CN213256894U

CN213256894U - Manipulator transmission device of multi-station cold header

Info

Publication number: CN213256894U
Application number: CN202021804771.3U
Authority: CN
Inventors: 张方洋
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-25
Filing date: 2020-08-25
Publication date: 2021-05-25
Anticipated expiration: 2030-08-25

Abstract

The utility model relates to an it moves multistation cold heading machine manipulator transmission, including frame and the manipulator frame of sliding fit on the frame, mechanical arm shelf location has the manipulator, spring restorer and the revolving axle of driving the manipulator switching action, spring restorer includes the spring holder and installs the roof pressure spring on the spring holder, roof pressure spring one end butt is on the spring holder, the roof pressure spring other end has spring roof pressure power output, the manipulator includes the initiative arm lock of being connected with the revolving axle linkage and corresponds the vice arm lock of complex with the initiative arm lock, the revolving axle cooperation has drive revolving axle pivoted drive assembly, be equipped with spring butt portion in the initiative arm lock, spring restorer's spring roof pressure power output butt is on the spring butt portion of initiative arm lock to provide the manipulator through spring restorer and tend to closed drive power that resets. The spring restorer directly acts on the mechanical arm and has the advantages of compact structure, and more stable, sensitive and reliable action.

Description

Manipulator transmission device of multi-station cold header

Technical Field

The utility model relates to a cold heading machine, the manipulator transmission of multistation cold heading machine of saying so definitely.

Background

For example, in a "multi-station cold header manipulator transmission assembly" (No. CN 103192023B) disclosed in patent document No. 201310091958.1, a manipulator rotating shaft is provided with a half-moon-shaped roller spring seat, the half-moon-shaped roller spring seat is connected with a spring restorer in a butting manner, wherein the spring restorer comprises a spring mandrel, a limiting flange is arranged at a matching end of the half-moon-shaped roller spring seat of each spring mandrel, the limiting flange is a spring jacking force output end for outputting spring jacking force, the end face of the limiting flange is in a spherical shape, four "7" spring seats corresponding to four mounting through holes are arranged above a manipulator frame, each spring mandrel is correspondingly connected with a spring adjusting screw sleeve after penetrating through a transverse part of the "7" spring seat, and a flat-wire coil spring is sleeved outside each spring mandrel. According to the manipulator transmission assembly with the structure, the spring mechanism is matched with the manipulator rotating shaft to provide spring driving force for the manipulator, and the defect that the stability of opening and closing actions of the manipulator is not enough exists.

Disclosure of Invention

The utility model discloses the invention purpose: for overcoming the defect that prior art exists, the utility model provides a multistation cold heading machine manipulator transmission that the action is more stable sensitive.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a multistation cold heading machine manipulator transmission, including frame and the manipulator frame of sliding fit on the frame, the manipulator shelf location has the manipulator, spring restorer and the revolving axle of driving the manipulator switching action, spring restorer includes the spring holder and installs the roof pressure spring on the spring holder, roof pressure spring one end butt is on the spring holder, the roof pressure spring other end has spring roof pressure output, the manipulator includes the initiative arm lock of being connected with the revolving axle linkage and corresponds complex vice arm lock with the initiative arm lock, the revolving axle cooperation has drive revolving axle pivoted drive assembly, a serial communication port: the active clamping arm is provided with a spring abutting part, and a spring top pressure output end of the spring restorer abuts against the spring abutting part of the active clamping arm, so that restoring driving force tending to close the manipulator is provided through the spring restorer.

By adopting the technical scheme, the manipulator completes the opening and closing actions through the driving of the rotating shaft, and the manipulator has the advantages of stability, reliability and long service life; and the installation and arrangement are reasonable, and the structure is more compact.

