WO2017113364A1 - 多工位传递机械手机构 - Google Patents
多工位传递机械手机构 Download PDFInfo
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- WO2017113364A1 WO2017113364A1 PCT/CN2015/100278 CN2015100278W WO2017113364A1 WO 2017113364 A1 WO2017113364 A1 WO 2017113364A1 CN 2015100278 W CN2015100278 W CN 2015100278W WO 2017113364 A1 WO2017113364 A1 WO 2017113364A1
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- WIPO (PCT)
- Prior art keywords
- horizontal direction
- disposed
- vertical
- station transfer
- clamping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Definitions
- the invention relates to the field of stamping technology, and in particular to a multi-station transfer robot mechanism.
- the multi-station transfer robot is combined with the mold design on the punching machine to realize the product through the different process molds (or other jigs). For example, when the USB casing is produced by the pipe expansion process, it must be expanded, shrunk, shaped, and punched.
- FIG. 1 shows a conventional multi-station rotary disk machine for a USB casing.
- the multi-station rotary table machine realizes the above process, there are the following problems: First, the lower mold on the turntable is closed by the rotation and the fixed upper mold, and the size of the product of each lower mold is caused by the difference in the core size on the lower mold. Inconsistent, affecting the stability of the product.
- the rotary machine since the rotary machine includes a plurality of lower molds of different sizes, the mold adjustment is difficult, and the upper mold cannot be adjusted to match the product size of all the lower molds.
- the technical problem to be solved by the present invention is to provide a multi-station transfer manipulator mechanism to meet the demand of a product that delivers a plurality of processing stations arranged in a line.
- the embodiment of the invention discloses a multi-station transfer manipulator mechanism, which comprises a fixed bottom plate, a first horizontal direction translation component, a second horizontal direction translation component, a vertical movement component, a robot fixing plate and a plurality of lines arranged in a straight line.
- the robots are arranged on the manipulator fixing plate in a first horizontal direction, the manipulator fixing plate is disposed on the vertical moving component, and the vertical moving component is disposed on the first horizontal direction translating component,
- the first horizontal direction translation component is disposed on the second horizontal direction translation component, and the second horizontal direction translation component is disposed on the fixed base; the vertical movement component, the first horizontal direction translation component, and the second horizontal direction translation component are respectively used to drive
- the robot moves in a vertical direction, a first horizontal direction, and a second horizontal direction perpendicular to the first horizontal direction, and each robot is used to take out the product of its corresponding processing station and place the product it grips into the next processing. Work position or blanking position.
- the vertical moving component comprises a vertical rail, a vertical rail fixing seat and a vertical direction connecting member
- the vertical rail is arranged on the vertical rail fixing seat
- the vertical rail fixing seat is arranged on the first horizontal direction translating component
- the vertical direction connecting piece is connected to the robot fixing plate and slidably disposed on the vertical rail.
- the vertical moving assembly further comprises a vertical direction power source for driving the vertical direction connecting member, the robot fixing plate and the robot to be synchronously displaced in the vertical direction.
- the first horizontal direction translating assembly includes a first horizontal direction moving member and a first horizontal direction sliding rail, and the first horizontal direction sliding rail extends along the first horizontal direction on the second horizontal direction translating assembly, and the first horizontal direction moves.
- the piece is connected to the vertical rail fixing seat and is slidably disposed in the first horizontal direction sliding rail in the first horizontal direction.
- the second horizontal direction translating assembly includes a second horizontal direction moving member, a second horizontal direction connecting member and a second horizontal direction sliding rail, and the second horizontal direction sliding rail extends along the second horizontal direction on the fixed bottom plate, and the second The horizontal direction connecting member is connected to the second horizontal direction moving member and slidably disposed on the second horizontal direction sliding rail.
- the second horizontal direction translation assembly includes a second horizontal direction power source for driving the second horizontal direction moving member to move in the second horizontal direction.
- the first horizontal direction shifting component further includes a first horizontal direction limiting member fixedly disposed on the second horizontal direction moving member and a first horizontal direction oil pressure buffer, wherein the first horizontal direction limiting member is used to limit the first The displacement of the moving member in the horizontal direction, the first horizontal direction hydraulic buffer is for absorbing the impact force generated by the first horizontal direction limiting member on the first horizontal moving member.
- the second horizontal direction translating assembly further includes a second horizontal direction limiting member and a second horizontal direction hydraulic buffer fixedly disposed on the fixed bottom plate, and the second horizontal direction limiting member is configured to limit the second horizontal direction moving member
- the displacement, the second horizontal direction oil pressure buffer is for absorbing the impact force generated by the second horizontal direction limiting member on the second horizontal direction moving member.
- the robot comprises: a pair of clamping arms that are close to or away from each other in a first horizontal direction to clamp or unload the product; a guiding member for guiding the clamping arm to translate in the first horizontal direction; and a power source for A pair of clamping arms are driven to approach or away from each other in a first horizontal direction, and one end of the power source is fixedly coupled to the robot fixing plate.
- the robot further includes a pair of connecting members, each connecting member is connected to the power source and a clamping portion The arm and the connecting member are slidably disposed in the sliding slot, and the connecting member is driven by the power source to drive the clamping arm to move synchronously.
- the clamping arm is disposed on the outer side of the connecting member, the clamping arm includes an assembly portion, a connecting portion and a clamping portion, and the inner side of the assembly portion is provided with a positioning groove extending along the second horizontal direction, and the positioning groove is clamped to the outer side of the connecting member Make sure the level of the card holds the arm.
- the parallel mechanical clamp further includes a pair of fiber fixing arms and a pair of detecting fibers, the fiber fixing arms are connected to the outer side of the assembly portion of the clamping arms, the detecting fibers are fixed to the fiber fixing arms, and a pair of detecting fibers are disposed oppositely to detect Whether a pair of clamping arms hold the product.
- the connecting portion connects the bottom of the assembly portion and the clamping portion, and the bottom surface of the clamping portion is flush with the bottom surface of the connecting portion, and the top surface of the clamping portion is lower than the top surface of the connecting portion.
- the parallel mechanical clamp further comprises a positioning pin assembled to the inner side of the clamping portion of the clamping arm in the first horizontal direction to limit one by adjusting the protruding length of the positioning pin relative to the clamping portion provided therewith The thickness of the product held by the gripping arms.
- the position correcting hole is disposed on the clamping portion of the clamping arm, and the position correcting hole is recessed from the top surface of the clamping portion.
- the power source of one of the robots is a rotary translation cylinder for driving a pair of clamping arms to approach each other in a first horizontal direction to clamp the product and for driving a pair of clamping arms about the axis of the rotary translation cylinder Rotate 180° to flip the clamped product 180°.
