A double-claw device for separating blanks from robots

Abstract

The present invention discloses a double-clamping device for separating workpieces of a robot, wherein a first slider and a second slider are respectively arranged on both sides of a crossbeam, the first slider and the second slider are respectively connected to the screw rod and the slide groove located on both sides of the crossbeam, a first lifting motor and a second lifting motor are both equipped with toothed discs, a first lifting rack is vertically connected to the first slider and meshed with the toothed disc on the first lifting motor, a second lifting rack is vertically connected to the second slider and meshed with the toothed disc on the second lifting motor, a transverse clamping mechanism is arranged at the bottom of the first lifting rack, and a clamping clamping mechanism is arranged at the bottom of the second lifting rack. The invention can realize the control of the height of the transverse clamping mechanism and the clamping clamping mechanism at the bottom, and can realize the automatic clamping of the transverse clamping mechanism and the clamping clamping mechanism, so that the efficiency is greatly improved, and the workpieces can be separated after being fixed, so that the safety and stability performance are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of robot blank separation double-claw equipment, in particular to a blank separation double-claw device for a robot. Background Art

[0002] When assembling intelligent machines, they are generally assembled from blanks. On the production line, sometimes two components are connected together by connectors, such as robot arms and legs. Because arms and legs are mostly produced using one mold, the middle connector needs to be cut off. The traditional method is to remove the entire blank, manually fix it on two fixtures, and then separate the two blanks through a cutting table. This method has low safety, is time-consuming and labor-intensive, and has poor stability. Therefore, an improved technology is urgently needed to solve this problem existing in the prior art. Summary of the invention

[0003] The object of the present invention is to provide a double-claw device for separating blanks of a robot to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a double-claw device for separating blanks of a robot, comprising a crossbeam, a slide groove, a transverse driving motor, a screw, a first slider, a second slider, a first lifting motor, a second lifting motor, a first lifting rack, a second lifting rack, a transverse clamping mechanism and a clamping clamping mechanism, wherein slide grooves are provided above and below the two side surfaces of the crossbeam, transverse driving motors are respectively provided on both sides of the crossbeam, screws are also provided on both sides of the crossbeam, the transverse driving motors are respectively connected to the screws, and the first slider and the second slider are respectively provided on both sides of the crossbeam The first slider and the second slider are respectively connected with the screws and the slide grooves on both sides of the crossbeam, the first slider is provided with a first lifting motor on the upper surface, the second slider is provided with a second lifting motor on the upper surface, the first lifting motor and the second lifting motor are both equipped with gear plates, the first lifting rack is vertically connected with the first slider and meshed with the gear plate on the first lifting motor, the second lifting rack is vertically connected with the second slider and meshed with the gear plate on the second lifting motor, a horizontal clamping mechanism is provided at the bottom of the first lifting rack, and a clamping clamping mechanism is provided at the bottom of the second lifting rack.

[0005] Preferably, the transverse clamping mechanism includes a cross bar, a fixed clamp, a movable clamp, a transverse clamping screw and a transverse clamping motor. A fixed frame is arranged at one end of the cross bar. The interior of the cross bar is a hollow structure. A slideway is provided on the lower surface of the cross bar. A transverse clamping screw is arranged inside the cross bar. A transverse clamping motor is arranged at the end of the cross bar away from the fixed clamp. The transverse clamping motor is connected to the transverse clamping screw. The top end of the movable clamp is arranged in the cross bar and connected to the transverse clamping screw.

[0006] Preferably, the clamping jaw mechanism includes a top shell, a first driven gear, a second driven gear, a first arm, a second arm, a driving gear, a steering gear and a clamping jaw motor. The top shell is connected to the bottom of the second lifting rack, and the first driven gear and the second driven gear are respectively arranged on both sides of the lower end of the top shell. The first driven gear is connected to the first arm, and the second driven gear is connected to the second arm. A driving gear and a steering gear are also arranged inside the top shell. The steering gear is meshed with the second driven gear, and the driving gear is meshed with the first driven gear and the steering gear respectively. The diameters of the first driven gear, the second driven gear and the steering gear are consistent. A clamping jaw motor is arranged outside the top shell, and the clamping jaw motor is connected to the driving gear. The first arm and the second arm are symmetrically arranged, and the first arm and the second arm are both provided with barbs on the inner side of one end away from the top shell.

[0007] Preferably, the first slider and the second slider have exactly the same structure, guide blocks are provided at the upper and lower ends of the inner sides of the first slider and the second slider, thread blocks are provided at the middle positions of the inner sides of the first slider and the second slider, the thread blocks are connected to the screw rod, guide channels are longitudinally opened in the first slider and the second slider, the first lifting rack and the second lifting rack are respectively provided in the guide channels, and guide bars are also provided on both sides of the guide channels.

