CN210046663U

CN210046663U - Rotary manipulator suitable for multistation

Info

Publication number: CN210046663U
Application number: CN201920938217.5U
Authority: CN
Inventors: 滕飞
Original assignee: Jinan Lianfei Cnc Equipment Co Ltd
Current assignee: Jinan Lianfei Cnc Equipment Co Ltd
Priority date: 2019-06-20
Filing date: 2019-06-20
Publication date: 2020-02-11
Anticipated expiration: 2029-06-20

Abstract

The utility model discloses a rotatory manipulator suitable for multistation, include: the device comprises a fixed base, a rotating base, a lifting base and a clamp; the fixed base is connected with a rotating base, and the rotating base can rotate relative to the fixed base under the driving of a first driving mechanism; the lifting base is connected with the rotating base through a lifting mechanism, and the lifting mechanism can be driven by a second driving mechanism to move up and down; the lifting base is provided with a plurality of clamp mounting parts, and at least one clamp mounting part is connected with a clamp; the clamp can do linear motion along the clamp installation part under the driving of the third driving mechanism, so that the stretching of the clamp is realized. The utility model is provided with a plurality of independent clamps, and after the material processing of the current station is finished, the material is transported to the next station by the current clamp; meanwhile, the material of the previous station is conveyed to the station by the other clamp through rotation; the processing processes of a plurality of materials can be carried out simultaneously, and the processing efficiency is improved.

Description

Rotary manipulator suitable for multistation

Technical Field

The utility model relates to a manipulator technical field especially relates to a rotatory manipulator suitable for multistation.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

In the processing process of most materials in the hot forging industry, various different process steps are often involved, and each step needs to be processed on special equipment; for example, in the process of hot rolling and forming the seamless ring, materials are firstly heated on a heating table, then the heated materials enter a press machine for flattening and punching, and finally the materials are sent into a ring rolling machine to be rolled into a ring shape.

The inventor finds that in the material processing process, materials need to be switched back and forth between different processing devices, and the prior art adopts manual work to carry parts, so that the production efficiency is greatly reduced, and the potential safety hazard of personnel is increased. The mode that prior art adopted through artifical manual control manipulator motion realizes the removal to the part, because the manual control has certain error, and causes the unbalance of application of force easily, may be because the processing that the positional deviation of placing of part leads to the part has the error for the part defective rate increases, is unfavorable for industrial production. In the prior art, a full-automatic manipulator is adopted to transport materials, a single manipulator is usually adopted to move back and forth between different processing stations, the control process is relatively complex, and the processing efficiency is influenced to a certain extent.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides a rotatory manipulator suitable for multistation, a plurality of manipulators adopt rotatory mode incessant transportation material in turn, are applicable to the machining-position that the annular distributes, remove when can realizing a plurality of materials simultaneously, shorten the time that each machining-position waited for the material, realize the position removal of part between different stations automatically, degree of automation is high, improves production efficiency.

In some embodiments, the following technical scheme is adopted:

a rotary manipulator adapted for multiple stations, comprising: the device comprises a fixed base, a rotating base, a lifting base and a clamp; the fixed base is connected with a rotating base, and the rotating base can rotate relative to the fixed base under the driving of a first driving mechanism; the lifting base is connected with the rotating base through a lifting mechanism, and the lifting mechanism can be driven by a second driving mechanism to move up and down; the lifting base is provided with a plurality of clamp mounting parts, and at least one clamp mounting part is connected with a clamp; the clamp can do linear motion along the clamp installation part under the driving of the third driving mechanism, so that the stretching of the clamp is realized.

As a further improvement, a plurality of clamp mounting stations are arranged on the lifting base, and a clamp mounting part extends from each clamp mounting station.

As a further improvement, the clamp mounting part is provided with a linear guide rail.

As a further improvement, the clamp is provided with a sliding block matched with the linear guide rail, and the sliding block can move along the linear guide rail.

As a further improvement, four fixture mounting stations are arranged on the lifting base, a fixture mounting part extends from each fixture mounting station, and a fixture is connected to each fixture mounting part.

As a further improvement, the clamp is connected with a clamping oil cylinder, and a position sensor is arranged in the clamping oil cylinder.

As a further improvement, the rotating base is connected with the fixed base through a rotary support with an outer ring; the first driving mechanism is a servo motor, the servo motor drives the gear to rotate, the gear is meshed with an outer ring gear of the rotary support, and the gear rotates to drive the rotary support to rotate, so that the rotary support rotates.