- the multi-station transfer robot mechanism of the present invention comprises a vertical moving component, a first horizontal direction moving component, a second horizontal direction moving component and a plurality of arranged in a straight line a processing station, a one-to-one corresponding robot, a vertical moving component, a first horizontal direction translating component and a second horizontal translating component respectively for driving the robot in a vertical direction, a first horizontal direction and a perpendicular to the first horizontal direction Moving in the second horizontal direction, so that each robot takes out the product of its corresponding processing station, and puts the product it grips into the next processing station or the blanking station; thereby realizing all processing in a straight line
- the simultaneous clamping and simultaneous transmission of the products of the station greatly improves the efficiency of product processing.
- 1 is a conventional expanded multi-station rotary disk machine for a USB casing
- FIG. 2 is a perspective structural view of a pipe expansion transfer punch of a USB metal casing according to an embodiment of the present invention
- Figure 3 is a perspective structural view of the punching transfer punch of the USB metal casing shown in Figure 2 omitting the punch bracket;
- Figure 4 is a perspective view showing another angle of the pipe transfer transfer punch of the USB metal casing shown in Figure 3;
- Figure 5 is a perspective structural view of the multi-station transfer robot mechanism of the expanded transfer transfer punch of the USB metal casing shown in Figure 4;
- Figure 6 is a perspective structural view of the manipulator of the multi-station transfer manipulator mechanism shown in Figure 5;
- Figure 7 is a side view of the robot shown in Figure 6;
- Fig. 8 is a perspective enlarged view of the grip arm of the robot shown in Fig. 6.
- the embodiment of the invention discloses a multi-station transfer manipulator mechanism, which comprises a fixed bottom plate, a first horizontal direction translation component, a second horizontal direction translation component, a vertical movement component, a robot fixing plate and a plurality of lines arranged in a straight line.
- the robots are arranged on the manipulator fixing plate in a first horizontal direction, the manipulator fixing plate is disposed on the vertical moving component, and the vertical moving component is disposed on the first horizontal direction translating component,
- the first horizontal direction translation component is disposed on the second horizontal direction translation component, and the second horizontal direction translation component is disposed on the fixed base; the vertical movement component, the first horizontal direction translation component, and the second horizontal direction translation component are respectively used to drive
- the robot moves in a vertical direction, a first horizontal direction, and a second horizontal direction perpendicular to the first horizontal direction, and each robot is used to take out the product of its corresponding processing station and place the product it grips into the next processing. Work position or blanking position.
- the multi-station transfer robot mechanism of the present invention comprises a vertical moving component, a first horizontal direction moving component, a second horizontal direction moving component and a plurality of one-to-one correspondence with a plurality of processing stations arranged in a line a robot, a vertical moving component, a first horizontal direction translation component and a second horizontal direction translation component respectively for moving the robot in a vertical direction, a first horizontal direction and a second horizontal direction perpendicular to the first horizontal direction,
- Each robot is taken out of the product of its corresponding processing station, and the product it grips is placed on the next processing station or the blanking station; thereby simultaneously clamping the products of all processing stations arranged in a straight line Take and transfer the action at the same time, greatly improving the efficiency of product processing.
- FIG. 2 is a perspective structural view of a pipe-transfer punching press of a USB metal casing according to an embodiment of the present invention
- FIG. 3 is a three-dimensional structural view of the punching-out punching machine of the USB metal casing shown in FIG.
- Figure 4 is a perspective view of another angle of the tube transfer punch of the USB metal case shown in Figure 3
- Figure 5 is a three-dimensional structure of the multi-station transfer manipulator of the tube transfer punch of the USB metal case shown in Figure 4.
- the expanded metal transfer punch 100 of the USB metal casing includes a multi-station transfer robot mechanism 10, a stamping die 20, a direct shock loading mechanism 30, and a punch holder 40.
- the multi-station transfer robot mechanism 10, the stamping die 20, and the direct shock loading mechanism 30 are all disposed on the punch holder 40.
- the stamping die 20 has an elongated shape on which a plurality of processing stations 200 arranged in a straight line are disposed.
- the stamping die 20 includes an upper die plate 21 and a lower die plate 22.
- the processing station 200 includes a loading station 20a, a pipe expansion station 20b, a pipe expansion station 20c, a diameter reduction station 20d, a diameter reduction station 20e, a diameter reduction station 20f, which are sequentially arranged along the first horizontal direction X.
- the reducing station 20g, the shaping station 20h, the turning station 20i, the punching hole station 20j and the shaping station 20k, and the blanking position 201 are also disposed outside the shaping station 20k.
- processing station 200 except for the loading station 20a, other processing stations have a set of sub-dies, including an upper mold (not labeled) disposed on the upper template 21 and a lower mold (not labeled) disposed on the lower template 22. .
- the upper and lower dies of each processing station match each other.
- the two ends of the upper template 21 are provided with guiding holes 210, the guiding posts 220 are disposed at corresponding positions of the lower template 22, and the upper template 21 is fastened to the lower template 22.
- the guide post 220 is inserted into the guide hole 210 to ensure the fastening position accuracy of the upper die plate 21 and the lower die plate 22.
- the multi-station transfer robot mechanism 10 is disposed on one side of the press die 20.
- the multi-station transfer robot mechanism 10 includes a plurality of robots 11, a fixed bottom plate 12, a first horizontal direction translation assembly 13, a second horizontal direction translation assembly 14, a vertical movement assembly 15, and a robot fixing plate 16.
- the fixed bottom plate 12 is disposed on the punch holder 40.
- the robot 11 is disposed on the robot fixing plate 16 at intervals in the first horizontal direction X.
- the robot fixing plate 16 is disposed on the vertical moving assembly 15, and the vertical moving assembly 15 is disposed on the first horizontal direction translating assembly 13, the first horizontal direction.
- the translating assembly 13 is disposed on the second horizontal direction translating assembly 14, and the second horizontal translating assembly 14 is disposed on the fixed base 12.
- the vertical movement assembly 15, the first horizontal direction translation assembly 13 and the second horizontal direction translation assembly 14 are respectively used to drive the robot 15 to move in the vertical direction Z, the first horizontal direction X and the second horizontal direction Y, the first horizontal direction X is the processing transfer direction of the product 500, and the second horizontal direction Y is perpendicular to the first horizontal direction X.
- the plurality of robots 11 are disposed in one-to-one correspondence with the plurality of processing stations 200, and the plurality of robots 11 are synchronously moved to respectively pick up the products 500 of the corresponding processing stations and place the products 500 that are clamped into the next processing.
- the upper template 21 is snapped to the lower template 22 after the product 500 is placed in the next processing station to complete the processing of the product 500 on each processing station 200.
- the robot 11 places the product 500 it has gripped onto the next processing station 200 or the blanking position 201, and then returns to its corresponding processing station 200 for the next clamping.
- the vertical moving assembly 15 includes a vertical rail 151, a vertical rail mount 152, a vertical direction link 153, and a vertical direction power source 154.
- the vertical rail 151 is disposed on the vertical rail fixing seat 152.