[0008] Preferably, grooves are provided on both side surfaces of the first lifting rack and the second lifting rack, and the grooves match the guide bars on both sides inside the guide channel. Connecting plates are provided at the bottom of the first lifting rack and the second lifting rack.

[0009] Preferably, the method of use comprises the following steps:

[0010] Step 1: Place the first slider and the second slider on the crossbeam, then insert the screws on both sides, connect the screws with the threaded blocks of the first slider and the second slider respectively, finally install the lateral drive motors on both sides, and connect the two ends of the crossbeam with the columns respectively;

[0011] Step 2: Install the first lifting motor on the first slider, install the second lifting motor on the second slider, then insert the first lifting rack into the guide channel of the first slider, insert the second lifting rack into the guide channel of the second slider, so that the first lifting rack and the grooves on both sides of the first lifting rack match the guide bars in the corresponding guide channels respectively;

[0012] Step 3: Install the horizontal clamping mechanism at the bottom of the first lifting rack through the connecting plate, and install the clamping clamping mechanism at the bottom of the second lifting rack through the connecting plate to complete the assembly;

[0013] Step 4: The robot blank is moved to the lower end of the beam through the workpiece positioning mechanism, and the position of the movable clamp is controlled by the horizontal clamp motor to open the movable clamp and the fixed clamp to the maximum. The clamping jaw motor drives the gear combination to open the first arm and the second arm to the maximum.

[0014] Step 5: Use the lateral drive motors on both sides of the crossbeam to adjust the lateral positions of the first slider and the second slider so that the lateral clamping mechanism is located directly above the rectangular interface of the robot blank and the clamping clamping mechanism is located directly above the circular interface of the robot blank;

[0015] Step 6: Control the height of the lateral clamping mechanism by the first lifting motor, so that the lateral clamping mechanism descends to the rectangular interface of the robot blank, control the height of the clamping clamping mechanism by the second lifting motor, so that the clamping clamping mechanism descends to the circular interface of the robot blank, and then control the movable clamp by the lateral clamping motor to clamp the rectangular interface of the robot blank, and the clamping clamping motor enables the first arm and the second arm to clamp the circular interface of the robot blank;

[0016] Step 7: The column drives the whole to move to the cutting table, and the connecting parts between the rectangular interface and the circular interface of the robot blank are cut off by the tool to complete the separation of the rectangular interface and the circular interface of the robot blank.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) By arranging two sliders driven by a motor screw on the crossbeam, and arranging a lifting motor and a rack matched with the lifting motor on the slider, the height of the bottom lateral clamping mechanism and the clamping clamping mechanism can be controlled, and the automatic clamping of the lateral clamping mechanism and the clamping clamping mechanism can be realized, and the efficiency is greatly improved.

[0019] (2) The lateral clamping mechanism and the clamping clamping mechanism are suitable for rectangular interfaces and circular interfaces, respectively clamping the rectangular interface and circular interface of the robot. After fixing, the blank can be separated, and the safety and stability performance are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention.

[0021] Figure 2 Schematic diagram of the structure of the lateral clamping mechanism.

[0022] Figure 3 Schematic diagram of the structure of the clamping jaw mechanism.

[0023] Figure 4 It is a schematic diagram of the side structure of the clamping jaw mechanism.

[0024] Figure 5It is a schematic diagram of the structure of the first slider.

[0025] Figure 6 This is a schematic diagram of the structure of the first slider viewed from above.

[0026] Figure 7 Schematic diagram of the first lifting rack structure.