Preferably, the driving clamping arm comprises an L-shaped clamping arm body, the L-shaped clamping arm body comprises an upper arm plate and a clamping arm plate, the other end of the upper arm plate, which is opposite to the end connected with the clamping arm plate, is a driving end sleeved on the rotating shaft, and the driving end of the upper arm plate extends upwards along a reverse slope to form a spring abutting portion. Under this structural design, spring butt portion is extended upwards to form by the reverse slope of upper arm plate drive end, forms oblique ascending spring butt portion on the upper portion of initiative arm lock promptly for spring restorer and the cooperation of initiative arm lock are more reliable, be convenient for installation and arrange and compact structure.

Preferably, the transmission assembly comprises a swing arm mounted on the rotating shaft and a rocker arm pivoted on the base, one end of the swing arm is fixed on the rotating shaft, the other end of the swing arm is a swing end eccentrically arranged with the rotating shaft, a roller is arranged on the swing end, the rocker arm is in butt fit with the roller of the swing arm, a pressing rod extending along the swing direction of the swing arm in a matching direction is arranged on the rocker arm, and the rocker arm is in butt fit with the roller through the pressing rod. Under this structural design, the rocking arm swing action, support on the rocking arm and press the pole and contradict on the gyro wheel, through swing arm drive revolving axle reciprocating rotation, reach and drive manipulator opening and shutting action.

Preferably, it is adjacent to support the depression bar on the rocking arm and follow revolving axle axial direction dislocation arrangement, and support the rocking arm side that the depression bar is close to the manipulator setting and have the space of stepping down that supplies to support the depression bar to stretch into on another adjacent rocking arm, the gyro wheel that supplies to support the depression bar butt on the corresponding adjacent swing arm is along revolving axle axial direction dislocation arrangement. Under this structural design, the pole dislocation arrangement is pressed in the support of adjacent rocking arm, has compact structure's advantage.

Preferably, the base comprises a main base body and a manipulator frame mounting seat detachably mounted on the main base body, and the transmission assembly and the manipulator frame are mounted on the manipulator frame mounting seat. Under this structural design, drive assembly and manipulator frame assemble realize the modularized design on manipulator frame mount pad, the dismouting operation when being convenient for assemble and maintain.

Preferably, be equipped with the direction track on the manipulator frame mount pad, the manipulator frame be equipped with direction track direction complex slide, the direction track has the assembly end that supplies the slide to follow slide slip direction cartridge and withdraw from the direction track, be equipped with on the manipulator frame mount pad with direction track assembly end and supply the gyration axis to take swing arm one end to pass and dodge the mouth. Under this structural design, adopt slide sliding fit on the guide rail for the manipulator frame slides reliably and steadily, and the slide inserts and withdraws from the guide rail along guide rail one end (assembly end), and the design of dodging the mouth simultaneously makes things convenient for the manipulator frame to go up the together dismouting of accessory linkage manipulator frame, and the dismouting is more convenient.

Preferably, both ends set up the slider and constitute about the manipulator frame the slide, the direction track includes the assembly groove, and both sides are equipped with the track groove about the assembly groove, at manipulator frame both ends the slider one-to-one cooperation is at the track inslot, and the assembly groove sets up along slider slip direction one side opening and constitutes the assembly end, the opening of assembly groove with dodge mouthful UNICOM. Under this structural design, overall structure is compact, and the slip of manipulator frame is more reliable and more stable.

Preferably, the manipulator frame mount pad includes box main part, and box main part includes bottom plate, roof, left side board, right side board, preceding curb plate and posterior lateral plate, be equipped with on the preceding curb plate and supply manipulator frame to take manipulator one side to expose and supply the revolving axle to stretch into the assembly window in the box main part, be equipped with the rocking arm mount pad that supplies the rocking arm installation on the posterior lateral plate and supply the rocking arm that the power input end of rocking arm stretches out to stretch out the window. Under this structural design, under the initiative arm lock cooperation condition of spring restorer and manipulator, can realize that manipulator frame mount pad is box structural design, the structure is more clean and tidy, and plays the guard action.