- the vertical rail fixing seat 152 is disposed on the first horizontal direction translating assembly 13, and the vertical direction connecting member 153 is connected to the robot fixing plate 16 and slidably disposed on the vertical rail 151.
- the vertical direction power source 154 is disposed on the vertical rail mount 152 and is used to drive the vertical direction connecting member 153, the robot fixing plate 16, and the robot 11 to be synchronously displaced in the vertical direction Z.
- the vertical rails 151 are two or more spaced apart in the first horizontal direction X, and the vertical direction connecting members 153 are disposed in one-to-one correspondence with the vertical rails 151, and are disposed thereon to slide along the vertical rails 151 Chute (not shown).
- the first horizontal direction translating assembly 13 includes a first horizontal direction moving member 131, a first horizontal direction sliding rail 132, a first horizontal direction limiting member 133, a first horizontal direction hydraulic buffer 134, and a first horizontal direction power source. (not shown).
- the first horizontal direction slide rail 132 is disposed on the second horizontal direction translation assembly 14 along the first horizontal direction X.
- the first horizontal direction moving member 131 is connected to the vertical rail fixing seat 152 and is slidably disposed along the first horizontal direction X.
- a horizontal direction slide rail 132 is provided to the vertical rail fixing seat 152 and is slidably disposed along the first horizontal direction X.
- first horizontal direction moving member 131 moves in the first horizontal direction X, it drives the vertical moving assembly 15 disposed thereon, the robot fixing plate 16 disposed on the vertical moving assembly 15, and the setting The robots 11 on the robot fixing plate 16 move together in the first horizontal direction X.
- the first horizontal direction limiting member 133 and the first horizontal direction hydraulic buffer 134 are disposed on the second horizontal direction translating assembly 14 , and the first horizontal direction limiting member is disposed at both ends of the first horizontal direction moving member 131 with a first horizontal direction limit.
- Piece 133 and first horizontal direction hydraulic buffer 134 are for limiting the displacement of the first horizontal direction moving member 131, and the first horizontal direction hydraulic buffer 134 is for absorbing the first horizontal direction limiting member 133 for performing the first horizontal direction moving member 131.
- the first horizontal direction power source is disposed on the second horizontal direction translating assembly 14 and is configured to drive the first horizontal direction moving member 131 to move in the first horizontal direction X.
- the second horizontal direction translation assembly 14 includes a second horizontal direction moving member 141, a second horizontal direction connecting member 142, a second horizontal direction sliding rail 143, a second horizontal direction limiting member 144, and a second horizontal direction oil.
- the first horizontal direction stopper 133, the first horizontal direction hydraulic buffer 134, and the first horizontal direction power source are both disposed on the second horizontal direction moving member 141.
- the second horizontal direction rail 143 is disposed on the fixed bottom plate 12 in the second horizontal direction Y, and the second horizontal direction connecting member 142 is connected to the second horizontal direction moving member 141 and slidably disposed on the second horizontal direction sliding rail 143.
- the second horizontal direction rails 143 are two or more spaced apart in the first horizontal direction X, and the second horizontal direction connecting members 142 are disposed in one-to-one correspondence with the second horizontal direction rails 142, and are disposed thereon.
- a chute (not labeled) that slides along the second horizontal direction rail 142 is provided.
- the second horizontal direction moving member 141 moves in the second horizontal direction Y, it drives the first horizontal direction translating assembly 13 disposed thereon, the vertical moving assembly 15 disposed on the first horizontal direction translating assembly 13, and the setting
- the robot fixing plate 16 on the vertical moving assembly 15 and the robot 11 provided on the robot fixing plate 16 move together in the second horizontal direction Y.
- the second horizontal direction limiting member 144 and the second horizontal direction hydraulic buffer 145 are disposed on the fixed bottom plate 12, and the second horizontal direction limiting member is disposed on both sides of the fixed bottom plate 12 distributed along the second horizontal direction Y. 144 and a second horizontal direction hydraulic buffer 145.
- the second horizontal direction stopper 144 is for restricting the displacement of the second horizontal direction moving member 141
- the second horizontal direction hydraulic buffer 145 is for absorbing the second horizontal direction stopper 144 for the second horizontal direction moving member 141.
- the impact force generated when the limit is reached.
- the second horizontal direction power source 146 is disposed on the fixed bottom plate 12 and is configured to drive the second horizontal direction moving member 141 to move in the second horizontal direction Y.
- the direct shock loading mechanism 30 linearly arranges the products by direct shock and automatically transmits them to the loading station 20a for grasping by the robot 11 corresponding to the loading station 20a and transmitting to the expansion station 20b.
- the sub-dies of each of the processing stations 200 include an upper mold disposed on the upper template 21 and a lower mold disposed on the lower template 22; in other embodiments, It is also possible to omit the arrangement of the upper template 21 and the lower template 22 in a one-by-one manner.
- the expansion stations 20b, 20c may merge, and the diameter reduction stations 20d, 20e, 20f, 20g may also be merged. Therefore, the number of the above processing stations is not set by the present invention. Make restrictions.
- FIG. 6 is a perspective structural view of the manipulator of the multi-station transfer manipulator mechanism shown in FIG. 5;
- FIG. 7 is a side view of the manipulator shown in FIG. 6, and
- FIG. 8 is a perspective enlarged view of the gripper arm of the manipulator shown in FIG.
- the robot 11 is used to grip the product 500 of the previous processing station and transfer the product 500 to the next Work station or discharge position.
- the robot 11 includes a pair of clamping arms 111, a guiding member 112, a power source 113, a pair of connecting members 114, a pair of fiber fixing arms 115, a pair of detecting fibers 116, a positioning pin (not shown), and at least one pair of threads. Connector 117.
- a pair of gripping arms 111 are arranged in the first horizontal direction X.
- the clamp arm 111 includes an assembly portion 111a, a connection portion 111b, and a clamping portion 111c.
- the inner side of the assembling portion 111a is provided with a positioning groove 111d extending in a second horizontal direction Y perpendicular to the first horizontal direction X, and the positioning groove 111d is for holding the outer side of the connecting member 114 to ensure the levelness of the holding arm 111.
- a positioning groove (not shown) is further disposed on the outer side of the assembly portion 111a in the second horizontal direction Y for mounting the fiber fixing arm 115; the positioning grooves on the inner and outer sides of the assembly portion 111a are oppositely disposed, and the outer positioning groove is used to ensure the fiber The level of the fixed arm 115.
- the connecting portion 111b connects the bottom of the assembling portion 111a and the clamping portion 111c. The bottom surface of the clamping portion 111c and the bottom surface of the connecting portion 111b are flush, and the top surface of the clamping portion 111c is lower than the top surface of the connecting portion 111b.
- the thickness of the holding portion 111c is much lower than that of the assembling portion 111a, and the center of the holding portion 111c is lower than the center of the assembling portion 111a.