As a further improvement, the lifting base is connected with the rotating base through at least one lifting oil cylinder.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model is suitable for a multi-station rotary manipulator, which is provided with a plurality of independent clamps, and the material at the current station is transported to the next station by the current clamp after being processed; meanwhile, the material of the previous station is conveyed to the station by the other clamp through rotation; the processing processes of a plurality of materials can be carried out simultaneously, and the processing efficiency is improved.

The motion flow of the rotary manipulator can be designed according to the specific flow of material processing, so that the rotary manipulator can operate according to the set flow, the material can be accurately grabbed, the position moving precision of the material is high, the position error is avoided, and the production efficiency and the safety of personnel are improved.

The material moving device is particularly suitable for moving materials among a plurality of annular stations, the degree of dependence on operators in the moving process is greatly reduced, and the automation degree is high.

Drawings

Fig. 1 is a schematic structural view of a rotary manipulator suitable for multiple stations according to a first embodiment;

FIG. 2(a) is a schematic view of a rotary base according to one embodiment;

FIG. 2(b) is a schematic top view of a rotary base according to an embodiment;

FIG. 3 is a schematic view of a lift base according to one embodiment;

FIG. 4 is a schematic view of a clamp according to one embodiment;

FIG. 5 is a schematic view showing the movement of the clamping jaws according to the first embodiment;

the device comprises a fixed base 1, a rotating base 2, a lifting base 3, a mounting arm 4, a clamping jaw sliding arm 5, a clamping jaw 6, a slewing bearing 7, a lifting oil cylinder 8, a servo motor 9, a gear 10, a mounting station 11, a linear guide rail 12, a guide post 13 and a sliding block 14.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Example one

A robot refers to an automatic operating device that can simulate some functions of a human hand and arm to grasp, carry objects or operate tools according to a fixed program.

As described in the background section, in order to improve the work efficiency, increase the safety of the operator, and improve the moving accuracy of the material, the material needs to be moved between different processing stations during the processing process, in one or more embodiments, a rotary manipulator suitable for multiple stations is disclosed, which is configured as shown in fig. 1, and includes: the device comprises a fixed base 1, a rotating base 2, a lifting base 3 and a clamp; wherein, unable adjustment base 1 is the bearing fixed part of whole equipment, adopts high-quality carbon steel welding, eliminates stress through thermal ageing treatment, and the sound construction is reliable. Referring to fig. 2(a) and 2(b), the rotating base 2 is connected to the fixed base 1 via a slewing bearing 77 with an outer ring; the gear 10 is driven to rotate by a servo motor 9 with a planetary reducer, the gear 10 is meshed with the outer ring of the slewing bearing 77, the slewing bearing 77 is connected with the rotating base 2, and the gear 10 rotates to drive the rotating base 2 to rotate freely on the fixed base 1 in the 360-degree direction.

Of course, the form of driving the rotation of the slewing bearing 77 by the servo motor 9 driving the gear 10 to rotate is only one embodiment, and those skilled in the art can select other driving modes according to the needs, such as belt transmission, chain transmission, etc.

The rotary base 2 is provided with a lifting oil cylinder 8, the lifting oil cylinder 8 is connected with the lifting base 3, and the lifting of the lifting base 3 is realized by driving the lifting oil cylinder 8 to stretch; in this embodiment, 2 lift cylinders 8 are provided and distributed on both sides of the rotating base 2.

The lifting base 3 is connected with the rotating base 2 through 4 guide posts, and the guide posts 13 penetrate through connecting holes formed in the rotating base 2 and play a role in guiding the lifting base 3 in the lifting process; the lifting base 3 can rotate together with the rotating base 2 and can lift relative to the rotating base 2.

Referring to fig. 3, the lifting base 3 of the present embodiment is provided with 4 fixture installation stations 11, and the 4 fixture installation stations 11 are uniformly arranged; a mounting arm 4 of a clamp extends from each mounting station 11, and each mounting arm 4 is connected with a clamp; linear guide rails 12 are respectively arranged on two sides of the mounting arm 4, and the clamp can move along the linear guide rails 12 on the mounting arm 4;

it should be noted that, a person skilled in the art can set the number of the fixture mounting stations according to actual needs; the number of the fixtures can be selected according to the requirement.