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

Drawings

Fig. 1 is a schematic structural view of a manipulator transmission device of a multi-station cold header according to an embodiment of the present invention;

fig. 2 is a partial exploded view of the manipulator transmission device of the multi-station cold header according to the embodiment of the present invention;

fig. 3 is a schematic structural view of a manipulator frame of the manipulator transmission device of the multi-station cold header according to the embodiment of the present invention;

fig. 4 is a schematic structural view of an active clamp arm of a robot according to an embodiment of the present invention;

fig. 5 is a layout diagram of a rocker arm according to an embodiment of the present invention.

Detailed Description

Referring to the accompanying drawings 1-5, the utility model discloses a multistation cold heading machine manipulator transmission, including frame 1 and the manipulator frame 2 of sliding fit on frame 1, install manipulator 3, spring restorer 4 and revolving axle 5 of driving manipulator 3 switching action on the manipulator frame 2, spring restorer 4 includes spring holder 41 and the roof pressure spring 42 of installing on spring holder 41, roof pressure spring 42 one end is supported and connected on spring holder 41, the roof pressure spring 42 other end has spring roof pressure output end 421, wherein spring restorer is the conventional technique in this embodiment, the roof pressure spring is coil spring, be equipped with spring mandrel 42-1 on the spring holder 41, roof pressure spring 42 suit is on spring mandrel 42-1, spring mandrel 42-1 one end constitutes spring roof pressure output end 421, manipulator 3 includes the initiative arm lock 31 of being connected with revolving axle 5 linkage and corresponds the vice complex with initiative arm lock 31 and vice arm lock The clamping arms 32, the driving clamping arm 31 and the auxiliary upper clamping arm 32 are hinged to each other to present an opening and closing action, the rotating shaft 5 is matched with a transmission component for driving the rotating shaft 5 to rotate, the driving clamping arm 31 is provided with a spring abutting part 311, and a spring abutting pressure output end 421 of the spring restorer 4 abuts against the spring abutting part 311 of the driving clamping arm 31, so that a restoring driving force for the manipulator 3 to tend to be closed is provided through the spring restorer 4. The spring restorer is directly pressed on the driving clamping arm of the manipulator to provide restoring driving force for closing the manipulator, so that the restoring action of the manipulator is quicker, more sensitive and more reliable; and the installation and arrangement are reasonable, and the structure is more compact. The spring restorer of the utility model is a conventional part in the field, so the specific structure is not described again.

The driving clamp arm 31 includes an L-shaped clamp arm body, the L-shaped clamp arm body includes an upper arm plate 312 and a clamping arm plate 313, the other end of the upper arm plate 312, which is opposite to the end connected to the clamping arm plate 313, is a driving end 3121 sleeved on the rotating shaft 5, and the driving end 3121 of the upper arm plate 312 extends upward along a reverse direction in an inclined manner to form a spring abutting portion 311. Spring abutting portion is formed by the reverse oblique upward extension of upper arm plate drive end, forms oblique ascending spring abutting portion on the upper portion of initiative arm lock promptly for spring restorer and the cooperation of initiative arm lock are more reliable, be convenient for installation and arrangement and compact structure. For better understanding of the present invention, it should be noted that the up-down direction (the direction of the Z axis shown in the figure) is perpendicular to the sliding direction of the robot frame (the direction of the X axis shown in the figure) and perpendicular to the axial direction of the rotating shaft (the direction of the Y axis shown in the figure), the downward direction is the direction of the clamping end of the corresponding clamping arm plate of the driving clamping arm (the direction of the Z1 shown in the figure), and the corresponding upward direction is the direction opposite to the downward direction (the direction of the Z2 shown in the figure).

In this embodiment, the driving assembly includes a swing arm 61 mounted on the rotation shaft 5 and a swing arm 62 pivotally mounted on the machine base 1, one end of the swing arm 61 is fixed on the rotation shaft 5, the other end of the swing arm 61 is a swing end 611 eccentrically disposed with respect to the rotation shaft 5, the swing end 611 is provided with a roller 612, the swing arm 62 is in contact fit with the roller 612 of the swing arm 61, the swing arm 62 is driven by a cam 7 mounted on the machine base 1, the swing arm 62 is provided with a pressing rod 621 extending along a direction (as shown in the figure, the direction of the X axis) corresponding to the swing direction of the swing arm 61, and the swing arm 62 is in contact with the roller. The rocker arm swings, the pressing rod on the rocker arm is abutted against the roller, and the swing arm drives the rotating shaft to rotate in a reciprocating manner, so that the manipulator is driven to open and close.