- the bottom portion of the assembling portion 111a means a portion below the bottom surface of the positioning groove 111d.
- the inner side and the outer side of the assembly portion 111a are also mentioned above; the inner side of the clamping portion 111c and the like will be mentioned later, and the inner side is explained here, and the inner side refers to a pair of identical elements or The sides of the constituent parts that are close to each other, and the so-called outer side are collectively referred to as a pair of identical elements or sides of the constituent parts that are distant from each other.
- a position correcting hole 111e is provided in a recessed manner from a top surface of the clamping portion 111c.
- the position correcting hole 111e can be disposed through the clamping portion 111c for matching the robot when the robot is assembled to the pipe transfer punch or other automated device.
- a position correction needle is mounted at the position to detect whether the robot 11 is in place.
- a product contouring surface 111f is further disposed on the inner side of the clamping portion 111c, and the product 500 is clamped in the pair of product contouring surfaces 111f; the purpose of the product contouring surface 111f is to achieve better clamping of the product 500.
- the contact area of the product 500 with the clamping portion 111c is increased, and the deformation of the product 500 during the clamping process can be effectively prevented.
- the inner side of one of the two clamping portions 111c is provided with a position positioning pin mounting hole 111g which is recessed from the inner side of the clamping portion 111c in the first horizontal direction so that the positioning pin (not shown) can be along
- the first horizontal direction X is assembled to the inner side of the clamping arm 111, and the thickness of the product 500 held by the pair of clamping arms 111 is restricted by adjusting the protruding length of the positioning pin with respect to the clamping portion 111c, thereby further preventing the clamping from being The product 500 in the pair of gripping arms 111 is deformed.
- the guiding member 112 is disposed at one end of the power source 113.
- a sliding groove 112a extending in the first horizontal direction X is disposed on a side of the guiding member 112 facing away from the power source 113.
- One end of the power source 113 is provided with a guiding member 112, and the other end is fixed to a manipulator fixing plate of the multi-station transmission robot mechanism.
- a pair of connecting members 114 are used to connect the power source 113 and the pair of clamping arms 111, that is, each connecting member 114 connects the power source 113 and its corresponding clamping arm 111.
- the end of the connecting member 114 is connected to the power source 113 through the guiding member 112, and the connecting member 114 is slidably disposed in the sliding slot 112a of the guiding member 112.
- the main body portions of the two connecting members 114 are respectively disposed in the positioning grooves 111d on the inner side of the assembling portion 111a of the two holding arms 111.
- the thickness of the main body portion of the connecting member 114 is equal to the width of the sliding groove 112a, and is also equal to the width of the positioning groove 111d of the clamping arm 111, and the level of the connecting member 114 is ensured by the arrangement of the sliding groove 112a of the guiding member 112. The degree is further ensured by the arrangement of the positioning grooves 111d of the assembling portion 111a.
- a pair of optical fiber fixing arms 115 are respectively connected to the outer side of the assembly portion 111a of the corresponding clamping arm 111, and specifically, the optical fiber fixing arm 115 is fixed to the positioning groove on the outer side of the assembly portion 111a.
- a pair of detecting fibers 116 are fixed to a pair of fiber fixing arms 115, respectively.
- a pair of detecting fibers 116 are disposed opposite to detect whether or not the product 500 is held in the pair of gripping arms 111.
- the center of the detecting optical fiber 116 is lower than the bottom surface of the clamping portion 111c of the clamping arm 111, and when the robot 11 holds the product 500, the product 500 blocks the transmission of light between the pair of detecting fibers 116.
- the power source 113 is usually a power member such as a cylinder, the dimension of the power source 113 in the height direction is difficult to be further reduced.
- the center of the clamping portion 111c is moved downward to overcome the difficulty of the height limitation of the power source 113. The case of gripping the product 500.
- the robot 11' corresponding to the inversion station 20i should rotate the product 500 by 180° in addition to the function of the above-mentioned robot 11, so that the power source of the robot 11' is a rotary translation cylinder.
- the rotary translation cylinder is used to drive a pair of clamp arms 111 to approach each other in the first horizontal direction X to grip the product 500, and to drive a pair of clamp arms 111 to rotate about the axis of the rotary translation cylinder after clamping the product 500. 180° to flip the product 500 180°.
- the multi-station transfer robot mechanism 10 of the present invention comprises a vertical movement assembly 15, a first horizontal direction moving assembly 13, a second horizontal direction moving assembly 14, and a plurality of robots corresponding to the plurality of processing stations 200 arranged in a line.
- the direction shifting assembly 14 is respectively configured to move the robot 11 in the vertical direction Z, the first horizontal direction X and the second horizontal direction Y perpendicular to the first horizontal direction X, so that each robot 11 takes out its corresponding processing station. 200 products, and the products they grip are placed on the next processing station 200 or the blanking station 201; thereby achieving simultaneous clamping and simultaneous transmission of all processing stations 200 arranged in a straight line, greatly Improve the efficiency of product processing.
