CN215093621U

CN215093621U - Intelligent mechanical arm device based on powder metallurgy product picking

Info

Publication number: CN215093621U
Application number: CN202120886103.8U
Authority: CN
Inventors: 黄彬; 杨中川
Original assignee: Chengdu Mingrui Magnetic Industry Co ltd
Current assignee: Chengdu Mingrui Magnetic Industry Co ltd
Priority date: 2021-04-27
Filing date: 2021-04-27
Publication date: 2021-12-10
Anticipated expiration: 2031-04-27

Abstract

The utility model belongs to the technical field of automation, and provides an intelligent mechanical arm device based on powder metallurgy product picking, which comprises a workbench stand, a weighing plate arranged at the side end of the workbench stand, and a mechanical arm main body mechanism arranged on the workbench stand; the mechanical arm main body mechanism comprises a mechanical arm base arranged on the working table frame, a base rotating plate connected with the mechanical arm base through an S-axis rotating cylinder, an S-axis driving motor used for driving the S-axis rotating cylinder to rotate, and a mechanical arm executing mechanism arranged on the base rotating plate; the mechanical arm executing mechanism comprises an L-axis moving assembly, a U-axis moving assembly and a picking mechanism, and the L-axis moving assembly and the U-axis moving assembly drive the picking mechanism through a linkage mechanism. The utility model discloses an intelligent mechanical arm neatly picks up and gets fixed product week carousel, and whole process uses intelligent mechanical arm to replace manual operation, can realize alone operation 5 ~ 10 equipment, has promoted production efficiency from this greatly.

Description

Intelligent mechanical arm device based on powder metallurgy product picking

Technical Field

The utility model belongs to the technical field of it is automatic, specific theory relates to an intelligent mechanical hand device based on powder metallurgy product picks up.

Background

Powder metallurgy products are the process technology of forming metal powders (or mixtures of metal powders and non-metal powders) into materials and articles using forming and sintering processes. Powder metallurgy forming is the process of forming loose powder into semi-finished or finished products with predetermined or regular geometric shapes, sizes and the like. At present, the transfer of semi-finished products or finished products of powder metallurgy molding products is realized by the following modes: the powder metallurgy product is processed and released from the die pressing equipment, then the worker picks up the product manually to the product week carousel, and whole process is by manual operation completely, and the operating efficiency is low, has not only restricted enterprise production efficiency, has increased manufacturing cost moreover.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a simple structure, realize convenient intelligent manipulator device based on powder metallurgy product picks up to solve the technical problem that prior art exists.

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

an intelligent mechanical arm device based on powder metallurgy product picking comprises a working table frame, scale plates arranged at the side end of the working table frame and a mechanical arm main body mechanism arranged on the working table frame; the mechanical arm main body mechanism comprises a mechanical arm base arranged on the working table frame, a base rotating plate connected with the mechanical arm base through an S-axis rotating cylinder, an S-axis driving motor used for driving the S-axis rotating cylinder to rotate, and a mechanical arm executing mechanism arranged on the base rotating plate; the mechanical arm executing mechanism comprises an L-axis moving assembly, a U-axis moving assembly and a picking mechanism, and the L-axis moving assembly and the U-axis moving assembly drive the picking mechanism through a linkage mechanism.

Furthermore, the L-axis movement assembly comprises an L-axis driving motor, an L-axis rotating disk connected with the output end of the L-axis driving motor, and an L-axis support connected with the L-axis rotating disk, wherein the L-axis driving motor is installed on the base rotating plate through a fixing plate.

Furthermore, the U-axis motion assembly comprises a U-axis drive motor, a U-axis rotating disk connected with the output end of the U-axis drive motor, a U-axis rotating arm connected with the U-axis rotating disk, and a U-axis pull rod with one end hinged to the U-axis rotating arm, wherein the U-axis drive motor is installed on the base rotating plate through a fixing plate.

Further, pick up the mechanism and including picking up the skeleton and picking up the box, it connects to pick up the skeleton link gear, it installs to pick up the box pick up on the skeleton.

Furthermore, a rare earth permanent magnet for absorbing the powder metallurgy product is arranged in the pickup box, and the rare earth permanent magnet is connected with a telescopic rod for controlling the telescopic action of the rare earth permanent magnet relative to the pickup box.

Further, the linkage mechanism comprises a beam rod and a pull rod frame, and the beam rod is connected with the L-axis support and the U-axis swing arm; the pull rod frame is connected with the L-axis frame.

