CN212421304U - Double-end mechanical arm - Google Patents

Abstract

The utility model discloses a double-head mechanical arm, belonging to the technical field of mechanical arms, comprising a base, a rotating component and two groups of sliding arm components; the rotating assembly is rotatably connected to the top of the base, a plurality of first guide rails are horizontally and transversely arranged on the top surface of the rotating assembly, two groups of sliding arm assemblies are mounted on the first guide rails and linearly reciprocate transversely along the first guide rails, the two groups of sliding arm assemblies are arranged in a central symmetry mode according to the rotation axis of the rotating assembly, and at least one clamping position is arranged on any one group of sliding arm assemblies; one group of sliding arm assemblies clamps prepared workpieces of the upper station and then rotates for a set angle under the driving of the rotating assembly to reach the lower station, the workpieces are placed in the lower station, and meanwhile the other group of sliding arm assemblies clamps the prepared workpieces of the upper station. The utility model provides a technical scheme adopts the mode of getting material, material loading simultaneously, can effectively improve the work efficiency who gets material, material loading, reduction in production cost.

Description

Double-end mechanical arm

Technical Field

The utility model belongs to the technical field of the manipulator, especially, relate to a double-end robotic arm.

Background

The manipulator that forging and pressing station used is one of forging and pressing auxiliary assembly, and single armed manipulator is adopted mostly to present forging and pressing manipulator, and material loading unloading speed is slow, and the manipulator mostly only once centre gripping work piece in addition, can't be competent at the job requirement in the occasion that needs a large amount of high-efficient work. Between each forging and pressing station of material loading platform, unloading platform and continuous forging and pressing, when the production beat is unanimous, often can go up the station and get the material and go on simultaneously with the action of station material loading down, traditional robotic arm can't satisfy the requirement, and traditional robotic arm can't once effectual clamp simultaneously gets a plurality of work pieces moreover.

Therefore, a double-head mechanical arm is required to be arranged between the feeding and discharging platform and each forging station to improve the working efficiency and reduce the production cost.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a double-end robotic arm uses between last unloading platform and each forging and pressing station, can go up the station and get the action of material and station material loading down and go on simultaneously, once get material, material loading moreover can a plurality of work pieces of centre gripping to improve the work efficiency who gets material, material loading, reduction in production cost.

In order to solve the technical problem, the utility model adopts the following technical scheme:

the utility model relates to a double-head mechanical arm, which comprises a base, a rotating component and two groups of sliding arm components; the rotating assembly is rotatably connected to the top of the base, a plurality of first guide rails are horizontally and transversely arranged on the top surface of the rotating assembly, two groups of sliding arm assemblies are mounted on the first guide rails and linearly reciprocate transversely along the first guide rails, the two groups of sliding arm assemblies are arranged in a central symmetry mode according to the rotation axis of the rotating assembly, and at least one clamping position is arranged on any one group of sliding arm assemblies; and one group of sliding arm assemblies clamp prepared workpieces of the upper station, then the workpieces rotate by a set angle under the driving of the rotating assembly to reach the lower station, the workpieces are placed in the lower station, and meanwhile, the other group of sliding arm assemblies clamp prepared workpieces of the upper station.

Further, the rotating assembly comprises a rotating disc and a rotary driving mechanism; the carousel sets up on the top surface of base to be in through setting up the rotation driving mechanism drive of carousel bottom the carousel rotates, be provided with four on the top surface of carousel first guide rail, every two of first guide rail are a set of setting side by side the below of slip arm assembly.

Furthermore, the rotary driving mechanism comprises a bearing seat, a bearing, an inner gear ring, a speed reduction motor and a driving gear, wherein the bearing is connected to the top of the base through the bearing seat, the inner gear ring is arranged in the middle of the bottom of the turntable, the outer cylindrical surface of the inner gear ring is connected with the inner ring of the bearing, the speed reduction motor is installed on the base, and the driving gear connected with the working end of the speed reduction motor is meshed with the inner gear ring.

Furthermore, the sliding arm component comprises a long sliding plate, a sliding block cover, a guide pillar, a sliding block, a second guide rail, a sliding connection block, a long arm and a driving device;

the long sliding plate is connected with the two first guide rails in a sliding mode, and is provided with a driving device which drives the long sliding plate to do linear reciprocating motion along the first guide rails;

the sliding block cover is arranged on one end of the inner side of the long sliding plate, a group of guide posts are arranged in the sliding block cover, the sliding block is connected to the guide posts in a sliding mode, the sliding block is L-shaped, and the sliding block is driven by the lifting device to move up and down along the guide posts;

the upper surface of the L-shaped long edge of the sliding block is provided with the second guide rail, the second guide rail is in sliding connection with a group of sliding connection blocks, the sliding connection blocks are outwards connected with a pair of long arms, the long arms are provided with a plurality of clamping positions, the clamping positions are specifically designed into a notch shape, a clamping device is arranged between the two sliding connection blocks, and the clamping device drives the long arms to clamp or release.