Abstract
一种多工位传递机械手机构，其包括固定底板（12）、第一水平方向平移组件（13）、第二水平方向平移组件（14）、竖直移动组件（15）、机械手固定板（16）和多个机械手（11），机械手（11）设置于机械手固定板（12）上，机械手固定板（12）设置于竖直移动组件（15）上，竖直移动组件（15）设置于第一水平方向平移组件（13）上，第一水平方向平移组件（13）设置于第二水平方向平移组件（14）上，第二水平方向平移组件（14）设置于固定底板（12）上；每一机械手（11）用于取出其对应的加工工位的产品且将其夹取的产品安放至下一加工工位或下料位置上。所述多工位传递机械手机构能够实现呈直线排列的所有加工工位的产品的同时夹取和同时传递动作，提高了产品加工的效率。
Description
本发明涉及冲压技术领域，尤其涉及一种多工位传递机械手机构。
目前多数产品制造时要求将多工艺集中在同一台设备完成，但传统的冲床只能传送料带，不能直接传送产品。因此在冲床上结合模具设计多工位传递机械手实现产品依次通过不同工艺的模具(或者其它治具)。例如USB外壳用扩管工艺生产时必须经过多次扩管、缩口、整形、冲底孔。
请参照图1，图1所示为现有USB外壳用扩管多工位转盘机，USB外壳扩管过程中必须经过多次扩管、缩口、整形、冲底孔。多工位转盘机实现上述工艺时存在以下问题：其一，转盘上的下模通过旋转与固定的上模闭合，由于下模上的芯子尺寸有差异，造成每个下模出来的产品尺寸不一致，影响到产品的稳定。其二，由于转盘机包括多个不同尺寸的下模，造成调模困难，存在上模无论如何调整都不能匹配所有下模的产品尺寸。
【发明内容】
本发明主要解决的技术问题是提供一种多工位传递机械手机构，以满足一次传递呈直线排列的多个加工工位的产品的需求。
本发明实施例公开了一种多工位传递机械手机构，其包括固定底板、第一水平方向平移组件、第二水平方向平移组件、竖直移动组件、机械手固定板和多个与呈直线排列的多个加工工位一一对应的机械手，机械手沿第一水平方向间隔设置于机械手固定板上，机械手固定板设置于竖直移动组件上，竖直移动组件设置于第一水平方向平移组件上，第一水平方向平移组件设置于第二水平方向平移组件上，第二水平方向平移组件设置于固定底座上；竖直移动组件、第一水平方向平移组件和第二水平方向平移组件分别用于带动机械手沿竖直方向、第一水平方向和垂直于第一水平方向的第二水平方向移动，每一机械手用于取出其对应的加工工位的产品且将其夹取的产品安放至下一加工工位或下料位置上。
其中，竖直移动组件包括竖直导轨、竖直导轨固定座和竖直方向连接件，竖直导轨设置于竖直导轨固定座上，竖直导轨固定座设置于第一水平方向平移组件上，竖直方向连接件连接机械手固定板且滑动设置于竖直导轨上。
其中，竖直移动组件进一步包括竖直方向动力源，竖直方向动力源用于驱动竖直方向连接件、机械手固定板和机械手沿竖直方向同步位移。
其中，第一水平方向平移组件包括第一水平方向移动件和第一水平方向滑轨，第一水平方向滑轨沿第一水平方向延伸设置于第二水平方向平移组件上，第一水平方向移动件连接竖直导轨固定座且沿第一水平方向滑动设置于第一水平方向滑轨上。
其中，第二水平方向平移组件包括第二水平方向移动件、第二水平方向连接件和第二水平方向滑轨，第二水平方向滑轨沿第二水平方向延伸设置于固定底板上，第二水平方向连接件连接第二水平方向移动件且滑动设置于第二水平方向滑轨上。
其中，第二水平方向平移组件包括第二水平方向动力源，第二水平方向动力源用于驱动第二水平方向移动件沿第二水平方向移动。
其中，第一水平方向平移组件还包括固定设置于第二水平方向移动件上的第一水平方向限位件和第一水平方向油压缓冲器，第一水平方向限位件用于限制第一水平方向移动件的位移，第一水平方向油压缓冲器用于吸收第一水平方向限位件对第一水平方向移动件所产生的冲击力。
其中，第二水平方向平移组件还包括固定设置于固定底板上的第二水平方向限位件和第二水平方向油压缓冲器，第二水平方向限位件用于限制第二水平方向移动件的位移，第二水平方向油压缓冲器用于吸收第二水平方向限位件对第二水平方向移动件所产生的冲击力。
其中，机械手包括：一对夹持臂，沿第一水平方向彼此靠近或远离以夹持或卸下产品；导引件，用于引导夹持臂沿第一水平方向平移；动力源，用于驱动一对夹持臂沿第一水平方向彼此靠近或远离，动力源的一端固定连接至机械手固定板。
其中，导引件设置于动力源的另一端，其背离动力源的侧面上设置沿第一水平方向延伸的滑槽，机械手进一步包括一对连接件，每一连接件连接动力源和一夹持臂，且连接件滑动设置于滑槽中，连接件受动力源驱动以带动夹持臂同步运动。
其中，夹持臂设置于连接件的外侧，夹持臂包括组装部、连接部和夹持部，组装部的内侧设置沿第二水平方向延伸的定位槽，定位槽卡持连接件的外侧以确保卡持臂的水平度。
其中，平行机械夹进一步包括一对光纤固定臂和一对检测光纤，光纤固定臂连接至夹持臂的组装部的外侧，检测光纤固定至光纤固定臂上且一对检测光纤正对设置以检测一对夹持臂是否夹持产品。
其中，连接部连接组装部的底部和夹持部，夹持部的底面和连接部的底面平齐，夹持部的顶面低于连接部的顶面。
其中，平行机械夹进一步包括定位针，定位针沿第一水平方向组装至一夹持臂的夹持部的内侧，以通过调整定位针相对于设置其的夹持部的凸出长度以限制一对夹持臂夹持的产品的厚度。
其中，夹持臂的夹持部上设置位置校正孔，位置校正孔自夹持部的顶面凹陷设置。
其中，其中一机械手的动力源为旋转平移气缸，旋转平移气缸用于驱动一对夹持臂沿第一水平方向彼此靠近以夹持产品以及用于驱动一对夹持臂绕旋转平移气缸的轴线旋转180°以使夹持的产品翻转180°。
本发明的有益效果是：与现有技术相比，本发明多工位传递机械手机构包括竖直移动组件、第一水平方向移动组件、第二水平方向移动组件和多个与呈直线排列的多个加工工位一一对应的机械手，竖直移动组件、第一水平方向平移组件和第二水平方向平移组件分别用于带动机械手沿竖直方向、第一水平方向和垂直于第一水平方向的第二水平方向移动，以使每一机械手取出其对应的加工工位的产品，且将其夹取的产品安放至下一加工工位或下料工位上；进而实现呈直线排列的所有加工工位的产品的同时夹取和同时传递动作，大大提高产品加工的效率。
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是一种现有的USB外壳用扩管多工位转盘机；
图2是本发明实施例USB金属外壳的扩管传递冲床的立体结构图；
图3是图2所示USB金属外壳的扩管传递冲床省略冲床支架的立体结构图；
图4是图3所示USB金属外壳的扩管传递冲床的另一角度的立体结构图；
图5是图4所示USB金属外壳的扩管传递冲床的多工位传递机械手机构的立体结构图；
图6是图5所示多工位传递机械手机构的机械手的立体结构图；
图7是图6所示机械手的侧视图；