Further, the upper end part of the cross beam rod is hinged with the end part of the U-axis swing arm, the cross beam rod is hinged with the L-axis support, and the hinged position of the cross beam rod and the L-axis support is positioned below the hinged position of the cross beam rod and the U-axis swing arm; the pull rod bracket is connected with the L-axis bracket through a cam connecting piece.

Further, the L-axis support comprises an L-axis left support and an L-axis right support which are oppositely arranged.

Further, the crossbeam pole is including the relative left crossbeam pole and the right crossbeam pole that sets up, wherein, left crossbeam pole with L axle left socle is articulated, right crossbeam pole with L axle right branch frame is articulated.

Furthermore, the working table frame is provided with supporting legs, and nylon pads can be arranged at the bottoms of the supporting legs.

Compared with the prior art, the utility model discloses possess following beneficial effect: the utility model discloses a S axle, L axle, U axle multi freedom' S robotic arm action, through the utility model discloses during the product after realizing the press shaping neatly picked up fixed product week carousel through intelligent robotic arm, whole process uses intelligent robotic arm to replace manual operation, can realize one man operation 5 ~ 10 equipment, has promoted production efficiency from this very big ground.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a side view of the present invention.

Fig. 3 is a front view of the present invention.

Fig. 4 is a partial schematic view of the pickup box of the present invention.

Wherein, the names corresponding to the reference numbers are as follows: 1-a working table frame, 2-a scale plate, 3-a mechanical arm base, 4-S-axis rotating cylinders, 5-a base rotating plate, 6-S-axis driving motors, 7-L-axis driving motors, 8-nylon pads, 9-L-axis supports, 10-fixed plates, 11-U-axis driving motors, 12-U-axis rotating arms, 13-U-axis pull rods, 14-picking frameworks, 15-picking boxes, 16-beam rods, 17-pull rod supports, 18-cam connecting pieces, 19-supporting legs, 20-rare earth permanent magnets and 21-telescopic rods.

Detailed Description

In order to make the present invention more clear to those skilled in the art, the present invention will be further described in detail with reference to the following embodiments. It should be understood that the following specific embodiments are only for explaining the present invention, and it is convenient to understand that the technical solutions provided by the present invention are not limited to the technical solutions provided by the following embodiments, and the technical solutions provided by the embodiments should not limit the protection scope of the present invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, as the terms are used in the description to indicate that the referenced device or element must have the specified orientation, be constructed and operated in the specified orientation, and not for the purpose of limitation.

Examples

As shown in fig. 1 to 4, in the present embodiment, an intelligent manipulator device based on powder metallurgy product pickup is provided, in which a work bench is used as an installation carrier and a work space of a manipulator arm, the work bench is of a rack structure and is made of a steel material, corresponding support legs are arranged at four corners of the work bench, nylon pads can be arranged at bottoms of the support legs to achieve anti-skidding, shock absorption and other effects, an upper end surface of the work bench is a work table, and a space at a lower end of the work table is used for placing a distribution box; the side end of the working table surface is provided with a scale plate which is parallel to the working table surface and used for placing a product frame filled with powder metallurgy products, and after the product frame is placed on the scale plate, the mechanical arm picks up the powder metallurgy products from the product frame.

The mechanical arm structure is installed on the workbench frame, specifically speaking, the mechanical arm is installed on the workbench surface, the mechanical arm is preferably arranged at the middle of the workbench surface, the two sides of the workbench surface can be used for placing the product turnover table, and the mechanical arm picks up powder metallurgy products and places the products in the product turnover table.

The structure of the mechanical arm comprises the following steps: the mechanical arm comprises a mechanical arm base arranged on a working table surface, a base rotating plate arranged on the mechanical arm base, a mechanical arm executing mechanism arranged on the base rotating plate, and a driving mechanism used for driving the base rotating plate to rotate relative to the mechanical arm base, wherein the driving mechanism comprises an S-axis driving motor and a speed reducer, and an S-axis rotating cylinder is arranged between the base rotating plate and the mechanical arm base. The S-axis rotary cylinder is driven by the S-axis driving motor through the speed reducer, then the S-axis rotary cylinder drives the base rotating plate to rotate, the driving mechanism drives the base rotating plate to rotate relative to the mechanical arm base, the mechanical arm executing mechanism is driven to rotate relative to the mechanical arm base, and the rotation range of the mechanical arm executing mechanism is from the starting point of picking up the powder metallurgy products by the mechanical arm to the end point of putting down the powder metallurgy products by the mechanical arm. The base rotating plate realizes that the mechanical arm rotates in the horizontal direction with the working table surface as the reference.