[0027] In the figure: crossbeam 1, slide 2, transverse drive motor 3, screw 4, first slider 5, second slider 6, first lifting motor 7, second lifting motor 8, first lifting rack 9, second lifting rack 10, transverse clamping mechanism 11, clamping clamping mechanism 12, guide block 13, threaded block 14, guide channel 15, guide bar 16, groove 17, connecting plate 18, cross bar 111, fixed clamp 112, movable clamp 113, transverse clamping screw 114, transverse clamping motor 115, top shell 121, first driven gear 122, second driven gear 123, first arm 124, second arm 125, driving gear 126, steering gear 127, clamping clamping motor 128. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1 The present invention provides a technical solution: a double-claw device for separating blanks of a robot, comprising a crossbeam 1, a slide 2, a transverse driving motor 3, a screw 4, a first slider 5, a second slider 6, a first lifting motor 7, a second lifting motor 8, a first lifting rack 9, a second lifting rack 10, a transverse clamping mechanism 11 and a clamping clamping mechanism 12, slides 2 are provided on the upper and lower sides of the surface of both sides of the crossbeam 1, transverse driving motors 3 are respectively provided on both sides of the crossbeam 1, screws 4 are also provided on both sides of the crossbeam 1, the transverse driving motors 3 are respectively connected to the screws 4, and the first slider 5 and the second slider are respectively provided on both sides of the crossbeam 1 6. The first slider 5 and the second slider 6 are respectively connected to the screw 4 and the slide groove 2 located on both sides of the beam 1. A first lifting motor 7 is arranged on the upper surface of the first slider 5, and a second lifting motor 8 is arranged on the upper surface of the second slider 6. Sprockets are installed on the first lifting motor 7 and the second lifting motor 8. The first lifting rack 9 is vertically connected to the first slider 5 and meshes with the gear on the first lifting motor 7. The second lifting rack 10 is vertically connected to the second slider 6 and meshes with the gear on the second lifting motor 8. A horizontal clamping mechanism 11 is arranged at the bottom of the first lifting rack 9, and a clamping clamping mechanism 12 is arranged at the bottom of the second lifting rack 10.

[0030] like Figure 2 As shown, the transverse clamping mechanism 11 includes a cross bar 111, a fixed clamp 112, a movable clamp 113, a transverse clamping screw 114 and a transverse clamping motor 115. A fixed frame is arranged at one end of the cross bar 111. The interior of the cross bar 111 is a hollow structure. A slideway is provided on the lower surface of the cross bar 111. The interior of the cross bar 111 is provided with a transverse clamping screw 114. A transverse clamping motor 115 is arranged at the end of the cross bar 111 away from the fixed clamp 112. The transverse clamping motor 115 is connected to the transverse clamping screw 114. The top end of the movable clamp 113 is arranged in the cross bar 111 and is connected to the transverse clamping screw 114.

[0031] like Figure 3-4 As shown, the clamping jaw mechanism 12 includes a top shell 121, a first driven gear 122, a second driven gear 123, a first arm 124, a second arm 125, a driving gear 126, a steering gear 127 and a clamping jaw motor 128. The top shell 121 is connected to the bottom of the second lifting rack 10. The first driven gear 122 and the second driven gear 123 are respectively arranged on both sides of the lower end of the top shell 121. The first driven gear 122 is connected to the first arm 124, the second driven gear 123 is connected to the second arm 125, and the top shell 121 is also provided with a driving gear 126. Gear 126 and steering gear 127, the steering gear 127 is meshed with the second driven gear 123, the driving gear 126 is meshed with the first driven gear 122 and the steering gear 127 respectively, the diameters of the first driven gear 122, the second driven gear 123 and the steering gear 127 are consistent, a clamping jaw motor 128 is arranged on the outside of the top shell 121, the clamping jaw motor 128 is connected to the driving gear 126, the first holding arm 124 and the second holding arm 125 are symmetrically arranged, and the first holding arm 124 and the second holding arm 125 are provided with barbs on the inner side of one end away from the top shell 121.

[0032] like Figure 5-6 As shown, the first slider 5 and the second slider 6 have the same structure. Guide blocks 13 are provided at the upper and lower ends of the inner sides of the first slider 5 and the second slider 6. A threaded block 14 is provided at the middle position of the inner sides of the first slider 5 and the second slider 6. The threaded block 14 is connected to the screw rod 4. A guide channel 15 is longitudinally opened in the first slider 5 and the second slider 6. The first lifting rack 9 and the second lifting rack 10 are respectively provided in the guide channel 15. Guide bars 16 are also provided on both sides of the guide channel 15.

[0033] like Figure 7 As shown, grooves 17 are provided on both side surfaces of the first lifting rack 9 and the second lifting rack 10, and the grooves 17 match the guide bars 16 on both sides of the guide channel 15. Connecting plates 18 are provided at the bottom of the first lifting rack 9 and the second lifting rack 10.