Further, the driving device specifically adopts a linear motor structure or a servo motor to drive a gear rack structure to drive the long sliding plate to do linear motion; the lifting device comprises a first air cylinder arranged at the top of the sliding block cover, and the working end of the first air cylinder penetrates through the sliding block cover and then is connected to the upper surface of the sliding block; the clamping device comprises a second air cylinder, the bottom of the second air cylinder is arranged on the inner side surface of one sliding connection block, and the working end of the second air cylinder is arranged on the inner side surface of the other sliding connection block positioned on the same side.

Furthermore, a plurality of clamping assemblies are arranged on the opposite surfaces of the pair of long arms, and each clamping assembly comprises a plurality of clamping blocks, a guide connecting block and a jacking mechanism; the clamping blocks are correspondingly arranged at the workpiece clamping groove of the long arm, the guide connecting blocks are arranged on two sides of the clamping blocks, and the working end of the jacking mechanism is abutted against the bottoms of the clamping blocks.

Furthermore, the jacking mechanism comprises a pin shaft, a short push rod, a middle push rod, a long push rod, a third cylinder, a fourth cylinder and a fifth cylinder; the short push rod, the middle push rod and the long push rod all rotate by taking the pin shaft as a fulcrum, and are respectively driven by the third cylinder, the fourth cylinder and the fifth cylinder to press or loosen the three clamping blocks.

Correspondingly the embodiment of the utility model provides a still provide a double-end robotic arm's last unloading method, include: the double-head mechanical arm is used for feeding and discharging, and material taking and feeding actions are alternately executed after the double-head mechanical arm rotates 180 degrees or 90 degrees.

Further, when double-end robotic arm set up between last station and lower station, specific operation includes following several steps:

taking materials, wherein a sliding arm component on one side, facing an upper station, of a double-head mechanical arm extends out of a plurality of prepared workpieces to the upper station along a first guide rail, and a front arm part of the sliding arm component clamps the workpieces at a clamping position, lifts the workpieces and retracts;

rotating, wherein the rotating assembly drives the sliding arm assembly to rotate 180 degrees, and the sliding arm assembly holding materials faces a lower station;

discharging, namely extending the sliding arm assembly for holding materials to a material placing table of a lower station, descending, and performing the action of releasing the workpieces and returning;

and in the process that the sliding arm component finishes placing the workpiece, the other group of sliding arm components simultaneously finishes the work of taking materials at the upper station.

Compared with the prior art, the utility model discloses a beneficial technological effect:

the double-head mechanical arm and the feeding and discharging method thereof can simultaneously take and load materials through the two groups of sliding arm components which are arranged along the rotation axis of the rotating component in a central symmetry way; the cylinder driving push rod structure arranged in the long arm can ensure that the clamping position of each workpiece can be clamped independently, and the condition of clamping errors is effectively reduced. The utility model provides a scheme can effectively improve the work efficiency who gets material, material loading, reduction in production cost.

Drawings

The present invention will be further explained with reference to the following description of the drawings.

Fig. 1 is a front view of the double-head mechanical arm of the present invention;

fig. 2 is a top view of the double-head robot arm of the present invention;

FIG. 3 is a cross-sectional view of FIG. 1;

fig. 4 is a partial cross-sectional enlarged view of the position I of fig. 2.

Description of reference numerals: 1. a base; 1a, a bearing seat; 2. an electric control cabinet; 3. a bearing; 4. a turntable; 4a, an inner gear ring; 5. a first guide rail; 6. a long slide plate; 7. a slider cover; 8. a guide post; 9. a slider; 10. a second guide rail; 11. a sliding connection block; 12. a long arm; 12a, a clamping block; 12b, a guide connecting block; 13. a reduction motor; 14. a drive device; 15. a first cylinder; 16. a second cylinder; 17. a pin shaft; 18. a short push rod; 19. a middle push rod; 20. a long push rod; 21. a third cylinder; 22. a fourth cylinder; 23. and a fifth cylinder.