Referring to fig. 4, the clamp portion includes a clamping jaw 6, a clamping cylinder driving the clamping jaw 6 to clamp, and a clamping jaw sliding arm 5 connected to the mounting arm 4; two sides of the clamping jaw sliding arm 5 are provided with sliding blocks 14 matched with the linear guide rails 12; the slide block 14 is matched with the linear guide rail 12 to realize the movement of the clamping jaw 6 on the mounting arm 4; the clamping jaw sliding arm 5 is connected with a telescopic oil cylinder arranged on the mounting arm 4, and the telescopic oil cylinder drives the clamp part to move in a telescopic mode so as to meet the requirements of material grabbing at different stations.

The clamping jaw 6 is connected with a clamping oil cylinder, and a position sensor is arranged in the clamping oil cylinder; the position sensor is used for detecting the position of the oil cylinder rod, and the extending amount of the oil cylinder can be determined through direct reading.

The clamping oil cylinder controls the clamping and the loosening of the clamping jaws 6 through a connecting rod structure, and the two clamping jaws are driven by the connecting rod structure to keep relative parallel movement all the time. Referring to fig. 5, the two fixed sides do not move, so the two opposite parallel sides always move in parallel, thus ensuring that the V-shaped jaws of the pliers always move in parallel as indicated by the arrows.

The rotary mechanical arm is arranged at the center of an annularly arranged material processing station, the seamless ring hot rolling forming process is taken as an example for the embodiment, and in the seamless ring hot rolling forming process, a material heating table, a press machine and a ring rolling machine station are respectively arranged in a range of a set distance at the periphery of the rotary mechanical arm, so that a clamping jaw can touch the material;

the first material is firstly heated at a station of a heating table, the heated material is clamped by a first clamping jaw, the rotary base 2 rotates, the first clamping jaw rotates to a station of a press machine, and the material is placed at a set position of the station of the press machine; meanwhile, after a reasonable time interval is set, the second material can be heated on the heating table; after the materials are processed at the station of the press machine, the rotating base 2 rotates to control the first clamping jaw to send the materials to the station of the ring rolling machine; at the moment, the second material can just rotate to the station of the press machine through the second clamping jaw; so circulation work can realize that a plurality of materials are processed simultaneously and are transported between different stations, and the arm realizes cyclic utilization at rotatory in-process, has greatly improved work efficiency. The problems that a single mechanical arm needs to move back and forth between different stations, so that the control process is complex and the processing efficiency is influenced are solved.

It should be noted that the rotary manipulator of the embodiment can be applied to the process of processing materials among multiple stations in an annular layout, and the multiple materials can be conveyed simultaneously by reasonably designing the intervals of the clamping jaws 6, the time intervals of material placement and the rotation time intervals of the rotary base 2.

Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.

Claims

1. A rotary manipulator suitable for multistation, its characterized in that includes: the device comprises a fixed base, a rotating base, a lifting base and a clamp; the fixed base is connected with a rotating base, and the rotating base can rotate relative to the fixed base under the driving of a first driving mechanism; the lifting base is connected with the rotating base through a lifting mechanism, and the lifting mechanism can be driven by a second driving mechanism to move up and down; the lifting base is provided with a plurality of clamp mounting parts, and at least one clamp mounting part is connected with a clamp; the clamp can do linear motion along the clamp installation part under the driving of the third driving mechanism, so that the stretching of the clamp is realized.

2. A rotary manipulator according to claim 1, wherein the lifting base is provided with a plurality of jig mounting stations, and a jig mounting portion extends from each jig mounting station.

3. A rotary manipulator according to claim 2, wherein the jig mounting portion is provided with linear guides.

4. A rotary manipulator according to claim 3, wherein the gripper has slides that mate with linear guides along which the slides can move.

5. A rotary manipulator according to claim 2, wherein the lifting base is provided with four jig mounting stations, each jig mounting station having a jig mounting portion extending therefrom, each jig mounting portion having a jig attached thereto.

6. A rotary manipulator according to claim 1, wherein the gripper is connected to a clamping cylinder, and a position sensor is provided in the clamping cylinder.

7. A rotary manipulator according to claim 1, wherein the rotary base is connected to the fixed base via a rotary support having an outer ring; the first driving mechanism is a servo motor, the servo motor drives the gear to rotate, the gear is meshed with an outer ring gear of the rotary support, and the gear rotates to drive the rotary support to rotate, so that the rotary support rotates.

8. A rotary manipulator according to claim 1, wherein the lifting base is connected to the rotary base by at least one lift cylinder.