, the end of the second arm (19-2) arranges second finger device (25),

The first arm (19-1) that one end that fixed arm (19-3) arranges cylinder body is also connected perpendicular, described first arm (19-1) parallels with the second arm (19-2), the end of the first arm (19-1) arranges rotary cylinder (22), rotary cylinder (22) is connected the first finger (23), first finger (23) rotates under the drive of rotary cylinder (22), and described first finger (23) is relative with the second finger working face of second finger device (25).

4. wheel hub blank loading and unloading Pneumatic balance assisted manipulator according to claim 3, it is characterized in that, described second finger device (25) comprises second finger, taper roll bearing (26), bearing installing plate (27), second driving shaft (28), spring (29), ring flange (30) and frictional disk (31), bearing installing plate (27) is connected on the second arm (19-2), the side of bearing installing plate (27) arranges taper roll bearing (26), the opposite side of bearing installing plate (27) arranges spring (29), the other end of spring (29) and ring flange (30) near, ring flange (30) is also connected on the second arm (19-2), one end of described second driving shaft (28) is connected mutually with second finger, this second driving shaft (28) runs through ring flange (30) successively, spring (29) and taper roll bearing (26), the other end of second driving shaft (28) is connected mutually with frictional disk (31).

5. wheel hub blank loading and unloading Pneumatic balance assisted manipulator according to claim 1, it is characterized in that, described upper-large-arm (5) is tubular structure, lower large arm (6) comprises two identical connecting plates, and the gusset (5-1) of upper-large-arm (5) is through the gap lower large arm (6) two connecting plates.

6. wheel hub blank loading and unloading Pneumatic balance assisted manipulator according to claim 2, is characterized in that, also comprises guidance panel (16), and the upper end of this guidance panel is connected with forearm (15), and the lower end of guidance panel is connected mutually with rotary cylinder (17).

7. wheel hub blank loading and unloading Pneumatic balance assisted manipulator according to claim 6, is characterized in that, described guidance panel (16) is arc.

8. wheel hub blank loading and unloading Pneumatic balance assisted manipulator according to claim 1, is characterized in that, the material of manipulator is Q235 carbon structural steels.