Detailed Description

It is at first right that the embodiment of the utility model provides a double-end robotic arm and last unloading method introduce: as shown in fig. 1 to 3, a double-head robot arm includes a base 1, a rotating assembly and two sets of sliding arm assemblies; the rotating assembly is rotatably connected to the top of the base 1, a plurality of first guide rails 5 are horizontally and transversely arranged on the top surface of the rotating assembly, two groups of sliding arm assemblies are arranged on the first guide rails 5 and linearly reciprocate transversely along the first guide rails 5, and the two groups of sliding arm assemblies are arranged in central symmetry with the rotating axis of the rotating assembly, namely the sliding arm assemblies are completely overlapped with the original state after rotating 180 degrees; at least one clamping position is arranged on any group of sliding arm components, namely one or more workpieces can be grabbed at one time; one group of sliding arm assemblies clamps prepared workpieces of the upper station and then rotates for a set angle under the driving of the rotating assembly to reach the lower station, the workpieces are placed in the lower station, and meanwhile the other group of sliding arm assemblies clamps the prepared workpieces of the upper station.

The rotating assembly comprises a turntable 4 and a rotary driving mechanism; the turntable 4 is arranged on the top surface of the base 1, the turntable 4 is driven to rotate by a rotary driving mechanism arranged at the bottom of the turntable 4, four first guide rails 5 are arranged on the top surface of the turntable 4, and every two first guide rails 5 are arranged below the sliding arm assembly in parallel. In addition, an infrared sensor is arranged at the rotating position, so that the rotating position of the rotating disc 4 can be detected conveniently.

The rotary driving mechanism comprises a bearing seat 1a, a bearing 3, an inner gear ring 4a, a speed reducing motor 13 and a driving gear, wherein the bearing 3 is connected to the top of the base 1 through the bearing seat 1a, the inner gear ring 4a is arranged in the middle of the bottom of the rotary table 4, the outer cylindrical surface of the inner gear ring 4a is connected with the inner ring of the bearing 3, the speed reducing motor 13 is installed on the base 1, and the driving gear connected with the working end of the speed reducing motor 13 is meshed with the inner gear ring 4 a.

As shown in fig. 2 and 3, the sliding arm assembly includes a long sliding plate 6, a sliding block cover 7, a guide post 8, a sliding block 9, a second guide rail 10, a sliding block 11, a long arm 12 and a driving device 14; the long sliding plate 6 is connected with the two first guide rails 5 in a sliding manner, a driving device 14 is arranged on the long sliding plate 6, and the driving device 14 drives the long sliding plate 6 to do linear reciprocating motion along the first guide rails 5; the driving device 14 specifically adopts a linear motor structure or a servo motor to drive the gear rack structure to drive the long sliding plate 6 to do linear motion. And infrared sensors are arranged at two limit positions of the linear reciprocating motion of the long sliding plate 6.

As shown in fig. 3, a slider cover 7 is arranged on one end of the inner side of the long sliding plate 6, a group of guide posts 8 are arranged in the slider cover 7, a slider 9 is connected to the guide posts 8 in a sliding manner, the slider 9 is in an L-shaped shape, and the slider 9 is driven by a lifting device to move up and down along the guide posts 8; the lifting device comprises a first air cylinder 15 arranged at the top of the slide block cover 7, and the working end of the first air cylinder 15 penetrates through the slide block cover 7 and then is connected to the upper surface of the slide block 9.

As shown in fig. 2, a second guide rail 10 is disposed on the upper surface of the L-shaped long side of the slider 9, the second guide rail 10 is slidably connected to a set of sliding blocks 11, the sliding blocks 11 are outwardly connected to a pair of long arms 12, a plurality of clamping positions are disposed on the long arms 12, the clamping positions are designed to be notch-shaped, and a clamping device is disposed between the two sliding blocks 11 and drives the long arms 12 to clamp or unclamp. The clamping device comprises a second air cylinder 16, the bottom of the second air cylinder 16 is arranged on the inner side surface of one sliding connection block 11, and the working end is arranged on the inner side surface of the other sliding connection block 11 positioned on the same side