图8是图6所示机械手的夹持臂的立体放大图。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明实施例公开了一种多工位传递机械手机构，其包括固定底板、第一水平方向平移组件、第二水平方向平移组件、竖直移动组件、机械手固定板和多个与呈直线排列的多个加工工位一一对应的机械手，机械手沿第一水平方向间隔设置于机械手固定板上，机械手固定板设置于竖直移动组件上，竖直移动组件设置于第一水平方向平移组件上，第一水平方向平移组件设置于第二水平方向平移组件上，第二水平方向平移组件设置于固定底座上；竖直移动组件、第一水平方向平移组件和第二水平方向平移组件分别用于带动机械手沿竖直方向、第一水平方向和垂直于第一水平方向的第二水平方向移动，每一机械手用于取出其对应的加工工位的产品且将其夹取的产品安放至下一加工工位或下料位置上。与现有技术相比，本发明多工位传递机械手机构包括竖直移动组件、第一水平方向移动组件、第二水平方向移动组件和多个与呈直线排列的多个加工工位一一对应的机械手，竖直移动组件、第一水平方向平移组件和第二水平方向平移组件分别用于带动机械手沿竖直方向、第一水平方向和垂直于第一水平方向的第二水平方向移动，以使每一机械手取出其对应的加工工位的产品，且将其夹取的产品安放至下一加工工位或下料工位上；进而实现呈直线排列的所有加工工位的产品的同时夹取和同时传递动作，大大提高产品加工的效率。
请参照图2至图5，图2是本发明实施例USB金属外壳的扩管传递冲床的立体结构图；图3是图2所示USB金属外壳的扩管传递冲床省略冲床支架的立体结构图；图4是图3所示USB金属外壳的扩管传递冲床的另一角度的立体结构图；图5是图4所示USB金属外壳的扩管传递冲床的多工位传递机械手机构的立体结构图。
USB金属外壳的扩管传递冲床100包括多工位传递机械手机构10、冲压模具20、直震上料机构30和冲床支架40。多工位传递机械手机构10、冲压模具20和直震上料机构30均设置于冲床支架40上。
冲压模具20呈长条形，其上设置多个呈直线排布的加工工位200。冲压模具20包括上模板21和下模板22。加工工位200包括沿第一水平方向X依次排列的上料工位20a、扩管工位20b、扩管工位20c、径缩工位20d、径缩工位20e、径缩工位20f、径缩工位20g、整形工位20h、翻转工位20i、冲底孔工位20j和整形工位20k，整形工位20k的外侧还设置下料位置201。
加工工位200中，除上料工位20a外，其他加工工位均具有一套子模具，包括设置于上模板21的上模(未标示)和设置于下模板22的下模(未标示)。每一加工工位的上模和下模互相匹配。
为了使上模板21顺利扣合至下模板22，上模板21的两端设置导引孔210，下模板22的对应位置处设置导引柱220，在上模板21扣合至下模板22的过程中，导引柱220插入导引孔210中以确保上模板21和下模板22的扣合位置精度。
多工位传递机械手机构10设置于冲压模具20的一侧。多工位传递机械手机构10包括多个机械手11、固定底板12、第一水平方向平移组件13、第二水平方向平移组件14、竖直移动组件15和机械手固定板16。固定底板12设置于冲床支架40上。
机械手11沿第一水平方向X间隔设置于机械手固定板16上，机械手固定板16设置于竖直移动组件15上，竖直移动组件15设置于第一水平方向平移组件13上，第一水平方向平移组件13设置于第二水平方向平移组件14上，第二水平方向平移组件14设置于固定底座12上。竖直移动组件15、第一水平方向平移组件13和第二水平方向平移组件14分别用于带动机械手15沿竖直方向Z、第一水平方向X和第二水平方向Y移动，第一水平方向X为产品500的加工传递方向，第二水平方向Y垂直于第一水平方向X。
多个机械手11与多个加工工位200一一对应设置，多个机械手11同步移动，分别用于夹取其对应的加工工位的产品500且将其夹取的产品500安放至下一加工工位200或下料位置201上。上模板21在产品500安放至下一加工工位后扣合至下模板22进而完成每一加工工位200上产品500的加工工序。机械手11将其夹取的产品500安放至下一加工工位200或下料位置201上后，退回至其对应的加工工位200进行下一次的夹取。
具体地，竖直移动组件15包括竖直导轨151、竖直导轨固定座152、竖直方向连接件153和竖直方向动力源154。竖直导轨151设置于竖直导轨固定座152上，竖直导轨固定座152设置于第一水平方向平移组件13上，竖直方向连接件153连接机械手固定板16且滑动设置于竖直导轨151上，竖直方向动力源154设置于竖直导轨固定座152上且用于驱动竖直方向连接件153、机械手固定板16和机械手11沿竖直方向Z同步位移。优选地，竖直导轨151为在第一水平方向X上间隔设置的两条或多条，竖直方向连接件153与竖直导轨151一一对应设置，且其上设置沿竖直导轨151滑动的滑槽(未标示)。
第一水平方向平移组件13包括第一水平方向移动件131、第一水平方向滑轨132、第一水平方向限位件133、第一水平方向油压缓冲器134，以及第一水平方向动力源(未图示)。第一水平方向滑轨132沿第一水平方向X延伸设置于第二水平方向平移组件14上，第一水平方向移动件131连接竖直导轨固定座152且沿第一水平方向X滑动设置于第一水平方向滑轨132上。由此可知，当第一水平方向移动件131沿第一水平方向X移动时，其带动设置于其上的竖直移动组件15、设置于竖直移动组件15上的机械手固定板16，以及设置于机械手固定板16上的机械手11一起沿第一水平方向X移动。
第一水平方向限位件133和第一水平方向油压缓冲器134设置于第二水平方向平移组件14上，且第一水平方向移动件131的两端外侧均设置有第一水平方向限位件133和第一水平方向油压缓冲器134。第一水平方向限位件133用于限制第一水平方向移动件131的位移，第一水平方向油压缓冲器134用于吸收第一水平方向限位件133对第一水平方向移动件131进行限位时所产生的冲击力。第一水平方向动力源设置于第二水平方向平移组件14上且用于驱动第一水平方向移动件131沿第一水平方向X移动。
第二水平方向平移组件14包括第二水平方向移动件141、第二水平方向连接件142、第二水平方向滑轨143、第二水平方向限位件144、第二水平方向油
压缓冲器145和第二水平方向动力源146。第一水平方向限位件133、第一水平方向油压缓冲器134和第一水平方向动力源均设置于第二水平方向移动件141上。
第二水平方向滑轨143沿第二水平方向Y延伸设置于固定底板12上，第二水平方向连接件142连接第二水平方向移动件141且滑动设置于第二水平方向滑轨143上。优选地，第二水平方向滑轨143为在第一水平方向X上间隔设置的两条或多条，第二水平方向连接件142与第二水平方向滑轨142一一对应设置，且其上设置沿第二水平方向滑轨142滑动的滑槽(未标示)。当第二水平方向移动件141沿第二水平方向Y移动时，其带动设置于其上的第一水平方向平移组件13、设置于第一水平方向平移组件13上的竖直移动组件15、设置于竖直移动组件15上的机械手固定板16，以及设置于机械手固定板16上的机械手11一起沿第二水平方向Y移动。
第二水平方向限位件144和第二水平方向油压缓冲器145设置于固定底板12上，且固定底板12的沿第二水平方向Y分布的两侧均设置有第二水平方向限位件144和第二水平方向油压缓冲器145。第二水平方向限位件144用于限制第二水平方向移动件141的位移，第二水平方向油压缓冲器145用于吸收第二水平方向限位件144对第二水平方向移动件141进行限位时所产生的冲击力。第二水平方向动力源146设置于固定底板12上且用于驱动第二水平方向移动件141沿第二水平方向Y移动。