The mechanical arm executing mechanism is a main body part of the mechanical arm, is preferably made of aluminum alloy and comprises an L-axis moving assembly, a U-axis moving assembly and a picking mechanism. The L-axis motion assembly comprises an L-axis drive motor, an L-axis rotating disk connected with the output end of the L-axis drive motor, and an L-axis support connected with the L-axis rotating disk, wherein the L-axis drive motor is arranged on the base rotating plate through a fixing plate; the two L-axis supports are divided into an L-axis left support and an L-axis right support which are arranged oppositely, and a gap is formed between the L-axis left support and the L-axis right support. The U-axis motion assembly comprises a U-axis drive motor, a U-axis rotating disk connected with the output end of the U-axis drive motor, a U-axis rotating arm connected with the U-axis rotating disk, and a U-axis pull rod with one end hinged to the U-axis rotating arm, wherein the U-axis drive motor is installed on the base rotating plate through a fixing plate. In the above, two fixing plates are oppositely arranged, one of the fixing plates is used for installing the L-axis driving motor, the other is used for installing the U-axis driving motor, and the L-axis rotating disc (not shown) and the U-axis rotating disc (not shown) are also respectively installed at the inner side of the fixing plates. According to actual requirements, the L-axis driving motor and the U-axis driving motor can be provided with speed reducers.

The L-axis movement assembly and the U-axis movement assembly act together to drive the picking mechanism, and the picking mechanism is connected with the L-axis movement assembly and the U-axis movement assembly through the linkage mechanism. Specifically, the linkage mechanism comprises a beam rod which is simultaneously connected with an L-axis bracket in the L-axis movement assembly and a U-axis pull rod in the U-axis movement assembly; specifically speaking, the crossbeam pole includes left crossbeam pole and the right crossbeam pole that sets up relatively, and the U axle swing arm tip centre gripping is in the middle of the two and articulated with U axle swing arm tip in the upper end of the two, and left crossbeam pole and right crossbeam pole are articulated with L axle left socle and L axle right branch frame respectively in the below of this hookup location department. On the basis of the beam rod, a pull rod frame is further arranged, one end of the pull rod frame is connected with an L-axis right support in the L-axis support through a triangular cam connecting piece, and the other end of the pull rod frame is connected with a picking mechanism.

The picking mechanism comprises a picking framework and a picking box, the picking framework is simultaneously connected with the tail ends of the beam rod and the pull rod frame, the picking box is installed on the picking framework, the shape of the picking box can be determined according to the shape of a powder metallurgy product, and the picking box can be circular, rectangular, square, triangular and the like. Pick up the interior tombarthite permanent magnet that is provided with of box and is used for absorbing the powder metallurgy product, tombarthite permanent magnet is connected with and is used for controlling its telescopic link that picks up the flexible action of box relatively, the telescopic link can be electric telescopic handle, pneumatic telescopic handle or hydraulic telescoping rod, in this embodiment, preferably pneumatic telescopic handle, adopt the on-off control of the adjustable gaseous size of two standards, in operation, when picking up the box and removing the powder metallurgy product position, the telescopic link picks up the box relatively and stretches out, the tombarthite permanent magnet absorbs the powder metallurgy product, then the arm rotates to product week carousel, the telescopic link picks up the box shrink relatively, the powder metallurgy product drops from the tombarthite permanent magnet, the structure of realizing this working process has the multiple, for example: pick up the top middle part of box and set up to the through-hole, the telescopic link can pass this through-hole, the end of telescopic link sets up the tombarthite permanent magnet, the shape size and the through-hole of tombarthite permanent magnet match, the telescopic link stretches out, drive the tombarthite permanent magnet and stretch into to picking up in the box, absorb the powder metallurgy product, the telescopic link shrink drives the tombarthite permanent magnet and withdraws from the through-hole of picking up the box, the powder metallurgy product is picked up the top restriction of box, drops from the tombarthite permanent magnet.