[0034] A double-claw device for separating blanks of a robot, the use method of which comprises the following steps:

[0035] Step 1: Set the first slider 5 and the second slider 6 on the beam 1, then insert the screws 4 on both sides, connect the screws 4 with the threaded blocks 14 of the first slider 5 and the second slider 6 respectively, finally install the lateral drive motors 3 on both sides, and connect the two ends of the beam 1 with the columns respectively;

[0036] Step 2: Install the first lifting motor 7 on the first slider 5, install the second lifting motor 8 on the second slider 6, then insert the first lifting rack 9 into the guide channel 15 of the first slider 5, insert the second lifting rack 10 into the guide channel 15 of the second slider 6, so that the first lifting rack 9 and the grooves 17 on both sides of the first lifting rack 9 are matched with the corresponding guide bars 16 in the guide channel 15;

[0037] Step 3: Install the lateral clamp mechanism 11 at the bottom of the first lifting rack 9 through the connecting plate 18, and install the clamp mechanism 12 at the bottom of the second lifting rack 10 through the connecting plate 18 to complete the assembly;

[0038] Step 4: The robot blank is moved to the lower end of the beam 1 through the workpiece positioning mechanism, and the position of the movable clamp 113 is controlled by the horizontal clamp motor 115, so that the movable clamp 113 and the fixed clamp 112 are opened to the maximum, and the clamping jaw motor 128 drives the gear combination to open the first arm 124 and the second arm 125 to the maximum;

[0039] Step 5: Use the lateral drive motors 3 located on both sides of the beam 1 to adjust the lateral positions of the first slider 5 and the second slider 6, so that the lateral clamping mechanism 11 is located directly above the rectangular interface of the robot blank, and the clamping clamping mechanism 12 is located directly above the circular interface of the robot blank;

[0040] Step 6: The height of the lateral clamping mechanism 11 is controlled by the first lifting motor 7, so that the lateral clamping mechanism 11 is lowered to the rectangular interface of the robot blank, and the height of the clamping clamping mechanism 12 is controlled by the second lifting motor 8, so that the clamping clamping mechanism 12 is lowered to the circular interface of the robot blank, and then the movable clamp 113 is controlled by the lateral clamping motor 115 to clamp the rectangular interface of the robot blank, and the clamping clamping motor 128 makes the first arm 124 and the second arm 125 clamp the circular interface of the robot blank;

[0041] Step 7: The column drives the whole to move to the cutting table, and the connecting parts between the rectangular interface and the circular interface of the robot blank are cut off by the tool to complete the separation of the rectangular interface and the circular interface of the robot blank.

[0042] Principle of use: By setting two sliders driven by a motor screw on the crossbeam, and setting a lifting motor and a rack cooperating with the lifting motor on the slider, the height of the bottom lateral clamping mechanism and the clamping clamping mechanism can be controlled. The lateral clamping mechanism and the clamping clamping mechanism are suitable for rectangular interfaces and circular interfaces, respectively clamping the rectangular interface and circular interface of the robot. After fixing, the blank can be separated, and the safety and stability performance are greatly improved.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A double-claw device for separating blanks of a robot, characterized in that: The invention comprises a cross beam (1), a slide groove (2), a transverse driving motor (3), a screw rod (4), a first slider (5), a second slider (6), a first lifting motor (7), a second lifting motor (8), a first lifting rack (9), a second lifting rack (10), a transverse clamping mechanism (11) and a clamping clamping mechanism (12), wherein the slide grooves (2) are provided above and below the two side surfaces of the cross beam (1), the two sides of the cross beam (1) are respectively provided with transverse driving motors (3), the two sides of the cross beam (1) are also provided with screw rods (4), the transverse driving motors (3) are respectively connected to the screw rods (4), the two sides of the cross beam (1) are respectively provided with a first slider (5) and a second slider (6), the first slider (5) and the second slider (6) are respectively connected to the screw rod (4) and the slide groove (2) located on both sides of the crossbeam (1); a first lifting motor (7) is arranged on the upper surface of the first slider (5); a second lifting motor (8) is arranged on the upper surface of the second slider (6); a toothed disc is installed on both the first lifting motor (7) and the second lifting motor (8); the first lifting rack (9) is vertically connected to the first slider (5) and meshes with the toothed disc on the first lifting motor (7); the second lifting rack (10) is vertically connected to the second slider (6) and meshes with the toothed disc on the second lifting motor (8); a horizontal clamping claw mechanism (11) is arranged at the bottom of the first lifting rack (9); and a clamping clamping claw mechanism (12) is arranged at the bottom of the second lifting rack (10); The transverse clamping mechanism (11) comprises a cross bar (111), a fixed clamp (112), a movable clamp (113), a transverse clamping screw (114) and a transverse clamping motor (115); a fixing frame is arranged at one end of the cross bar (111); the interior of the cross bar (111) is a hollow structure; a slideway is provided on the lower surface of the cross bar (111); a transverse clamping screw (114) is arranged inside the cross bar (111); a transverse clamping motor (115) is arranged at one end of the cross bar (111) away from the fixed clamp (112); the transverse clamping motor (115) is connected to the transverse clamping screw (114); the top end of the movable clamp (113) is arranged inside the cross bar (111) and is connected to the transverse clamping screw (114); The clamping jaw mechanism (12) comprises a top shell (121), a first driven gear (122), a second driven gear (123), a first holding arm (124), a second holding arm (125), a driving gear (126), a steering gear (127) and a clamping jaw motor (128); the top shell (121) is connected to the bottom of the second lifting rack (10); the first driven gear (122) and the second driven gear (123) are respectively arranged on both sides of the lower end of the top shell (121); the first driven gear (122) is connected to the first holding arm (124); the second driven gear (123) is connected to the second holding arm (125); the top shell (121) is also provided with a driving gear ( The top shell (121) is provided with a clamping jaw motor (128), and the clamping jaw motor (128) is connected to the driving gear (126). The first clamping arm (124) and the second clamping arm (125) are symmetrically arranged, and the first clamping arm (124) and the second clamping arm (125) are both provided with barbs on the inner side of one end away from the top shell (121).