直震上料机构30通过直震的方式将产品直线排列并自动传输至上料工位20a，以供与上料工位20a对应设置的机械手11进行抓取并传输至扩管工位20b。
本实施例中，除上料工位20a外，其余每一加工工位200的子模具均包括设置于上模板21的上模和设置于下模板22的下模；在其他的实施方式中，亦可以省略上模板21和下模板22的设置而采用逐一加工的方式。
随着加工工艺的演进，扩管工位20b、20c有可能进行合并，径缩工位20d、20e、20f、20g也有进行合并的可能，因此，本发明对上述加工工位的设置数目亦不进行限制。
下面请结合图6至图8理解机械手11的具体机构。图6是图5所示多工位传递机械手机构的机械手的立体结构图；图7是图6所示机械手的侧视图；图8是图6所示机械手的夹持臂的立体放大图。
机械手11用于夹取前一加工工位的产品500，并将产品500转送到下一加
工工位或者卸料位置上。
机械手11包括一对夹持臂111、导引件112、动力源113、一对连接件114、一对光纤固定臂115、一对检测光纤116、定位针(未图示)和至少一对螺纹连接件117。
一对夹持臂111，在第一水平方向X上排列。夹持臂111包括组装部111a、连接部111b和夹持部111c。组装部111a的内侧沿垂直于第一水平方向X的第二水平方向Y延伸设置定位槽111d，定位槽111d用于卡持连接件114的外侧以确保夹持臂111的水平度。组装部111a的外侧沿第二水平方向Y亦延伸设置定位槽(未标示)，用于安装光纤固定臂115；组装部111a的内外两侧的定位槽相对设置，外侧的定位槽用于确保光纤固定臂115的水平度。连接部111b连接组装部111a的底部和夹持部111c，夹持部111c的底面和连接部111b的底面平齐，夹持部111c的顶面低于连接部111b的顶面设置，因此，夹持部111c的厚度远低于组装部111a，且夹持部111c的中心低于组装部111a的中心。由图1可知，组装部111a的底部的含义是定位槽111d的底面以下的部分。
除此之外，上文还提到了组装部111a的内侧、外侧；后文还将提到夹持部111c的内侧等，在此对内侧外侧做出说明，所谓内侧统指一对相同元件或构成部分的彼此靠近的侧面，而所谓外侧则统指一对相同元件或构成部分的彼此远离的侧面。
自夹持部111c的顶面凹陷设置位置校正孔111e，位置校正孔111e可以贯穿夹持部111c设置，其用于在机械手组装至扩管传递冲床上或者其他自动化设备上时，自动化设备的对应位置处安装位置校正针以检测机械手11是否安装到位。夹持部111c的内侧还设置产品仿形面111f，产品500被夹持于一对产品仿形面111f中；产品仿形面111f的设置目的一则是为了对产品500实现较好的夹持，增大产品500与夹持部111c的接触面积，二来能够有效防止产品500在夹持过程中发生变形。两夹持部111c中的一个的内侧设置有位置定位针安装孔111g，定位针安装孔111g沿第一水平方向自夹持部111c的内侧凹陷设置，以使定位针(未图示)能够沿第一水平方向X组装至该夹持臂111的内侧，通过调整定位针相对于夹持部111c的凸出长度以限制一对夹持臂111夹持的产品500的厚度，进一步防止夹持于一对夹持臂111中的产品500发生变形。
导引件112设置于动力源113的一端。导引件112背离动力源113的侧面上设置沿第一水平方向X延伸的滑槽112a。
动力源113的一端设置导引件112，另一端用于固定至多工位传递机械手机构的机械手固定板上。
一对连接件114用于连接动力源113和一对夹持臂111，即，每一连接件114连接动力源113和其对应的夹持臂111。具体地，连接件114的端部穿过导引件112连接至动力源113，且连接件114滑动设置于导引件112的滑槽112a中。两连接件114的主体部分别设于两夹持臂111的组装部111a的内侧的定位槽111d中。进一步地，连接件114的主体部的厚度与滑槽112a的宽度相等，亦与夹持臂111的定位槽111d的宽度相等，通过导引件112的滑槽112a的设置确保连接件114的水平度，进而通过组装部111a的定位槽111d的设置确保夹持臂111的水平度。
一对光纤固定臂115分别连接至其对应的夹持臂111的组装部111a的外侧，具体地，光纤固定臂115固定至组装部111a的外侧的定位槽中。当连接件114组装至夹持臂111的内侧的定位槽111d中，同时光纤固定臂115组装至夹持臂111的外侧的定位槽中时，螺纹连接件117将三者相连；即螺纹连接件117穿过光纤固定臂115、夹持臂111的组装部111a和连接件114的主体部中将三者固定在一起。
一对检测光纤116分别固定至一对光纤固定臂115上。一对检测光纤116正对设置以检测一对夹持臂111中是否夹持产品500。具体地，检测光纤116的中心低于夹持臂111的夹持部111c的底面，当机械手11夹持产品500时，产品500阻挡了一对检测光纤116之间的光线传输。
由于动力源113通常为气缸等动力件，因此，动力源113的高度方向的尺寸很难进一步降低，本申请中将夹持部111c的中心下移能够克服动力源113的高度限制带来的难以夹取产品500的情况。
请再次结合图5，与翻转工位20i对应的机械手11’除了应满足上述机械手11的功能之外，其还需将产品500旋转180°，因此，机械手11’的动力源为旋转平移气缸，旋转平移气缸既用于驱动一对夹持臂111沿第一水平方向X彼此靠近以夹持产品500，还用于在夹持产品500后驱动一对夹持臂111绕旋转平移气缸的轴线旋转180°以使产品500翻转180°。
本发明多工位传递机械手机构10包括竖直移动组件15、第一水平方向移动组件13、第二水平方向移动组件14和多个与呈直线排列的多个加工工位200一一对应的机械手11，竖直移动组件15、第一水平方向平移组件13和第二水平
方向平移组件14分别用于带动机械手11沿竖直方向Z、第一水平方向X和垂直于第一水平方向X的第二水平方向Y移动，以使每一机械手11取出其对应的加工工位200的产品，且将其夹取的产品安放至下一加工工位200或下料工位201上；进而实现呈直线排列的所有加工工位200的产品的同时夹取和同时传递动作，大大提高产品加工的效率。
以上所述仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
Claims (16)
- 一种多工位传递机械手机构，其特征在于，所述多工位传递机械手机构包括固定底板、第一水平方向平移组件、第二水平方向平移组件、竖直移动组件、机械手固定板和多个与呈直线排列的多个加工工位一一对应的机械手，所述机械手沿第一水平方向间隔设置于所述机械手固定板上，所述机械手固定板设置于所述竖直移动组件上，所述竖直移动组件设置于所述第一水平方向平移组件上，所述第一水平方向平移组件设置于所述第二水平方向平移组件上，所述第二水平方向平移组件设置于所述固定底座上；所述竖直移动组件、所述第一水平方向平移组件和所述第二水平方向平移组件分别用于带动所述机械手沿竖直方向、所述第一水平方向和垂直于所述第一水平方向的第二水平方向移动，每一所述机械手用于取出其对应的所述加工工位的产品且将其夹取的所述产品安放至下一所述加工工位或下料位置上。