The working principle of the utility model is as follows: the workstation places equipment suitable position (place the material frame of product and place on the balance plate, product week carousel is placed to one side of table surface last arm), and equipment circular telegram back robotic arm picks up the powder metallurgy product in the material frame, then horizontal rotation to product week carousel position department, then L axle motion subassembly and U axle motion subassembly action, drive the link gear action, from this drive pick up the box action, place the powder metallurgy product in product week carousel, through the utility model discloses in the product after the realization press shaping neatly picks up through smart robotic arm and gets fixed product week carousel, whole process uses smart robotic arm to replace manual operation, can realize 5 ~ 10 equipment of one man operation, has greatly promoted production efficiency. It should be noted that the present invention is directed to a specific structure for protecting an intelligent manipulator device.

The above is the preferred embodiment of the present invention. It should be noted that, those skilled in the art can make several modifications without departing from the design principle and technical solution of the present invention, and these modifications should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent mechanical arm device based on powder metallurgy product picking is characterized by comprising a working table frame (1), a weighing plate (2) arranged at the side end of the working table frame (1) and a mechanical arm main body mechanism arranged on the working table frame (1); the mechanical arm main body mechanism comprises a mechanical arm base (3) arranged on the working table frame (1), a base rotating plate (5) connected with the mechanical arm base (3) through an S-axis rotating cylinder (4), an S-axis driving motor (6) used for driving the S-axis rotating cylinder (4) to rotate, and a mechanical arm executing mechanism arranged on the base rotating plate (5); the mechanical arm executing mechanism comprises an L-axis moving assembly, a U-axis moving assembly and a picking mechanism, and the L-axis moving assembly and the U-axis moving assembly drive the picking mechanism through a linkage mechanism.

2. The powder metallurgy product pick-up based smart manipulator apparatus of claim 1, wherein: the L-axis movement assembly comprises an L-axis driving motor (7), an L-axis rotating disk connected with the output end of the L-axis driving motor (7), and an L-axis support (9) connected with the L-axis rotating disk, wherein the L-axis driving motor (7) is installed on the base rotating plate (5) through a fixing plate (10).

3. The powder metallurgy product pick-up based smart manipulator apparatus of claim 2, wherein: the U-axis motion assembly comprises a U-axis drive motor (11), an output end of the U-axis drive motor (11) is connected with a U-axis rotating disk, a U-axis rotating arm (12) connected with the U-axis rotating disk, and a U-axis pull rod (13) with one end hinged to the U-axis rotating arm (12), wherein the U-axis drive motor (11) is installed on the base rotating plate (5) through a fixing plate (10).

4. The powder metallurgy product pick-up based smart manipulator apparatus of claim 3, wherein: pick up the mechanism and including picking up skeleton (14) and picking up box (15), it connects to pick up skeleton (14) link gear, it installs to pick up box (15) pick up on skeleton (14).

5. The powder metallurgy product pick-up based smart manipulator apparatus of claim 4, wherein: the picking box (15) is internally provided with a rare earth permanent magnet for absorbing powder metallurgy products, and the rare earth permanent magnet is connected with a telescopic rod for controlling the telescopic action of the rare earth permanent magnet relative to the picking box (15).

6. The powder metallurgy product pick-up based smart manipulator apparatus of claim 5, wherein: the linkage mechanism comprises a beam rod (16) and a pull rod bracket (17), and the beam rod (16) is connected with the L-axis bracket (9) and the U-axis swing arm (12); the pull rod bracket (17) is connected with the L-axis bracket (9).

7. The powder metallurgy product pick-up based smart manipulator apparatus of claim 6, wherein: the upper end part of the beam rod (16) is hinged with the end part of the U-axis swing arm (12), the beam rod (16) is hinged with the L-axis support (9), and the hinged position of the beam rod (16) and the U-axis swing arm (12) is positioned below the hinged position of the beam rod (16) and the U-axis swing arm (12); the pull rod bracket (17) is connected with the L-axis bracket (9) through a cam connecting piece (18).

8. The powder metallurgy product pick-up based smart manipulator apparatus of claim 7, wherein: the L-axis support (9) comprises an L-axis left support and an L-axis right support which are oppositely arranged.

9. The powder metallurgy product pick-up based smart manipulator apparatus of claim 8, wherein: the beam rod (16) comprises a left beam rod and a right beam rod which are oppositely arranged, wherein the left beam rod is hinged with the L-axis left support, and the right beam rod is hinged with the L-axis right support.

10. The intelligent mechanical arm device for picking up the powder metallurgy products as claimed in any one of claims 1 to 9, wherein: the working table frame (1) is provided with supporting legs (19), and nylon pads (8) can be arranged at the bottoms of the supporting legs (19).