Adjacent the pressure lever 621 on the rocking arm 62 along the 5 axial direction of revolving axle (like the Y axle direction) dislocation arrangement, and support and press the rocking arm side that the pole 621 is close to the manipulator 3 setting to have the space 622 of stepping down that supports to press the pole to stretch into on the adjacent another rocking arm, support pressure lever on the adjacent rocking arm has the overlap section in the space like this, can make full use of assembly space, the structure is more compact, the gyro wheel that supplies to press the pole butt on the corresponding adjacent swing arm along revolving axle axial direction dislocation arrangement.

The machine base 1 comprises a main base body 1-1 and a manipulator frame mounting base 1-2 which is detachably mounted on the main base body 1-1, and the transmission assembly and the manipulator frame 2 are mounted on the manipulator frame mounting base 1-2. The transmission assembly and the manipulator frame are assembled on the manipulator frame mounting seat to realize modular design, and the assembly and disassembly operation during assembly and maintenance is facilitated.

The manipulator frame mounting seat 1-2 is provided with a guide rail, the manipulator frame 2 is provided with a sliding seat which is matched with the guide rail in a guide way, the guide rail is provided with an assembling end for the sliding seat to be inserted and withdrawn from the guide rail along the sliding direction of the sliding seat, and one side of the manipulator frame mounting seat 1-2, which corresponds to the assembling end of the guide rail, is provided with an avoiding opening 1-21 for the end of the rotating shaft 5 with the swing arm 61 to pass through. Adopt slide sliding fit on the guide rail for the manipulator frame slides reliably and steadily, and the slide inserts and withdraws from the guide rail along guide rail one end (assembly end), and the design of keeping away the mouth simultaneously makes things convenient for the attached accessory linkage manipulator frame on the manipulator frame together dismouting, and the dismouting is more convenient. The guide track may be a raised track or a trough-like structure as is conventional in the art.

For making compact structure, the guide rail adopts the slot-like structure, and the concrete structure is as follows: the upper end and the lower end of the manipulator frame 2 are provided with sliding blocks 2-1 to form the sliding seat, the guide track comprises assembly grooves 1-22, track grooves 1-221 are formed in the upper side and the lower side of the assembly grooves 1-22, the sliding blocks 2-1 at the two ends of the manipulator frame 2 are matched in the track grooves 1-221 in a one-to-one correspondence mode, one side opening 1-222 of the assembly grooves 1-22 in the sliding direction of the sliding blocks is arranged to form the assembly end, and openings of the assembly grooves 1-22 are communicated with avoidance openings 1-21. The whole structure is compact, and the sliding of the manipulator frame is more stable and reliable.

The manipulator frame mounting seat 1-2 comprises a box-type main body, the box-type main body comprises a bottom plate 1-23, a top plate 1-24, a left side plate 1-25, a right side plate 1-26, a front side plate 1-27 and a rear side plate 1-28, an assembly window for exposing one side of a manipulator 3 of the manipulator frame 2 and enabling a rotating shaft 5 to extend into the box-type main body is arranged on the front side plate 1-27, the assembly window in the embodiment is an assembly groove 1-22, and a rocker mounting seat for mounting a rocker 62 and a rocker extending window for extending a power input end of the rocker are arranged on the rear side plate 1-28; the escape window is provided on the right side plate 1-26. Under the initiative arm lock cooperation condition based on spring restorer and manipulator, realize the leading design of spring restorer, can realize that manipulator frame mount pad is box structural design, the structure is more clean and tidy, and plays the guard action.