2. The double-claw device for separating blanks for robots according to claim 1, characterized in that: The first slider (5) and the second slider (6) have completely identical structures. A guide block (13) is provided at the upper and lower ends of the inner sides of the first slider (5) and the second slider (6). A threaded block (14) is provided at the middle position of the inner sides of the first slider (5) and the second slider (6). The threaded block (14) is connected to the screw rod (4). A guide channel (15) is longitudinally provided in the first slider (5) and the second slider (6). The first lifting rack (9) and the second lifting rack (10) are respectively provided in the guide channel (15). Guide bars (16) are also provided on both sides of the guide channel (15).

3. The double-claw device for separating blanks for robots according to claim 2, characterized in that: Grooves (17) are provided on both side surfaces of the first lifting rack (9) and the second lifting rack (10), and the grooves (17) match the guide bars (16) on both sides of the guide channel (15). Connecting plates (18) are provided at the bottom of the first lifting rack (9) and the second lifting rack (10).

4. The double-claw device for separating blanks for robots according to claim 3, characterized in that: The method of use includes the following steps: Step 1: Place the first slider (5) and the second slider (6) on the crossbeam (1), then insert the screw rods (4) on both sides, connect the screw rods (4) to the threaded blocks (14) of the first slider (5) and the second slider (6), respectively, and finally install the lateral drive motors (3) on both sides, and connect the two ends of the crossbeam (1) to the columns respectively; Step 2: Install the first lifting motor (7) on the first slider (5), install the second lifting motor (8) on the second slider (6), then insert the first lifting rack (9) into the guide channel (15) of the first slider (5), and insert the second lifting rack (10) into the guide channel (15) of the second slider (6), so that the first lifting rack (9) and the grooves (17) on both sides of the first lifting rack (9) are matched with the guide bars (16) in the corresponding guide channels (15); Step 3: Install the lateral clamping mechanism (11) at the bottom of the first lifting rack (9) through the connecting plate (18), and install the clamping clamping mechanism (12) at the bottom of the second lifting rack (10) through the connecting plate (18), and complete the assembly; Step 4: The robot blank is moved to the lower end of the crossbeam (1) through the workpiece positioning mechanism, and the position of the movable clamp (113) is controlled by the horizontal clamping jaw motor (115) so that the movable clamp (113) and the fixed clamp (112) are opened to the maximum, and the gear combination is driven by the clamping jaw motor (128) so that the first holding arm (124) and the second holding arm (125) are opened to the maximum; Step 5: By means of the lateral drive motors (3) located on both sides of the crossbeam (1), the lateral positions of the first slider (5) and the second slider (6) are adjusted so that the lateral clamping mechanism (11) is located directly above the rectangular interface of the robot blank and the clamping clamping mechanism (12) is located directly above the circular interface of the robot blank; Step 6: Control the height of the transverse clamping mechanism (11) by the first lifting motor (7) so that the transverse clamping mechanism (11) is lowered to the rectangular interface of the robot blank, control the height of the clamping clamping mechanism (12) by the second lifting motor (8) so that the clamping clamping mechanism (12) is lowered to the circular interface of the robot blank, and then control the movable clamp (113) by the transverse clamping motor (115) to clamp the rectangular interface of the robot blank, and the clamping clamping motor (128) causes the first holding arm (124) and the second holding arm (125) to clamp the circular interface of the robot blank; Step 7: The column drives the whole to move to the cutting table, and the connecting parts between the rectangular interface and the circular interface of the robot blank are cut off by the tool to complete the separation of the rectangular interface and the circular interface of the robot blank.

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