As shown in fig. 4, a plurality of clamping assemblies are arranged on the opposite surfaces of the pair of long arms 12, and each clamping assembly comprises a plurality of clamping blocks 12a, a guide connecting block 12b and a jacking mechanism; the clamping blocks 12a are correspondingly arranged at the workpiece clamping notches of the long arms 12, the guide connecting blocks 12b are arranged on two sides of the clamping blocks 12a, and the working ends of the jacking mechanisms are abutted to the bottoms of the clamping blocks 12 a. The jacking mechanism comprises a pin shaft 17, a short push rod 18, a middle push rod 19, a long push rod 20, a third air cylinder 21, a fourth air cylinder 22 and a fifth air cylinder 23; the short push rod 18, the middle push rod 19 and the long push rod 20 all rotate by taking the pin shaft 17 as a fulcrum, and are driven by a third air cylinder 21, a fourth air cylinder 22 and a fifth air cylinder 23 to press or loosen the three clamping blocks 12 a. Therefore, the clamping positions of the clamping workpieces can be effectively clamped, and the problem that individual workpieces cannot be clamped when the simple long arm is used due to individual difference of the workpieces is solved. Although not specifically listed in this embodiment, the same can be deduced by providing the clamping block 12a, the guiding connecting block 12b and the corresponding pushing rod propping mechanism with one or more sets of workpiece clamping notches on the long arm 12, all falling into the protection scope of the present invention.

As shown in fig. 1 and 3, the electric control cabinet 2 is arranged on a bottom plate in the base 1 and controls the actions of various mechanisms including a rotary driving mechanism, a driving device 14, a first air cylinder 15, a second air cylinder 16, a third air cylinder 21, a fourth air cylinder 22 and a fifth air cylinder 23; the main controller in the electric control cabinet 2 adopts PLC, the specific model adopts the Xinjie XDM-60T-E, and the PLC is responsible for communicating with an upper computer of a forging production line.

Based on above-mentioned double-end robotic arm, the utility model discloses still provide a double-end robotic arm's last unloading method, include: the double-head mechanical arm in the embodiment is used for feeding and discharging, and when materials are conveyed between two stations, the double-head mechanical arm rotates 180 degrees and then alternately executes material taking and feeding actions. When carrying out material transport between four stations, double-end robotic arm arranges in the middle of four stations, after double-end robotic arm rotatory 90 degrees intervals, the execution is got material and material loading action in turn.

The utility model relates to a double-end robotic arm carries out the process description of work as follows: taking a double-head mechanical arm between a feeding table and a first forging station as an example for explanation, firstly, three blanks are prepared on the feeding table, and a long arm 12 group on one side of the double-head mechanical arm makes releasing action under the action of a second air cylinder 16; the long sliding plate 6 on the same side slides to the feeding table under the drive of the drive device 14, and stops after the long sliding plate is in place; the long arm 12 group performs clamping action under the action of the second air cylinder 16, and meanwhile, the third air cylinder 21, the fourth air cylinder 22 and the fifth air cylinder 23 drive corresponding push rods to tightly press the three clamping blocks 12a, so that each blank is guaranteed to be clamped; the slide block 9 where the long arm 12 group is positioned is lifted to a certain height under the action of the first air cylinder 15 and separated from the feeding platform; the long slide 6 with the long arm 12 group retracts under the driving of the driving device 14. The long arm 12 group thus completes the work of gripping the blank.

Then, the rotary table 4 is driven by a speed reducing motor 13 to rotate 180 degrees, and the long arm 12 group faces the forging press of the first forging station; the long sliding plate 6 where the long arm 12 group is positioned slides to the upper part of a forging die of a first forging station under the driving of a driving device 14; the slide block 9 where the long arm 12 group is positioned descends a certain distance under the action of the first cylinder 15, and three blanks are placed above a forging die; the long arm 12 group performs releasing action under the action of the second air cylinder 16, and simultaneously the third air cylinder 21, the fourth air cylinder 22 and the fifth air cylinder 23 drive corresponding push rods to loosen the three clamping blocks 12 a; the long slide 6 with the long arm 12 group retracts under the driving of the driving device 14. The set of long arms 12 thus completes the work of placing the blank.

Moreover, while the long arms 12 of the other group complete the work of placing the blanks, the long arms 12 of the other group can complete the work of gripping the blanks. The reciprocating work that so circulates, the utility model relates to a double-end robotic arm and last unloading method thereof can accomplish the material transmission work of going up between unloading platform and each forging and pressing station by the efficient, guarantees production efficiency, has reduced manufacturing cost.

The above-mentioned embodiments are only intended to describe the preferred embodiments of the present invention, but not to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art without departing from the design spirit of the present invention should fall into the protection scope defined by the claims of the present invention.