- 根据权利要求1所述的多工位传递机械手机构，其特征在于，所述竖直移动组件包括竖直导轨、竖直导轨固定座和竖直方向连接件，所述竖直导轨设置于所述竖直导轨固定座上，所述竖直导轨固定座设置于所述第一水平方向平移组件上，所述竖直方向连接件连接所述机械手固定板且滑动设置于所述竖直导轨上。
- 根据权利要求2所述的多工位传递机械手机构，其特征在于，所述竖直移动组件进一步包括竖直方向动力源，所述竖直方向动力源用于驱动所述竖直方向连接件、所述机械手固定板和所述机械手沿所述竖直方向同步位移。
- 根据权利要求2所述的多工位传递机械手机构，其特征在于，所述第一水平方向平移组件包括第一水平方向移动件和第一水平方向滑轨，所述第一水平方向滑轨沿所述第一水平方向延伸设置于所述第二水平方向平移组件上，所述第一水平方向移动件连接所述竖直导轨固定座且沿所述第一水平方向滑动设置于所述第一水平方向滑轨上。
- 根据权利要求4所述的多工位传递机械手机构，其特征在于，所述第二水平方向平移组件包括第二水平方向移动件、第二水平方向连接件和第二水平方向滑轨，所述第二水平方向滑轨沿第二水平方向延伸设置于所述固定底板上，所述第二水平方向连接件连接所述第二水平方向移动件且滑动设置于所述第二水平方向滑轨上。
- 根据权利要求5所述的多工位传递机械手机构，其特征在于，所述第二水平方向平移组件包括第二水平方向动力源，所述第二水平方向动力源用于驱动所述第二水平方向移动件沿所述第二水平方向移动。
- 根据权利要求5所述的多工位传递机械手机构，其特征在于，所述第一水平方向平移组件还包括固定设置于所述第二水平方向移动件上的第一水平方向限位件和第一水平方向油压缓冲器，所述第一水平方向限位件用于限制所述第一水平方向移动件的位移，所述第一水平方向油压缓冲器用于吸收所述第一水平方向限位件对所述第一水平方向移动件所产生的冲击力。
- 根据权利要求5所述的多工位传递机械手机构，其特征在于，所述第二水平方向平移组件还包括固定设置于所述固定底板上的第二水平方向限位件和第二水平方向油压缓冲器，所述第二水平方向限位件用于限制所述第二水平方向移动件的位移，所述第二水平方向油压缓冲器用于吸收所述第二水平方向限位件对所述第二水平方向移动件所产生的冲击力。
- 根据权利要求1所述的多工位传递机械手机构，其特征在于，所述机械手包括：一对夹持臂，沿所述第一水平方向彼此靠近或远离以夹持或卸下产品；导引件，用于引导所述夹持臂沿所述第一水平方向平移；动力源，用于驱动所述一对夹持臂沿所述第一水平方向彼此靠近或远离，所述动力源的一端固定连接至所述机械手固定板。
- 根据权利要求9所述的多工位传递机械手机构，其特征在于，所述导引件设置于所述动力源的另一端，其背离所述动力源的侧面上设置沿所述第一水平方向延伸的滑槽，所述机械手进一步包括一对连接件，每一所述连接件连接所述动力源和一所述夹持臂，且连接件滑动设置于所述滑槽中，所述连接件受所述动力源驱动以带动所述夹持臂同步运动。
- 根据权利要求10所述的多工位传递机械手机构，其特征在于，所述夹持臂设置于所述连接件的外侧，所述夹持臂包括组装部、连接部和夹持部，所述组装部的内侧设置沿所述第二水平方向延伸的定位槽，所述定位槽卡持所述连接件的外侧以确保所述卡持臂的水平度。
- 根据权利要求11所述的多工位传递机械手机构，其特征在于，所述平行机械夹进一步包括一对光纤固定臂和一对检测光纤，所述光纤固定臂连接至所述夹持臂的组装部的外侧，所述检测光纤固定至所述光纤固定臂上且一对所述检测光纤正对设置以检测所述一对夹持臂是否夹持产品。
- 根据权利要求11所述的多工位传递机械手机构，其特征在于，所述连接部连接所述组装部的底部和所述夹持部，所述夹持部的底面和所述连接部的底面平齐，所述夹持部的顶面低于所述连接部的顶面。
- 根据权利要求11所述的多工位传递机械手机构，其特征在于，所述平行机械夹进一步包括定位针，所述定位针沿所述第一水平方向组装至一所述夹持臂的夹持部的内侧，以通过调整所述定位针相对于设置其的所述夹持部的凸出长度以限制所述一对夹持臂夹持的产品的厚度。
- 根据权利要求11所述的多工位传递机械手机构，其特征在于，所述夹持臂的夹持部上设置位置校正孔，所述位置校正孔自所述夹持部的顶面凹陷设置。
- 根据权利要求9所述的多工位传递机械手机构，其特征在于，其中一所述机械手的动力源为旋转平移气缸，所述旋转平移气缸用于驱动所述一对夹持臂沿所述第一水平方向彼此靠近以夹持所述产品以及用于驱动一对夹持臂绕所述旋转平移气缸的轴线旋转180°以使夹持的所述产品翻转180°。
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- 2015-12-31 CN CN201580080083.2A patent/CN107614207B/zh active Active
- 2015-12-31 WO PCT/CN2015/100278 patent/WO2017113364A1/zh active Application Filing
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| CN108326134A (zh) * | 2017-12-25 | 2018-07-27 | 江苏精研科技股份有限公司 | 手机充电口整形系统 |
| CN108326134B (zh) * | 2017-12-25 | 2024-03-19 | 江苏精研科技股份有限公司 | 手机充电口整形系统 |
| CN108857311B (zh) * | 2018-07-19 | 2024-04-02 | 林焕城 | 一种喷漆治具板热熔拆解设备 |
| CN108857311A (zh) * | 2018-07-19 | 2018-11-23 | 林焕城 | 一种喷漆治具板热熔拆解设备 |
| CN109047452A (zh) * | 2018-08-23 | 2018-12-21 | 嘉兴万晶聚智能科技有限公司 | 金属接线盒加工装置 |
| CN109047452B (zh) * | 2018-08-23 | 2024-04-26 | 嘉兴万晶聚智能科技有限公司 | 金属接线盒加工装置 |
| CN109205294B (zh) * | 2018-09-21 | 2023-09-15 | 维峰电子(广东)股份有限公司 | 夹持机构及设置有该夹持机构的端子ccd检测包装机 |
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| Publication number | Publication date |
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| CN107614207A (zh) | 2018-01-19 |
| CN107614207B (zh) | 2021-01-19 |
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