Claims

1. The utility model provides a multistation cold heading machine manipulator transmission, including frame and the manipulator frame of sliding fit on the frame, the manipulator shelf location has the manipulator, spring restorer and the revolving axle of driving the manipulator switching action, spring restorer includes the spring holder and installs the roof pressure spring on the spring holder, roof pressure spring one end butt is on the spring holder, the roof pressure spring other end has spring roof pressure output, the manipulator includes the initiative arm lock of being connected with the revolving axle linkage and corresponds complex vice arm lock with the initiative arm lock, the revolving axle cooperation has drive revolving axle pivoted drive assembly, a serial communication port: the active clamping arm is provided with a spring abutting part, and a spring top pressure output end of the spring restorer abuts against the spring abutting part of the active clamping arm, so that restoring driving force tending to close the manipulator is provided through the spring restorer.

2. The multi-station cold header manipulator transmission device of claim 1, wherein: the driving clamping arm comprises an L-shaped clamping arm body, the L-shaped clamping arm body comprises an upper arm plate and a clamping arm plate, the other end, opposite to the end connected with the clamping arm plate, of the upper arm plate is a driving end sleeved on the rotating shaft, and the driving end of the upper arm plate extends upwards along the reverse direction to form a spring abutting portion.

3. The multi-station cold header manipulator transmission device of claim 1, wherein: the transmission assembly comprises a swing arm arranged on the rotating shaft and a rocker arm pivoted on the base, one end of the swing arm is fixed on the rotating shaft, the other end of the swing arm is a swing end eccentrically arranged with the rotating shaft, a roller is arranged on the swing end, the rocker arm is in contact fit with the roller of the swing arm, a pressing rod extending along the swing direction of the swing arm in a corresponding direction is arranged on the rocker arm, and the rocker arm is in contact with the roller through the pressing rod.

4. The multi-station cold header manipulator transmission device of claim 3, wherein: and adjacent pressing rods on the rocker arms are arranged along the axial direction of the rotating shaft in a staggered manner, the side of the rocker arm, which is close to the manipulator, of each pressing rod is provided with a yielding space for the pressing rod to extend into on the adjacent other rocker arm, and rollers, which are abutted to the pressing rods, on the corresponding adjacent swing arms are arranged along the axial direction of the rotating shaft in a staggered manner.

5. The multi-station cold header manipulator transmission device of claim 3, wherein: the machine base comprises a main base body and a manipulator frame mounting seat which is detachably mounted on the main base body, and the transmission assembly and the manipulator frame are mounted on the manipulator frame mounting seat.

6. The multi-station cold header manipulator transmission device of claim 5, wherein: the manipulator is characterized in that a guide rail is arranged on the manipulator frame mounting seat, a sliding seat matched with the guide rail in a guide mode is arranged on the manipulator frame, the guide rail is provided with an assembling end for inserting the sliding seat along the sliding direction of the sliding seat and withdrawing from the guide rail, and an avoiding opening for allowing one end of the swing arm to pass through of the rotary shaft is formed in one side, corresponding to the assembling end of the guide rail, of the manipulator frame mounting seat.

7. The multi-station cold header manipulator transmission device of claim 6, wherein: both ends set up the slider and constitute about the manipulator frame the slide, the guide track includes the assembly groove, and both sides are equipped with the track groove about the assembly groove, at manipulator frame both ends the slider one-to-one cooperation is at the track inslot, and the assembly groove sets up along slider slip direction one side opening and constitutes the assembly end, the opening in assembly groove with dodge mouthful UNICOM.

8. The multi-station cold header manipulator transmission device of claim 5, wherein: the manipulator frame mount pad includes box main part, and box main part includes bottom plate, roof, left side board, right side board, preceding curb plate and posterior lateral plate, be equipped with on the preceding curb plate and supply manipulator frame to take manipulator one side to expose and supply the revolving axle to stretch into the assembly window in the box main part, the rocking arm that the power input end that is equipped with on the posterior lateral plate that supplies the rocking arm mount pad of rocking arm installation and supplies the rocking arm stretches out the window.