Claims (7)

1. The utility model provides a double-end robotic arm which characterized in that: comprises a base (1), a rotating component and two groups of sliding arm components; the rotating assembly is rotatably connected to the top of the base (1), a plurality of first guide rails (5) are horizontally and transversely arranged on the top surface of the rotating assembly, two groups of sliding arm assemblies are mounted on the first guide rails (5) and linearly reciprocate transversely along the first guide rails (5), the two groups of sliding arm assemblies are arranged in central symmetry with the rotating axis of the rotating assembly, and at least one clamping position is arranged on any one group of sliding arm assemblies; and one group of sliding arm assemblies clamp prepared workpieces of the upper station, then the workpieces rotate by a set angle under the driving of the rotating assembly to reach the lower station, the workpieces are placed in the lower station, and meanwhile, the other group of sliding arm assemblies clamp prepared workpieces of the upper station.

2. The double-ended robot arm according to claim 1, wherein: the rotating assembly comprises a turntable (4) and a rotary driving mechanism; carousel (4) set up on the top surface of base (1), and through setting up the rotation driving mechanism drive of carousel (4) bottom carousel (4) rotates, be provided with four on the top surface of carousel (4) first guide rail (5), every two of first guide rail (5) are a set of setting side by side the below of slip arm subassembly.

3. The double-ended robot arm according to claim 2, wherein: the rotary driving mechanism comprises a bearing seat (1a), a bearing (3), an inner gear ring (4a), a speed reducing motor (13) and a driving gear, wherein the bearing (3) is connected to the top of the base (1) through the bearing seat (1a), the inner gear ring (4a) is arranged at the middle position of the bottom of the turntable (4), the outer cylindrical surface of the inner gear ring (4a) is connected with the inner ring of the bearing (3), the speed reducing motor (13) is installed on the base (1), and the driving gear connected with the working end of the speed reducing motor (13) is meshed with the inner gear ring (4 a).

4. The double-ended robot arm according to claim 1, wherein: the sliding arm assembly comprises a long sliding plate (6), a sliding block cover (7), a guide post (8), a sliding block (9), a second guide rail (10), a sliding connection block (11), a long arm (12) and a driving device (14);

the long sliding plate (6) is connected with the two first guide rails (5) in a sliding mode, a driving device (14) is arranged on the long sliding plate (6), and the driving device (14) drives the long sliding plate (6) to do linear reciprocating motion along the first guide rails (5);

the sliding block cover (7) is arranged on one end of the inner side of the long sliding plate (6), a group of guide posts (8) is arranged in the sliding block cover (7), the sliding block (9) is connected to the guide posts (8) in a sliding mode, the sliding block (9) is in an L shape, and the sliding block (9) is driven by the lifting device to move up and down along the guide posts (8);

the L-shaped long edge upper surface of the sliding block (9) is provided with the second guide rail (10), the second guide rail (10) is connected with a group of sliding blocks (11) in a sliding mode, the sliding blocks (11) are connected outwards to form a pair of long arms (12), a plurality of clamping positions are arranged on the long arms (12), the clamping positions are specifically designed into notch shapes, two clamping devices are arranged between the sliding blocks (11), and the clamping devices drive the long arms (12) to clamp or release.

5. The double-ended robot arm according to claim 4, wherein: the driving device (14) specifically adopts a linear motor structure or a servo motor to drive a gear rack structure to drive the long sliding plate (6) to do linear motion; the lifting device comprises a first air cylinder (15) arranged at the top of a sliding block cover (7), and the working end of the first air cylinder (15) penetrates through the sliding block cover (7) and then is connected to the upper surface of the sliding block (9); the clamping device comprises a second air cylinder (16), the bottom of the second air cylinder (16) is installed on the inner side face of one sliding connection block (11), and the working end of the second air cylinder is installed on the inner side face of the other sliding connection block (11) located on the same side.

6. The double-ended robot arm according to claim 4, wherein: a plurality of clamping assemblies are arranged on the opposite surfaces of the pair of long arms (12), and each clamping assembly comprises a plurality of clamping blocks (12a), a guide connecting block (12b) and a jacking mechanism; the clamping blocks (12a) are correspondingly arranged at the workpiece clamping notches of the long arms (12), the guide connecting blocks (12b) are arranged on two sides of the clamping blocks (12a), and the working ends of the jacking mechanisms are abutted to the bottoms of the clamping blocks (12 a).

7. The double-ended robot arm according to claim 6, wherein: the jacking mechanism comprises a pin shaft (17), a short push rod (18), a middle push rod (19), a long push rod (20), a third air cylinder (21), a fourth air cylinder (22) and a fifth air cylinder (23); the short push rod (18), the middle push rod (19) and the long push rod (20) all rotate by taking a pin shaft (17) as a fulcrum, and are respectively driven by a third air cylinder (21), a fourth air cylinder (22) and a fifth air cylinder (23) to press or loosen the three clamping blocks (12 a).

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